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motion: Add decoding for MOTION_CMD_DUMP v1 command

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MOTIONSENSE_CMD_DUMP is deprecated, replaced with MOTIONSENSE_CMD_GET_DATA
Also use vector_3_t instead of x,y,z

ectool motionsense commands only work with newer firmware, to
handle a dynamic number of sensors.
- The host sends the number of sensor it has allocated space for.
- If 0, the EC just sends the number of sensors available
- Otherwise returns sensor information up to the limit imposed by the host.

Remove MOTIONSENSE_GET_STATUS: not needed. It is only useful for LPC,
to guarantee atomicity of the data.
Remove MOTIONSENSE_GET_DATA: not needed since we increase the version
number of MOTIONSENSE command.

BUG=chrome-os-partner:31071,chromium:430792
BRANCH=ToT
TEST=Compile. On a firmware that support the new command:
/usr/sbin/ectool --name=cros_sh motionsense
Motion sensing active
Sensor 0: 92    15      1030
Sensor 1: -94   -63     718
/usr/sbin/ectool --name=cros_sh motionsense active
0
On a machine with older firmware (samus), check these
functions are not working anymore.

Change-Id: I64b62afff96670fb93457760d43d4e64e26e029f
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/226880
Reviewed-by: Alec Berg <alecaberg@chromium.org>
This commit is contained in:
Gwendal Grignou
2014-10-30 15:02:37 -07:00
committed by chrome-internal-fetch
parent 89442037be
commit 4b154c6f95
9 changed files with 202 additions and 297 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
board/samus/board.c
View File

@@ -287,18 +287,18 @@ struct motion_sensor_t motion_sensors[] = {
* Requriement: accelerometer sensor must init before gyro sensor
* DO NOT change the order of the following table.
*/
{SENSOR_ACTIVE_S0_S3_S5, "Base", SENSOR_CHIP_LSM6DS0,
SENSOR_ACCELEROMETER, LOCATION_BASE,
{SENSOR_ACTIVE_S0_S3_S5, "Base", MOTIONSENSE_CHIP_LSM6DS0,
MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_BASE,
&lsm6ds0_drv, &g_base_mutex, NULL,
LSM6DS0_ADDR1, &base_standard_ref, 119000, 2},
{SENSOR_ACTIVE_S0, "Lid", SENSOR_CHIP_KXCJ9,
SENSOR_ACCELEROMETER, LOCATION_LID,
{SENSOR_ACTIVE_S0, "Lid", MOTIONSENSE_CHIP_KXCJ9,
MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_LID,
&kxcj9_drv, &g_lid_mutex, &g_kxcj9_data,
KXCJ9_ADDR0, &lid_standard_ref, 100000, 2},
{SENSOR_ACTIVE_S0, "Base Gyro", SENSOR_CHIP_LSM6DS0,
SENSOR_GYRO, LOCATION_BASE,
{SENSOR_ACTIVE_S0, "Base Gyro", MOTIONSENSE_CHIP_LSM6DS0,
MOTIONSENSE_TYPE_GYRO, MOTIONSENSE_LOC_BASE,
&lsm6ds0_drv, &g_base_mutex, NULL,
LSM6DS0_ADDR1, NULL, 119000, 2000},

148
common/motion_sense.c
View File

@@ -61,13 +61,12 @@ static int accel_disp;
#endif
/*
* Angle threshold for how close the hinge aligns with gravity before
* considering the lid angle calculation unreliable. For computational
* efficiency, value is given unit-less, so if you want the threshold to be
* at 15 degrees, the value would be cos(15 deg) = 0.96593.
* 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.
*/
#define HINGE_ALIGNED_WITH_GRAVITY_THRESHOLD 0.96593F
static struct mutex g_sensor_mutex;
static void motion_sense_shutdown(void)
{
@@ -197,21 +196,11 @@ static inline void motion_sense_init(struct motion_sensor_t *sensor)
static int motion_sense_read(struct motion_sensor_t *sensor)
{
int ret;
if (sensor->state != SENSOR_INITIALIZED)
return EC_ERROR_UNKNOWN;
/* Read all raw X,Y,Z accelerations. */
ret = sensor->drv->read(sensor,
&sensor->xyz[X],
&sensor->xyz[Y],
&sensor->xyz[Z]);
if (ret != EC_SUCCESS)
return EC_ERROR_UNKNOWN;
return EC_SUCCESS;
return sensor->drv->read(sensor, sensor->raw_xyz);
}
/*
@@ -279,11 +268,15 @@ void motion_sense_task(void)
* Rotate the accel vector so the reference for
* all sensors are in the same space.
*/
if (*sensor->rot_standard_ref != NULL) {
rotate(sensor->xyz,
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);
}
}
@@ -294,7 +287,6 @@ void motion_sense_task(void)
#ifdef CONFIG_LID_ANGLE
if (rd_cnt == motion_sensor_count)
motion_lid_calc();
#endif
#ifdef CONFIG_CMD_ACCEL_INFO
if (accel_disp) {
@@ -336,34 +328,11 @@ void motion_sense_task(void)
static struct motion_sensor_t
*host_sensor_id_to_motion_sensor(int host_id)
{
int i;
struct motion_sensor_t *sensor = NULL;
struct motion_sensor_t *sensor;
for (i = 0; i < motion_sensor_count; ++i) {
sensor = &motion_sensors[i];
if ((LOCATION_BASE == sensor->location)
&& (SENSOR_ACCELEROMETER == sensor->type)
&& (host_id == EC_MOTION_SENSOR_ACCEL_BASE)) {
break;
}
if ((LOCATION_LID == sensor->location)
&& (SENSOR_ACCELEROMETER == sensor->type)
&& (host_id == EC_MOTION_SENSOR_ACCEL_LID)) {
break;
}
if ((LOCATION_BASE == sensor->location)
&& (SENSOR_GYRO == sensor->type)
&& (host_id == EC_MOTION_SENSOR_GYRO)) {
break;
}
}
if (i == motion_sensor_count)
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)
@@ -379,54 +348,44 @@ 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;
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;
for (i = 0; i < motion_sensor_count; i++) {
sensor = &motion_sensors[i];
out->dump.sensor_flags[i] =
MOTIONSENSE_SENSOR_FLAG_PRESENT;
out->dump.data[0+3*i] = sensor->xyz[X];
out->dump.data[1+3*i] = sensor->xyz[Y];
out->dump.data[2+3*i] = sensor->xyz[Z];
}
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_INFO:
sensor = host_sensor_id_to_motion_sensor(
in->sensor_odr.sensor_num);
in->sensor_odr.sensor_num);
if (sensor == NULL)
return EC_RES_INVALID_PARAM;
if (sensor->type == SENSOR_ACCELEROMETER)
out->info.type = MOTIONSENSE_TYPE_ACCEL;
else if (sensor->type == SENSOR_GYRO)
out->info.type = MOTIONSENSE_TYPE_GYRO;
if (sensor->location == LOCATION_BASE)
out->info.location = MOTIONSENSE_LOC_BASE;
else if (sensor->location == LOCATION_LID)
out->info.location = MOTIONSENSE_LOC_LID;
if (sensor->chip == SENSOR_CHIP_KXCJ9)
out->info.chip = MOTIONSENSE_CHIP_KXCJ9;
if (sensor->chip == SENSOR_CHIP_LSM6DS0)
out->info.chip = MOTIONSENSE_CHIP_LSM6DS0;
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:
@@ -454,16 +413,16 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
case MOTIONSENSE_CMD_SENSOR_ODR:
/* Verify sensor number is valid. */
sensor = host_sensor_id_to_motion_sensor(
in->sensor_odr.sensor_num);
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) {
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;
@@ -482,16 +441,16 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
case MOTIONSENSE_CMD_SENSOR_RANGE:
/* Verify sensor number is valid. */
sensor = host_sensor_id_to_motion_sensor(
in->sensor_odr.sensor_num);
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_range.data != EC_MOTION_SENSE_NO_VALUE) {
if (sensor->drv->set_range(sensor,
in->sensor_range.data,
in->sensor_range.roundup)
!= EC_SUCCESS) {
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;
@@ -522,7 +481,7 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
DECLARE_HOST_COMMAND(EC_CMD_MOTION_SENSE_CMD,
host_cmd_motion_sense,
EC_VER_MASK(0));
EC_VER_MASK(1));
/*****************************************************************************/
/* Console commands */
@@ -672,8 +631,9 @@ DECLARE_CONSOLE_COMMAND(accelrate, command_accel_data_rate,
static int command_accel_read_xyz(int argc, char **argv)
{
char *e;
int id, x, y, z, n = 1;
int id, n = 1;
struct motion_sensor_t *sensor;
vector_3_t v;
if (argc < 2)
return EC_ERROR_PARAM_COUNT;
@@ -690,11 +650,11 @@ static int command_accel_read_xyz(int argc, char **argv)
sensor = &motion_sensors[id];
while ((n == -1) || (n-- > 0)) {
x = y = z = 0;
sensor->drv->read(sensor, &x, &y, &z);
ccprintf("Current raw data %d: %-5d %-5d %-5d\n", id, x, y, z);
ccprintf("Last calib. data %d: %-5d %-5d %-5d\n", id,
sensor->xyz[X], sensor->xyz[Y], sensor->xyz[Z]);
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;

11
driver/accel_kxcj9.c
View File

@@ -363,10 +363,7 @@ error_enable_sensor:
}
#endif
static int read(const struct motion_sensor_t *s,
int *x_acc,
int *y_acc,
int *z_acc)
static int read(const struct motion_sensor_t *s, vector_3_t v)
{
uint8_t acc[6];
uint8_t reg = KXCJ9_XOUT_L;
@@ -411,9 +408,9 @@ static int read(const struct motion_sensor_t *s,
* acc[4] = KXCJ9_ZOUT_L
* acc[5] = KXCJ9_ZOUT_H
*/
*x_acc = multiplier * (((int8_t)acc[1]) << 4) | (acc[0] >> 4);
*y_acc = multiplier * (((int8_t)acc[3]) << 4) | (acc[2] >> 4);
*z_acc = multiplier * (((int8_t)acc[5]) << 4) | (acc[4] >> 4);
v[0] = multiplier * (((int8_t)acc[1]) << 4) | (acc[0] >> 4);
v[1] = multiplier * (((int8_t)acc[3]) << 4) | (acc[2] >> 4);
v[2] = multiplier * (((int8_t)acc[5]) << 4) | (acc[4] >> 4);
return EC_SUCCESS;
}

61
driver/accelgyro_lsm6ds0.c
View File

@@ -48,9 +48,9 @@ const struct accel_param_pair dps_ranges[] = {
};
static inline const struct accel_param_pair *get_range_table(
enum sensor_type_t type, int *psize)
enum motionsensor_type type, int *psize)
{
if (SENSOR_ACCELEROMETER == type) {
if (MOTIONSENSE_TYPE_ACCEL == type) {
if (psize)
*psize = ARRAY_SIZE(g_ranges);
return g_ranges;
@@ -84,9 +84,9 @@ const struct accel_param_pair gyro_off_odr[] = {
};
static inline const struct accel_param_pair *get_odr_table(
enum sensor_type_t type, int *psize)
enum motionsensor_type type, int *psize)
{
if (SENSOR_ACCELEROMETER == type) {
if (MOTIONSENSE_TYPE_ACCEL == type) {
if (psize)
*psize = ARRAY_SIZE(gyro_off_odr);
return gyro_off_odr;
@@ -97,15 +97,15 @@ static inline const struct accel_param_pair *get_odr_table(
}
}
static inline int get_ctrl_reg(enum sensor_type_t type)
static inline int get_ctrl_reg(enum motionsensor_type type)
{
return (SENSOR_ACCELEROMETER == type) ?
return (MOTIONSENSE_TYPE_ACCEL == type) ?
LSM6DS0_CTRL_REG6_XL : LSM6DS0_CTRL_REG1_G;
}
static inline int get_xyz_reg(enum sensor_type_t type)
static inline int get_xyz_reg(enum motionsensor_type type)
{
return (SENSOR_ACCELEROMETER == type) ?
return (MOTIONSENSE_TYPE_ACCEL == type) ?
LSM6DS0_OUT_X_L_XL : LSM6DS0_OUT_X_L_G;
}
@@ -254,7 +254,7 @@ static int set_data_rate(const struct motion_sensor_t *s,
* [3:0] HPCF_G
* Table 48 Gyroscope high-pass filter cutoff frequency
*/
if (SENSOR_GYRO == s->type) {
if (MOTIONSENSE_TYPE_GYRO == s->type) {
ret = raw_read8(s->i2c_addr, LSM6DS0_CTRL_REG3_G, &val);
if (ret != EC_SUCCESS)
goto accel_cleanup;
@@ -308,7 +308,7 @@ static int is_data_ready(const struct motion_sensor_t *s, int *ready)
return ret;
}
if (SENSOR_ACCELEROMETER == s->type)
if (MOTIONSENSE_TYPE_ACCEL == s->type)
*ready = (LSM6DS0_STS_XLDA_UP == (tmp & LSM6DS0_STS_XLDA_MASK));
else
*ready = (LSM6DS0_STS_GDA_UP == (tmp & LSM6DS0_STS_GDA_MASK));
@@ -316,10 +316,7 @@ static int is_data_ready(const struct motion_sensor_t *s, int *ready)
return EC_SUCCESS;
}
static int read(const struct motion_sensor_t *s,
int *x,
int *y,
int *z)
static int read(const struct motion_sensor_t *s, vector_3_t v)
{
uint8_t data[6];
uint8_t xyz_reg;
@@ -335,9 +332,9 @@ static int read(const struct motion_sensor_t *s,
* to get the latest updated sensor data quickly.
*/
if (!tmp) {
*x = s->xyz[0];
*y = s->xyz[1];
*z = s->xyz[2];
v[0] = s->xyz[0];
v[1] = s->xyz[1];
v[2] = s->xyz[2];
return EC_SUCCESS;
}
@@ -355,27 +352,27 @@ static int read(const struct motion_sensor_t *s,
return ret;
}
*x = ((int16_t)((data[1] << 8) | data[0]));
*y = ((int16_t)((data[3] << 8) | data[2]));
*z = ((int16_t)((data[5] << 8) | data[4]));
v[0] = ((int16_t)((data[1] << 8) | data[0]));
v[1] = ((int16_t)((data[3] << 8) | data[2]));
v[2] = ((int16_t)((data[5] << 8) | data[4]));
ret = get_range(s, &range);
if (ret)
return EC_ERROR_UNKNOWN;
*x *= range;
*y *= range;
*z *= range;
v[0] *= range;
v[1] *= range;
v[2] *= range;
/* normalize the accel scale: 1G = 1024 */
if (SENSOR_ACCELEROMETER == s->type) {
*x >>= 5;
*y >>= 5;
*z >>= 5;
if (MOTIONSENSE_TYPE_ACCEL == s->type) {
v[0] >>= 5;
v[1] >>= 5;
v[2] >>= 5;
} else {
*x >>= 8;
*y >>= 8;
*z >>= 8;
v[0] >>= 8;
v[1] >>= 8;
v[2] >>= 8;
}
return EC_SUCCESS;
@@ -404,7 +401,7 @@ static int init(const struct motion_sensor_t *s)
* Requirement: Accel need be init before gyro.
* SW_RESET is down for accel only!
*/
if (SENSOR_ACCELEROMETER == s->type) {
if (MOTIONSENSE_TYPE_ACCEL == s->type) {
mutex_lock(s->mutex);
ret = raw_read8(s->i2c_addr, LSM6DS0_CTRL_REG8, &tmp);
@@ -434,7 +431,7 @@ static int init(const struct motion_sensor_t *s)
return EC_ERROR_UNKNOWN;
}
if (SENSOR_GYRO == s->type) {
if (MOTIONSENSE_TYPE_GYRO == s->type) {
/* Config GYRO Range */
ret = set_range(s, s->range, 1);
if (ret)

9
include/accelgyro.h
View File

@@ -27,15 +27,10 @@ struct accelgyro_drv {
* three accelerations come back in counts, where ACCEL_G can be used
* to convert counts to engineering units.
* @s Pointer to sensor data.
* @x_acc Pointer to store X-axis acceleration (in counts).
* @y_acc Pointer to store Y-axis acceleration (in counts).
* @z_acc Pointer to store Z-axis acceleration (in counts).
* @v Vector to store acceleration (in units of counts).
* @return EC_SUCCESS if successful, non-zero if error.
*/
int (*read)(const struct motion_sensor_t *s,
int *x_acc,
int *y_acc,
int *z_acc);
int (*read)(const struct motion_sensor_t *s, vector_3_t v);
/**
* Setter and getter methods for the sensor range. The sensor range

74
include/ec_commands.h
View File

@@ -1301,34 +1301,10 @@ enum motionsense_command {
*/
MOTIONSENSE_CMD_KB_WAKE_ANGLE = 5,
/*
* Sensor subsytem status.
* Same format as EC_MEMMAP_ACC_STATUS
* - for system without LPC -
*/
MOTIONSENSE_CMD_GET_STATUS = 6,
/*
* Retrieve data and flags from all accel/gyro sensors.
*/
MOTIONSENSE_CMD_GET_DATA = 7,
/* Number of motionsense sub-commands. */
MOTIONSENSE_NUM_CMDS
};
enum motionsensor_id {
EC_MOTION_SENSOR_ACCEL_BASE = 0,
EC_MOTION_SENSOR_ACCEL_LID = 1,
EC_MOTION_SENSOR_GYRO = 2,
/*
* Note, if more sensors are added and this count changes, the padding
* in ec_response_motion_sense dump command must be modified.
*/
EC_MOTION_SENSOR_COUNT = 3
};
/* List of motion sensor types. */
enum motionsensor_type {
MOTIONSENSE_TYPE_ACCEL = 0,
@@ -1363,10 +1339,15 @@ enum motionsensor_chip {
struct ec_params_motion_sense {
uint8_t cmd;
union {
/* Used for MOTIONSENSE_CMD_DUMP, GET_STATUS, GET_DATA. */
/* Used for MOTIONSENSE_CMD_DUMP */
struct {
/* no args */
} data, dump, status;
/*
* Maximal number of sensor the host is expecting.
* 0 means the host is only interested in the number
* of sensors controlled by the EC.
*/
uint8_t max_sensor_count;
} dump;
/*
* Used for MOTIONSENSE_CMD_EC_RATE and
@@ -1400,6 +1381,15 @@ struct ec_params_motion_sense {
};
} __packed;
struct ec_response_motion_sensor_data {
/* Flags for each sensor. */
uint8_t flags;
uint8_t padding;
/* Each sensor is up to 3-axis. */
int16_t data[3];
} __packed;
struct ec_response_motion_sense {
union {
/* Used for MOTIONSENSE_CMD_DUMP */
@@ -1407,34 +1397,15 @@ struct ec_response_motion_sense {
/* Flags representing the motion sensor module. */
uint8_t module_flags;
/* Flags for each sensor. */
uint8_t sensor_flags[EC_MOTION_SENSOR_COUNT];
/* Array of all sensor data. Each sensor is 3-axis. */
int16_t data[3*EC_MOTION_SENSOR_COUNT];
} dump;
/* Used for MOTIONSENSE_CMD_GET_DATA */
struct {
/* Flags representing the motion sensor module. */
uint8_t module_flags;
/* Number of sensors managed directly by the EC */
uint8_t sensor_number;
uint8_t sensor_count;
/*
* sensor data is truncated if response_max is too small
* for holding all the data.
*/
struct sensor_data {
/* Flags for each sensor. */
uint8_t flags;
uint8_t padding;
/* Each sensor is up to 3-axis. */
int16_t data[3];
} sensor[0];
} data;
struct ec_response_motion_sensor_data sensor[0];
} dump;
/* Used for MOTIONSENSE_CMD_INFO. */
struct {
@@ -1448,11 +1419,6 @@ struct ec_response_motion_sense {
uint8_t chip;
} info;
/* Used for MOTIONSENSE_CMD_GET_STATUS */
struct {
uint8_t value;
} status;
/*
* Used for MOTIONSENSE_CMD_EC_RATE, MOTIONSENSE_CMD_SENSOR_ODR,
* MOTIONSENSE_CMD_SENSOR_RANGE, and

26
include/motion_sense.h
View File

@@ -8,24 +8,11 @@
#ifndef __CROS_EC_MOTION_SENSE_H
#define __CROS_EC_MOTION_SENSE_H
#include "chipset.h"
#include "common.h"
#include "ec_commands.h"
#include "gpio.h"
#include "math_util.h"
#include "chipset.h"
enum sensor_location_t {
LOCATION_BASE = 0,
LOCATION_LID = 1,
};
enum sensor_type_t {
SENSOR_ACCELEROMETER = 0x1,
SENSOR_GYRO = 0x2,
};
enum sensor_chip_t {
SENSOR_CHIP_KXCJ9 = 0,
SENSOR_CHIP_LSM6DS0 = 1,
};
enum sensor_state {
SENSOR_NOT_INITIALIZED = 0,
@@ -43,9 +30,9 @@ struct motion_sensor_t {
/* RO fields */
uint32_t active_mask;
char *name;
enum sensor_chip_t chip;
enum sensor_type_t type;
enum sensor_location_t location;
enum motionsensor_chip chip;
enum motionsensor_type type;
enum motionsensor_location location;
const struct accelgyro_drv *drv;
struct mutex *mutex;
void *drv_data;
@@ -63,6 +50,7 @@ struct motion_sensor_t {
/* state parameters */
enum sensor_state state;
enum chipset_state_mask active;
vector_3_t raw_xyz;
vector_3_t xyz;
};

17
test/motion_lid.c
View File

@@ -30,12 +30,11 @@ static int accel_init(const struct motion_sensor_t *s)
return EC_SUCCESS;
}
static int accel_read(const struct motion_sensor_t *s,
int *x_acc, int *y_acc, int *z_acc)
static int accel_read(const struct motion_sensor_t *s, vector_3_t v)
{
*x_acc = s->xyz[X];
*y_acc = s->xyz[Y];
*z_acc = s->xyz[Z];
v[X] = s->xyz[X];
v[Y] = s->xyz[Y];
v[Z] = s->xyz[Z];
return EC_SUCCESS;
}
@@ -102,12 +101,12 @@ const matrix_3x3_t lid_standard_ref = {
};
struct motion_sensor_t motion_sensors[] = {
{SENSOR_ACTIVE_S0_S3_S5, "base", SENSOR_CHIP_LSM6DS0,
SENSOR_ACCELEROMETER, LOCATION_BASE,
{SENSOR_ACTIVE_S0_S3_S5, "base", MOTIONSENSE_CHIP_LSM6DS0,
MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_BASE,
&test_motion_sense, NULL, NULL,
0, &base_standard_ref, 119000, 2},
{SENSOR_ACTIVE_S0, "lid", SENSOR_CHIP_KXCJ9,
SENSOR_ACCELEROMETER, LOCATION_LID,
{SENSOR_ACTIVE_S0, "lid", MOTIONSENSE_CHIP_KXCJ9,
MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_LID,
&test_motion_sense, NULL, NULL,
0, &lid_standard_ref, 100000, 2},
};

141
util/ectool.c
View File

@@ -2360,23 +2360,22 @@ static int cmd_lightbar(int argc, char **argv)
* memory depending on the number of sensors.
*/
#define ECTOOL_MAX_SENSOR 16
#define MS_DATA_SIZE() { \
sizeof(((struct ec_params_motion_sense *)0)->data) \
#define MS_DUMP_SIZE() { \
sizeof(((struct ec_params_motion_sense *)0)->dump) \
+ sizeof(((struct ec_params_motion_sense *)0)->cmd), \
sizeof(((struct ec_response_motion_sense *)0)->data) \
+ ECTOOL_MAX_SENSOR * sizeof(struct sensor_data) }
sizeof(((struct ec_response_motion_sense *)0)->dump) \
+ sizeof(struct ec_response_motion_sensor_data) * \
ECTOOL_MAX_SENSOR}
static const struct {
uint8_t insize;
uint8_t outsize;
} ms_command_sizes[] = {
MS_SIZES(dump),
MS_DUMP_SIZE(),
MS_SIZES(info),
MS_SIZES(ec_rate),
MS_SIZES(sensor_odr),
MS_SIZES(sensor_range),
MS_SIZES(kb_wake_angle),
MS_SIZES(status),
MS_DATA_SIZE(),
};
BUILD_ASSERT(ARRAY_SIZE(ms_command_sizes) == MOTIONSENSE_NUM_CMDS);
#undef MS_SIZES
@@ -2397,67 +2396,68 @@ static int ms_help(const char *cmd)
static int cmd_motionsense(int argc, char **argv)
{
int i, rv;
int i, rv, status_only = (argc == 2);
struct ec_params_motion_sense param;
struct ec_response_motion_sense resp;
uint8_t resp_buffer[ms_command_sizes[MOTIONSENSE_CMD_DUMP].outsize];
struct ec_response_motion_sense *resp =
(struct ec_response_motion_sense *)resp_buffer;
char *e;
/*
* Warning: the following strings printed out are read in an
* autotest. Do not change string without consulting autotest
* for kernel_CrosECSysfsAccel.
*/
const char *motion_status_string[2][2] = {
{ "Motion sensing inactive", "0"},
{ "Motion sensing active", "1"},
};
/* No motionsense command has more than 5 args. */
if (argc > 5)
return ms_help(argv[0]);
if (argc == 1) {
/* No args, dump motion data. */
if ((argc == 1) ||
(argc == 2 && !strcasecmp(argv[1], "active"))) {
param.cmd = MOTIONSENSE_CMD_DUMP;
rv = ec_command(EC_CMD_MOTION_SENSE_CMD, 0,
&param, ms_command_sizes[param.cmd].insize,
&resp, ms_command_sizes[param.cmd].outsize);
param.dump.max_sensor_count = ECTOOL_MAX_SENSOR;
rv = ec_command(
EC_CMD_MOTION_SENSE_CMD, 1,
&param, ms_command_sizes[param.cmd].insize,
resp, ms_command_sizes[param.cmd].outsize);
if (rv > 0) {
printf("%s\n", motion_status_string[
!!(resp->dump.module_flags &
MOTIONSENSE_MODULE_FLAG_ACTIVE)][
status_only]);
if (status_only)
return 0;
if (rv < 0)
return rv;
if (resp.dump.module_flags & MOTIONSENSE_MODULE_FLAG_ACTIVE)
printf("Motion sensing active\n");
else
printf("Motion sensing inactive\n");
for (i = 0; i < EC_MOTION_SENSOR_COUNT; i++) {
printf("Sensor %d: ", i);
if (resp.dump.sensor_flags[i] &
MOTIONSENSE_SENSOR_FLAG_PRESENT)
printf("%d\t%d\t%d\n", resp.dump.data[3*i],
resp.dump.data[3*i+1],
resp.dump.data[3*i+2]);
else
if (resp->dump.sensor_count > ECTOOL_MAX_SENSOR) {
printf("Too many sensors to handle: %d",
resp->dump.sensor_count);
return -1;
}
for (i = 0; i < resp->dump.sensor_count; i++) {
/*
* Warning: the following string printed out
* is read by an autotest. Do not change string
* without consulting autotest for
* kernel_CrosECSysfsAccel.
*/
printf("None\n");
printf("Sensor %d: ", i);
if (resp->dump.sensor[i].flags &
MOTIONSENSE_SENSOR_FLAG_PRESENT)
printf("%d\t%d\t%d\n",
resp->dump.sensor[i].data[0],
resp->dump.sensor[i].data[1],
resp->dump.sensor[i].data[2]);
else
printf("None\n");
}
return 0;
} else {
return rv;
}
return 0;
}
if (argc == 2 && !strcasecmp(argv[1], "active")) {
param.cmd = MOTIONSENSE_CMD_DUMP;
rv = ec_command(EC_CMD_MOTION_SENSE_CMD, 0,
&param, ms_command_sizes[param.cmd].insize,
&resp, ms_command_sizes[param.cmd].outsize);
/*
* Warning: the following strings printed out are read in an
* autotest. Do not change string without consulting autotest
* for kernel_CrosECSysfsAccel.
*/
if (resp.dump.module_flags & MOTIONSENSE_MODULE_FLAG_ACTIVE)
printf("1\n");
else
printf("0\n");
return 0;
}
if (argc == 3 && !strcasecmp(argv[1], "info")) {
@@ -2469,15 +2469,15 @@ static int cmd_motionsense(int argc, char **argv)
return -1;
}
rv = ec_command(EC_CMD_MOTION_SENSE_CMD, 0,
rv = ec_command(EC_CMD_MOTION_SENSE_CMD, 1,
&param, ms_command_sizes[param.cmd].insize,
&resp, ms_command_sizes[param.cmd].outsize);
resp, ms_command_sizes[param.cmd].outsize);
if (rv < 0)
return rv;
printf("Type: ");
switch (resp.info.type) {
switch (resp->info.type) {
case MOTIONSENSE_TYPE_ACCEL:
printf("accel\n");
break;
@@ -2489,7 +2489,7 @@ static int cmd_motionsense(int argc, char **argv)
}
printf("Location: ");
switch (resp.info.location) {
switch (resp->info.location) {
case MOTIONSENSE_LOC_BASE:
printf("base\n");
break;
@@ -2501,10 +2501,13 @@ static int cmd_motionsense(int argc, char **argv)
}
printf("Chip: ");
switch (resp.info.chip) {
switch (resp->info.chip) {
case MOTIONSENSE_CHIP_KXCJ9:
printf("kxcj9\n");
break;
case MOTIONSENSE_CHIP_LSM6DS0:
printf("lsm6ds0\n");
break;
default:
printf("unknown\n");
}
@@ -2524,14 +2527,14 @@ static int cmd_motionsense(int argc, char **argv)
}
}
rv = ec_command(EC_CMD_MOTION_SENSE_CMD, 0,
rv = ec_command(EC_CMD_MOTION_SENSE_CMD, 1,
&param, ms_command_sizes[param.cmd].insize,
&resp, ms_command_sizes[param.cmd].outsize);
resp, ms_command_sizes[param.cmd].outsize);
if (rv < 0)
return rv;
printf("%d\n", resp.ec_rate.ret);
printf("%d\n", resp->ec_rate.ret);
return 0;
}
@@ -2562,14 +2565,14 @@ static int cmd_motionsense(int argc, char **argv)
}
}
rv = ec_command(EC_CMD_MOTION_SENSE_CMD, 0,
rv = ec_command(EC_CMD_MOTION_SENSE_CMD, 1,
&param, ms_command_sizes[param.cmd].insize,
&resp, ms_command_sizes[param.cmd].outsize);
resp, ms_command_sizes[param.cmd].outsize);
if (rv < 0)
return rv;
printf("%d\n", resp.sensor_odr.ret);
printf("%d\n", resp->sensor_odr.ret);
return 0;
}
@@ -2600,14 +2603,14 @@ static int cmd_motionsense(int argc, char **argv)
}
}
rv = ec_command(EC_CMD_MOTION_SENSE_CMD, 0,
rv = ec_command(EC_CMD_MOTION_SENSE_CMD, 1,
&param, ms_command_sizes[param.cmd].insize,
&resp, ms_command_sizes[param.cmd].outsize);
resp, ms_command_sizes[param.cmd].outsize);
if (rv < 0)
return rv;
printf("%d\n", resp.sensor_range.ret);
printf("%d\n", resp->sensor_range.ret);
return 0;
}
@@ -2623,14 +2626,14 @@ static int cmd_motionsense(int argc, char **argv)
}
}
rv = ec_command(EC_CMD_MOTION_SENSE_CMD, 0,
rv = ec_command(EC_CMD_MOTION_SENSE_CMD, 1,
&param, ms_command_sizes[param.cmd].insize,
&resp, ms_command_sizes[param.cmd].outsize);
resp, ms_command_sizes[param.cmd].outsize);
if (rv < 0)
return rv;
printf("%d\n", resp.kb_wake_angle.ret);
printf("%d\n", resp->kb_wake_angle.ret);
return 0;
}