scottk/OpenCellular
1
0
Fork 0
mirror of https://github.com/Telecominfraproject/OpenCellular.git synced 2026-01-12 02:45:33 +00:00
Code Issues Packages Projects Releases Wiki Activity

motion: Lower jitter of Sensor->EC timestamp

Browse Source 
Instead getting the time for each sample in the task code, we should be
getting it as soon as the sensor reported it added it to its fifo (so
sensor just finished integration).

Because of that each sensor should provide the time when it provides a
sample, ideally from an accurate spot like an interrupt.

Deprecate motion_sense_fifo_add_unit (without a timestamp) in favour of
motion_sense_fifo_add_data (which adds the timestamps). Update all
relevant sensors to use the new api.

Note: for now I focused on the BMI160, where I actually made it get the
time in the interrupt. The other sensors were made to use the new api,
but still don't record the time in the right place (though it's not any
worse than before).

BUG=b:67743747
TEST=In the kernel, fifo_info->info.timestamp still has sane values.
TEST=CTS should still pass
BRANCH=master

Change-Id: I9829343f8702e00cc19f9c88134fa1f258c9e1e9
Signed-off-by: Alexandru M Stan <amstan@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/807331
Commit-Ready: ChromeOS CL Exonerator Bot <chromiumos-cl-exonerator@appspot.gserviceaccount.com>
Reviewed-by: Gwendal Grignou <gwendal@chromium.org>
This commit is contained in:
Alexandru M Stan
2017-12-04 19:44:42 -08:00
committed by chrome-bot
parent e74d21f5bd
commit b63595258d
5 changed files with 58 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files

43
common/motion_sense.c
View File

@@ -104,9 +104,12 @@ 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,
/*
* Do not use this function directly if you just want to add sensor data, use
* motion_sense_fifo_add_data instead to get a proper timestamp too.
*/
static void motion_sense_fifo_add_unit(
struct ec_response_motion_sensor_data *data,
struct motion_sensor_t *sensor,
int valid_data)
{
@@ -139,11 +142,6 @@ void motion_sense_fifo_add_unit(struct ec_response_motion_sensor_data *data,
}
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;
}
#ifdef CONFIG_TABLET_MODE
@@ -166,15 +164,23 @@ static void motion_sense_insert_flush(struct motion_sensor_t *sensor)
motion_sense_fifo_add_unit(&vector, sensor, 0);
}
static void motion_sense_insert_timestamp(void)
static void motion_sense_insert_timestamp(uint32_t timestamp)
{
struct ec_response_motion_sensor_data vector;
vector.flags = MOTIONSENSE_SENSOR_FLAG_TIMESTAMP;
vector.timestamp = __hw_clock_source_read();
vector.timestamp = timestamp;
vector.sensor_num = 0;
motion_sense_fifo_add_unit(&vector, NULL, 0);
}
void motion_sense_fifo_add_data(struct ec_response_motion_sensor_data *data,
struct motion_sensor_t *sensor,
int valid_data,
uint32_t time) {
motion_sense_insert_timestamp(time);
motion_sense_fifo_add_unit(data, sensor, valid_data);
}
static void motion_sense_get_fifo_info(
struct ec_response_motion_sense_fifo_info *fifo_info)
{
@@ -732,7 +738,8 @@ static int motion_sense_process(struct motion_sensor_t *sensor,
vector.data[X] = v[X];
vector.data[Y] = v[Y];
vector.data[Z] = v[Z];
motion_sense_fifo_add_unit(&vector, sensor, 3);
motion_sense_fifo_add_data(&vector, sensor, 3,
__hw_clock_source_read());
}
sensor->last_collection = ts->le.lo;
} else {
@@ -812,7 +819,8 @@ static void check_and_queue_gestures(uint32_t *event)
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);
motion_sense_fifo_add_data(&vector, NULL, 0,
__hw_clock_source_read());
#endif
/* Call board specific function to process tap */
sensor_board_proc_double_tap();
@@ -829,7 +837,8 @@ static void check_and_queue_gestures(uint32_t *event)
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);
motion_sense_fifo_add_data(&vector, NULL, 0,
__hw_clock_source_read());
#endif
/* Disable further detection */
activity_sensor = &motion_sensors[CONFIG_GESTURE_SIGMO];
@@ -854,7 +863,8 @@ static void check_and_queue_gestures(uint32_t *event)
MOTIONSENSE_ORIENTATION_UNKNOWN)) {
SET_ORIENTATION_UPDATED(sensor);
vector.state = GET_ORIENTATION(sensor);
motion_sense_fifo_add_unit(&vector, NULL, 0);
motion_sense_fifo_add_data(&vector, NULL, 0,
__hw_clock_source_read());
#ifdef CONFIG_DEBUG_ORIENTATION
{
static const char * const mode_strs[] = {
@@ -973,7 +983,8 @@ void motion_sense_task(void *u)
time_after(ts_end_task.le.lo,
ts_last_int.le.lo + motion_int_interval))) {
if (!fifo_flush_needed)
motion_sense_insert_timestamp();
motion_sense_insert_timestamp(
__hw_clock_source_read());
fifo_flush_needed = 0;
ts_last_int = ts_end_task;
/*
@@ -1194,7 +1205,7 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args)
* Send an event to have a timestamp inserted in the
* FIFO.
*/
motion_sense_insert_timestamp();
motion_sense_insert_timestamp(__hw_clock_source_read());
#endif
sensor->config[SENSOR_CONFIG_AP].odr =
in->sensor_odr.data |

8
driver/accel_lis2dh.c
View File

@@ -11,6 +11,7 @@
#include "common.h"
#include "console.h"
#include "hooks.h"
#include "hwtimer.h"
#include "i2c.h"
#include "math_util.h"
#include "task.h"
@@ -197,7 +198,12 @@ static int load_fifo(struct motion_sensor_t *s)
vect.data[2] = axis[2];
vect.flags = 0;
vect.sensor_num = 0;
motion_sense_fifo_add_unit(&vect, s, 3);
motion_sense_fifo_add_data(&vect, s, 3,
__hw_clock_source_read());
/*
* TODO: get time at a more accurate spot.
* Like in lis2dh_interrupt
*/
}
} while(!done);

11
driver/accelgyro_bmi160.c
View File

@@ -14,6 +14,7 @@
#include "driver/accelgyro_bmi160.h"
#include "driver/mag_bmm150.h"
#include "hooks.h"
#include "hwtimer.h"
#include "i2c.h"
#include "math_util.h"
#include "spi.h"
@@ -25,6 +26,10 @@
#define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args)
#define CPRINTS(format, args...) cprints(CC_ACCEL, format, ## args)
#ifdef CONFIG_ACCEL_FIFO
static uint32_t last_interrupt_timestamp;
#endif
/*
* Struct for pairing an engineering value with the register value for a
* parameter.
@@ -820,7 +825,8 @@ static int bmi160_decode_header(struct motion_sensor_t *s,
vector.data[Y] = v[Y];
vector.data[Z] = v[Z];
vector.sensor_num = i + (s - motion_sensors);
motion_sense_fifo_add_unit(&vector, s + i, 3);
motion_sense_fifo_add_data(&vector, s + i, 3,
last_interrupt_timestamp);
*bp += (i == MOTIONSENSE_TYPE_MAG ? 8 : 6);
}
}
@@ -955,6 +961,9 @@ static int load_fifo(struct motion_sensor_t *s)
*/
void bmi160_interrupt(enum gpio_signal signal)
{
#ifdef CONFIG_ACCEL_FIFO
last_interrupt_timestamp = __hw_clock_source_read();
#endif
task_set_event(TASK_ID_MOTIONSENSE,
CONFIG_ACCELGYRO_BMI160_INT_EVENT, 0);
}

8
driver/als_si114x.c
View File

@@ -11,6 +11,7 @@
#include "console.h"
#include "driver/als_si114x.h"
#include "hooks.h"
#include "hwtimer.h"
#include "i2c.h"
#include "math_util.h"
#include "task.h"
@@ -150,7 +151,12 @@ static int si114x_read_results(struct motion_sensor_t *s, int nb)
for (i = nb; i < 3; i++)
vector.data[i] = 0;
vector.sensor_num = s - motion_sensors;
motion_sense_fifo_add_unit(&vector, s, nb);
motion_sense_fifo_add_data(&vector, s, nb,
__hw_clock_source_read());
/*
* TODO: get time at a more accurate spot.
* Like in si114x_interrupt
*/
#else
/* We need to copy raw_xyz into xyz with mutex */
#endif

11
include/motion_sense.h
View File

@@ -180,15 +180,18 @@ extern unsigned int motion_min_interval;
extern struct queue motion_sense_fifo;
/**
* Interrupt function for lid accelerometer.
* Add new actual data to the fifo, including a timestamp.
*
* @param data data to insert in the FIFO
* @param sensor sensor the data comes from
* @valid_data data should be copied into the public sensor vector
* @param valid_data data should be copied into the public sensor vector
* @param time accurate time (ideally measured in an interrupt) the sample
* was taken at
*/
void motion_sense_fifo_add_unit(struct ec_response_motion_sensor_data *data,
void motion_sense_fifo_add_data(struct ec_response_motion_sensor_data *data,
struct motion_sensor_t *sensor,
int valid_data);
int valid_data,
uint32_t time);
#endif