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* common: Add magnetometer online calibration.Gwendal Grignou2015-10-131-2/+2
| | | | | | | | | | | | | | | | Code for hard iron calibration: Every seconds (or faster if enough samples), find a sphere that fit the compass data. Based on Android code. BRANCH=smaug BUG=chrome-os-partner:39900 TEST=Check hard-iron bias is removed. Works better outside. Change-Id: Iab479d5113b6560b4f01b0fd87373d2eecdb9b54 Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/299583 Reviewed-by: Anton Staaf <robotboy@chromium.org>
* common: math: Use float when CONFIG_FPU is set.Gwendal Grignou2015-09-181-1/+27
| | | | | | | | | | | | | | When hardware FPU is set, use it. BRANCH=smaug BUG=chrome-os-partner:39900 TEST=compile. Change-Id: I5b42bd23a7ee7549e538eff075756b58f79756f2 Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/299516 Reviewed-by: Randall Spangler <rspangler@chromium.org> Reviewed-by: Alec Berg <alecaberg@chromium.org>
* common: math: Stop using FP_BITS directly.Gwendal Grignou2015-09-151-2/+5
| | | | | | | | | | | | | | | To be able to use hardware FPUs, use fp_ functions instead of FP_BITS in application code. BRANCH=smaug BUG=chrome-os-partner:39900 TEST=compile. Change-Id: I8a1339140eb5ddab32dd3edc58fb5d3ccaef52e2 Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/299515 Reviewed-by: Randall Spangler <rspangler@chromium.org> Reviewed-by: Alec Berg <alecaberg@chromium.org>
* math: Add inverse matrix calculationGwendal Grignou2015-08-241-1/+8
| | | | | | | | | | | | | | | | Add a slow inverse matrix calculation function. It is needed to apply factory offset properly. Also consider the NULL matrix the identity matrix. BRANCH=smaug,cyan TEST=Unit test BUG=chromium:517675 Change-Id: Ifa11954992e6f2fab02b4e92684e7b01bbaafe94 Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/294594 Reviewed-by: Sheng-liang Song <ssl@chromium.org>
* cleanup: fix all the header guardsBill Richardson2015-06-181-3/+3
| | | | | | | | | | | | | | | This unifies all the EC header files to use __CROS_EC_FILENAME_H as the include guard. Well, except for test/ util/ and extra/ which use __TEST_ __UTIL_ and __EXTRA_ prefixes respectively. BUG=chromium:496895 BRANCH=none TEST=make buildall -j Signed-off-by: Bill Richardson <wfrichar@chromium.org> Change-Id: Iea71b3a08bdec94a11239de810a2b2e152b15029 Reviewed-on: https://chromium-review.googlesource.com/278121 Reviewed-by: Randall Spangler <rspangler@chromium.org>
* accel: move X,Y,Z definitionGwendal Grignou2015-06-091-0/+4
| | | | | | | | | | | | | | Move definition so that we can use it in accel driver. BUG=None TEST=Compile BRANCH=none Change-Id: I45d16a91d923cb0538b7fdf4110112566c87b6d0 Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/269837 Reviewed-by: Alec Berg <alecaberg@chromium.org> Reviewed-by: Vincent Palatin <vpalatin@chromium.org>
* Convert motion sense calculations to fixed point.Randall Spangler2015-02-051-16/+70
| | | | | | | | | | | | | | | | | | | | | | | | | | | | Motion sense calculations do not require huge amounts of precision, so fixed point is plenty accurate. And fixed point works on Cortex-M0, which lacks a FPU. BUG=chrome-os-partner:36126 BRANCH=minnie (samus already works with the FPU, but could grab this if we want additional testing) TEST=manual 1. Boot system 2. At EC console: accelinfo on 250 3. Move lid through several different angles (30 degrees to max open) and see that it updates correctly and relatively smoothly. A few degrees of angle jitter is normal. 4. At several angles, rotate the chromebook around and see that the lid angle remains relatively stable. 5. If the hinge is made normal to the ground (or within 15 degrees of vertical), the angle should read 500, since the acceleration vectors don't yield good results in that orientation (for either fixed or float math). And run 'make buildall -j', which tests arc_cos() and lid angle calculations Change-Id: I70a0d08b8914629a3e21ae5578cbe8e50f29ad68 Signed-off-by: Randall Spangler <rspangler@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/244116 Reviewed-by: Alec Berg <alecaberg@chromium.org>
* math: use CONFIG_FPU when using float.Gwendal Grignou2014-11-091-0/+8
| | | | | | | | | | | | | ifdef code than needs CONFIG_FPU (acos and friends) BRANCH=ToT BUG=chrome-os-partner:32050 TEST=define CONFIG_FPU on host board and use it. Change-Id: I1c4ed16c23450bb4059d26044f4c1fe45b33674e Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/226414 Reviewed-by: Alec Berg <alecaberg@chromium.org> Reviewed-by: Sheng-liang Song <ssl@chromium.org>
* [common]: Remove accelerator calibration code.Gwendal Grignou2014-09-251-42/+0
| | | | | | | | | | | | | | | | This code is used to find the orientation of the sensor. Given sensor are aligned with the edges of the device, it is not too dificult to find manually. BRANCH=ToT BUG=None TEST=Check ACCEL_CALIBRATE is not used anymore. Check 'make buildall -j' works. Change-Id: I81ffcb4f6b01c530ef16baf13113a5942f615092 Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/219527 Reviewed-by: Alec Berg <alecaberg@chromium.org>
* samus: added gyro support for lsm6ds0Sheng-Liang Song2014-08-261-4/+4
| | | | | | | | | | | | | | | | | | | | | | | | | | Changed motion_sense task to assume sensors are unpowered in G3 and re-initialize sensors every time coming out of G3. Added EC command line test utils as well. Fixed some bug during unit tests. BUG=chrome-os-partner:27313,27320 BRANCH=ToT TEST=Verified on Samus. Tested with accel EC CLIs accelread, accelrange, accelrate, accelres Tested accelcalib, a ACCEL calibration util, and it succeeded. Tested sysfs interface: cd /sys/bus/iio/devices/iio:device1 cat in_accel_*_gyro_raw Signed-off-by: Sheng-Liang Song <ssl@chromium.org> Change-Id: I5752b00c03e1942c790ea4f28610fda83fa2dcbc Reviewed-on: https://chromium-review.googlesource.com/211484 Reviewed-by: Alec Berg <alecaberg@chromium.org>
* rambi: Add motion sense task to track motionAlec Berg2014-02-221-0/+93
Added motion sense task to Clapper and Glimmer. This task samples the accelerometers and calculate a lid angle. Note that as the machine is rotated towards the hinge angle aligning with gravity, the lid calculation becomes less trustworthy. Added a math_util file to hold various mathematical functions useful for calculating lid angle that may be helpful in other places. For each board with accelerometers we need to define some orientation specific data in board.c. There is a calibration procedure through the EC console that can be enabled by defining CONFIG_ACCEL_CALIBRATE. The calibration procedure can help determine the orientation data required. For debugging purposes there is a console command to regularly print to the EC console the accelerometer data and derived lid angle. The console command can be enabled by defining CONFIG_CMD_LID_ANGLE. BUG=none Original-BUG=chrome-os-partner:24703 BRANCH=rambi TEST=Ran the calibration procedure on a Glimmer unit, and then rotated the machine in space. Verified that the lid angle calculated roughly matched actual lid angle. Original-Change-Id: I63a5e384b7f6b628b4ea01de49843355fb8d6ebe Signed-off-by: Alec Berg <alecaberg@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/184783 Reviewed-by: Randall Spangler <rspangler@chromium.org> Signed-off-by: Alec Berg <alecaberg@chromium.org> (cherry picked from commit efb07945a5159fa0e7a746c666b2519ebdca9c22) Conflicts: board/clapper/board.c board/clapper/ec.tasklist board/glimmer/board.c board/glimmer/ec.tasklist Change-Id: Ibc492ef5c11e7084e87f01338c4d7775f9a08c18 Signed-off-by: Alec Berg <alecaberg@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/187433 Reviewed-by: Randall Spangler <rspangler@chromium.org>
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