diff options
Diffstat (limited to 'common/motion_sense.c')
| -rw-r--r-- | common/motion_sense.c | 53 |
1 files changed, 45 insertions, 8 deletions
diff --git a/common/motion_sense.c b/common/motion_sense.c index beb4ddbf2b..b0e2645c19 100644 --- a/common/motion_sense.c +++ b/common/motion_sense.c @@ -9,6 +9,7 @@ #include "common.h" #include "console.h" #include "hooks.h" +#include "host_command.h" #include "math_util.h" #include "motion_sense.h" #include "timer.h" @@ -33,6 +34,11 @@ static int accel_interval_ms = 250; static int accel_disp; #endif +/* For vector_3_t, define which coordinates are in which location. */ +enum { + X, Y, Z +}; + /* Pointer to constant acceleration orientation data. */ const struct accel_orientation * const p_acc_orient = &acc_orient; @@ -116,6 +122,12 @@ void motion_sense_task(void) timestamp_t ts0, ts1; int wait_us; int ret; + uint8_t *lpc_status; + uint16_t *lpc_data; + int sample_id = 0; + + lpc_status = host_get_memmap(EC_MEMMAP_ACC_STATUS); + lpc_data = (uint16_t *)host_get_memmap(EC_MEMMAP_ACC_DATA); /* Initialize accelerometers. */ ret = accel_init(ACCEL_LID); @@ -132,10 +144,10 @@ void motion_sense_task(void) ts0 = get_time(); /* Read all accelerations. */ - accel_read(ACCEL_LID, &acc_lid_raw[0], &acc_lid_raw[1], - &acc_lid_raw[2]); - accel_read(ACCEL_BASE, &acc_base[0], &acc_base[1], - &acc_base[2]); + accel_read(ACCEL_LID, &acc_lid_raw[X], &acc_lid_raw[Y], + &acc_lid_raw[Z]); + accel_read(ACCEL_BASE, &acc_base[X], &acc_base[Y], + &acc_base[Z]); /* * Rotate the lid vector so the reference frame aligns with @@ -149,16 +161,41 @@ void motion_sense_task(void) /* TODO(crosbug.com/p/25597): Add filter to smooth lid angle. */ /* - * TODO(crosbug.com/p/25599): Add acceleration data to LPC - * shared memory. + * Set the busy bit before writing the sensor data. Increment + * the counter and clear the busy bit after writing the sensor + * data. On the host side, the host needs to make sure the busy + * bit is not set and that the counter remains the same before + * and after reading the data. + */ + *lpc_status |= EC_MEMMAP_ACC_STATUS_BUSY_BIT; + + /* + * Copy sensor data to shared memory. Note that this code + * assumes little endian, which is what the host expects. */ + lpc_data[0] = (int)lid_angle_deg; + lpc_data[1] = acc_base[X]; + lpc_data[2] = acc_base[Y]; + lpc_data[3] = acc_base[Z]; + lpc_data[4] = acc_lid[X]; + lpc_data[5] = acc_lid[Y]; + lpc_data[6] = acc_lid[Z]; + + /* + * Increment sample id and clear busy bit to signal we finished + * updating data. + */ + sample_id = (sample_id + 1) & + EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK; + *lpc_status = sample_id; + #ifdef CONFIG_CMD_LID_ANGLE if (accel_disp) { CPRINTF("[%T ACC base=%-5d, %-5d, %-5d lid=%-5d, " "%-5d, %-5d a=%-6.1d]\n", - acc_base[0], acc_base[1], acc_base[2], - acc_lid[0], acc_lid[1], acc_lid[2], + acc_base[X], acc_base[Y], acc_base[Z], + acc_lid[X], acc_lid[Y], acc_lid[Z], (int)(10*lid_angle_deg)); } #endif |