Merge "Enable Nanohub INFO and DEBUG logs" into oc-dr1-dev
diff --git a/firmware/os/algos/calibration/gyroscope/gyro_cal.c b/firmware/os/algos/calibration/gyroscope/gyro_cal.c
index 7232950..83c5487 100644
--- a/firmware/os/algos/calibration/gyroscope/gyro_cal.c
+++ b/firmware/os/algos/calibration/gyroscope/gyro_cal.c
@@ -34,7 +34,7 @@
#ifdef GYRO_CAL_DBG_ENABLED
// The time value used to throttle debug messaging.
-#define GYROCAL_WAIT_TIME_NANOS (300000000)
+#define GYROCAL_WAIT_TIME_NANOS (100000000)
// Unit conversion: nanoseconds to seconds.
#define NANOS_TO_SEC (1.0e-9f)
@@ -295,8 +295,6 @@
// Update the gyro calibration with gyro data [rad/sec].
void gyroCalUpdateGyro(struct GyroCal* gyro_cal, uint64_t sample_time_nanos,
float x, float y, float z, float temperature_celsius) {
- static float latest_temperature_celsius = 0.0f;
-
// Make sure that a valid window end-time is set, and start the watchdog
// timer.
if (gyro_cal->stillness_win_endtime_nanos <= 0) {
@@ -307,10 +305,8 @@
gyro_cal->gyro_watchdog_start_nanos = sample_time_nanos;
}
- // Update the temperature statistics (only on a temperature change).
- if (NANO_ABS(temperature_celsius - latest_temperature_celsius) > FLT_MIN) {
- gyroTemperatureStatsTracker(gyro_cal, temperature_celsius, DO_UPDATE_DATA);
- }
+ // Update the temperature statistics.
+ gyroTemperatureStatsTracker(gyro_cal, temperature_celsius, DO_UPDATE_DATA);
#ifdef GYRO_CAL_DBG_ENABLED
// Update the gyro sampling rate estimate.
@@ -411,7 +407,7 @@
// Determines if the device is currently still.
device_is_still = (conf_still > gyro_cal->stillness_threshold) &&
- !mean_not_stable && !min_max_temp_exceeded ;
+ !mean_not_stable && !min_max_temp_exceeded;
if (device_is_still) {
// Device is "still" logic:
@@ -429,9 +425,8 @@
// Check to see if current stillness period exceeds the desired limit.
stillness_duration_exceeded =
- ((gyro_cal->gyro_stillness_detect.last_sample_time -
- gyro_cal->start_still_time_nanos) >=
- gyro_cal->max_still_duration_nanos);
+ (gyro_cal->gyro_stillness_detect.last_sample_time >=
+ gyro_cal->start_still_time_nanos + gyro_cal->max_still_duration_nanos);
// Track the new stillness mean and temperature data.
gyroStillMeanTracker(gyro_cal, DO_STORE_DATA);
@@ -482,9 +477,8 @@
// If device was previously still and the total stillness duration is not
// "too short", then do a calibration with the data accumulated thus far.
stillness_duration_too_short =
- ((gyro_cal->gyro_stillness_detect.window_start_time -
- gyro_cal->start_still_time_nanos) <
- gyro_cal->min_still_duration_nanos);
+ (gyro_cal->gyro_stillness_detect.window_start_time <
+ gyro_cal->start_still_time_nanos + gyro_cal->min_still_duration_nanos);
if (gyro_cal->prev_still && !stillness_duration_too_short) {
computeGyroCal(gyro_cal,
@@ -516,11 +510,11 @@
// Calculates a new gyro bias offset calibration value.
void computeGyroCal(struct GyroCal* gyro_cal, uint64_t calibration_time_nanos) {
// Check to see if new calibration values is within acceptable range.
- if (!(gyro_cal->gyro_stillness_detect.prev_mean_x < MAX_GYRO_BIAS &&
+ if (!(gyro_cal->gyro_stillness_detect.prev_mean_x < MAX_GYRO_BIAS &&
gyro_cal->gyro_stillness_detect.prev_mean_x > -MAX_GYRO_BIAS &&
- gyro_cal->gyro_stillness_detect.prev_mean_y < MAX_GYRO_BIAS &&
+ gyro_cal->gyro_stillness_detect.prev_mean_y < MAX_GYRO_BIAS &&
gyro_cal->gyro_stillness_detect.prev_mean_y > -MAX_GYRO_BIAS &&
- gyro_cal->gyro_stillness_detect.prev_mean_z < MAX_GYRO_BIAS &&
+ gyro_cal->gyro_stillness_detect.prev_mean_z < MAX_GYRO_BIAS &&
gyro_cal->gyro_stillness_detect.prev_mean_z > -MAX_GYRO_BIAS)) {
#ifdef GYRO_CAL_DBG_ENABLED
CAL_DEBUG_LOG("[GYRO_CAL:REJECT]",
@@ -582,14 +576,39 @@
return;
}
- // Check for the watchdog timeout condition (i.e., the time elapsed since the
- // last received sample has exceeded the allowed watchdog duration).
+ // Checks for the following watchdog timeout conditions:
+ // i. The current timestamp has exceeded the allowed watchdog duration.
+ // ii. A timestamp was received that has jumped backwards by more than the
+ // allowed watchdog duration (e.g., timestamp clock roll-over).
watchdog_timeout =
(sample_time_nanos > gyro_cal->gyro_watchdog_timeout_duration_nanos +
- gyro_cal->gyro_watchdog_start_nanos);
+ gyro_cal->gyro_watchdog_start_nanos) ||
+ (sample_time_nanos + gyro_cal->gyro_watchdog_timeout_duration_nanos <
+ gyro_cal->gyro_watchdog_start_nanos);
// If a timeout occurred then reset to known good state.
if (watchdog_timeout) {
+#ifdef GYRO_CAL_DBG_ENABLED
+ gyro_cal->debug_watchdog_count++;
+ if (sample_time_nanos < gyro_cal->gyro_watchdog_start_nanos) {
+ CAL_DEBUG_LOG(
+ "[GYRO_CAL:WATCHDOG]",
+ "Total#, Timestamp | Delta [nsec]: %lu, %llu, -%llu",
+ (unsigned long int)gyro_cal->debug_watchdog_count,
+ (unsigned long long int)sample_time_nanos,
+ (unsigned long long int)(gyro_cal->gyro_watchdog_start_nanos -
+ sample_time_nanos));
+ } else {
+ CAL_DEBUG_LOG(
+ "[GYRO_CAL:WATCHDOG]",
+ "Total#, Timestamp | Delta [nsec]: %lu, %llu, %llu",
+ (unsigned long int)gyro_cal->debug_watchdog_count,
+ (unsigned long long int)sample_time_nanos,
+ (unsigned long long int)(sample_time_nanos -
+ gyro_cal->gyro_watchdog_start_nanos));
+ }
+#endif // GYRO_CAL_DBG_ENABLED
+
// Reset stillness detectors and restart data capture.
gyroStillDetReset(&gyro_cal->accel_stillness_detect, /*reset_stats=*/true);
gyroStillDetReset(&gyro_cal->gyro_stillness_detect, /*reset_stats=*/true);
@@ -624,12 +643,6 @@
// Assert watchdog timeout flags.
gyro_cal->gyro_watchdog_timeout |= watchdog_timeout;
gyro_cal->gyro_watchdog_start_nanos = 0;
-#ifdef GYRO_CAL_DBG_ENABLED
- gyro_cal->debug_watchdog_count++;
- CAL_DEBUG_LOG("[GYRO_CAL:WATCHDOG]", "Total#, Timestamp [nsec]: %lu, %llu",
- (unsigned long int)gyro_cal->debug_watchdog_count,
- (unsigned long long int)sample_time_nanos);
-#endif // GYRO_CAL_DBG_ENABLED
}
}
@@ -653,7 +666,7 @@
// Initializes the min/max temperatures values.
temperature_min_max_celsius[0] = FLT_MAX;
- temperature_min_max_celsius[1] = -1.0f * (FLT_MAX - 1.0f);
+ temperature_min_max_celsius[1] = -FLT_MAX;
break;
case DO_UPDATE_DATA:
@@ -671,7 +684,7 @@
break;
case DO_STORE_DATA:
- // Store the most recent "stillness" mean data to the GyroCal data
+ // Store the most recent temperature statistics data to the GyroCal data
// structure. This functionality allows previous results to be recalled
// when the device suddenly becomes "not still".
if (num_points > 0) {
@@ -718,7 +731,7 @@
// Resets the min/max window mean values to a default value.
for (i = 0; i < 3; i++) {
gyro_winmean_min[i] = FLT_MAX;
- gyro_winmean_max[i] = -1.0f * (FLT_MAX - 1.0f);
+ gyro_winmean_max[i] = -FLT_MAX;
}
break;
@@ -1146,7 +1159,8 @@
case GYRO_WAIT_STATE:
// This helps throttle the print statements.
- if (timestamp_nanos >= GYROCAL_WAIT_TIME_NANOS + wait_timer_nanos) {
+ if (NANO_TIMER_CHECK_T1_GEQUAL_T2_PLUS_DELTA(
+ timestamp_nanos, wait_timer_nanos, GYROCAL_WAIT_TIME_NANOS)) {
gyro_cal->debug_state = next_state;
}
break;
@@ -1228,10 +1242,11 @@
// i. Within the first 300 seconds of boot: output interval = 5
// seconds.
// ii. Thereafter: output interval is 60 seconds.
- bool condition_i =
- ((timestamp_nanos <= 300000000000) &&
- (timestamp_nanos > 5000000000 + wait_timer_nanos)); // nsec
- bool condition_ii = (timestamp_nanos > 60000000000 + wait_timer_nanos);
+ bool condition_i = ((timestamp_nanos <= 300000000000) &&
+ NANO_TIMER_CHECK_T1_GEQUAL_T2_PLUS_DELTA(
+ timestamp_nanos, wait_timer_nanos, 5000000000));
+ bool condition_ii = NANO_TIMER_CHECK_T1_GEQUAL_T2_PLUS_DELTA(
+ timestamp_nanos, wait_timer_nanos, 60000000000);
// This is a state machine that controls the reporting out of tuning data.
switch (debug_state) {
@@ -1250,7 +1265,8 @@
case GYRO_WAIT_STATE:
// This helps throttle the print statements.
- if (timestamp_nanos >= GYROCAL_WAIT_TIME_NANOS + wait_timer_nanos) {
+ if (NANO_TIMER_CHECK_T1_GEQUAL_T2_PLUS_DELTA(
+ timestamp_nanos, wait_timer_nanos, GYROCAL_WAIT_TIME_NANOS)) {
debug_state = next_state;
}
break;
diff --git a/firmware/os/algos/calibration/over_temp/over_temp_cal.c b/firmware/os/algos/calibration/over_temp/over_temp_cal.c
index cef632a..abcb7e3 100644
--- a/firmware/os/algos/calibration/over_temp/over_temp_cal.c
+++ b/firmware/os/algos/calibration/over_temp/over_temp_cal.c
@@ -42,7 +42,7 @@
#define OTC_DEBUG_VERSION_STRING "[May 15, 2017]"
// The time value used to throttle debug messaging.
-#define OTC_WAIT_TIME_NANOS (300000000)
+#define OTC_WAIT_TIME_NANOS (100000000)
// Sensor axis label definition with index correspondence: 0=X, 1=Y, 2=Z.
static const char kDebugAxisLabel[3] = "XYZ";
@@ -660,8 +660,9 @@
// (current_timestamp_nanos - modelupdate_timestamp_nanos) <
// min_update_interval_nanos
if (over_temp_cal->num_model_pts >= over_temp_cal->min_num_model_pts &&
- timestamp_nanos > over_temp_cal->min_update_interval_nanos +
- over_temp_cal->modelupdate_timestamp_nanos) {
+ NANO_TIMER_CHECK_T1_GEQUAL_T2_PLUS_DELTA(
+ timestamp_nanos, over_temp_cal->modelupdate_timestamp_nanos,
+ over_temp_cal->min_update_interval_nanos)) {
computeModelUpdate(over_temp_cal, timestamp_nanos);
}
@@ -687,7 +688,8 @@
static uint64_t wait_timer = 0;
// Prints the sensor temperature trajectory for debugging purposes.
// This throttles the print statements.
- if (timestamp_nanos >= 1000000000 + wait_timer) {
+ if (NANO_TIMER_CHECK_T1_GEQUAL_T2_PLUS_DELTA(timestamp_nanos, wait_timer,
+ 1000000000)) {
wait_timer = timestamp_nanos; // Starts the wait timer.
// Prints out temperature and the current timestamp.
@@ -776,73 +778,63 @@
removeStaleModelData(over_temp_cal, timestamp_nanos);
}
+ // If there are points in the model data set, then a 'nearest_offset' has been
+ // defined.
+ bool nearest_offset_defined = (over_temp_cal->num_model_pts > 0);
+
// Uses the most recent offset estimate for offset compensation if it is
// defined and within a time delta specified by
// OTC_USE_RECENT_OFFSET_TIME_NANOS.
- if (over_temp_cal->latest_offset && over_temp_cal->num_model_pts > 0 &&
+ if (over_temp_cal->latest_offset && nearest_offset_defined &&
timestamp_nanos < over_temp_cal->latest_offset->timestamp_nanos +
OTC_USE_RECENT_OFFSET_TIME_NANOS) {
setCompensatedOffset(over_temp_cal, over_temp_cal->latest_offset->offset,
timestamp_nanos);
- return;
+ return; // Exits early.
}
- // Defaults to the current compensated offset vector.
+ // Sets the default compensated offset vector.
float compensated_offset[3];
- memcpy(compensated_offset, over_temp_cal->compensated_offset.offset,
- 3 * sizeof(float));
+ if (nearest_offset_defined) {
+ // Uses the nearest-temperature estimate to perform the compensation.
+ memcpy(compensated_offset, over_temp_cal->nearest_offset->offset,
+ 3 * sizeof(float));
+ } else {
+ // Uses the current compensated offset value.
+ memcpy(compensated_offset, over_temp_cal->compensated_offset.offset,
+ 3 * sizeof(float));
+ }
- // Provides per-axis offset compensation updates.
+ // Provides per-axis checks to complete the offset compensation vector update.
size_t index;
for (index = 0; index < 3; index++) {
- if (over_temp_cal->temp_sensitivity[index] >= OTC_INITIAL_SENSITIVITY) {
- // Uses the nearest-temperature estimate to perform the compensation if
- // this axis model is in its initial state. If the 'nearest_offset' is
- // not defined (i.e., no model points defined), then no update is
- // performed (i.e., keeps the current value).
- if (over_temp_cal->num_model_pts > 0) {
+ if (over_temp_cal->temp_sensitivity[index] < OTC_INITIAL_SENSITIVITY) {
+ // If a valid axis model is defined then the default compensation will use
+ // the linear model:
+ // compensated_offset = (temp_sensitivity * temperature +
+ // sensor_intercept)
+ compensated_offset[index] =
+ (over_temp_cal->temp_sensitivity[index] * temperature_celsius +
+ over_temp_cal->sensor_intercept[index]);
+
+ if (nearest_offset_defined &&
+ NANO_ABS(temperature_celsius -
+ over_temp_cal->nearest_offset->offset_temp_celsius) <
+ over_temp_cal->delta_temp_per_bin &&
+ NANO_ABS(compensated_offset[index] -
+ over_temp_cal->nearest_offset->offset[index]) <
+ over_temp_cal->max_error_limit) {
+ // Uses the nearest-temperature estimate to perform the compensation if
+ // the sensor's temperature is within a small neighborhood of the
+ // 'nearest_offset', and the delta between the nearest-temperature
+ // estimate and the model fit is less than 'max_error_limit'.
compensated_offset[index] =
over_temp_cal->nearest_offset->offset[index];
}
- } else {
- if (NANO_ABS(temperature_celsius -
- over_temp_cal->nearest_offset->offset_temp_celsius) <
- over_temp_cal->delta_temp_per_bin) {
- // Attempts to use the nearest-temperature estimate to perform the
- // compensation if the sensor's temperature is within a small
- // neighborhood of the 'nearest_offset'. If the 'nearest_offset' is
- // not defined (i.e., no model points defined), then no update is
- // performed (i.e., keeps the current value).
- if (over_temp_cal->num_model_pts > 0) {
- // If the delta between the nearest-temperature estimate and the
- // model fit is greater than 'max_error_limit', then the validity of
- // the data may be questionable; then this defaults to using the
- // model fit for compensation.
- compensated_offset[index] =
- (over_temp_cal->temp_sensitivity[index] * temperature_celsius +
- over_temp_cal->sensor_intercept[index]);
-
- if (NANO_ABS(compensated_offset[index] -
- over_temp_cal->nearest_offset->offset[index]) <
- over_temp_cal->max_error_limit) {
- compensated_offset[index] =
- over_temp_cal->nearest_offset->offset[index];
- }
- }
- } else {
- // If a valid axis model is defined but outside the temperature
- // neighborhood of the 'nearest_offset', then compensate using the
- // linear model:
- // compensated_offset = (temp_sensitivity * temperature +
- // sensor_intercept)
- compensated_offset[index] =
- (over_temp_cal->temp_sensitivity[index] * temperature_celsius +
- over_temp_cal->sensor_intercept[index]);
- }
}
}
- // Updates the offset compensation vector, and timestamp.
+ // Finalizes the update to the offset compensation vector, and timestamp.
setCompensatedOffset(over_temp_cal, compensated_offset, timestamp_nanos);
}
@@ -1270,7 +1262,8 @@
case OTC_WAIT_STATE:
// This helps throttle the print statements.
- if (timestamp_nanos >= OTC_WAIT_TIME_NANOS + wait_timer) {
+ if (NANO_TIMER_CHECK_T1_GEQUAL_T2_PLUS_DELTA(timestamp_nanos, wait_timer,
+ OTC_WAIT_TIME_NANOS)) {
over_temp_cal->debug_state = next_state;
}
break;
diff --git a/firmware/os/algos/common/math/vec.h b/firmware/os/algos/common/math/vec.h
index 870e697..49f197c 100644
--- a/firmware/os/algos/common/math/vec.h
+++ b/firmware/os/algos/common/math/vec.h
@@ -61,6 +61,15 @@
#define NANO_MIN(a, b) ((a) < (b)) ? (a) : (b)
+// Time check helper macro that returns true if:
+// i. 't1' is equal to or exceeds 't2' plus 't_delta'.
+// ii. Or, a negative timestamp delta occurred since,
+// 't1' should always >= 't2'. This prevents potential lockout conditions
+// if the timer count 't1' rolls over or an erroneously large
+// timestamp is passed through.
+#define NANO_TIMER_CHECK_T1_GEQUAL_T2_PLUS_DELTA(t1, t2, t_delta) \
+ (((t1) >= (t2) + (t_delta)) || ((t1) < (t2)))
+
// 3-DIMENSIONAL VECTOR MATH ///////////////////////////////////////////
static inline void initVec3(struct Vec3 *v, float x, float y, float z) {
ASSERT_NOT_NULL(v);
diff --git a/sensorhal/directchannel.cpp b/sensorhal/directchannel.cpp
index d0e719d..8d87782 100644
--- a/sensorhal/directchannel.cpp
+++ b/sensorhal/directchannel.cpp
@@ -79,7 +79,8 @@
GrallocHalWrapper::GrallocHalWrapper()
: mError(NO_INIT), mVersion(-1),
mGrallocModule(nullptr), mAllocDevice(nullptr), mGralloc1Device(nullptr),
- mPfnRetain(nullptr), mPfnRelease(nullptr), mPfnLock(nullptr), mPfnUnlock(nullptr) {
+ mPfnRetain(nullptr), mPfnRelease(nullptr), mPfnLock(nullptr), mPfnUnlock(nullptr),
+ mUnregisterImplyDelete(false) {
const hw_module_t *module;
status_t err = ::hw_get_module(GRALLOC_HARDWARE_MODULE_ID, &module);
ALOGE_IF(err, "couldn't load %s module (%s)", GRALLOC_HARDWARE_MODULE_ID, strerror(-err));
@@ -106,7 +107,7 @@
mGrallocModule = (gralloc_module_t *)module;
mVersion = 0;
break;
- case 1:
+ case 1: {
err = ::gralloc1_open(module, &mGralloc1Device);
if (err != NO_ERROR) {
ALOGE("cannot open gralloc1 device (%s)", strerror(-err));
@@ -135,10 +136,23 @@
break;
}
+
+ int32_t caps[GRALLOC1_LAST_CAPABILITY];
+ uint32_t n_cap = GRALLOC1_LAST_CAPABILITY;
+ mGralloc1Device->getCapabilities(mGralloc1Device, &n_cap, caps);
+ for (size_t i = 0; i < n_cap; ++i) {
+ if (caps[i] == GRALLOC1_CAPABILITY_RELEASE_IMPLY_DELETE) {
+ mUnregisterImplyDelete = true;
+ }
+ }
+ ALOGI("gralloc hal %ssupport RELEASE_IMPLY_DELETE",
+ mUnregisterImplyDelete ? "" : "does not ");
+
// successfully initialized gralloc1
mGrallocModule = (gralloc_module_t *)module;
mVersion = 1;
break;
+ }
default:
ALOGE("Unknown version, not supported");
break;
@@ -280,8 +294,10 @@
mBase = nullptr;
}
GrallocHalWrapper::getInstance().unregisterBuffer(mNativeHandle);
- ::native_handle_close(mNativeHandle);
- ::native_handle_delete(mNativeHandle);
+ if (!GrallocHalWrapper::getInstance().unregisterImplyDelete()) {
+ ::native_handle_close(mNativeHandle);
+ ::native_handle_delete(mNativeHandle);
+ }
mNativeHandle = nullptr;
}
}
diff --git a/sensorhal/directchannel.h b/sensorhal/directchannel.h
index 192e35d..4842ffc 100644
--- a/sensorhal/directchannel.h
+++ b/sensorhal/directchannel.h
@@ -58,6 +58,7 @@
int unregisterBuffer(const native_handle_t *handle);
int lock(const native_handle_t *handle, int usage, int l, int t, int w, int h, void **vaddr);
int unlock(const native_handle_t *handle);
+ bool unregisterImplyDelete() { return mUnregisterImplyDelete; }
private:
friend class Singleton<GrallocHalWrapper>;
GrallocHalWrapper();
@@ -76,6 +77,7 @@
GRALLOC1_PFN_RELEASE mPfnRelease;
GRALLOC1_PFN_LOCK mPfnLock;
GRALLOC1_PFN_UNLOCK mPfnUnlock;
+ bool mUnregisterImplyDelete;
};
class GrallocDirectChannel : public DirectChannelBase {
