Previously in motion lid, we only considered the lid angle as unreliable
when the hinge is too closely aligned with the direction of gravity.
However, there are other cases where the lid angle can be unreliable.
For example, when the device is being shaken and is under acceleration
that's not solely due to gravity.
This commit adds some more checks for a reliable lid angle measurement.
- Checking if the device is significant motion by checking the
deviation of the magnitudes of the base and lid vectors.
- Making sure that the calculated angles agree with the current state
of the lid switch.
BUG=chrome-os-partner:59480
BUG=chrome-os-partner:59203
BRANCH=gru,cyan,glados,oak
TEST=Flash kevin; use ectool motionsense lid_angle and monitor the
instantaneous lid angle. Verify that unreliable is reported for cases
where the device is under significant motion.
TEST=Flash kevin; use evtest to monitor the tablet mode switch. Verify
that tablet mode switch is much more robust.
Change-Id: I4bd9e818e617b056364cce2e46385e743a7522d4
Signed-off-by: Aseda Aboagye <aaboagye@google.com>
Reviewed-on: https://chromium-review.googlesource.com/430344
Commit-Ready: Aseda Aboagye <aaboagye@chromium.org>
Tested-by: Aseda Aboagye <aaboagye@chromium.org>
Reviewed-by: Aseda Aboagye <aaboagye@chromium.org>
When lid is closed, the lid angle can move to 358, 360, 0, 359 ...
Prevent transition 0 from/to 360 by keeping the last calculated value.
BRANCH=kevin
BUG=chrome-os-partner:55702
TEST=Check transition does not happen anymore.
Change-Id: Ifa8415470f425c893e2c3662c84c8fd0156e0524
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/373040
Reviewed-by: Aseda Aboagye <aaboagye@chromium.org>
To ease finer calculation of ec rate change units from
ms to us.
BRANCH=smaug
BUG=b:24367625
TEST=compile
Change-Id: I52057c8ca1b1180a64b58d1ba0af9ec53f40b026
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/312984
Use test_export_static for static variable/function that needs to by
used by tests/motion_lid.c
BRANCH=smaug
BUG=none
TEST=Compile, make buildall -j
Change-Id: I2f3eb72ce319622842885be9125b91e58f47133a
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/311754
Reviewed-by: Alec Berg <alecaberg@chromium.org>
Call shutdown() entry point at init() and remove duplicate code.
shutdown would init the sensor so they would be ready if needed.
Set S5 flag to include G3 (hard off) state, not only S5 (soft off).
BUG=chrome-os-partner:45722
BRANCH=smaug
TEST=When doing a RO->RW transition while AP is in G3, check the sensors
are initialized properly. This issue was found while testng the magic
sequence code.
Change-Id: I647f83580240bf5ba0c340fca3184220abe4c12e
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/308561
Reviewed-by: Alec Berg <alecaberg@chromium.org>
Some sensors are in forced mode, motion sense must be scheduled at
their ODR. However the host may not want the data right away,
so motion task may not wake up the host that often.
Add a new variable motion_int_interval that defines the maximum interval
between FIFO host event.
BRANCH=smaug
BUG=chrome-os-partner:43800
TEST=Check that light sensor is polled at ODR frequency.
Check that when AP does not want any event, no FIFO host event are
requested.
Check CTS tests work as before.
Reenable motion_lid unit test.
Change-Id: Ie25e6cbe28fed899073856057855ffa03c0cd9fd
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/301134
Reviewed-by: Alec Berg <alecaberg@chromium.org>
Add config option to use the old accelerometer reference frame,
which is used on samus and products using 3.14 or earlier kernel.
This fixes samus so that the lid angle calculation is correct
again.
This also moves the accel_orientation structure out of the board
directory and into common code, since it purely is a function of
the reference frame being used.
BUG=chrome-os-partner:43494
BRANCH=none
TEST=test on samus, verify lid angle calculation is correct once
again. also, enable the motion_lid test and verify that it passes.
Change-Id: I948a74a71964b54c68be66e828a030ddd0418947
Signed-off-by: Alec Berg <alecaberg@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/300510
Tested-by: Aseda Aboagye <aaboagye@chromium.org>
Reviewed-by: Gwendal Grignou <gwendal@chromium.org>
Add config settings for ODR and EC rate per requestor and
per power state (1 for the AP, 3 for the EC).
This way we can finely set ec rate and ODR depending on usage.
On chromeos, AP is not setting frequency, so EC sets for different power
state. On some platform, sensors can now be suspended in S3/S5.
Allow EC oversampling when AP is only looking for a few samples.
It is useful for double tap detection where high accelerator ODR is
required.
BRANCH=ryu
TEST=Tested on Ryu
BUG=chromium:513458
Change-Id: Ic3888a749699f07b10c5da3bc07204afd4de70da
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/295637
Add a slow inverse matrix calculation function.
It is needed to apply factory offset properly.
Also consider the NULL matrix the identity matrix.
BRANCH=smaug,cyan
TEST=Unit test
BUG=chromium:517675
Change-Id: Ifa11954992e6f2fab02b4e92684e7b01bbaafe94
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/294594
Reviewed-by: Sheng-liang Song <ssl@chromium.org>
Add matrices to align sensors vectors with the device reference.
Move rotation in read routines, to allow fifo to contains processed
information.
BRANCH=smaug
TEST=Worsk on smaug
BUG=chrome-os-partner:39900
Change-Id: I009e7f24ef6ee0574ed664aeb5fd649fcd7039fd
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/286659
Reviewed-by: Alec Berg <alecaberg@chromium.org>
Store at which frequency each sensor should be sampled.
This frequency is different from the sensor frequency:
- sensor frequency: frequency at which the sensor produce information.
- sensor sampling frequency: frequency at the which the EC gater
information.
If 2 sensors must be sampled at very different frequency,
we don't want to oversample the slow one, and filling the
software FIFO unnecessarily.
BRANCH=smaug
TEST=Unit test. Check that frequency is correct when sensor
frequencies change from IIO driver.
BUG=chrome-os-partner:39900
Change-Id: I4272963413f53d4ca004e26639dc7a2affd317eb
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/284616
Reviewed-by: Alec Berg <alecaberg@chromium.org>
Add FIFO support, where bmi160 hardware FIFO is copied in local fifo.
Add rudimentary support for single/double tap and lift detection.
BUG=chrome-os-partner:39900
BRANCH=smaug
TEST=Check on F411 that FIFO data is retrieved and correct.
Check on Smaug as well, with proper kernel the collect the FIFO:
- check that increasing sampling_frequency we are collecting
the FIFO less often
- check no frames are lost.
- check tap/lift interrupts are working
- if latency is less than 100ms, check we are collecting much faster.
Change-Id: Ic2317c27fad0ef31dacd6e18cd5f71ccd2cec807
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/274227
Move structure used by lms6ds0 to motion_sense.h,
so that bosh driver can use the same mechanism.
Use code to avoid reading chip range when reading data.
BUG=none
BRANCH=none
TEST=Check Bosh driver is working as expected.
Change-Id: Id8b5bb8735e479a122ef32ab9a400fba189d7488
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/270453
Reviewed-by: Vincent Palatin <vpalatin@chromium.org>
Motion sense calculations do not require huge amounts of precision, so
fixed point is plenty accurate. And fixed point works on Cortex-M0,
which lacks a FPU.
BUG=chrome-os-partner:36126
BRANCH=minnie (samus already works with the FPU, but could grab this if we
want additional testing)
TEST=manual
1. Boot system
2. At EC console: accelinfo on 250
3. Move lid through several different angles (30 degrees to max open) and
see that it updates correctly and relatively smoothly. A few degrees
of angle jitter is normal.
4. At several angles, rotate the chromebook around and see that the lid
angle remains relatively stable.
5. If the hinge is made normal to the ground (or within 15 degrees of
vertical), the angle should read 500, since the acceleration vectors
don't yield good results in that orientation (for either fixed or float
math).
And run 'make buildall -j', which tests arc_cos() and lid angle calculations
Change-Id: I70a0d08b8914629a3e21ae5578cbe8e50f29ad68
Signed-off-by: Randall Spangler <rspangler@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/244116
Reviewed-by: Alec Berg <alecaberg@chromium.org>
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>
Split motion_sense.c.
Translate the accel data in the Android coordinate right away.
BUG=chrome-os-partner:32002
BRANCH=ToT
TEST=On samus, check lid angle are still correct.
Change-Id: If743e25245dc1ce4cdacb8a4d5af22616c4a79e4
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/225486
Reviewed-by: Sheng-liang Song <ssl@chromium.org>
Reviewed-by: Alec Berg <alecaberg@chromium.org>
