diff options
Diffstat (limited to 'common/motion_sense.c')
| -rw-r--r-- | common/motion_sense.c | 23 |
1 files changed, 16 insertions, 7 deletions
diff --git a/common/motion_sense.c b/common/motion_sense.c index 2e044e1671..353e54030b 100644 --- a/common/motion_sense.c +++ b/common/motion_sense.c @@ -678,11 +678,8 @@ static inline void update_sense_data(uint8_t *lpc_status, int *psample_id) static int motion_sense_read(struct motion_sensor_t *sensor) { - if (sensor->state != SENSOR_INITIALIZED) - return EC_ERROR_UNKNOWN; - - if (sensor->drv->get_data_rate(sensor) == 0) - return EC_ERROR_NOT_POWERED; + ASSERT(sensor->state == SENSOR_INITIALIZED); + ASSERT(sensor->drv->get_data_rate(sensor) != 0); #ifdef CONFIG_ACCEL_SPOOF_MODE /* @@ -739,6 +736,13 @@ static int motion_sense_process(struct motion_sensor_t *sensor, struct ec_response_motion_sensor_data vector; int *v = sensor->raw_xyz; + /* + * Since motion_sense_read can sleep, other task may be + * scheduled. In particular if suspend is called by + * HOOKS task, it may set colleciton_rate to 0 and we + * would crash in increment_sensor_collection. + */ + increment_sensor_collection(sensor, ts); ret = motion_sense_read(sensor); if (ret == EC_SUCCESS) { vector.flags = 0; @@ -753,7 +757,6 @@ static int motion_sense_process(struct motion_sensor_t *sensor, motion_sense_fifo_add_data(&vector, sensor, 3, __hw_clock_source_read()); } - increment_sensor_collection(sensor, ts); } else { ret = EC_ERROR_BUSY; } @@ -770,8 +773,14 @@ static int motion_sense_process(struct motion_sensor_t *sensor, 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); + /* + * Since motion_sense_read can sleep, other task may be + * scheduled. In particular if suspend is called by + * HOOKS task, it may set colleciton_rate to 0 and we + * would crash in increment_sensor_collection. + */ increment_sensor_collection(sensor, ts); + ret = motion_sense_read(sensor); } else { ret = EC_ERROR_BUSY; } |