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/* Copyright 2020 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.
*/
#include "accelgyro.h"
#include "atomic.h"
#include "hwtimer.h"
#include "online_calibration.h"
#include "common.h"
#include "mag_cal.h"
#include "util.h"
#include "vec3.h"
#include "task.h"
#include "ec_commands.h"
#include "accel_cal.h"
#include "mkbp_event.h"
#define CPRINTS(format, args...) cprints(CC_MOTION_SENSE, format, ## args)
#ifndef CONFIG_MKBP_EVENT
#error "Must use CONFIG_MKBP_EVENT for online calibration"
#endif /* CONFIG_MKBP_EVENT */
/** Bitmap telling which online calibration values are valid. */
static uint32_t sensor_calib_cache_valid_map;
/** Bitmap telling which online calibration values are dirty. */
static uint32_t sensor_calib_cache_dirty_map;
struct mutex g_calib_cache_mutex;
static int get_temperature(struct motion_sensor_t *sensor, int *temp)
{
struct online_calib_data *entry = sensor->online_calib_data;
uint32_t now;
if (sensor->drv->read_temp == NULL)
return EC_ERROR_UNIMPLEMENTED;
now = __hw_clock_source_read();
if (entry->last_temperature < 0 ||
time_until(entry->last_temperature_timestamp, now) >
CONFIG_TEMP_CACHE_STALE_THRES) {
int t;
int rc = sensor->drv->read_temp(sensor, &t);
if (rc == EC_SUCCESS) {
entry->last_temperature = t;
entry->last_temperature_timestamp = now;
} else {
return rc;
}
}
*temp = entry->last_temperature;
return EC_SUCCESS;
}
static void data_int16_to_fp(const struct motion_sensor_t *s,
const int16_t *data, fpv3_t out)
{
int i;
fp_t range = INT_TO_FP(s->drv->get_range(s));
for (i = 0; i < 3; ++i) {
fp_t v = INT_TO_FP((int32_t)data[i]);
out[i] = fp_div(v, INT_TO_FP((data[i] >= 0) ? 0x7fff : 0x8000));
out[i] = fp_mul(out[i], range);
/* Check for overflow */
out[i] = CLAMP(out[i], -range, range);
}
}
static void data_fp_to_int16(const struct motion_sensor_t *s,
const fpv3_t data, int16_t *out)
{
int i;
fp_t range = INT_TO_FP(s->drv->get_range(s));
for (i = 0; i < 3; ++i) {
int32_t iv;
fp_t v = fp_div(data[i], range);
v = fp_mul(v, INT_TO_FP(
(data[i] >= INT_TO_FP(0)) ? 0x7fff : 0x8000));
iv = FP_TO_INT(v);
/* Check for overflow */
out[i] = CLAMP(iv, (int32_t)0xffff8000, (int32_t)0x00007fff);
}
}
void online_calibration_init(void)
{
size_t i;
for (i = 0; i < SENSOR_COUNT; i++) {
struct motion_sensor_t *s = motion_sensors + i;
void *type_specific_data = NULL;
if (s->online_calib_data) {
s->online_calib_data->last_temperature = -1;
type_specific_data =
s->online_calib_data->type_specific_data;
}
if (!type_specific_data)
continue;
switch (s->type) {
case MOTIONSENSE_TYPE_ACCEL: {
accel_cal_reset((struct accel_cal *)type_specific_data);
break;
}
case MOTIONSENSE_TYPE_MAG: {
init_mag_cal((struct mag_cal_t *)type_specific_data);
break;
}
default:
break;
}
}
}
bool online_calibration_has_new_values(void)
{
bool has_dirty;
mutex_lock(&g_calib_cache_mutex);
has_dirty = sensor_calib_cache_dirty_map != 0;
mutex_unlock(&g_calib_cache_mutex);
return has_dirty;
}
bool online_calibration_read(int sensor_num, int16_t out[3])
{
bool has_valid;
mutex_lock(&g_calib_cache_mutex);
has_valid = (sensor_calib_cache_valid_map & BIT(sensor_num)) != 0;
if (has_valid) {
/* Update data in out */
memcpy(out,
motion_sensors[sensor_num].online_calib_data->cache,
sizeof(out));
/* Clear dirty bit */
sensor_calib_cache_dirty_map &= ~(1 << sensor_num);
}
mutex_unlock(&g_calib_cache_mutex);
return has_valid;
}
int online_calibration_process_data(
struct ec_response_motion_sensor_data *data,
struct motion_sensor_t *sensor,
uint32_t timestamp)
{
size_t sensor_num = motion_sensors - sensor;
int rc;
int temperature;
struct online_calib_data *calib_data;
calib_data = sensor->online_calib_data;
switch (sensor->type) {
case MOTIONSENSE_TYPE_ACCEL: {
struct accel_cal *cal =
(struct accel_cal *)(calib_data->type_specific_data);
fpv3_t fdata;
/* Temperature is required for accelerometer calibration. */
rc = get_temperature(sensor, &temperature);
if (rc != EC_SUCCESS)
return rc;
data_int16_to_fp(sensor, data->data, fdata);
if (accel_cal_accumulate(cal, timestamp, fdata[X], fdata[Y],
fdata[Z], temperature)) {
mutex_lock(&g_calib_cache_mutex);
/* Convert result to the right scale. */
data_fp_to_int16(sensor, cal->bias, calib_data->cache);
/* Set valid and dirty. */
sensor_calib_cache_valid_map |= BIT(sensor_num);
sensor_calib_cache_dirty_map |= BIT(sensor_num);
mutex_unlock(&g_calib_cache_mutex);
/* Notify the AP. */
mkbp_send_event(EC_MKBP_EVENT_ONLINE_CALIBRATION);
}
break;
}
case MOTIONSENSE_TYPE_MAG: {
struct mag_cal_t *cal =
(struct mag_cal_t *) (calib_data->type_specific_data);
int idata[] = {
(int)data->data[X],
(int)data->data[Y],
(int)data->data[Z],
};
if (mag_cal_update(cal, idata)) {
mutex_lock(&g_calib_cache_mutex);
/* Copy the values */
calib_data->cache[X] = cal->bias[X];
calib_data->cache[Y] = cal->bias[Y];
calib_data->cache[Z] = cal->bias[Z];
/* Set valid and dirty. */
sensor_calib_cache_valid_map |= BIT(sensor_num);
sensor_calib_cache_dirty_map |= BIT(sensor_num);
mutex_unlock(&g_calib_cache_mutex);
/* Notify the AP. */
mkbp_send_event(EC_MKBP_EVENT_ONLINE_CALIBRATION);
}
break;
}
default:
break;
}
return EC_SUCCESS;
}
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