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motion: fix oversampling formula

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Overly complex previous formula could lead the EC to throw all samples
between 2 timestamps and put 2 event within one timestamp.
That would confuse the kernel. If the motion sense task is delayed while
this happen, the delta between the 2 samples could be so long that
CTS test cts.SingleSensorTests would fail.

BRANCH=smaug
BUG=b:24367625
TEST=Loops of cts.SingleSensorTests pass.

Change-Id: I29e6bf354ccb7ecf741a91116854d6abe07558dc
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/312364
Reviewed-by: Vincent Palatin <vpalatin@chromium.org>
This commit is contained in:
Gwendal Grignou
2015-11-12 00:45:27 -08:00
committed by chrome-bot
parent d68cb398ab
commit 96b6535487
2 changed files with 33 additions and 42 deletions
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70
common/motion_sense.c
View File

@@ -94,49 +94,23 @@ void motion_sense_fifo_add_unit(struct ec_response_motion_sensor_data *data,
}
for (i = 0; i < valid_data; i++)
sensor->xyz[i] = data->data[i];
mutex_unlock(&g_sensor_mutex);
/* For valid sensors, check if AP really needs this data */
if (valid_data) {
/* Use Hz, conversion to FP will overflow with kHz */
fp_t ap_odr =
fp_div(BASE_ODR(sensor->config[SENSOR_CONFIG_AP].odr),
1000);
fp_t rate = fp_div(sensor->drv->get_data_rate(sensor), 1000);
int removed;
/*
* If the AP does not want sensor info, skip.
* It happens:
* - only the EC needs the data
* - when there is event waiting in the FIFO when the AP
* put the sensor in suspend.
*/
if (ap_odr == 0)
return;
/*
* BM160 FIFO can return bad data (see chrome-os-partner:43339.
* It looks like an accelerometer event.
* It can happen if we are in middle of setting a new ODR
* while we are processing the FIFO.
*/
if (rate == 0) {
CPRINTS("%s: unexpected event: 0x%04x", sensor->name,
data->data[0]);
if (sensor->oversampling_ratio == 0) {
mutex_unlock(&g_sensor_mutex);
return;
}
if (fp_mul(ap_odr, INT_TO_FP(2)) < rate) {
/* Skip if sensor is significantly oversampling */
if (sensor->oversampling < 0) {
sensor->oversampling +=
fp_div(INT_TO_FP(1), rate);
return;
}
sensor->oversampling += fp_div(INT_TO_FP(1), rate) -
fp_div(INT_TO_FP(1), ap_odr);
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
@@ -219,7 +193,7 @@ static enum sensor_config motion_sense_get_ec_config(void)
*/
int motion_sense_set_data_rate(struct motion_sensor_t *sensor)
{
int roundup = 0, ec_odr = 0, odr = 0;
int roundup, ap_odr = 0, ec_odr, odr, ret;
enum sensor_config config_id;
timestamp_t ts = get_time();
@@ -227,26 +201,40 @@ int motion_sense_set_data_rate(struct motion_sensor_t *sensor)
/* Check the AP setting first. */
if (sensor_active != SENSOR_ACTIVE_S5)
odr = BASE_ODR(sensor->config[SENSOR_CONFIG_AP].odr);
ap_odr = 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 = BASE_ODR(sensor->config[config_id].odr);
if (ec_odr > odr)
if (ec_odr > ap_odr) {
odr = ec_odr;
else
} else {
odr = ap_odr;
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));
sensor->oversampling = 0;
mutex_lock(&g_sensor_mutex);
if (ap_odr)
sensor->oversampling_ratio =
sensor->drv->get_data_rate(sensor) / ap_odr;
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;
return sensor->drv->set_data_rate(sensor, odr, roundup);
sensor->oversampling = 0;
mutex_unlock(&g_sensor_mutex);
return 0;
}
static int motion_sense_select_ec_rate(

5
include/motion_sense.h
View File

@@ -108,8 +108,11 @@ struct motion_sensor_t {
/*
* Allow EC to request an higher frequency for the sensors than the AP.
* We will downsample according to oversampling_ratio, or ignore the
* samples altogether if oversampling_ratio is 0.
*/
fp_t oversampling;
uint16_t oversampling;
uint16_t oversampling_ratio;
/*
* How many vector events are lost in the FIFO since last time