/* Copyright (c) 2014 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. */ /* Motion sense module to read from various motion sensors. */ #include "accelgyro.h" #include "atomic.h" #include "chipset.h" #include "common.h" #include "console.h" #include "gesture.h" #include "hooks.h" #include "host_command.h" #include "hwtimer.h" #include "lid_angle.h" #include "lightbar.h" #include "math_util.h" #include "mkbp_event.h" #include "motion_sense.h" #include "motion_lid.h" #include "power.h" #include "queue.h" #include "timer.h" #include "task.h" #include "util.h" /* Console output macros */ #define CPUTS(outstr) cputs(CC_MOTION_SENSE, outstr) #define CPRINTS(format, args...) cprints(CC_MOTION_SENSE, format, ## args) #define CPRINTF(format, args...) cprintf(CC_MOTION_SENSE, format, ## args) /* * Sampling interval for measuring acceleration and calculating lid angle. */ test_export_static unsigned int motion_interval; /* Delay between FIFO interruption. */ static unsigned int motion_int_interval; /* Minimum time in between running motion sense task loop. */ unsigned int motion_min_interval = CONFIG_MOTION_MIN_SENSE_WAIT_TIME * MSEC; #ifdef CONFIG_CMD_ACCEL_INFO static int accel_disp; #endif #define SENSOR_ACTIVE(_sensor) (sensor_active & (_sensor)->active_mask) #if defined(CONFIG_LPC) || defined(TEST_MOTION_LID) #define UPDATE_HOST_MEM_MAP #endif /* * Adjustment in us to ec rate when calculating interrupt interval: * To be sure the EC will send an interrupt even if it finishes processing * events slighly ealier than the previous period. */ #define MOTION_SENSOR_INT_ADJUSTMENT_US 10 /* * Mutex to protect sensor values between host command task and * motion sense task: * When we process CMD_DUMP, we want to be sure the motion sense * task is not updating the sensor values at the same time. */ static struct mutex g_sensor_mutex; /* * Current power level (S0, S3, S5, ...) */ test_export_static enum chipset_state_mask sensor_active; #ifdef CONFIG_ACCEL_FIFO /* Need to wake up the AP */ static int wake_up_needed; /* Need to send flush events */ static int fifo_flush_needed; /* Number of element the AP should collect */ static int fifo_queue_count; struct queue motion_sense_fifo = QUEUE_NULL(CONFIG_ACCEL_FIFO, struct ec_response_motion_sensor_data); static int motion_sense_fifo_lost; static void motion_sense_insert_timestamp(void); void motion_sense_fifo_add_unit(struct ec_response_motion_sensor_data *data, struct motion_sensor_t *sensor, int valid_data) { struct ec_response_motion_sensor_data vector; int i; mutex_lock(&g_sensor_mutex); if (queue_space(&motion_sense_fifo) == 0) { queue_remove_unit(&motion_sense_fifo, &vector); motion_sense_fifo_lost++; motion_sensors[vector.sensor_num].lost++; } for (i = 0; i < valid_data; i++) sensor->xyz[i] = data->data[i]; /* For valid sensors, check if AP really needs this data */ if (valid_data) { int removed; if (sensor->oversampling_ratio == 0) { mutex_unlock(&g_sensor_mutex); return; } removed = sensor->oversampling++; sensor->oversampling %= sensor->oversampling_ratio; if (removed != 0) { mutex_unlock(&g_sensor_mutex); return; } } mutex_unlock(&g_sensor_mutex); if (data->flags & MOTIONSENSE_SENSOR_FLAG_WAKEUP) { /* * Fist, send a timestamp to be sure the event will not * be tied to an old one. */ motion_sense_insert_timestamp(); wake_up_needed = 1; } mutex_lock(&g_sensor_mutex); queue_add_unit(&motion_sense_fifo, data); mutex_unlock(&g_sensor_mutex); } static void motion_sense_insert_flush(struct motion_sensor_t *sensor) { struct ec_response_motion_sensor_data vector; vector.flags = MOTIONSENSE_SENSOR_FLAG_FLUSH | MOTIONSENSE_SENSOR_FLAG_TIMESTAMP; vector.timestamp = __hw_clock_source_read(); vector.sensor_num = sensor - motion_sensors; motion_sense_fifo_add_unit(&vector, sensor, 0); } static void motion_sense_insert_timestamp(void) { struct ec_response_motion_sensor_data vector; vector.flags = MOTIONSENSE_SENSOR_FLAG_TIMESTAMP; vector.timestamp = __hw_clock_source_read(); vector.sensor_num = 0; motion_sense_fifo_add_unit(&vector, NULL, 0); } static void motion_sense_get_fifo_info( struct ec_response_motion_sense_fifo_info *fifo_info) { fifo_info->size = motion_sense_fifo.buffer_units; mutex_lock(&g_sensor_mutex); fifo_info->count = fifo_queue_count; fifo_info->total_lost = motion_sense_fifo_lost; mutex_unlock(&g_sensor_mutex); fifo_info->timestamp = __hw_clock_source_read(); } #endif /* Minimal amount of time since last collection before triggering a new one */ static inline int motion_sensor_time_to_read(const timestamp_t *ts, const struct motion_sensor_t *sensor) { int rate_mhz = sensor->drv->get_data_rate(sensor); if (rate_mhz == 0) return 0; /* * converting from kHz to us. * If within 95% of the time, check sensor. */ return time_after(ts->le.lo, sensor->last_collection + SECOND * 950 / rate_mhz); } static enum sensor_config motion_sense_get_ec_config(void) { switch (sensor_active) { case SENSOR_ACTIVE_S0: return SENSOR_CONFIG_EC_S0; case SENSOR_ACTIVE_S3: return SENSOR_CONFIG_EC_S3; case SENSOR_ACTIVE_S5: return SENSOR_CONFIG_EC_S5; default: CPRINTS("get_ec_config: Invalid active state: %x", sensor_active); return SENSOR_CONFIG_MAX; } } /* motion_sense_set_data_rate * * Set the sensor data rate. It is altered when the AP change the data * rate or when the power state changes. */ int motion_sense_set_data_rate(struct motion_sensor_t *sensor) { int roundup, ap_odr_mhz = 0, ec_odr_mhz, odr, ret; enum sensor_config config_id; timestamp_t ts = get_time(); /* We assume the sensor is initialized */ /* Check the AP setting first. */ if (sensor_active != SENSOR_ACTIVE_S5) ap_odr_mhz = BASE_ODR(sensor->config[SENSOR_CONFIG_AP].odr); /* check if the EC set the sensor ODR at a higher frequency */ config_id = motion_sense_get_ec_config(); ec_odr_mhz = BASE_ODR(sensor->config[config_id].odr); if (ec_odr_mhz > ap_odr_mhz) { odr = ec_odr_mhz; } else { odr = ap_odr_mhz; config_id = SENSOR_CONFIG_AP; } roundup = !!(sensor->config[config_id].odr & ROUND_UP_FLAG); ret = sensor->drv->set_data_rate(sensor, odr, roundup); if (ret) return ret; CPRINTS("%s ODR: %d - roundup %d from config %d [AP %d]", sensor->name, odr, roundup, config_id, BASE_ODR(sensor->config[SENSOR_CONFIG_AP].odr)); mutex_lock(&g_sensor_mutex); if (ap_odr_mhz) sensor->oversampling_ratio = sensor->drv->get_data_rate(sensor) / ap_odr_mhz; else sensor->oversampling_ratio = 0; /* * Reset last collection: the last collection may be so much in the past * it may appear to be in the future. */ sensor->last_collection = ts.le.lo; sensor->oversampling = 0; mutex_unlock(&g_sensor_mutex); return 0; } static int motion_sense_set_ec_rate_from_ap( const struct motion_sensor_t *sensor, unsigned int new_rate_us) { int odr_mhz = sensor->drv->get_data_rate(sensor); if (new_rate_us == 0) return 0; #ifdef CONFIG_ACCEL_FORCE_MODE_MASK if (CONFIG_ACCEL_FORCE_MODE_MASK & (1 << (sensor - motion_sensors))) goto end_set_ec_rate_from_ap; #endif if (odr_mhz == 0) goto end_set_ec_rate_from_ap; /* * If the EC collection rate is close to the sensor data rate, * given variation from the EC scheduler, it is possible that a sensor * will not present any measurement for a given time slice, and then 2 * measurement for the next. That will create a large interval between * 2 measurements. * To prevent that, increase the EC period by 5% to be sure to get at * least one measurement at every collection time. * We wll apply that correction only if the ec rate is within 10% of * the data rate. */ if (SECOND * 1100 / odr_mhz > new_rate_us) new_rate_us = new_rate_us / 100 * 105; end_set_ec_rate_from_ap: return MAX(new_rate_us, motion_min_interval); } /* * motion_sense_select_ec_rate * * Calculate the ec_rate for a given sensor. * - sensor: sensor to use * - config_id: determine the requestor (AP or EC). * - interrupt: * If interrupt is set: return the sampling rate requested by AP or EC. * If interrupt is not set and the sensor is in forced mode, * we return the rate needed to probe the sensor at the right ODR. * otherwise return the sampling rate requested by AP or EC. * * return rate in us. */ static int motion_sense_select_ec_rate( const struct motion_sensor_t *sensor, enum sensor_config config_id, int interrupt) { #ifdef CONFIG_ACCEL_FORCE_MODE_MASK if (interrupt == 0 && (CONFIG_ACCEL_FORCE_MODE_MASK & (1 << (sensor - motion_sensors)))) { int rate_mhz = BASE_ODR(sensor->config[config_id].odr); /* we have to run ec at the sensor frequency rate.*/ if (rate_mhz > 0) return SECOND * 1000 / rate_mhz; else return 0; } else #endif return sensor->config[config_id].ec_rate; } /* motion_sense_ec_rate * * Calculate the sensor ec rate. It will be use to set the motion task polling * rate. * * Return the EC rate, in us. */ static int motion_sense_ec_rate(struct motion_sensor_t *sensor) { int ec_rate = 0, ec_rate_from_cfg; /* Check the AP setting first. */ if (sensor_active != SENSOR_ACTIVE_S5) ec_rate = motion_sense_select_ec_rate( sensor, SENSOR_CONFIG_AP, 0); ec_rate_from_cfg = motion_sense_select_ec_rate( sensor, motion_sense_get_ec_config(), 0); if (ec_rate_from_cfg != 0) if (ec_rate == 0 || ec_rate_from_cfg < ec_rate) ec_rate = ec_rate_from_cfg; return ec_rate; } /* * motion_sense_set_motion_intervals * * Set the wake up interval for the motion sense thread. * It is set to the highest frequency one of the sensors need to be polled at. * * Note: Not static to be tested. */ static int motion_sense_set_motion_intervals(void) { int i, sensor_ec_rate, ec_rate = 0, ec_int_rate = 0; struct motion_sensor_t *sensor; for (i = 0; i < motion_sensor_count; ++i) { sensor = &motion_sensors[i]; /* * If the sensor is sleeping, no need to check it periodically. */ if ((sensor->state != SENSOR_INITIALIZED) || (sensor->drv->get_data_rate(sensor) == 0)) continue; sensor_ec_rate = motion_sense_ec_rate(sensor); if (sensor_ec_rate == 0) continue; if (ec_rate == 0 || sensor_ec_rate < ec_rate) ec_rate = sensor_ec_rate; sensor_ec_rate = motion_sense_select_ec_rate( sensor, SENSOR_CONFIG_AP, 1); if (ec_int_rate == 0 || (sensor_ec_rate && sensor_ec_rate < ec_int_rate)) ec_int_rate = sensor_ec_rate; } motion_interval = ec_rate; motion_int_interval = MAX(0, ec_int_rate - MOTION_SENSOR_INT_ADJUSTMENT_US); /* * Wake up the motion sense task: we want to sensor task to take * in account the new period right away. */ task_wake(TASK_ID_MOTIONSENSE); return motion_interval; } static inline int motion_sense_init(struct motion_sensor_t *sensor) { int ret, cnt = 3; /* Initialize accelerometers. */ do { ret = sensor->drv->init(sensor); } while ((ret != EC_SUCCESS) && (--cnt > 0)); if (ret != EC_SUCCESS) { sensor->state = SENSOR_INIT_ERROR; } else { sensor->state = SENSOR_INITIALIZED; motion_sense_set_data_rate(sensor); } return ret; } /* * motion_sense_switch_sensor_rate * * Suspend all sensors that are not needed. * Mark them as uninitialized, they will lose power and * need to be initialized again. */ static void motion_sense_switch_sensor_rate(void) { int i, ret; struct motion_sensor_t *sensor; for (i = 0; i < motion_sensor_count; ++i) { sensor = &motion_sensors[i]; if (SENSOR_ACTIVE(sensor)) { /* Initialize or just back the odr previously set. */ if (sensor->state == SENSOR_INITIALIZED) { motion_sense_set_data_rate(sensor); } else { ret = motion_sense_init(sensor); if (ret != EC_SUCCESS) { CPRINTS("%s: %d: init failed: %d", sensor->name, i, ret); } } } else { /* The sensors are being powered off */ if (sensor->state == SENSOR_INITIALIZED) sensor->state = SENSOR_NOT_INITIALIZED; } } motion_sense_set_motion_intervals(); } static void motion_sense_shutdown(void) { int i; struct motion_sensor_t *sensor; #ifdef CONFIG_GESTURE_DETECTION_MASK uint32_t enabled = 0, disabled, mask; #endif sensor_active = SENSOR_ACTIVE_S5; for (i = 0; i < motion_sensor_count; i++) { sensor = &motion_sensors[i]; /* Forget about changes made by the AP */ sensor->config[SENSOR_CONFIG_AP].odr = 0; sensor->config[SENSOR_CONFIG_AP].ec_rate = 0; } motion_sense_switch_sensor_rate(); for (i = 0; i < motion_sensor_count; i++) { sensor = &motion_sensors[i]; if (sensor->state != SENSOR_INITIALIZED) continue; sensor->drv->set_range(sensor, sensor->default_range, 0); } /* Forget activities set by the AP */ #ifdef CONFIG_GESTURE_DETECTION_MASK mask = CONFIG_GESTURE_DETECTION_MASK; while (mask) { i = get_next_bit(&mask); sensor = &motion_sensors[i]; if (sensor->state != SENSOR_INITIALIZED) continue; sensor->drv->list_activities(sensor, &enabled, &disabled); /* exclude double tap, it is used internally. */ enabled &= ~(1 << MOTIONSENSE_ACTIVITY_DOUBLE_TAP); while (enabled) { int activity = get_next_bit(&enabled); sensor->drv->manage_activity(sensor, activity, 0, NULL); } /* Renable double tap in case AP disabled it */ sensor->drv->manage_activity(sensor, MOTIONSENSE_ACTIVITY_DOUBLE_TAP, 1, NULL); } #endif } DECLARE_HOOK(HOOK_CHIPSET_SHUTDOWN, motion_sense_shutdown, MOTION_SENSE_HOOK_PRIO); static void motion_sense_suspend(void) { /* * If we are coming from S5, don't enter suspend: * We will go in SO almost immediately. */ if (sensor_active == SENSOR_ACTIVE_S5) return; sensor_active = SENSOR_ACTIVE_S3; motion_sense_switch_sensor_rate(); } DECLARE_HOOK(HOOK_CHIPSET_SUSPEND, motion_sense_suspend, MOTION_SENSE_HOOK_PRIO); static void motion_sense_resume(void) { sensor_active = SENSOR_ACTIVE_S0; motion_sense_switch_sensor_rate(); } DECLARE_HOOK(HOOK_CHIPSET_RESUME, motion_sense_resume, MOTION_SENSE_HOOK_PRIO); static void motion_sense_startup(void) { /* * If the AP is already in S0, call the resume hook now. * We may initialize the sensor 2 times (once in RO, another time in * RW), but it may be necessary if the init sequence has changed. */ if (chipset_in_state(SENSOR_ACTIVE_S0_S3_S5)) motion_sense_shutdown(); if (chipset_in_state(SENSOR_ACTIVE_S0_S3)) motion_sense_suspend(); if (chipset_in_state(SENSOR_ACTIVE_S0)) motion_sense_resume(); } DECLARE_HOOK(HOOK_INIT, motion_sense_startup, MOTION_SENSE_HOOK_PRIO); /* Write to LPC status byte to represent that accelerometers are present. */ static inline void set_present(uint8_t *lpc_status) { *lpc_status |= EC_MEMMAP_ACC_STATUS_PRESENCE_BIT; } #ifdef UPDATE_HOST_MEM_MAP /* Update/Write LPC data */ static inline void update_sense_data(uint8_t *lpc_status, uint16_t *lpc_data, int *psample_id) { int i; struct motion_sensor_t *sensor; /* * 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. Also, * note that we share the lid angle calculation with host only * for debugging purposes. The EC lid angle is an approximation * with uncalibrated accelerometers. The AP calculates a separate, * more accurate lid angle. */ #ifdef CONFIG_LID_ANGLE lpc_data[0] = motion_lid_get_angle(); #else lpc_data[0] = LID_ANGLE_UNRELIABLE; #endif /* Assumptions on the list of sensors */ for (i = 0; i < MIN(motion_sensor_count, 3); i++) { sensor = &motion_sensors[i]; lpc_data[1+3*i] = sensor->xyz[X]; lpc_data[2+3*i] = sensor->xyz[Y]; lpc_data[3+3*i] = sensor->xyz[Z]; } /* * Increment sample id and clear busy bit to signal we finished * updating data. */ *psample_id = (*psample_id + 1) & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK; *lpc_status = EC_MEMMAP_ACC_STATUS_PRESENCE_BIT | *psample_id; } #endif static int motion_sense_read(struct motion_sensor_t *sensor) { if (sensor->state != SENSOR_INITIALIZED) return EC_ERROR_UNKNOWN; if (sensor->drv->get_data_rate(sensor) == 0) return EC_ERROR_NOT_POWERED; /* Read all raw X,Y,Z accelerations. */ return sensor->drv->read(sensor, sensor->raw_xyz); } static int motion_sense_process(struct motion_sensor_t *sensor, uint32_t *event, const timestamp_t *ts) { int ret = EC_SUCCESS; #ifdef CONFIG_ACCEL_INTERRUPTS if ((*event & TASK_EVENT_MOTION_INTERRUPT_MASK) && (sensor->drv->irq_handler != NULL)) { ret = sensor->drv->irq_handler(sensor, event); if (ret == EC_SUCCESS) sensor->last_collection = ts->le.lo; } #endif #ifdef CONFIG_ACCEL_FIFO if (sensor->drv->load_fifo != NULL) { /* Load fifo is filling raw_xyz sensor vector */ sensor->drv->load_fifo(sensor); } else if (motion_sensor_time_to_read(ts, sensor)) { struct ec_response_motion_sensor_data vector; ret = motion_sense_read(sensor); if (ret == EC_SUCCESS) { vector.flags = 0; vector.sensor_num = sensor - motion_sensors; vector.data[X] = sensor->raw_xyz[X]; vector.data[Y] = sensor->raw_xyz[Y]; vector.data[Z] = sensor->raw_xyz[Z]; motion_sense_fifo_add_unit(&vector, sensor, 3); sensor->last_collection = ts->le.lo; } } else { ret = EC_ERROR_BUSY; } if (*event & TASK_EVENT_MOTION_FLUSH_PENDING) { int flush_pending; flush_pending = atomic_read_clear(&sensor->flush_pending); for (; flush_pending > 0; flush_pending--) { fifo_flush_needed = 1; motion_sense_insert_flush(sensor); } } #else if (motion_sensor_time_to_read(ts, sensor)) { /* Get latest data for local calculation */ ret = motion_sense_read(sensor); } else { ret = EC_ERROR_BUSY; } if (ret == EC_SUCCESS) { sensor->last_collection = ts->le.lo; mutex_lock(&g_sensor_mutex); memcpy(sensor->xyz, sensor->raw_xyz, sizeof(sensor->xyz)); mutex_unlock(&g_sensor_mutex); } #endif return ret; } /* * Motion Sense Task * Requirement: motion_sensors[] are defined in board.c file. * Two (minimum) Accelerometers: * 1 in the A/B(lid, display) and 1 in the C/D(base, keyboard) * Gyro Sensor (optional) */ void motion_sense_task(void) { int i, ret, wait_us; timestamp_t ts_begin_task, ts_end_task; uint32_t event = 0; uint16_t ready_status; struct motion_sensor_t *sensor; #ifdef CONFIG_LID_ANGLE const uint16_t lid_angle_sensors = ((1 << CONFIG_LID_ANGLE_SENSOR_BASE)| (1 << CONFIG_LID_ANGLE_SENSOR_LID)); #endif #ifdef CONFIG_ACCEL_FIFO timestamp_t ts_last_int; #endif #ifdef UPDATE_HOST_MEM_MAP int sample_id = 0; uint8_t *lpc_status; uint16_t *lpc_data; lpc_status = host_get_memmap(EC_MEMMAP_ACC_STATUS); lpc_data = (uint16_t *)host_get_memmap(EC_MEMMAP_ACC_DATA); set_present(lpc_status); #endif #ifdef CONFIG_ACCEL_FIFO ts_last_int = get_time(); #endif while (1) { ts_begin_task = get_time(); ready_status = 0; for (i = 0; i < motion_sensor_count; ++i) { sensor = &motion_sensors[i]; /* if the sensor is active in the current power state */ if (SENSOR_ACTIVE(sensor)) { if (sensor->state != SENSOR_INITIALIZED) { continue; } ret = motion_sense_process(sensor, &event, &ts_begin_task); if (ret != EC_SUCCESS) continue; ready_status |= (1 << i); } } #ifdef CONFIG_GESTURE_DETECTION #ifdef CONFIG_GESTURE_SW_DETECTION /* Run gesture recognition engine */ gesture_calc(&event); #endif #ifdef CONFIG_GESTURE_SENSOR_BATTERY_TAP if (event & CONFIG_GESTURE_TAP_EVENT) { #ifdef CONFIG_ACCEL_FIFO struct ec_response_motion_sensor_data vector; /* * Send events to the FIFO * AP is ignoring double tap event, do no wake up and no * automatic disable. */ vector.flags = 0; vector.activity = MOTIONSENSE_ACTIVITY_DOUBLE_TAP; vector.state = 1; /* triggered */ vector.sensor_num = MOTION_SENSE_ACTIVITY_SENSOR_ID; motion_sense_fifo_add_unit(&vector, NULL, 0); #endif CPRINTS("double tap!"); lightbar_sequence(LIGHTBAR_TAP); } #endif #ifdef CONFIG_GESTURE_SIGMO if (event & CONFIG_GESTURE_SIGMO_EVENT) { struct motion_sensor_t *activity_sensor; #ifdef CONFIG_ACCEL_FIFO struct ec_response_motion_sensor_data vector; /* Send events to the FIFO */ vector.flags = MOTIONSENSE_SENSOR_FLAG_WAKEUP; vector.activity = MOTIONSENSE_ACTIVITY_SIG_MOTION; vector.state = 1; /* triggered */ vector.sensor_num = MOTION_SENSE_ACTIVITY_SENSOR_ID; motion_sense_fifo_add_unit(&vector, NULL, 0); #endif CPRINTS("significant motion"); /* Disable further detection */ activity_sensor = &motion_sensors[CONFIG_GESTURE_SIGMO]; activity_sensor->drv->manage_activity( activity_sensor, MOTIONSENSE_ACTIVITY_SIG_MOTION, 0, NULL); } #endif #endif #ifdef CONFIG_LID_ANGLE /* * Check to see that the sensors required for lid angle * calculation are ready. */ ready_status &= lid_angle_sensors; if (ready_status == lid_angle_sensors) motion_lid_calc(); #endif #ifdef CONFIG_CMD_ACCEL_INFO if (accel_disp) { CPRINTF("[%T event 0x%08x ", event); for (i = 0; i < motion_sensor_count; ++i) { sensor = &motion_sensors[i]; CPRINTF("%s=%-5d, %-5d, %-5d ", sensor->name, sensor->xyz[X], sensor->xyz[Y], sensor->xyz[Z]); } #ifdef CONFIG_LID_ANGLE CPRINTF("a=%-4d", motion_lid_get_angle()); #endif CPRINTF("]\n"); } #endif #ifdef UPDATE_HOST_MEM_MAP update_sense_data(lpc_status, lpc_data, &sample_id); #endif ts_end_task = get_time(); #ifdef CONFIG_ACCEL_FIFO /* * Ask the host to flush the queue if * - a flush event has been queued. * - the queue is almost full, * - we haven't done it for a while. */ if (fifo_flush_needed || wake_up_needed || event & TASK_EVENT_MOTION_ODR_CHANGE || queue_space(&motion_sense_fifo) < CONFIG_ACCEL_FIFO_THRES || (motion_int_interval > 0 && time_after(ts_end_task.le.lo, ts_last_int.le.lo + motion_int_interval))) { if (!fifo_flush_needed) motion_sense_insert_timestamp(); fifo_flush_needed = 0; ts_last_int = ts_end_task; /* * Count the number of event the AP is allowed to * collect. */ mutex_lock(&g_sensor_mutex); fifo_queue_count = queue_count(&motion_sense_fifo); mutex_unlock(&g_sensor_mutex); #ifdef CONFIG_MKBP_EVENT /* * We don't currently support wake up sensor. * When we do, add per sensor test to know * when sending the event. */ if (sensor_active == SENSOR_ACTIVE_S0 || wake_up_needed) { mkbp_send_event(EC_MKBP_EVENT_SENSOR_FIFO); wake_up_needed = 0; } #endif } #endif if (motion_interval > 0) { /* * Delay appropriately to keep sampling time * consistent. */ wait_us = motion_interval - (ts_end_task.val - ts_begin_task.val); /* * Guarantee some minimum delay to allow other lower * priority tasks to run. */ if (wait_us < motion_min_interval) wait_us = motion_min_interval; } else { wait_us = -1; } event = task_wait_event(wait_us); } } #ifdef CONFIG_ACCEL_FIFO static int motion_sense_get_next_event(uint8_t *out) { union ec_response_get_next_data *data = (union ec_response_get_next_data *)out; /* out is not padded. It has one byte for the event type */ motion_sense_get_fifo_info(&data->sensor_fifo.info); return sizeof(data->sensor_fifo); } DECLARE_EVENT_SOURCE(EC_MKBP_EVENT_SENSOR_FIFO, motion_sense_get_next_event); #endif /*****************************************************************************/ /* Host commands */ /* Function to map host sensor IDs to motion sensor. */ static struct motion_sensor_t *host_sensor_id_to_real_sensor(int host_id) { struct motion_sensor_t *sensor; if (host_id >= motion_sensor_count) return NULL; sensor = &motion_sensors[host_id]; /* if sensor is powered and initialized, return match */ if (SENSOR_ACTIVE(sensor) && (sensor->state == SENSOR_INITIALIZED)) return sensor; /* If no match then the EC currently doesn't support ID received. */ return NULL; } static struct motion_sensor_t *host_sensor_id_to_motion_sensor(int host_id) { #ifdef CONFIG_GESTURE_HOST_DETECTION if (host_id == MOTION_SENSE_ACTIVITY_SENSOR_ID) /* * Return the info for the first sensor that * support some gestures. */ return host_sensor_id_to_real_sensor( __builtin_ctz(CONFIG_GESTURE_DETECTION_MASK)); #endif return host_sensor_id_to_real_sensor(host_id); } static int host_cmd_motion_sense(struct host_cmd_handler_args *args) { const struct ec_params_motion_sense *in = args->params; struct ec_response_motion_sense *out = args->response; struct motion_sensor_t *sensor; int i, ret = EC_RES_INVALID_PARAM, reported; switch (in->cmd) { case MOTIONSENSE_CMD_DUMP: out->dump.module_flags = (*(host_get_memmap(EC_MEMMAP_ACC_STATUS)) & EC_MEMMAP_ACC_STATUS_PRESENCE_BIT) ? MOTIONSENSE_MODULE_FLAG_ACTIVE : 0; out->dump.sensor_count = ALL_MOTION_SENSORS; args->response_size = sizeof(out->dump); reported = MIN(ALL_MOTION_SENSORS, in->dump.max_sensor_count); mutex_lock(&g_sensor_mutex); for (i = 0; i < reported; i++) { out->dump.sensor[i].flags = MOTIONSENSE_SENSOR_FLAG_PRESENT; if (i < motion_sensor_count) { sensor = &motion_sensors[i]; /* casting from int to s16 */ out->dump.sensor[i].data[X] = sensor->xyz[X]; out->dump.sensor[i].data[Y] = sensor->xyz[Y]; out->dump.sensor[i].data[Z] = sensor->xyz[Z]; } else { memset(out->dump.sensor[i].data, 0, 3 * sizeof(int16_t)); } } mutex_unlock(&g_sensor_mutex); args->response_size += reported * sizeof(struct ec_response_motion_sensor_data); break; case MOTIONSENSE_CMD_DATA: sensor = host_sensor_id_to_real_sensor( in->sensor_odr.sensor_num); if (sensor == NULL) return EC_RES_INVALID_PARAM; out->data.flags = 0; mutex_lock(&g_sensor_mutex); out->data.data[X] = sensor->xyz[X]; out->data.data[Y] = sensor->xyz[Y]; out->data.data[Z] = sensor->xyz[Z]; mutex_unlock(&g_sensor_mutex); args->response_size = sizeof(out->data); break; case MOTIONSENSE_CMD_INFO: sensor = host_sensor_id_to_motion_sensor( in->sensor_odr.sensor_num); if (sensor == NULL) return EC_RES_INVALID_PARAM; #ifdef CONFIG_GESTURE_HOST_DETECTION if (in->sensor_odr.sensor_num == MOTION_SENSE_ACTIVITY_SENSOR_ID) out->info.type = MOTIONSENSE_TYPE_ACTIVITY; else #endif out->info.type = sensor->type; out->info.location = sensor->location; out->info.chip = sensor->chip; args->response_size = sizeof(out->info); break; case MOTIONSENSE_CMD_EC_RATE: sensor = host_sensor_id_to_real_sensor( in->sensor_odr.sensor_num); if (sensor == NULL) return EC_RES_INVALID_PARAM; /* * Set new sensor sampling rate when AP is on, if the data arg * has a value. */ if (in->ec_rate.data != EC_MOTION_SENSE_NO_VALUE) { sensor->config[SENSOR_CONFIG_AP].ec_rate = motion_sense_set_ec_rate_from_ap( sensor, in->ec_rate.data * MSEC); /* Bound the new sampling rate. */ motion_sense_set_motion_intervals(); } out->ec_rate.ret = motion_sense_ec_rate(sensor) / MSEC; args->response_size = sizeof(out->ec_rate); break; case MOTIONSENSE_CMD_SENSOR_ODR: /* Verify sensor number is valid. */ sensor = host_sensor_id_to_real_sensor( in->sensor_odr.sensor_num); if (sensor == NULL) return EC_RES_INVALID_PARAM; /* Set new data rate if the data arg has a value. */ if (in->sensor_odr.data != EC_MOTION_SENSE_NO_VALUE) { #ifdef CONFIG_ACCEL_FIFO /* * To be sure timestamps are calculated properly, * Send an event to have a timestamp inserted in the * FIFO. */ motion_sense_insert_timestamp(); #endif sensor->config[SENSOR_CONFIG_AP].odr = in->sensor_odr.data | (in->sensor_odr.roundup ? ROUND_UP_FLAG : 0); ret = motion_sense_set_data_rate(sensor); if (ret != EC_SUCCESS) return EC_RES_INVALID_PARAM; #ifdef CONFIG_ACCEL_FIFO /* * The new ODR may suspend sensor, leaving samples * in the FIFO. Flush it explicitly. */ task_set_event(TASK_ID_MOTIONSENSE, TASK_EVENT_MOTION_ODR_CHANGE, 0); #endif /* * If the sensor was suspended before, or now * suspended, we have to recalculate the EC sampling * rate */ motion_sense_set_motion_intervals(); } out->sensor_odr.ret = sensor->drv->get_data_rate(sensor); args->response_size = sizeof(out->sensor_odr); break; case MOTIONSENSE_CMD_SENSOR_RANGE: /* Verify sensor number is valid. */ sensor = host_sensor_id_to_real_sensor( in->sensor_range.sensor_num); if (sensor == NULL) return EC_RES_INVALID_PARAM; /* Set new range if the data arg has a value. */ if (in->sensor_range.data != EC_MOTION_SENSE_NO_VALUE) { if (sensor->drv->set_range(sensor, in->sensor_range.data, in->sensor_range.roundup) != EC_SUCCESS) { return EC_RES_INVALID_PARAM; } } out->sensor_range.ret = sensor->drv->get_range(sensor); args->response_size = sizeof(out->sensor_range); break; case MOTIONSENSE_CMD_SENSOR_OFFSET: /* Verify sensor number is valid. */ sensor = host_sensor_id_to_real_sensor( in->sensor_offset.sensor_num); if (sensor == NULL) return EC_RES_INVALID_PARAM; /* Set new range if the data arg has a value. */ if (in->sensor_offset.flags & MOTION_SENSE_SET_OFFSET) { ret = sensor->drv->set_offset(sensor, in->sensor_offset.offset, in->sensor_offset.temp); if (ret != EC_SUCCESS) return ret; } ret = sensor->drv->get_offset(sensor, out->sensor_offset.offset, &out->sensor_offset.temp); if (ret != EC_SUCCESS) return ret; args->response_size = sizeof(out->sensor_offset); break; case MOTIONSENSE_CMD_PERFORM_CALIB: /* Verify sensor number is valid. */ sensor = host_sensor_id_to_real_sensor( in->sensor_offset.sensor_num); if (sensor == NULL) return EC_RES_INVALID_PARAM; if (!sensor->drv->perform_calib) return EC_RES_INVALID_COMMAND; ret = sensor->drv->perform_calib(sensor); if (ret != EC_SUCCESS) return ret; ret = sensor->drv->get_offset(sensor, out->sensor_offset.offset, &out->sensor_offset.temp); if (ret != EC_SUCCESS) return ret; args->response_size = sizeof(out->sensor_offset); break; #ifdef CONFIG_ACCEL_FIFO case MOTIONSENSE_CMD_FIFO_FLUSH: sensor = host_sensor_id_to_real_sensor( in->sensor_odr.sensor_num); if (sensor == NULL) return EC_RES_INVALID_PARAM; atomic_add(&sensor->flush_pending, 1); task_set_event(TASK_ID_MOTIONSENSE, TASK_EVENT_MOTION_FLUSH_PENDING, 0); /* pass-through */ case MOTIONSENSE_CMD_FIFO_INFO: motion_sense_get_fifo_info(&out->fifo_info); for (i = 0; i < motion_sensor_count; i++) { out->fifo_info.lost[i] = motion_sensors[i].lost; motion_sensors[i].lost = 0; } motion_sense_fifo_lost = 0; args->response_size = sizeof(out->fifo_info) + sizeof(uint16_t) * motion_sensor_count; break; case MOTIONSENSE_CMD_FIFO_READ: mutex_lock(&g_sensor_mutex); reported = MIN((args->response_max - sizeof(out->fifo_read)) / motion_sense_fifo.unit_bytes, MIN(queue_count(&motion_sense_fifo), in->fifo_read.max_data_vector)); reported = queue_remove_units(&motion_sense_fifo, out->fifo_read.data, reported); mutex_unlock(&g_sensor_mutex); out->fifo_read.number_data = reported; args->response_size = sizeof(out->fifo_read) + reported * motion_sense_fifo.unit_bytes; break; #else case MOTIONSENSE_CMD_FIFO_INFO: /* Only support the INFO command, to tell there is no FIFO. */ memset(&out->fifo_info, 0, sizeof(out->fifo_info)); args->response_size = sizeof(out->fifo_info); break; #endif #ifdef CONFIG_GESTURE_HOST_DETECTION case MOTIONSENSE_CMD_LIST_ACTIVITIES: { uint32_t enabled, disabled, mask, i; out->list_activities.enabled = 0; out->list_activities.disabled = 0; ret = EC_RES_SUCCESS; mask = CONFIG_GESTURE_DETECTION_MASK; while (mask && ret == EC_RES_SUCCESS) { i = get_next_bit(&mask); sensor = &motion_sensors[i]; ret = sensor->drv->list_activities(sensor, &enabled, &disabled); if (ret == EC_RES_SUCCESS) { out->list_activities.enabled |= enabled; out->list_activities.disabled |= disabled; } } if (ret != EC_RES_SUCCESS) return ret; args->response_size = sizeof(out->list_activities); break; } case MOTIONSENSE_CMD_SET_ACTIVITY: { uint32_t enabled, disabled, mask, i; mask = CONFIG_GESTURE_DETECTION_MASK; ret = EC_RES_SUCCESS; while (mask && ret == EC_RES_SUCCESS) { i = get_next_bit(&mask); sensor = &motion_sensors[i]; sensor->drv->list_activities(sensor, &enabled, &disabled); if ((1 << in->set_activity.activity) & (enabled | disabled)) ret = sensor->drv->manage_activity(sensor, in->set_activity.activity, in->set_activity.enable, &in->set_activity); } if (ret != EC_RES_SUCCESS) return ret; args->response_size = sizeof(out->set_activity); break; } #endif default: /* Call other users of the motion task */ #ifdef CONFIG_LID_ANGLE if (ret == EC_RES_INVALID_PARAM) ret = host_cmd_motion_lid(args); #endif return ret; } return EC_RES_SUCCESS; } DECLARE_HOST_COMMAND(EC_CMD_MOTION_SENSE_CMD, host_cmd_motion_sense, EC_VER_MASK(1) | EC_VER_MASK(2)); /*****************************************************************************/ /* Console commands */ #ifdef CONFIG_CMD_ACCELS static int command_accelrange(int argc, char **argv) { char *e; int id, data, round = 1; struct motion_sensor_t *sensor; if (argc < 2 || argc > 4) return EC_ERROR_PARAM_COUNT; /* First argument is sensor id. */ id = strtoi(argv[1], &e, 0); if (*e || id < 0 || id >= motion_sensor_count) return EC_ERROR_PARAM1; sensor = &motion_sensors[id]; if (argc >= 3) { /* Second argument is data to write. */ data = strtoi(argv[2], &e, 0); if (*e) return EC_ERROR_PARAM2; if (argc == 4) { /* Third argument is rounding flag. */ round = strtoi(argv[3], &e, 0); if (*e) return EC_ERROR_PARAM3; } /* * Write new range, if it returns invalid arg, then return * a parameter error. */ if (sensor->drv->set_range(sensor, data, round) == EC_ERROR_INVAL) return EC_ERROR_PARAM2; } else { ccprintf("Range for sensor %d: %d\n", id, sensor->drv->get_range(sensor)); } return EC_SUCCESS; } DECLARE_CONSOLE_COMMAND(accelrange, command_accelrange, "id [data [roundup]]", "Read or write accelerometer range", NULL); static int command_accelresolution(int argc, char **argv) { char *e; int id, data, round = 1; struct motion_sensor_t *sensor; if (argc < 2 || argc > 4) return EC_ERROR_PARAM_COUNT; /* First argument is sensor id. */ id = strtoi(argv[1], &e, 0); if (*e || id < 0 || id >= motion_sensor_count) return EC_ERROR_PARAM1; sensor = &motion_sensors[id]; if (argc >= 3) { /* Second argument is data to write. */ data = strtoi(argv[2], &e, 0); if (*e) return EC_ERROR_PARAM2; if (argc == 4) { /* Third argument is rounding flag. */ round = strtoi(argv[3], &e, 0); if (*e) return EC_ERROR_PARAM3; } /* * Write new resolution, if it returns invalid arg, then * return a parameter error. */ if (sensor->drv->set_resolution(sensor, data, round) == EC_ERROR_INVAL) return EC_ERROR_PARAM2; } else { ccprintf("Resolution for sensor %d: %d\n", id, sensor->drv->get_resolution(sensor)); } return EC_SUCCESS; } DECLARE_CONSOLE_COMMAND(accelres, command_accelresolution, "id [data [roundup]]", "Read or write accelerometer resolution", NULL); static int command_accel_data_rate(int argc, char **argv) { char *e; int id, data, round = 1, ret; struct motion_sensor_t *sensor; enum sensor_config config_id; if (argc < 2 || argc > 4) return EC_ERROR_PARAM_COUNT; /* First argument is sensor id. */ id = strtoi(argv[1], &e, 0); if (*e || id < 0 || id >= motion_sensor_count) return EC_ERROR_PARAM1; sensor = &motion_sensors[id]; if (argc >= 3) { /* Second argument is data to write. */ data = strtoi(argv[2], &e, 0); if (*e) return EC_ERROR_PARAM2; if (argc == 4) { /* Third argument is rounding flag. */ round = strtoi(argv[3], &e, 0); if (*e) return EC_ERROR_PARAM3; } /* * Take ownership of the sensor and * Write new data rate, if it returns invalid arg, then * return a parameter error. */ config_id = motion_sense_get_ec_config(); sensor->config[SENSOR_CONFIG_AP].odr = 0; sensor->config[config_id].odr = data | (round ? ROUND_UP_FLAG : 0); ret = motion_sense_set_data_rate(sensor); if (ret) return EC_ERROR_PARAM2; /* Sensor might be out of suspend, check the ec_rate */ motion_sense_set_motion_intervals(); } else { ccprintf("Data rate for sensor %d: %d\n", id, sensor->drv->get_data_rate(sensor)); ccprintf("EC rate for sensor %d: %d\n", id, motion_sense_ec_rate(sensor)); ccprintf("Current EC rate: %d\n", motion_interval); ccprintf("Current Interrupt rate: %d\n", motion_int_interval); } return EC_SUCCESS; } DECLARE_CONSOLE_COMMAND(accelrate, command_accel_data_rate, "id [data [roundup]]", "Read or write accelerometer ODR", NULL); static int command_accel_read_xyz(int argc, char **argv) { char *e; int id, n = 1, ret; struct motion_sensor_t *sensor; vector_3_t v; if (argc < 2) return EC_ERROR_PARAM_COUNT; /* First argument is sensor id. */ id = strtoi(argv[1], &e, 0); if (*e || id < 0 || id >= motion_sensor_count) return EC_ERROR_PARAM1; if (argc >= 3) n = strtoi(argv[2], &e, 0); sensor = &motion_sensors[id]; while ((n == -1) || (n-- > 0)) { ret = sensor->drv->read(sensor, v); if (ret == 0) ccprintf("Current data %d: %-5d %-5d %-5d\n", id, v[X], v[Y], v[Z]); else ccprintf("vector not ready\n"); ccprintf("Last calib. data %d: %-5d %-5d %-5d\n", id, sensor->xyz[X], sensor->xyz[Y], sensor->xyz[Z]); task_wait_event(motion_min_interval); } return EC_SUCCESS; } DECLARE_CONSOLE_COMMAND(accelread, command_accel_read_xyz, "id [n]", "Read sensor x/y/z", NULL); static int command_accel_init(int argc, char **argv) { char *e; int id, ret; struct motion_sensor_t *sensor; if (argc < 2) return EC_ERROR_PARAM_COUNT; /* First argument is sensor id. */ id = strtoi(argv[1], &e, 0); if (*e || id < 0 || id >= motion_sensor_count) return EC_ERROR_PARAM1; sensor = &motion_sensors[id]; ret = motion_sense_init(sensor); ccprintf("%s: state %d - %d\n", sensor->name, sensor->state, ret); return EC_SUCCESS; } DECLARE_CONSOLE_COMMAND(accelinit, command_accel_init, "id", "Init sensor", NULL); #ifdef CONFIG_CMD_ACCEL_INFO static int command_display_accel_info(int argc, char **argv) { char *e; int val; if (argc > 3) return EC_ERROR_PARAM_COUNT; /* First argument is on/off whether to display accel data. */ if (argc > 1) { if (!parse_bool(argv[1], &val)) return EC_ERROR_PARAM1; accel_disp = val; } /* * Second arg changes the accel task time interval. Note accel * sampling interval will be clobbered when chipset suspends or * resumes. */ if (argc > 2) { val = strtoi(argv[2], &e, 0); if (*e) return EC_ERROR_PARAM2; motion_interval = val * MSEC; task_wake(TASK_ID_MOTIONSENSE); } return EC_SUCCESS; } DECLARE_CONSOLE_COMMAND(accelinfo, command_display_accel_info, "on/off [interval]", "Print motion sensor info, lid angle calculations" " and set calculation frequency.", NULL); #endif /* CONFIG_CMD_ACCEL_INFO */ #ifdef CONFIG_ACCEL_INTERRUPTS /* TODO(crosbug.com/p/426659): this code is broken, does not with ST sensors. */ void accel_int_lid(enum gpio_signal signal) { /* * Print statement is here for testing with console accelint command. * Remove print statement when interrupt is used for real. */ CPRINTS("Accelerometer wake-up interrupt occurred on lid"); } void accel_int_base(enum gpio_signal signal) { /* * Print statement is here for testing with console accelint command. * Remove print statement when interrupt is used for real. */ CPRINTS("Accelerometer wake-up interrupt occurred on base"); } static int command_accelerometer_interrupt(int argc, char **argv) { char *e; int id, thresh; struct motion_sensor_t *sensor; if (argc != 3) return EC_ERROR_PARAM_COUNT; /* First argument is id. */ id = strtoi(argv[1], &e, 0); if (*e || id < 0 || id >= motion_sensor_count) return EC_ERROR_PARAM1; sensor = &motion_sensors[id]; /* Second argument is interrupt threshold. */ thresh = strtoi(argv[2], &e, 0); if (*e) return EC_ERROR_PARAM2; sensor->drv->set_interrupt(sensor, thresh); return EC_SUCCESS; } DECLARE_CONSOLE_COMMAND(accelint, command_accelerometer_interrupt, "id threshold", "Write interrupt threshold", NULL); #endif /* CONFIG_ACCEL_INTERRUPTS */ #ifdef CONFIG_ACCEL_FIFO static int motion_sense_read_fifo(int argc, char **argv) { int count, i; struct ec_response_motion_sensor_data v; if (argc < 1) return EC_ERROR_PARAM_COUNT; /* Limit the amount of data to avoid saturating the UART buffer */ count = MIN(queue_count(&motion_sense_fifo), 16); for (i = 0; i < count; i++) { queue_peek_units(&motion_sense_fifo, &v, i, 1); if (v.flags & (MOTIONSENSE_SENSOR_FLAG_TIMESTAMP | MOTIONSENSE_SENSOR_FLAG_FLUSH)) { uint64_t timestamp; memcpy(×tamp, v.data, sizeof(v.data)); ccprintf("Timestamp: 0x%016lx%s\n", timestamp, (v.flags & MOTIONSENSE_SENSOR_FLAG_FLUSH ? " - Flush" : "")); } else { ccprintf("%d %d: %-5d %-5d %-5d\n", i, v.sensor_num, v.data[X], v.data[Y], v.data[Z]); } } return EC_SUCCESS; } DECLARE_CONSOLE_COMMAND(fiforead, motion_sense_read_fifo, "id", "Read Fifo sensor", NULL); #endif #endif /* CONFIG_CMD_ACCELS */