1 files changed, 0 insertions, 394 deletions

diff --git a/common/online_calibration.c b/common/online_calibration.c
deleted file mode 100644
index 3bc56f85c7..0000000000
--- a/common/online_calibration.c
+++ /dev/null
@@ -1,394 +0,0 @@
-/* Copyright 2020 The Chromium OS Authors. All rights reserved.
- * Use of this source code is governed by a BSD-style license that can be
- * found in the LICENSE file.
- */
-
-#include "accelgyro.h"
-#include "atomic.h"
-#include "hwtimer.h"
-#include "online_calibration.h"
-#include "common.h"
-#include "mag_cal.h"
-#include "util.h"
-#include "vec3.h"
-#include "task.h"
-#include "ec_commands.h"
-#include "accel_cal.h"
-#include "mkbp_event.h"
-#include "gyro_cal.h"
-
-#define CPRINTS(format, args...) cprints(CC_MOTION_SENSE, format, ##args)
-
-#ifndef CONFIG_MKBP_EVENT
-#error "Must use CONFIG_MKBP_EVENT for online calibration"
-#endif /* CONFIG_MKBP_EVENT */
-
-/** Bitmap telling which online calibration values are valid. */
-static uint32_t sensor_calib_cache_valid_map;
-/** Bitmap telling which online calibration values are dirty. */
-static uint32_t sensor_calib_cache_dirty_map;
-
-struct mutex g_calib_cache_mutex;
-
-static int get_temperature(struct motion_sensor_t *sensor, int *temp)
-{
-	struct online_calib_data *entry = sensor->online_calib_data;
-	uint32_t now;
-
-	if (sensor->drv->read_temp == NULL)
-		return EC_ERROR_UNIMPLEMENTED;
-
-	now = __hw_clock_source_read();
-	if (entry->last_temperature < 0 ||
-	    time_until(entry->last_temperature_timestamp, now) >
-		    CONFIG_TEMP_CACHE_STALE_THRES) {
-		int t;
-		int rc = sensor->drv->read_temp(sensor, &t);
-
-		if (rc == EC_SUCCESS) {
-			entry->last_temperature = t;
-			entry->last_temperature_timestamp = now;
-		} else {
-			return rc;
-		}
-	}
-
-	*temp = entry->last_temperature;
-	return EC_SUCCESS;
-}
-
-static void data_int16_to_fp(const struct motion_sensor_t *s,
-			     const int16_t *data, fpv3_t out)
-{
-	int i;
-	fp_t range = INT_TO_FP(s->current_range);
-
-	for (i = 0; i < 3; ++i) {
-		fp_t v = INT_TO_FP((int32_t)data[i]);
-
-		out[i] = fp_div(v, INT_TO_FP((data[i] >= 0) ? 0x7fff : 0x8000));
-		out[i] = fp_mul(out[i], range);
-		/* Check for overflow */
-		out[i] = CLAMP(out[i], -range, range);
-	}
-}
-
-static void data_fp_to_int16(const struct motion_sensor_t *s, const fpv3_t data,
-			     int16_t *out)
-{
-	int i;
-	fp_t range = INT_TO_FP(s->current_range);
-
-	for (i = 0; i < 3; ++i) {
-		int32_t iv;
-		fp_t v = fp_div(data[i], range);
-
-		v = fp_mul(v, INT_TO_FP(0x7fff));
-		iv = FP_TO_INT(v);
-		/* Check for overflow */
-		out[i] = ec_motion_sensor_clamp_i16(iv);
-	}
-}
-
-/**
- * Check a gyroscope for new bias. This function checks a given sensor (must be
- * a gyroscope) for new bias values. If found, it will update the appropriate
- * caches and notify the AP.
- *
- * @param sensor Pointer to the gyroscope sensor to check.
- */
-static bool check_gyro_cal_new_bias(struct motion_sensor_t *sensor,
-				    fpv3_t bias_out)
-{
-	struct online_calib_data *calib_data =
-		(struct online_calib_data *)sensor->online_calib_data;
-	struct gyro_cal_data *data =
-		(struct gyro_cal_data *)calib_data->type_specific_data;
-	int temp_out;
-	uint32_t timestamp_out;
-
-	/* Check that we have a new bias. */
-	if (data == NULL || calib_data == NULL ||
-	    !gyro_cal_new_bias_available(&data->gyro_cal))
-		return false;
-
-	/* Read the calibration values. */
-	gyro_cal_get_bias(&data->gyro_cal, bias_out, &temp_out, &timestamp_out);
-	return true;
-}
-
-static void set_gyro_cal_cache_values(struct motion_sensor_t *sensor,
-				      fpv3_t bias)
-{
-	size_t sensor_num = sensor - motion_sensors;
-	struct online_calib_data *calib_data =
-		(struct online_calib_data *)sensor->online_calib_data;
-
-	mutex_lock(&g_calib_cache_mutex);
-	/* Convert result to the right scale and save to cache. */
-	data_fp_to_int16(sensor, bias, calib_data->cache);
-	/* Set valid and dirty. */
-	sensor_calib_cache_valid_map |= BIT(sensor_num);
-	sensor_calib_cache_dirty_map |= BIT(sensor_num);
-	mutex_unlock(&g_calib_cache_mutex);
-	/* Notify the AP. */
-	mkbp_send_event(EC_MKBP_EVENT_ONLINE_CALIBRATION);
-}
-
-/**
- * Update the data stream (accel/mag) for a given sensor and data in all
- * gyroscopes that are interested.
- *
- * @param sensor Pointer to the sensor that generated the data.
- * @param data 3 floats/fixed point data points generated by the sensor.
- * @param timestamp The timestamp at which the data was generated.
- */
-static void update_gyro_cal(struct motion_sensor_t *sensor, fpv3_t data,
-			    uint32_t timestamp)
-{
-	int i;
-	fpv3_t gyro_cal_data_out;
-
-	/*
-	 * Find gyroscopes, while we don't currently have instance where more
-	 * than one are present in a board, this loop will work with any number
-	 * of them.
-	 */
-	for (i = 0; i < SENSOR_COUNT; ++i) {
-		struct motion_sensor_t *s = motion_sensors + i;
-		struct gyro_cal_data *gyro_cal_data =
-			(struct gyro_cal_data *)
-				s->online_calib_data->type_specific_data;
-		bool has_new_gyro_cal_bias = false;
-
-		/*
-		 * If we're not looking at a gyroscope OR if the calibration
-		 * data is NULL, skip this sensor.
-		 */
-		if (s->type != MOTIONSENSE_TYPE_GYRO || gyro_cal_data == NULL)
-			continue;
-
-		/*
-		 * Update the appropriate data stream (accel/mag) depending on
-		 * which sensors the gyroscope is tracking.
-		 */
-		if (sensor->type == MOTIONSENSE_TYPE_ACCEL &&
-		    gyro_cal_data->accel_sensor_id == sensor - motion_sensors) {
-			gyro_cal_update_accel(&gyro_cal_data->gyro_cal,
-					      timestamp, data[X], data[Y],
-					      data[Z]);
-			has_new_gyro_cal_bias =
-				check_gyro_cal_new_bias(s, gyro_cal_data_out);
-		} else if (sensor->type == MOTIONSENSE_TYPE_MAG &&
-			   gyro_cal_data->mag_sensor_id ==
-				   sensor - motion_sensors) {
-			gyro_cal_update_mag(&gyro_cal_data->gyro_cal, timestamp,
-					    data[X], data[Y], data[Z]);
-			has_new_gyro_cal_bias =
-				check_gyro_cal_new_bias(s, gyro_cal_data_out);
-		}
-
-		if (has_new_gyro_cal_bias)
-			set_gyro_cal_cache_values(s, gyro_cal_data_out);
-	}
-}
-
-void online_calibration_init(void)
-{
-	size_t i;
-
-	for (i = 0; i < SENSOR_COUNT; i++) {
-		struct motion_sensor_t *s = motion_sensors + i;
-		void *type_specific_data = NULL;
-
-		if (s->online_calib_data) {
-			s->online_calib_data->last_temperature = -1;
-			type_specific_data =
-				s->online_calib_data->type_specific_data;
-		}
-
-		if (!type_specific_data)
-			continue;
-
-		switch (s->type) {
-		case MOTIONSENSE_TYPE_ACCEL: {
-			accel_cal_reset((struct accel_cal *)type_specific_data);
-			break;
-		}
-		case MOTIONSENSE_TYPE_MAG: {
-			init_mag_cal((struct mag_cal_t *)type_specific_data);
-			break;
-		}
-		case MOTIONSENSE_TYPE_GYRO: {
-			init_gyro_cal(
-				&((struct gyro_cal_data *)type_specific_data)
-					 ->gyro_cal);
-			break;
-		}
-		default:
-			break;
-		}
-	}
-}
-
-bool online_calibration_has_new_values(void)
-{
-	bool has_dirty;
-
-	mutex_lock(&g_calib_cache_mutex);
-	has_dirty = sensor_calib_cache_dirty_map != 0;
-	mutex_unlock(&g_calib_cache_mutex);
-
-	return has_dirty;
-}
-
-bool online_calibration_read(struct motion_sensor_t *sensor,
-			     struct ec_response_online_calibration_data *out)
-{
-	int sensor_num = sensor - motion_sensors;
-	bool has_valid;
-
-	mutex_lock(&g_calib_cache_mutex);
-	has_valid = (sensor_calib_cache_valid_map & BIT(sensor_num)) != 0;
-	if (has_valid) {
-		/* Update data in out */
-		memcpy(out->data, sensor->online_calib_data->cache,
-		       sizeof(out->data));
-		/* Clear dirty bit */
-		sensor_calib_cache_dirty_map &= ~(1 << sensor_num);
-	}
-	mutex_unlock(&g_calib_cache_mutex);
-
-	return has_valid;
-}
-
-int online_calibration_process_data(struct ec_response_motion_sensor_data *data,
-				    struct motion_sensor_t *sensor,
-				    uint32_t timestamp)
-{
-	int sensor_num = sensor - motion_sensors;
-	int rc;
-	int temperature;
-	struct online_calib_data *calib_data;
-	fpv3_t fdata;
-	bool is_spoofed = IS_ENABLED(CONFIG_ONLINE_CALIB_SPOOF_MODE) &&
-			  (sensor->flags & MOTIONSENSE_FLAG_IN_SPOOF_MODE);
-	bool has_new_calibration_values = false;
-
-	/* Convert data to fp. */
-	data_int16_to_fp(sensor, data->data, fdata);
-
-	calib_data = sensor->online_calib_data;
-	switch (sensor->type) {
-	case MOTIONSENSE_TYPE_ACCEL: {
-		struct accel_cal *cal =
-			(struct accel_cal *)(calib_data->type_specific_data);
-
-		if (is_spoofed) {
-			/* Copy the data to the calibration result. */
-			cal->bias[X] = fdata[X];
-			cal->bias[Y] = fdata[Y];
-			cal->bias[Z] = fdata[Z];
-			has_new_calibration_values = true;
-		} else {
-			/* Possibly update the gyroscope calibration. */
-			update_gyro_cal(sensor, fdata, timestamp);
-
-			/*
-			 * Temperature is required for accelerometer
-			 * calibration.
-			 */
-			rc = get_temperature(sensor, &temperature);
-			if (rc != EC_SUCCESS)
-				return rc;
-
-			has_new_calibration_values = accel_cal_accumulate(
-				cal, timestamp, fdata[X], fdata[Y], fdata[Z],
-				temperature);
-		}
-
-		if (has_new_calibration_values) {
-			mutex_lock(&g_calib_cache_mutex);
-			/* Convert result to the right scale. */
-			data_fp_to_int16(sensor, cal->bias, calib_data->cache);
-			/* Set valid and dirty. */
-			sensor_calib_cache_valid_map |= BIT(sensor_num);
-			sensor_calib_cache_dirty_map |= BIT(sensor_num);
-			mutex_unlock(&g_calib_cache_mutex);
-			/* Notify the AP. */
-			mkbp_send_event(EC_MKBP_EVENT_ONLINE_CALIBRATION);
-		}
-		break;
-	}
-	case MOTIONSENSE_TYPE_MAG: {
-		struct mag_cal_t *cal =
-			(struct mag_cal_t *)(calib_data->type_specific_data);
-		int idata[] = {
-			(int)data->data[X],
-			(int)data->data[Y],
-			(int)data->data[Z],
-		};
-
-		if (is_spoofed) {
-			/* Copy the data to the calibration result. */
-			cal->bias[X] = INT_TO_FP(idata[X]);
-			cal->bias[Y] = INT_TO_FP(idata[Y]);
-			cal->bias[Z] = INT_TO_FP(idata[Z]);
-			has_new_calibration_values = true;
-		} else {
-			/* Possibly update the gyroscope calibration. */
-			update_gyro_cal(sensor, fdata, timestamp);
-
-			has_new_calibration_values = mag_cal_update(cal, idata);
-		}
-
-		if (has_new_calibration_values) {
-			mutex_lock(&g_calib_cache_mutex);
-			/* Copy the values */
-			calib_data->cache[X] = cal->bias[X];
-			calib_data->cache[Y] = cal->bias[Y];
-			calib_data->cache[Z] = cal->bias[Z];
-			/* Set valid and dirty. */
-			sensor_calib_cache_valid_map |= BIT(sensor_num);
-			sensor_calib_cache_dirty_map |= BIT(sensor_num);
-			mutex_unlock(&g_calib_cache_mutex);
-			/* Notify the AP. */
-			mkbp_send_event(EC_MKBP_EVENT_ONLINE_CALIBRATION);
-		}
-		break;
-	}
-	case MOTIONSENSE_TYPE_GYRO: {
-		if (is_spoofed) {
-			/*
-			 * Gyroscope uses fdata to store the calibration
-			 * result, so there's no need to copy anything.
-			 */
-			has_new_calibration_values = true;
-		} else {
-			struct gyro_cal_data *gyro_cal_data =
-				(struct gyro_cal_data *)
-					calib_data->type_specific_data;
-			struct gyro_cal *gyro_cal = &gyro_cal_data->gyro_cal;
-
-			/* Temperature is required for gyro calibration. */
-			rc = get_temperature(sensor, &temperature);
-			if (rc != EC_SUCCESS)
-				return rc;
-
-			/* Update gyroscope calibration. */
-			gyro_cal_update_gyro(gyro_cal, timestamp, fdata[X],
-					     fdata[Y], fdata[Z], temperature);
-			has_new_calibration_values =
-				check_gyro_cal_new_bias(sensor, fdata);
-		}
-
-		if (has_new_calibration_values)
-			set_gyro_cal_cache_values(sensor, fdata);
-		break;
-	}
-	default:
-		break;
-	}
-
-	return EC_SUCCESS;
-}