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/* 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 "chipset.h"
#include "common.h"
#include "console.h"
#include "gesture.h"
#include "hooks.h"
#include "host_command.h"
#include "lid_angle.h"
#include "math_util.h"
#include "motion_sense.h"
#include "motion_lid.h"
#include "power.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)
/* Minimum time in between running motion sense task loop. */
#define MIN_MOTION_SENSE_WAIT_TIME (1 * MSEC)
/* Time to wait in between failed attempts to initialize sensors */
#define TASK_MOTION_SENSE_WAIT_TIME (500 * MSEC)
/* Bounds for setting the sensor polling interval. */
#define MIN_POLLING_INTERVAL_MS 5
#define MAX_POLLING_INTERVAL_MS 1000
/* Define sensor sampling interval in suspend. */
#ifdef CONFIG_GESTURE_DETECTION
#define SUSPEND_SAMPLING_INTERVAL CONFIG_GESTURE_SAMPLING_INTERVAL_MS
#else
#define SUSPEND_SAMPLING_INTERVAL 100
#endif
/* Accelerometer polling intervals based on chipset state. */
static int accel_interval_ap_on_ms = 10;
/*
* Sampling interval for measuring acceleration and calculating lid angle.
* Set to accel_interval_ap_on_ms when ap is on.
*/
static int accel_interval_ms;
#ifdef CONFIG_CMD_ACCEL_INFO
static int accel_disp;
#endif
/*
* 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;
static void motion_sense_shutdown(void)
{
int i;
struct motion_sensor_t *sensor;
for (i = 0; i < motion_sensor_count; i++) {
sensor = &motion_sensors[i];
sensor->active = SENSOR_ACTIVE_S5;
sensor->runtime_config.odr = sensor->default_config.odr;
sensor->runtime_config.range = sensor->default_config.range;
if ((sensor->state == SENSOR_INITIALIZED) &&
!(sensor->active_mask & sensor->active)) {
sensor->drv->set_data_rate(sensor, 0, 0);
sensor->state = SENSOR_NOT_INITIALIZED;
}
}
}
DECLARE_HOOK(HOOK_CHIPSET_SHUTDOWN, motion_sense_shutdown,
MOTION_SENSE_HOOK_PRIO);
static void motion_sense_suspend(void)
{
int i;
struct motion_sensor_t *sensor;
accel_interval_ms = SUSPEND_SAMPLING_INTERVAL;
for (i = 0; i < motion_sensor_count; i++) {
sensor = &motion_sensors[i];
/* if it is in s5, don't enter suspend */
if (sensor->active == SENSOR_ACTIVE_S5)
continue;
sensor->active = SENSOR_ACTIVE_S3;
/* Saving power if the sensor is not active in S3 */
if ((sensor->state == SENSOR_INITIALIZED) &&
!(sensor->active_mask & sensor->active)) {
sensor->drv->set_data_rate(sensor, 0, 0);
sensor->state = SENSOR_NOT_INITIALIZED;
}
}
}
DECLARE_HOOK(HOOK_CHIPSET_SUSPEND, motion_sense_suspend,
MOTION_SENSE_HOOK_PRIO);
static void motion_sense_resume(void)
{
int i;
struct motion_sensor_t *sensor;
accel_interval_ms = accel_interval_ap_on_ms;
for (i = 0; i < motion_sensor_count; i++) {
sensor = &motion_sensors[i];
sensor->active = SENSOR_ACTIVE_S0;
if (sensor->state == SENSOR_INITIALIZED) {
/* Put back the odr previously set. */
sensor->drv->set_data_rate(sensor,
sensor->runtime_config.odr, 1);
}
}
}
DECLARE_HOOK(HOOK_CHIPSET_RESUME, motion_sense_resume,
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;
}
/* 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 un-calibrated accels. 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
for (i = 0; i < motion_sensor_count; 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;
}
static inline void 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;
}
static int motion_sense_read(struct motion_sensor_t *sensor)
{
if (sensor->state != SENSOR_INITIALIZED)
return EC_ERROR_UNKNOWN;
/* Read all raw X,Y,Z accelerations. */
return sensor->drv->read(sensor, sensor->raw_xyz);
}
/*
* Motion Sense Task
* Requirement: motion_sensors[] are defined in board.c file.
* Two (minimium) 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;
int wait_us;
static timestamp_t ts0, ts1;
uint8_t *lpc_status;
uint16_t *lpc_data;
int sample_id = 0;
int rd_cnt;
struct motion_sensor_t *sensor;
lpc_status = host_get_memmap(EC_MEMMAP_ACC_STATUS);
lpc_data = (uint16_t *)host_get_memmap(EC_MEMMAP_ACC_DATA);
for (i = 0; i < motion_sensor_count; ++i) {
sensor = &motion_sensors[i];
sensor->state = SENSOR_NOT_INITIALIZED;
sensor->runtime_config.odr = sensor->default_config.odr;
sensor->runtime_config.range = sensor->default_config.range;
}
set_present(lpc_status);
if (chipset_in_state(CHIPSET_STATE_ON)) {
/* Update the sensor current active state to S0. */
for (i = 0; i < motion_sensor_count; ++i) {
sensor = &motion_sensors[i];
sensor->active = SENSOR_ACTIVE_S0;
}
accel_interval_ms = accel_interval_ap_on_ms;
} else {
/* sensor->active already initializes to SENSOR_ACTIVE_S5 */
accel_interval_ms = SUSPEND_SAMPLING_INTERVAL;
}
while (1) {
ts0 = get_time();
rd_cnt = 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->active_mask) {
if (sensor->state == SENSOR_NOT_INITIALIZED)
motion_sense_init(sensor);
if (EC_SUCCESS != motion_sense_read(sensor))
continue;
rd_cnt++;
/*
* Rotate the accel vector so the reference for
* all sensors are in the same space.
*/
mutex_lock(&g_sensor_mutex);
if (*sensor->rot_standard_ref != NULL)
rotate(sensor->raw_xyz,
*sensor->rot_standard_ref,
sensor->xyz);
else
memcpy(sensor->xyz, sensor->raw_xyz,
sizeof(vector_3_t));
mutex_unlock(&g_sensor_mutex);
}
}
#ifdef CONFIG_GESTURE_DETECTION
/* Run gesture recognition engine */
gesture_calc();
#endif
#ifdef CONFIG_LID_ANGLE
/*
* TODO (crosbug.com/p/36132): Checking for ALL sensors on is
* overkill. It should just check for ACCEL in BASE and ACCEL
* in LID, since those are the only ones needed for the lid
* calculation.
*/
if (rd_cnt == motion_sensor_count)
motion_lid_calc();
#endif
#ifdef CONFIG_CMD_ACCEL_INFO
if (accel_disp) {
CPRINTF("[%T ");
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
update_sense_data(lpc_status, lpc_data, &sample_id);
/* Delay appropriately to keep sampling time consistent. */
ts1 = get_time();
wait_us = accel_interval_ms * MSEC - (ts1.val-ts0.val);
/*
* Guarantee some minimum delay to allow other lower priority
* tasks to run.
*/
if (wait_us < MIN_MOTION_SENSE_WAIT_TIME)
wait_us = MIN_MOTION_SENSE_WAIT_TIME;
task_wait_event(wait_us);
}
}
/*****************************************************************************/
/* Host commands */
/* Function to map host sensor IDs to motion sensor. */
static struct motion_sensor_t
*host_sensor_id_to_motion_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->active_mask)
&& (sensor->state == SENSOR_INITIALIZED))
return sensor;
/* If no match then the EC currently doesn't support ID received. */
return NULL;
}
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, data, 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 = motion_sensor_count;
args->response_size = sizeof(out->dump);
reported = MIN(motion_sensor_count, in->dump.max_sensor_count);
mutex_lock(&g_sensor_mutex);
for (i = 0; i < reported; i++) {
sensor = &motion_sensors[i];
out->dump.sensor[i].flags =
MOTIONSENSE_SENSOR_FLAG_PRESENT;
/* 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];
}
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_motion_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;
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:
/*
* 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) {
/* Bound the new sampling rate. */
data = in->ec_rate.data;
if (data < MIN_POLLING_INTERVAL_MS)
data = MIN_POLLING_INTERVAL_MS;
if (data > MAX_POLLING_INTERVAL_MS)
data = MAX_POLLING_INTERVAL_MS;
accel_interval_ap_on_ms = data;
accel_interval_ms = data;
}
out->ec_rate.ret = accel_interval_ap_on_ms;
args->response_size = sizeof(out->ec_rate);
break;
case MOTIONSENSE_CMD_SENSOR_ODR:
/* Verify sensor number is valid. */
sensor = host_sensor_id_to_motion_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) {
if (sensor->drv->set_data_rate(sensor,
in->sensor_odr.data,
in->sensor_odr.roundup)
!= EC_SUCCESS) {
CPRINTS("MS bad sensor rate %d",
in->sensor_odr.data);
return EC_RES_INVALID_PARAM;
}
}
sensor->drv->get_data_rate(sensor, &data);
/* Save configuration parameter: ODR */
sensor->runtime_config.odr = data;
out->sensor_odr.ret = data;
args->response_size = sizeof(out->sensor_odr);
break;
case MOTIONSENSE_CMD_SENSOR_RANGE:
/* Verify sensor number is valid. */
sensor = host_sensor_id_to_motion_sensor(
in->sensor_odr.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) {
CPRINTS("MS bad sensor range %d",
in->sensor_range.data);
return EC_RES_INVALID_PARAM;
}
}
sensor->drv->get_range(sensor, &data);
/* Save configuration parameter: range */
sensor->runtime_config.range = data;
out->sensor_range.ret = data;
args->response_size = sizeof(out->sensor_range);
break;
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
if (ret == EC_RES_INVALID_PARAM)
CPRINTS("MS bad cmd 0x%x", in->cmd);
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 {
sensor->drv->get_range(sensor, &data);
ccprintf("Range for sensor %d: %d\n", id, data);
}
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 {
sensor->drv->get_resolution(sensor, &data);
ccprintf("Resolution for sensor %d: %d\n", id, data);
}
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;
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 data rate, if it returns invalid arg, then
* return a parameter error.
*/
if (sensor->drv->set_data_rate(sensor, data, round)
== EC_ERROR_INVAL)
return EC_ERROR_PARAM2;
} else {
sensor->drv->get_data_rate(sensor, &data);
ccprintf("Data rate for sensor %d: %d\n", id, data);
}
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;
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)) {
sensor->drv->read(sensor, v);
ccprintf("Current raw data %d: %-5d %-5d %-5d\n",
id, v[X], v[Y], v[Z]);
ccprintf("Last calib. data %d: %-5d %-5d %-5d\n",
id, sensor->xyz[X], sensor->xyz[Y], sensor->xyz[Z]);
task_wait_event(MIN_MOTION_SENSE_WAIT_TIME);
}
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;
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];
motion_sense_init(sensor);
ccprintf("%s: %d\n", sensor->name, sensor->state);
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;
accel_interval_ms = val;
}
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 compile. */
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 */
#endif /* CONFIG_CMD_ACCELS */
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