diff options
| -rw-r--r-- | common/motion_sense.c | 138 | ||||
| -rw-r--r-- | common/motion_sense_fifo.c | 258 | ||||
| -rw-r--r-- | include/motion_sense_fifo.h | 80 | ||||
| -rw-r--r-- | test/build.mk | 3 | ||||
| -rw-r--r-- | test/motion_sense_fifo.c | 328 | ||||
| -rw-r--r-- | test/motion_sense_fifo.tasklist | 10 | ||||
| -rw-r--r-- | test/test_config.h | 8 |
7 files changed, 617 insertions, 208 deletions
diff --git a/common/motion_sense.c b/common/motion_sense.c index 650f2a7617..c74971a14b 100644 --- a/common/motion_sense.c +++ b/common/motion_sense.c @@ -78,6 +78,9 @@ static void print_spoof_mode_status(int id); /* Flags to control whether to send an ODR change event for a sensor */ static uint32_t odr_event_required; +/* Number of element the AP should collect */ +__maybe_unused static int fifo_int_enabled; + static inline int motion_sensor_in_forced_mode( const struct motion_sensor_t *sensor) { @@ -610,6 +613,36 @@ static inline void increment_sensor_collection(struct motion_sensor_t *sensor, } } +/** + * Commit the data in a sensor's raw_xyz vector. This operation might have + * different meanings depending on the CONFIG_ACCEL_FIFO flag. + * + * @param s Pointer to the sensor. + */ +static void motion_sense_push_raw_xyz(struct motion_sensor_t *s) +{ + if (IS_ENABLED(CONFIG_ACCEL_FIFO)) { + struct ec_response_motion_sensor_data vector; + int *v = s->raw_xyz; + + vector.flags = 0; + vector.sensor_num = s - motion_sensors; + if (IS_ENABLED(CONFIG_ACCEL_SPOOF_MODE) && + s->flags & MOTIONSENSE_FLAG_IN_SPOOF_MODE) + v = s->spoof_xyz; + mutex_lock(&g_sensor_mutex); + memcpy(vector.data, v, sizeof(v)); + mutex_unlock(&g_sensor_mutex); + motion_sense_fifo_stage_data(&vector, s, 3, + __hw_clock_source_read()); + motion_sense_fifo_commit_data(); + } else { + mutex_lock(&g_sensor_mutex); + memcpy(s->xyz, s->raw_xyz, sizeof(s->xyz)); + mutex_unlock(&g_sensor_mutex); + } +} + static int motion_sense_process(struct motion_sensor_t *sensor, uint32_t *event, const timestamp_t *ts) @@ -632,58 +665,24 @@ static int motion_sense_process(struct motion_sensor_t *sensor, ret = sensor->drv->irq_handler(sensor, event); } #endif - if (IS_ENABLED(CONFIG_ACCEL_FIFO)) { - if (motion_sensor_in_forced_mode(sensor)) { - if (motion_sensor_time_to_read(ts, sensor)) { - struct ec_response_motion_sensor_data vector; - int *v = sensor->raw_xyz; - - ret = motion_sense_read(sensor); - if (ret == EC_SUCCESS) { - vector.flags = 0; - vector.sensor_num = sensor - - motion_sensors; - if (IS_ENABLED(CONFIG_ACCEL_SPOOF_MODE) - && sensor->flags & - MOTIONSENSE_FLAG_IN_SPOOF_MODE) - v = sensor->spoof_xyz; - vector.data[X] = v[X]; - vector.data[Y] = v[Y]; - vector.data[Z] = v[Z]; - motion_sense_fifo_stage_data( - &vector, sensor, 3, - __hw_clock_source_read()); - motion_sense_fifo_commit_data(); - } - increment_sensor_collection(sensor, ts); - } else { - ret = EC_ERROR_BUSY; - } + if (motion_sensor_in_forced_mode(sensor)) { + if (motion_sensor_time_to_read(ts, sensor)) { + ret = motion_sense_read(sensor); + increment_sensor_collection(sensor, ts); + } else { + ret = EC_ERROR_BUSY; } - if (*event & TASK_EVENT_MOTION_FLUSH_PENDING) { - int flush_pending = atomic_read_clear( - &sensor->flush_pending); - for (; flush_pending > 0; flush_pending--) { - motion_sense_insert_async_event(sensor, - ASYNC_EVENT_FLUSH); - } - } - } else { - if (motion_sensor_in_forced_mode(sensor)) { - if (motion_sensor_time_to_read(ts, sensor)) { - /* Get latest data for local calculation */ - ret = motion_sense_read(sensor); - increment_sensor_collection(sensor, ts); - } else { - ret = EC_ERROR_BUSY; - } - if (ret == EC_SUCCESS) { - mutex_lock(&g_sensor_mutex); - memcpy(sensor->xyz, sensor->raw_xyz, - sizeof(sensor->xyz)); - mutex_unlock(&g_sensor_mutex); - } + if (ret == EC_SUCCESS) + motion_sense_push_raw_xyz(sensor); + } + if (IS_ENABLED(CONFIG_ACCEL_FIFO) && + *event & TASK_EVENT_MOTION_FLUSH_PENDING) { + int flush_pending = atomic_read_clear(&sensor->flush_pending); + + for (; flush_pending > 0; flush_pending--) { + motion_sense_fifo_insert_async_event( + sensor, ASYNC_EVENT_FLUSH); } } @@ -692,7 +691,7 @@ static int motion_sense_process(struct motion_sensor_t *sensor, motion_sense_set_data_rate(sensor); motion_sense_set_motion_intervals(); if (IS_ENABLED(CONFIG_ACCEL_FIFO)) - motion_sense_insert_async_event( + motion_sense_fifo_insert_async_event( sensor, ASYNC_EVENT_ODR); } return ret; @@ -902,25 +901,18 @@ void motion_sense_task(void *u) * - we haven't done it for a while. */ if (IS_ENABLED(CONFIG_ACCEL_FIFO) && - (motion_sense_fifo_is_wake_up_needed() || + (motion_sense_fifo_wake_up_needed || event & (TASK_EVENT_MOTION_ODR_CHANGE | TASK_EVENT_MOTION_FLUSH_PENDING) || + motion_sense_fifo_over_thres() || (ap_event_interval > 0 && time_after(ts_begin_task.le.lo, ts_last_int.le.lo + ap_event_interval)))) { if ((event & TASK_EVENT_MOTION_FLUSH_PENDING) == 0) { - motion_sense_fifo_stage_timestamp( + motion_sense_fifo_add_timestamp( __hw_clock_source_read()); - motion_sense_fifo_commit_data(); } ts_last_int = ts_begin_task; - /* - * Count the number of event the AP is allowed to - * collect. - */ - mutex_lock(&g_sensor_mutex); - fifo_queue_count = queue_count(&motion_sense_fifo); - mutex_unlock(&g_sensor_mutex); #ifdef CONFIG_MKBP_EVENT /* * Send an event if we know we are in S0 and the kernel @@ -930,9 +922,9 @@ void motion_sense_task(void *u) */ if ((fifo_int_enabled && sensor_active == SENSOR_ACTIVE_S0) || - wake_up_needed) { + motion_sense_fifo_wake_up_needed) { mkbp_send_event(EC_MKBP_EVENT_SENSOR_FIFO); - wake_up_needed = 0; + motion_sense_fifo_wake_up_needed = 0; } #endif /* CONFIG_MKBP_EVENT */ } @@ -1267,12 +1259,11 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args) args->response_size = sizeof(out->fifo_info); break; } - motion_sense_get_fifo_info(&out->fifo_info); + motion_sense_fifo_get_info(&out->fifo_info, 1); for (i = 0; i < motion_sensor_count; i++) { out->fifo_info.lost[i] = motion_sensors[i].lost; motion_sensors[i].lost = 0; } - motion_sense_fifo_lost = 0; args->response_size = sizeof(out->fifo_info) + sizeof(uint16_t) * motion_sensor_count; break; @@ -1280,17 +1271,12 @@ static int host_cmd_motion_sense(struct host_cmd_handler_args *args) case MOTIONSENSE_CMD_FIFO_READ: if (!IS_ENABLED(CONFIG_ACCEL_FIFO)) return EC_RES_INVALID_PARAM; - mutex_lock(&g_sensor_mutex); - reported = MIN((args->response_max - sizeof(out->fifo_read)) / - motion_sense_fifo.unit_bytes, - MIN(queue_count(&motion_sense_fifo), - in->fifo_read.max_data_vector)); - reported = queue_remove_units(&motion_sense_fifo, - out->fifo_read.data, reported); - mutex_unlock(&g_sensor_mutex); - out->fifo_read.number_data = reported; - args->response_size = sizeof(out->fifo_read) + reported * - motion_sense_fifo.unit_bytes; + out->fifo_read.number_data = motion_sense_fifo_read( + args->response_max - sizeof(out->fifo_read), + in->fifo_read.max_data_vector, + out->fifo_read.data, + &(args->response_size)); + args->response_size += sizeof(out->fifo_read); break; case MOTIONSENSE_CMD_FIFO_INT_ENABLE: if (!IS_ENABLED(CONFIG_ACCEL_FIFO)) diff --git a/common/motion_sense_fifo.c b/common/motion_sense_fifo.c index ec4c63b6de..938a4d142c 100644 --- a/common/motion_sense_fifo.c +++ b/common/motion_sense_fifo.c @@ -7,30 +7,14 @@ #include "hwtimer.h" #include "mkbp_event.h" #include "motion_sense_fifo.h" -#include "queue.h" #include "tablet_mode.h" +#include "task.h" #include "util.h" #define CPRINTS(format, args...) cprints(CC_MOTION_SENSE, format, ## args) -static inline int is_timestamp(struct ec_response_motion_sensor_data *data) -{ - return data->flags & MOTIONSENSE_SENSOR_FLAG_TIMESTAMP; -} - -/* Need to wake up the AP */ -int wake_up_needed; - -/* Number of element the AP should collect */ -int fifo_queue_count; -int fifo_int_enabled; - -struct queue motion_sense_fifo = QUEUE_NULL( - CONFIG_ACCEL_FIFO_SIZE, struct ec_response_motion_sensor_data); -int motion_sense_fifo_lost; - /** - * Staged metadata for the motion_sense_fifo. + * Staged metadata for the fifo queue. * @read_ts: The timestamp at which the staged data was read. This value will * serve as the upper bound for spreading * @count: The total number of motion_sense_fifo entries that are currently @@ -46,15 +30,39 @@ struct fifo_staged { uint8_t sample_count[SENSOR_COUNT]; uint8_t requires_spreading; }; + +/** Queue to hold the data to be sent to the AP. */ +struct queue fifo = QUEUE_NULL(CONFIG_ACCEL_FIFO_SIZE, + struct ec_response_motion_sensor_data); +/** Count of the number of entries lost due to a small queue. */ +static int fifo_lost; +/** Metadata for the fifo, used for staging and spreading data. */ static struct fifo_staged fifo_staged; -static inline struct ec_response_motion_sensor_data * -get_motion_sense_fifo_head(void) +/** Need to wake up the AP. */ +int motion_sense_fifo_wake_up_needed; + +/** + * Check whether or not a give sensor data entry is a timestamp or not. + * + * @param data The data entry to check. + * @return 1 if the entry is a timestamp, 0 otherwise. + */ +static inline int is_timestamp(struct ec_response_motion_sensor_data *data) +{ + return data->flags & MOTIONSENSE_SENSOR_FLAG_TIMESTAMP; +} + +/** + * Convinience function to get the head of the fifo. This function makes no + * guarantee on whether or not the entry is valid. + * + * @return Pointer to the head of the fifo. + */ +static inline struct ec_response_motion_sensor_data *get_fifo_head(void) { - return ((struct ec_response_motion_sensor_data *) - motion_sense_fifo.buffer) + - (motion_sense_fifo.state->head & - motion_sense_fifo.unit_bytes); + return ((struct ec_response_motion_sensor_data *) fifo.buffer) + + (fifo.state->head & fifo.buffer_units_mask); } /** @@ -69,11 +77,10 @@ get_motion_sense_fifo_head(void) * WARNING: This function MUST be called from within a locked context of * g_sensor_mutex. */ -static void motion_sense_fifo_pop(void) +static void fifo_pop(void) { - struct ec_response_motion_sensor_data *head = - get_motion_sense_fifo_head(); - const size_t initial_count = queue_count(&motion_sense_fifo); + struct ec_response_motion_sensor_data *head = get_fifo_head(); + const size_t initial_count = queue_count(&fifo); /* Check that we have something to pop. */ if (!initial_count && !fifo_staged.count) @@ -85,13 +92,19 @@ static void motion_sense_fifo_pop(void) * staged data. */ if (!initial_count) - queue_advance_tail(&motion_sense_fifo, 1); + queue_advance_tail(&fifo, 1); /* + * If we're about to pop a wakeup flag, we should remember it as though + * it was committed. + */ + if (head->flags & MOTIONSENSE_SENSOR_FLAG_WAKEUP) + motion_sense_fifo_wake_up_needed = 1; + /* * By not using queue_remove_unit we're avoiding an un-necessary memcpy. */ - queue_advance_head(&motion_sense_fifo, 1); - motion_sense_fifo_lost++; + queue_advance_head(&fifo, 1); + fifo_lost++; /* Increment lost counter if we have valid data. */ if (!is_timestamp(head)) @@ -127,10 +140,13 @@ static void motion_sense_fifo_pop(void) } } -static void motion_sense_fifo_ensure_space(void) +/** + * Make sure that the fifo has at least 1 empty spot to stage data into. + */ +static void fifo_ensure_space(void) { /* If we already have space just bail. */ - if (queue_space(&motion_sense_fifo) > fifo_staged.count) + if (queue_space(&fifo) > fifo_staged.count) return; /* @@ -145,17 +161,21 @@ static void motion_sense_fifo_ensure_space(void) * would assign a bad timestamp to it. */ do { - motion_sense_fifo_pop(); + fifo_pop(); } while (IS_ENABLED(CONFIG_SENSOR_TIGHT_TIMESTAMPS) && - !is_timestamp(get_motion_sense_fifo_head()) && - queue_count(&motion_sense_fifo) + fifo_staged.count); + !is_timestamp(get_fifo_head()) && + queue_count(&fifo) + fifo_staged.count); } -/* - * Do not use this function directly if you just want to add sensor data, use - * motion_sense_fifo_stage_data instead to get a proper timestamp too. +/** + * Stage a single data unit to the motion sense fifo. Note that for the AP to + * see this data, it must be committed. + * + * @param data The data to stage. + * @param sensor The sensor that generated the data + * @param valid_data The number of readable data entries in the data. */ -static void motion_sense_fifo_stage_unit( +void fifo_stage_unit( struct ec_response_motion_sensor_data *data, struct motion_sensor_t *sensor, int valid_data) @@ -178,29 +198,26 @@ static void motion_sense_fifo_stage_unit( } removed = sensor->oversampling++; sensor->oversampling %= sensor->oversampling_ratio; - if (removed != 0) { + if (removed) { mutex_unlock(&g_sensor_mutex); return; } } /* Make sure we have room for the data */ - motion_sense_fifo_ensure_space(); + fifo_ensure_space(); mutex_unlock(&g_sensor_mutex); - if (data->flags & MOTIONSENSE_SENSOR_FLAG_WAKEUP) - wake_up_needed = 1; if (IS_ENABLED(CONFIG_TABLET_MODE)) data->flags |= (tablet_get_mode() ? - MOTIONSENSE_SENSOR_FLAG_TABLET_MODE : 0); + MOTIONSENSE_SENSOR_FLAG_TABLET_MODE : 0); /* * Get the next writable block in the fifo. We don't need to lock this * because it will always be past the tail and thus the AP will never * read this until motion_sense_fifo_commit_data() is called. */ - chunk = queue_get_write_chunk( - &motion_sense_fifo, fifo_staged.count); + chunk = queue_get_write_chunk(&fifo, fifo_staged.count); if (!chunk.buffer) { /* @@ -220,7 +237,7 @@ static void motion_sense_fifo_stage_unit( * be written to the next available block and this one will remain * staged. */ - memcpy(chunk.buffer, data, motion_sense_fifo.unit_bytes); + memcpy(chunk.buffer, data, fifo.unit_bytes); fifo_staged.count++; /* @@ -235,52 +252,68 @@ static void motion_sense_fifo_stage_unit( fifo_staged.requires_spreading = 1; } -void motion_sense_insert_async_event(struct motion_sensor_t *sensor, - enum motion_sense_async_event evt) +/** + * Stage an entry representing a single timestamp. + * + * @param timestamp The timestamp to add to the fifo. + */ +static void fifo_stage_timestamp(uint32_t timestamp) { struct ec_response_motion_sensor_data vector; - vector.flags = evt; + vector.flags = MOTIONSENSE_SENSOR_FLAG_TIMESTAMP; + vector.timestamp = timestamp; + vector.sensor_num = 0; + fifo_stage_unit(&vector, NULL, 0); +} + +/** + * Peek into the staged data at a given offset. This function performs no bound + * checking and is purely for confinience. + * + * @param offset The offset into the staged data to peek into. + * @return Pointer to the entry at the given offset. + */ +static inline struct ec_response_motion_sensor_data * +peek_fifo_staged(size_t offset) +{ + return (struct ec_response_motion_sensor_data *) + queue_get_write_chunk(&fifo, offset).buffer; +} + +void motion_sense_fifo_insert_async_event( + struct motion_sensor_t *sensor, + enum motion_sense_async_event event) +{ + struct ec_response_motion_sensor_data vector; + + vector.flags = event; vector.timestamp = __hw_clock_source_read(); vector.sensor_num = sensor - motion_sensors; - motion_sense_fifo_stage_unit(&vector, sensor, 0); + fifo_stage_unit(&vector, sensor, 0); motion_sense_fifo_commit_data(); } -void motion_sense_fifo_stage_timestamp(uint32_t timestamp) +inline void motion_sense_fifo_add_timestamp(uint32_t timestamp) { - struct ec_response_motion_sensor_data vector; - - vector.flags = MOTIONSENSE_SENSOR_FLAG_TIMESTAMP; - vector.timestamp = timestamp; - vector.sensor_num = 0; - motion_sense_fifo_stage_unit(&vector, NULL, 0); + fifo_stage_timestamp(timestamp); + motion_sense_fifo_commit_data(); } -void motion_sense_fifo_stage_data(struct ec_response_motion_sensor_data *data, - struct motion_sensor_t *sensor, - int valid_data, - uint32_t time) +void motion_sense_fifo_stage_data( + struct ec_response_motion_sensor_data *data, + struct motion_sensor_t *sensor, + int valid_data, + uint32_t time) { if (IS_ENABLED(CONFIG_SENSOR_TIGHT_TIMESTAMPS)) { /* First entry, save the time for spreading later. */ if (!fifo_staged.count) fifo_staged.read_ts = __hw_clock_source_read(); - motion_sense_fifo_stage_timestamp(time); + fifo_stage_timestamp(time); } - motion_sense_fifo_stage_unit(data, sensor, valid_data); -} - -/** - * Peek into the staged data at a given offset. This function performs no bound - * checking and is purely for convenience. - */ -static inline struct ec_response_motion_sensor_data * -motion_sense_peek_fifo_staged(size_t offset) -{ - return (struct ec_response_motion_sensor_data *) - queue_get_write_chunk(&motion_sense_fifo, offset).buffer; + fifo_stage_unit(data, sensor, valid_data); } void motion_sense_fifo_commit_data(void) @@ -291,6 +324,7 @@ void motion_sense_fifo_commit_data(void) */ static uint32_t data_periods[SENSOR_COUNT]; static uint32_t next_timestamp[SENSOR_COUNT]; + static uint16_t next_timestamp_initialized; struct ec_response_motion_sensor_data *data; int i, window, sensor_num; @@ -306,7 +340,7 @@ void motion_sense_fifo_commit_data(void) if (!fifo_staged.requires_spreading) goto flush_data_end; - data = motion_sense_peek_fifo_staged(0); + data = peek_fifo_staged(0); /* * Spreading only makes sense if tight timestamps are used. In such case @@ -316,6 +350,7 @@ void motion_sense_fifo_commit_data(void) */ if (!is_timestamp(data)) { CPRINTS("Spreading skipped, first entry is not a timestamp"); + fifo_staged.requires_spreading = 0; goto flush_data_end; } @@ -334,14 +369,16 @@ void motion_sense_fifo_commit_data(void) * Clamp the sample period to the MIN of collection_rate and the * window length / sample counts. */ - if (window) - period = MIN(period, - window / fifo_staged.sample_count[i]); + if (window && fifo_staged.sample_count[i] > 1) + period = MIN( + period, + window / (fifo_staged.sample_count[i] - 1)); data_periods[i] = period; } +flush_data_end: /* - * Spread the timestamps. + * Conditionally spread the timestamps. * * If we got this far that means that the tight timestamps config is * enabled. This means that we can expect the staged entries to have 1 @@ -349,45 +386,58 @@ void motion_sense_fifo_commit_data(void) * through the timestamps until we get to data. We only need to update * the timestamp right before it to keep things correct. */ + next_timestamp_initialized = 0; for (i = 0; i < fifo_staged.count; i++) { - data = motion_sense_peek_fifo_staged(i); + data = peek_fifo_staged(i); + if (data->flags & MOTIONSENSE_SENSOR_FLAG_WAKEUP) + motion_sense_fifo_wake_up_needed = 1; /* Skip timestamp, we don't know the sensor number yet. */ - if (is_timestamp(data)) + if (is_timestamp(data) || !fifo_staged.requires_spreading) continue; /* Get the sensor number and point to the timestamp entry. */ sensor_num = data->sensor_num; - data = motion_sense_peek_fifo_staged(i - 1); + data = peek_fifo_staged(i - 1); - /* If the timestamp is after our computed next, skip ahead. */ - if (time_after(data->timestamp, next_timestamp[sensor_num])) + /* + * If this is the first time we're seeing a timestamp for this + * sensor or the timestamp is after our computed next, skip + * ahead. + */ + if (!(next_timestamp_initialized & BIT(sensor_num)) || + time_after(data->timestamp, next_timestamp[sensor_num])) { next_timestamp[sensor_num] = data->timestamp; + next_timestamp_initialized |= BIT(sensor_num); + } /* Spread the timestamp and compute the expected next. */ data->timestamp = next_timestamp[sensor_num]; next_timestamp[sensor_num] += data_periods[sensor_num]; } -flush_data_end: /* Advance the tail and clear the staged metadata. */ mutex_lock(&g_sensor_mutex); - queue_advance_tail(&motion_sense_fifo, fifo_staged.count); + queue_advance_tail(&fifo, fifo_staged.count); mutex_unlock(&g_sensor_mutex); /* Reset metadata for next staging cycle. */ memset(&fifo_staged, 0, sizeof(fifo_staged)); } -void motion_sense_get_fifo_info( - struct ec_response_motion_sense_fifo_info *fifo_info) +void motion_sense_fifo_get_info( + struct ec_response_motion_sense_fifo_info *fifo_info, + int reset) { - fifo_info->size = motion_sense_fifo.buffer_units; + fifo_info->size = fifo.buffer_units; mutex_lock(&g_sensor_mutex); - fifo_info->count = fifo_queue_count; - fifo_info->total_lost = motion_sense_fifo_lost; + fifo_info->count = queue_count(&fifo); + fifo_info->total_lost = fifo_lost; mutex_unlock(&g_sensor_mutex); fifo_info->timestamp = mkbp_last_event_time; + + if (reset) + fifo_lost = 0; } static int motion_sense_get_next_event(uint8_t *out) @@ -395,14 +445,28 @@ static int motion_sense_get_next_event(uint8_t *out) union ec_response_get_next_data *data = (union ec_response_get_next_data *)out; /* out is not padded. It has one byte for the event type */ - motion_sense_get_fifo_info(&data->sensor_fifo.info); + motion_sense_fifo_get_info(&data->sensor_fifo.info, 0); return sizeof(data->sensor_fifo); } DECLARE_EVENT_SOURCE(EC_MKBP_EVENT_SENSOR_FIFO, motion_sense_get_next_event); -inline int motion_sense_fifo_is_wake_up_needed(void) +inline int motion_sense_fifo_over_thres(void) +{ + return queue_space(&fifo) < CONFIG_ACCEL_FIFO_THRES; +} + +int motion_sense_fifo_read(int capacity_bytes, int max_count, void *out, + uint16_t *out_size) { - return queue_space(&motion_sense_fifo) < CONFIG_ACCEL_FIFO_THRES || - wake_up_needed; + int count; + + mutex_lock(&g_sensor_mutex); + count = MIN(capacity_bytes / fifo.unit_bytes, + MIN(queue_count(&fifo), max_count)); + count = queue_remove_units(&fifo, out, count); + mutex_unlock(&g_sensor_mutex); + *out_size = count * fifo.unit_bytes; + + return count; } diff --git a/include/motion_sense_fifo.h b/include/motion_sense_fifo.h index 6b306b5f29..d47c23af94 100644 --- a/include/motion_sense_fifo.h +++ b/include/motion_sense_fifo.h @@ -7,14 +7,8 @@ #define __CROS_EC_MOTION_SENSE_FIFO_H #include "motion_sense.h" -#include "task.h" - -extern struct queue motion_sense_fifo; -extern int wake_up_needed; -extern int fifo_int_enabled; -extern int fifo_queue_count; -extern int motion_sense_fifo_lost; +/** Allowed async events. */ enum motion_sense_async_event { ASYNC_EVENT_FLUSH = MOTIONSENSE_SENSOR_FLAG_FLUSH | MOTIONSENSE_SENSOR_FLAG_TIMESTAMP, @@ -22,6 +16,26 @@ enum motion_sense_async_event { MOTIONSENSE_SENSOR_FLAG_TIMESTAMP, }; +/** Whether or not we need to wake up the AP. */ +extern int motion_sense_fifo_wake_up_needed; + +/** + * Insert an async event into the fifo. + * + * @param sensor The sensor that generated the async event. + * @param event The event to insert. + */ +void motion_sense_fifo_insert_async_event( + struct motion_sensor_t *sensor, + enum motion_sense_async_event event); + +/** + * Insert a timestamp into the fifo. + * + * @param timestamp The timestamp to insert. + */ +void motion_sense_fifo_add_timestamp(uint32_t timestamp); + /** * Stage data to the fifo, including a timestamp. This data will not be * available to the AP until motion_sense_fifo_commit_data is called. @@ -32,46 +46,46 @@ enum motion_sense_async_event { * @param time accurate time (ideally measured in an interrupt) the sample * was taken at */ -void motion_sense_fifo_stage_data(struct ec_response_motion_sensor_data *data, - struct motion_sensor_t *sensor, - int valid_data, - uint32_t time); +void motion_sense_fifo_stage_data( + struct ec_response_motion_sensor_data *data, + struct motion_sensor_t *sensor, + int valid_data, + uint32_t time); /** - * Commits all staged data to the fifo. If multiple readings were placed using - * the same timestamps, they will be spread out. + * Commit all the currently staged data to the fifo. Doing so makes it readable + * to the AP. */ void motion_sense_fifo_commit_data(void); /** - * Insert an async event into the fifo. - * - * @param sensor Pointer to the sensor generating the event. - * @param evt The event to insert. - */ -void motion_sense_insert_async_event(struct motion_sensor_t *sensor, - enum motion_sense_async_event evt); - -/** - * Stage a timestamp into the fifo. + * Get information about the fifo. * - * @param timestamp The timestamp to stage. + * @param fifo_info The struct to modify with the current information about the + * fifo. + * @param reset Whether or not to reset statistics after reading them. */ -void motion_sense_fifo_stage_timestamp(uint32_t timestamp); +void motion_sense_fifo_get_info( + struct ec_response_motion_sense_fifo_info *fifo_info, + int reset); /** - * Get information about the fifo. + * Check whether or not the fifo has gone over its threshold. * - * @param fifo_info The struct to store the info. + * @return 1 if yes, 0 for no. */ -void motion_sense_get_fifo_info( - struct ec_response_motion_sense_fifo_info *fifo_info); +int motion_sense_fifo_over_thres(void); /** - * Checks if either the AP should be woken up due to the fifo. + * Read available committed entries from the fifo. * - * @return 1 if the AP should be woken up, 0 otherwise. + * @param capacity_bytes The number of bytes available to be written to `out`. + * @param max_count The maximum number of entries to be placed in `out`. + * @param out The target to copy the data into. + * @param out_size The number of bytes written to `out`. + * @return The number of entries written to `out`. */ -int motion_sense_fifo_is_wake_up_needed(void); +int motion_sense_fifo_read(int capacity_bytes, int max_count, void *out, + uint16_t *out_size); -#endif /* __CROS_EC_MOTION_SENSE_FIFO_H */ +#endif /*__CROS_EC_MOTION_SENSE_FIFO_H */ diff --git a/test/build.mk b/test/build.mk index ea0fef7fc1..9e139995a4 100644 --- a/test/build.mk +++ b/test/build.mk @@ -46,6 +46,7 @@ test-list-host += math_util test-list-host += motion_angle test-list-host += motion_angle_tablet test-list-host += motion_lid +test-list-host += motion_sense_fifo test-list-host += mutex test-list-host += nvmem test-list-host += pingpong @@ -84,7 +85,6 @@ test-list-host += vboot test-list-host += x25519 endif - aes-y=aes.o base32-y=base32.o battery_get_params_smart-y=battery_get_params_smart.o @@ -118,6 +118,7 @@ math_util-y=math_util.o motion_angle-y=motion_angle.o motion_angle_data_literals.o motion_common.o motion_angle_tablet-y=motion_angle_tablet.o motion_angle_data_literals_tablet.o motion_common.o motion_lid-y=motion_lid.o +motion_sense_fifo-y=motion_sense_fifo.o mutex-y=mutex.o nvmem-y=nvmem.o nvmem_tpm2_mock.o pingpong-y=pingpong.o diff --git a/test/motion_sense_fifo.c b/test/motion_sense_fifo.c new file mode 100644 index 0000000000..84f52d614c --- /dev/null +++ b/test/motion_sense_fifo.c @@ -0,0 +1,328 @@ +/* Copyright 2019 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. + * + * Test motion_sense_fifo. + */ + +#include "stdio.h" +#include "motion_sense_fifo.h" +#include "test_util.h" +#include "util.h" +#include "hwtimer.h" + +struct motion_sensor_t motion_sensors[] = { + [BASE] = {}, + [LID] = {}, +}; + +const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); + +uint32_t mkbp_last_event_time; + +static struct ec_response_motion_sensor_data data[CONFIG_ACCEL_FIFO_SIZE]; +static uint16_t data_bytes_read; + +static int test_insert_async_event(void) +{ + int read_count; + + motion_sense_fifo_insert_async_event(motion_sensors, ASYNC_EVENT_FLUSH); + motion_sense_fifo_insert_async_event(motion_sensors + 1, + ASYNC_EVENT_ODR); + + read_count = motion_sense_fifo_read( + sizeof(data), CONFIG_ACCEL_FIFO_SIZE, + data, &data_bytes_read); + TEST_EQ(read_count, 2, "%d"); + TEST_EQ(data_bytes_read, + 2 * sizeof(struct ec_response_motion_sensor_data), "%d"); + + TEST_BITS_SET(data[0].flags, ASYNC_EVENT_FLUSH); + TEST_BITS_CLEARED(data[0].flags, MOTIONSENSE_SENSOR_FLAG_ODR); + TEST_EQ(data[0].sensor_num, 0, "%d"); + + TEST_BITS_SET(data[1].flags, ASYNC_EVENT_ODR); + TEST_BITS_CLEARED(data[1].flags, MOTIONSENSE_SENSOR_FLAG_FLUSH); + TEST_EQ(data[1].sensor_num, 1, "%d"); + + return EC_SUCCESS; +} + +static int test_wake_up_needed(void) +{ + data[0].flags = MOTIONSENSE_SENSOR_FLAG_WAKEUP; + + motion_sense_fifo_stage_data(data, motion_sensors, 0, 100); + TEST_EQ(motion_sense_fifo_wake_up_needed, 0, "%d"); + + motion_sense_fifo_commit_data(); + TEST_EQ(motion_sense_fifo_wake_up_needed, 1, "%d"); + + return EC_SUCCESS; +} + +static int test_wake_up_needed_overflow(void) +{ + int i; + + data[0].flags = MOTIONSENSE_SENSOR_FLAG_WAKEUP; + motion_sense_fifo_stage_data(data, motion_sensors, 0, 100); + + data[0].flags = 0; + /* + * Using CONFIG_ACCEL_FIFO_SIZE / 2 since 2 entries are inserted per + * 'data': + * - a timestamp + * - the data + */ + for (i = 0; i < (CONFIG_ACCEL_FIFO_SIZE / 2); i++) + motion_sense_fifo_stage_data(data, motion_sensors, 0, 101 + i); + + TEST_EQ(motion_sense_fifo_wake_up_needed, 1, "%d"); + return EC_SUCCESS; +} + +static int test_adding_timestamp(void) +{ + int read_count; + + motion_sense_fifo_add_timestamp(100); + read_count = motion_sense_fifo_read( + sizeof(data), CONFIG_ACCEL_FIFO_SIZE, + data, &data_bytes_read); + + TEST_EQ(read_count, 1, "%d"); + TEST_BITS_SET(data[0].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP); + TEST_EQ(data[0].timestamp, 100, "%u"); + return EC_SUCCESS; +} + +static int test_stage_data_sets_xyz(void) +{ + motion_sensors->oversampling_ratio = 1; + motion_sensors->oversampling = 0; + data->data[0] = 1; + data->data[1] = 2; + data->data[2] = 3; + motion_sense_fifo_stage_data(data, motion_sensors, 3, 100); + + TEST_EQ(motion_sensors->xyz[0], 1, "%d"); + TEST_EQ(motion_sensors->xyz[1], 2, "%d"); + TEST_EQ(motion_sensors->xyz[2], 3, "%d"); + + return EC_SUCCESS; +} + +static int test_stage_data_removed_oversample(void) +{ + int read_count; + + motion_sensors->oversampling_ratio = 2; + motion_sensors->oversampling = 0; + data->data[0] = 1; + data->data[1] = 2; + data->data[2] = 3; + motion_sense_fifo_stage_data(data, motion_sensors, 3, 100); + + data->data[0] = 4; + data->data[1] = 5; + data->data[2] = 6; + motion_sense_fifo_stage_data(data, motion_sensors, 3, 110); + motion_sense_fifo_commit_data(); + + read_count = motion_sense_fifo_read( + sizeof(data), CONFIG_ACCEL_FIFO_SIZE, + data, &data_bytes_read); + TEST_EQ(read_count, 3, "%d"); + TEST_BITS_SET(data[0].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP); + TEST_EQ(data[0].timestamp, 100, "%u"); + TEST_BITS_CLEARED(data[1].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP); + TEST_EQ(data[1].data[0], 1, "%d"); + TEST_EQ(data[1].data[1], 2, "%d"); + TEST_EQ(data[1].data[2], 3, "%d"); + TEST_BITS_SET(data[2].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP); + TEST_EQ(data[2].timestamp, 110, "%u"); + + return EC_SUCCESS; +} + +static int test_stage_data_remove_all_oversampling(void) +{ + int read_count; + + motion_sensors->oversampling_ratio = 0; + motion_sensors->oversampling = 0; + data->data[0] = 1; + data->data[1] = 2; + data->data[2] = 3; + motion_sense_fifo_stage_data(data, motion_sensors, 3, 100); + + data->data[0] = 4; + data->data[1] = 5; + data->data[2] = 6; + motion_sense_fifo_stage_data(data, motion_sensors, 3, 110); + motion_sense_fifo_commit_data(); + + read_count = motion_sense_fifo_read( + sizeof(data), CONFIG_ACCEL_FIFO_SIZE, + data, &data_bytes_read); + TEST_EQ(read_count, 2, "%d"); + TEST_BITS_SET(data[0].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP); + TEST_EQ(data[0].timestamp, 100, "%u"); + TEST_BITS_SET(data[1].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP); + TEST_EQ(data[1].timestamp, 110, "%u"); + + return EC_SUCCESS; +} + +static int test_stage_data_evicts_data_with_timestamp(void) +{ + int i, read_count; + + /* Fill the fifo */ + motion_sensors->oversampling_ratio = 1; + for (i = 0; i < CONFIG_ACCEL_FIFO_SIZE / 2; i++) + motion_sense_fifo_stage_data(data, motion_sensors, + 3, i * 100); + + /* Add a single entry (should evict 2) */ + motion_sense_fifo_add_timestamp(CONFIG_ACCEL_FIFO_SIZE * 100); + read_count = motion_sense_fifo_read( + sizeof(data), CONFIG_ACCEL_FIFO_SIZE, + data, &data_bytes_read); + TEST_EQ(read_count, CONFIG_ACCEL_FIFO_SIZE - 1, "%d"); + TEST_BITS_SET(data->flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP); + TEST_EQ(data->timestamp, 100, "%u"); + TEST_BITS_SET(data[CONFIG_ACCEL_FIFO_SIZE - 2].flags, + MOTIONSENSE_SENSOR_FLAG_TIMESTAMP); + TEST_EQ(data[CONFIG_ACCEL_FIFO_SIZE - 2].timestamp, + CONFIG_ACCEL_FIFO_SIZE * 100, "%u"); + + return EC_SUCCESS; +} + +static int test_add_data_no_spreading_when_different_sensors(void) +{ + int read_count; + + motion_sensors[0].oversampling_ratio = 1; + motion_sensors[1].oversampling_ratio = 1; + + motion_sense_fifo_stage_data(data, motion_sensors, 3, 100); + motion_sense_fifo_stage_data(data, motion_sensors + 1, 3, 100); + motion_sense_fifo_commit_data(); + + read_count = motion_sense_fifo_read( + sizeof(data), CONFIG_ACCEL_FIFO_SIZE, + data, &data_bytes_read); + TEST_EQ(read_count, 4, "%d"); + TEST_BITS_SET(data[0].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP); + TEST_EQ(data[0].timestamp, 100, "%u"); + TEST_BITS_SET(data[2].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP); + TEST_EQ(data[2].timestamp, 100, "%u"); + + return EC_SUCCESS; +} + +static int test_add_data_no_spreading_different_timestamps(void) +{ + int read_count; + + motion_sensors[0].oversampling_ratio = 1; + + motion_sense_fifo_stage_data(data, motion_sensors, 3, 100); + motion_sense_fifo_stage_data(data, motion_sensors, 3, 120); + motion_sense_fifo_commit_data(); + + read_count = motion_sense_fifo_read( + sizeof(data), CONFIG_ACCEL_FIFO_SIZE, + data, &data_bytes_read); + TEST_EQ(read_count, 4, "%d"); + TEST_BITS_SET(data[0].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP); + TEST_EQ(data[0].timestamp, 100, "%u"); + TEST_BITS_SET(data[2].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP); + TEST_EQ(data[2].timestamp, 120, "%u"); + + return EC_SUCCESS; +} + +static int test_spread_data_in_window(void) +{ + uint32_t now; + int read_count; + + motion_sensors[0].oversampling_ratio = 1; + motion_sensors[0].collection_rate = 20000; /* ns */ + now = __hw_clock_source_read(); + + motion_sense_fifo_stage_data(data, motion_sensors, 3, + now - 18000); + motion_sense_fifo_stage_data(data, motion_sensors, 3, + now - 18000); + motion_sense_fifo_commit_data(); + read_count = motion_sense_fifo_read( + sizeof(data), CONFIG_ACCEL_FIFO_SIZE, + data, &data_bytes_read); + TEST_EQ(read_count, 4, "%d"); + TEST_BITS_SET(data[0].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP); + TEST_EQ(data[0].timestamp, now - 18000, "%u"); + TEST_BITS_SET(data[2].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP); + TEST_EQ(data[2].timestamp, now, "%u"); + + return EC_SUCCESS; +} + +static int test_spread_data_by_collection_rate(void) +{ + const uint32_t now = __hw_clock_source_read(); + int read_count; + + motion_sensors[0].oversampling_ratio = 1; + motion_sensors[0].collection_rate = 20000; /* ns */ + motion_sense_fifo_stage_data(data, motion_sensors, 3, + now - 20500); + motion_sense_fifo_stage_data(data, motion_sensors, 3, + now - 20500); + motion_sense_fifo_commit_data(); + read_count = motion_sense_fifo_read( + sizeof(data), CONFIG_ACCEL_FIFO_SIZE, + data, &data_bytes_read); + TEST_EQ(read_count, 4, "%d"); + TEST_BITS_SET(data[0].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP); + TEST_EQ(data[0].timestamp, now - 20500, "%u"); + TEST_BITS_SET(data[2].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP); + TEST_EQ(data[2].timestamp, now - 500, "%u"); + + return EC_SUCCESS; +} + +void before_test(void) +{ + motion_sense_fifo_commit_data(); + motion_sense_fifo_read(sizeof(data), CONFIG_ACCEL_FIFO_SIZE, &data, + &data_bytes_read); + motion_sense_fifo_wake_up_needed = 0; + memset(data, 0, sizeof(data)); +} + +void run_test(void) +{ + test_reset(); + + RUN_TEST(test_insert_async_event); + RUN_TEST(test_wake_up_needed); + RUN_TEST(test_wake_up_needed_overflow); + RUN_TEST(test_adding_timestamp); + RUN_TEST(test_stage_data_sets_xyz); + RUN_TEST(test_stage_data_removed_oversample); + RUN_TEST(test_stage_data_remove_all_oversampling); + RUN_TEST(test_stage_data_evicts_data_with_timestamp); + RUN_TEST(test_add_data_no_spreading_when_different_sensors); + RUN_TEST(test_add_data_no_spreading_different_timestamps); + RUN_TEST(test_spread_data_in_window); + RUN_TEST(test_spread_data_by_collection_rate); + + test_print_result(); +} + diff --git a/test/motion_sense_fifo.tasklist b/test/motion_sense_fifo.tasklist new file mode 100644 index 0000000000..0e3696c3f0 --- /dev/null +++ b/test/motion_sense_fifo.tasklist @@ -0,0 +1,10 @@ +/* Copyright 2019 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. + */ + +/** + * See CONFIG_TASK_LIST in config.h for details. + */ +#define CONFIG_TEST_TASK_LIST \ + TASK_TEST(MOTIONSENSE, motion_sense_task, NULL, TASK_STACK_SIZE) diff --git a/test/test_config.h b/test/test_config.h index b83d834056..89c928f1f0 100644 --- a/test/test_config.h +++ b/test/test_config.h @@ -82,8 +82,14 @@ #define CONFIG_SHA256 #endif +#ifdef TEST_MOTION_SENSE_FIFO +#define CONFIG_ACCEL_FIFO +#define CONFIG_ACCEL_FIFO_SIZE 256 +#define CONFIG_ACCEL_FIFO_THRES 10 +#endif + #if defined(TEST_MOTION_LID) || defined(TEST_MOTION_ANGLE) || \ - defined(TEST_MOTION_ANGLE_TABLET) + defined(TEST_MOTION_ANGLE_TABLET) || defined(TEST_MOTION_SENSE_FIFO) enum sensor_id { BASE, LID, |