ish: Trim down the release branchstabilize-wristpin-14469.59.B-ishstabilize-voshyr-14637.B-ishstabilize-quickfix-14695.187.B-ishstabilize-quickfix-14695.124.B-ishstabilize-quickfix-14526.91.B-ishstabilize-14695.85.B-ishstabilize-14695.107.B-ishstabilize-14682.B-ishstabilize-14633.B-ishstabilize-14616.B-ishstabilize-14589.B-ishstabilize-14588.98.B-ishstabilize-14588.14.B-ishstabilize-14588.123.B-ishstabilize-14536.B-ishstabilize-14532.B-ishstabilize-14528.B-ishstabilize-14526.89.B-ishstabilize-14526.84.B-ishstabilize-14526.73.B-ishstabilize-14526.67.B-ishstabilize-14526.57.B-ishstabilize-14498.B-ishstabilize-14496.B-ishstabilize-14477.B-ishstabilize-14469.9.B-ishstabilize-14469.8.B-ishstabilize-14469.58.B-ishstabilize-14469.41.B-ishstabilize-14442.B-ishstabilize-14438.B-ishstabilize-14411.B-ishstabilize-14396.B-ishstabilize-14395.B-ishstabilize-14388.62.B-ishstabilize-14388.61.B-ishstabilize-14388.52.B-ishstabilize-14385.B-ishstabilize-14345.B-ishstabilize-14336.B-ishstabilize-14333.B-ishrelease-R99-14469.B-ishrelease-R98-14388.B-ishrelease-R102-14695.B-ishrelease-R101-14588.B-ishrelease-R100-14526.B-ishfirmware-cherry-14454.B-ishfirmware-brya-14505.B-ishfirmware-brya-14505.71.B-ishfactory-kukui-14374.B-ishfactory-guybrush-14600.B-ishfactory-cherry-14455.B-ishfactory-brya-14517.B-ish

In the interest of making long-term branch maintenance incur as little
technical debt on us as possible, we should not maintain any files on
the branch we are not actually using.

This has the added effect of making it extremely clear when merging CLs
from the main branch when changes have the possibility to affect us.

The follow-on CL adds a convenience script to actually pull updates from
the main branch and generate a CL for the update.

BUG=b:204206272
BRANCH=ish
TEST=make BOARD=arcada_ish && make BOARD=drallion_ish

Signed-off-by: Jack Rosenthal <jrosenth@chromium.org>
Change-Id: I17e4694c38219b5a0823e0a3e55a28d1348f4b18
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/3262038
Reviewed-by: Jett Rink <jettrink@chromium.org>
Reviewed-by: Tom Hughes <tomhughes@chromium.org>

1 files changed, 0 insertions, 511 deletions

diff --git a/test/gyro_cal.c b/test/gyro_cal.c
deleted file mode 100644
index 10d48ca18e..0000000000
--- a/test/gyro_cal.c
+++ /dev/null
@@ -1,511 +0,0 @@
-/* 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 "common.h"
-#include "gyro_cal.h"
-#include "gyro_still_det.h"
-#include "gyro_cal_init_for_test.h"
-#include "motion_sense.h"
-#include "test_util.h"
-#include <string.h>
-#include <stdlib.h>
-#include <math.h>
-#include <stdio.h>
-
-float kToleranceGyroRps = 1e-6f;
-float kDefaultGravityMps2 = 9.81f;
-int kDefaultTemperatureKelvin = 298;
-
-#define NANOS_TO_SEC (1.0e-9f)
-#define NANO_PI (3.14159265359f)
-/** Unit conversion: milli-degrees to radians. */
-#define MDEG_TO_RAD (NANO_PI / 180.0e3f)
-
-#define MSEC_TO_NANOS(x) ((uint64_t)((x) * (uint64_t)(1000000)))
-#define SEC_TO_NANOS(x) MSEC_TO_NANOS((x) * (uint64_t)(1000))
-#define HZ_TO_PERIOD_NANOS(hz) (SEC_TO_NANOS(1024) / ((uint64_t)((hz)*1024)))
-
-struct motion_sensor_t motion_sensors[] = {
-	[BASE] = {},
-	[LID] = {},
-};
-
-const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
-
-/**
- * This function will return a uniformly distributed random value in the range
- * of (0,1). This is important that 0 and 1 are excluded because of how the
- * value is used in normal_random. For references:
- * - rand() / RAND_MAX yields the range [0,1]
- * - rand() / (RAND_MAX + 1) yields the range [0,1)
- * - (rand() + 1) / (RAND_MAX + 1) yields the range (0, 1)
- *
- * @return A uniformly distributed random value.
- */
-static double rand_gen(void)
-{
-	return ((double)(rand()) + 1.0) / ((double)(RAND_MAX) + 1.0);
-}
-
-/**
- * @return A normally distributed random value
- */
-static float normal_random(void)
-{
-	double v1 = rand_gen();
-	double v2 = rand_gen();
-
-	return (float)(cos(2 * 3.14 * v2) * sqrt(-2.0 * log(v1)));
-}
-
-/**
- * @param mean The mean to use for the normal distribution.
- * @param stddev The standard deviation to use for the normal distribution.
- * @return A normally distributed random value based on mean and stddev.
- */
-static float normal_random2(float mean, float stddev)
-{
-	return normal_random() * stddev + mean;
-}
-
-/**
- * Tests that a calibration is updated after a period where the IMU device is
- * stationary. Accelerometer and gyroscope measurements are simulated with data
- * sheet specs for the BMI160 at their respective noise floors. A magnetometer
- * sensor is also included in this test.
- *
- * @return EC_SUCCESS on success.
- */
-static int test_gyro_cal_calibration(void)
-{
-	int i;
-	struct gyro_cal gyro_cal;
-
-	/*
-	 * Statistics for simulated gyroscope data.
-	 * RMS noise = 70mDPS, offset = 150mDPS.
-	 */
-	/* [Hz] */
-	const float sample_rate = 400.0f;
-	/* [rad/sec] */
-	const float gyro_bias = MDEG_TO_RAD * 150.0f;
-	/* [rad/sec] */
-	const float gyro_rms_noise = MDEG_TO_RAD * 70.0f;
-	const uint64_t sample_interval_nanos = HZ_TO_PERIOD_NANOS(sample_rate);
-
-	/*
-	 * Statistics for simulated accelerometer data.
-	 * noise density = 200ug/rtHz, offset = 50mg.
-	 */
-	/* [m/sec^2] */
-	const float accel_bias = 0.05f * kDefaultGravityMps2;
-	/* [m/sec^2] */
-	const float accel_rms_noise =
-		0.0002f * kDefaultGravityMps2 * fp_sqrtf(0.5f * sample_rate);
-
-	/*
-	 * Statistics for simulated magnetometer data.
-	 * RMS noise = 0.4 micro Tesla (uT), offset = 0.2uT.
-	 */
-	const float mag_bias = 0.2f; /* [uT] */
-	const float mag_rms_noise = 0.4f; /* [uT] */
-
-	float bias[3];
-	float bias_residual[3];
-	int temperature_kelvin;
-	uint32_t calibration_time_us = 0;
-
-	bool calibration_received = false;
-
-	gyro_cal_initialization_for_test(&gyro_cal);
-
-	/* No calibration should be available yet. */
-	TEST_EQ(gyro_cal_new_bias_available(&gyro_cal), false, "%d");
-
-	/*
-	 * Simulate up to 20 seconds of sensor data (zero mean, additive white
-	 * Gaussian noise).
-	 */
-	for (i = 0; i < (int)(20.0f * sample_rate); ++i) {
-		const uint32_t timestamp_us =
-			(i * sample_interval_nanos) / 1000;
-
-		/* Generate and add an accelerometer sample. */
-		gyro_cal_update_accel(
-			&gyro_cal, timestamp_us,
-			normal_random2(accel_bias, accel_rms_noise),
-			normal_random2(accel_bias, accel_rms_noise),
-			normal_random2(accel_bias, accel_rms_noise));
-
-		/* Generate and add a gyroscrope sample. */
-		gyro_cal_update_gyro(&gyro_cal, timestamp_us,
-				     normal_random2(gyro_bias, gyro_rms_noise),
-				     normal_random2(gyro_bias, gyro_rms_noise),
-				     normal_random2(gyro_bias, gyro_rms_noise),
-				     kDefaultTemperatureKelvin);
-
-		/*
-		 * The simulated magnetometer here has a sampling rate that is
-		 * 4x slower than the accel/gyro
-		 */
-		if (i % 4 == 0) {
-			gyro_cal_update_mag(
-				&gyro_cal, timestamp_us,
-				normal_random2(mag_bias, mag_rms_noise),
-				normal_random2(mag_bias, mag_rms_noise),
-				normal_random2(mag_bias, mag_rms_noise));
-		}
-		calibration_received = gyro_cal_new_bias_available(&gyro_cal);
-		if (calibration_received)
-			break;
-	}
-
-	TEST_EQ(calibration_received, true, "%d");
-
-	gyro_cal_get_bias(&gyro_cal, bias, &temperature_kelvin,
-			  &calibration_time_us);
-	bias_residual[0] = gyro_bias - bias[0];
-	bias_residual[1] = gyro_bias - bias[1];
-	bias_residual[2] = gyro_bias - bias[2];
-
-	/*
-	 * Make sure that the bias estimate is within 20 milli-degrees per
-	 * second.
-	 */
-	TEST_LT(bias_residual[0], 20.f * MDEG_TO_RAD, "%f");
-	TEST_LT(bias_residual[1], 20.f * MDEG_TO_RAD, "%f");
-	TEST_LT(bias_residual[2], 20.f * MDEG_TO_RAD, "%f");
-
-	TEST_NEAR(gyro_cal.stillness_confidence, 1.0f, 0.0001f, "%f");
-
-	TEST_EQ(temperature_kelvin, kDefaultTemperatureKelvin, "%d");
-
-	return EC_SUCCESS;
-}
-
-/**
- * Tests that calibration does not falsely occur for low-level motion.
- *
- * @return EC_SUCCESS on success.
- */
-static int test_gyro_cal_no_calibration(void)
-{
-	int i;
-	struct gyro_cal gyro_cal;
-
-	/* Statistics for simulated gyroscope data. */
-	/* RMS noise = 70mDPS, offset = 150mDPS. */
-	const float sample_rate = 400.0f; /* [Hz] */
-	const float gyro_bias = MDEG_TO_RAD * 150.0f; /* [rad/sec] */
-	const float gyro_rms_noise = MDEG_TO_RAD * 70.0f; /* [rad/sec] */
-	const uint64_t sample_interval_nanos = HZ_TO_PERIOD_NANOS(sample_rate);
-
-	/* Statistics for simulated accelerometer data. */
-	/* noise density = 200ug/rtHz, offset = 50mg. */
-	/* [m/sec^2] */
-	const float accel_bias = 0.05f * kDefaultGravityMps2;
-	/* [m/sec^2] */
-	const float accel_rms_noise =
-		200.0e-6f * kDefaultGravityMps2 * fp_sqrtf(0.5f * sample_rate);
-
-	/* Define sinusoidal gyroscope motion parameters. */
-	const float omega_dt =
-		2.0f * NANO_PI * sample_interval_nanos * NANOS_TO_SEC;
-	const float amplitude = MDEG_TO_RAD * 550.0f; /* [rad/sec] */
-
-	bool calibration_received = false;
-
-	gyro_cal_initialization_for_test(&gyro_cal);
-
-	for (i = 0; i < (int)(20.0f * sample_rate); ++i) {
-		const uint32_t timestamp_us =
-			(i * sample_interval_nanos) / 1000;
-
-		/* Generate and add an accelerometer sample. */
-		gyro_cal_update_accel(
-			&gyro_cal, timestamp_us,
-			normal_random2(accel_bias, accel_rms_noise),
-			normal_random2(accel_bias, accel_rms_noise),
-			normal_random2(accel_bias, accel_rms_noise));
-
-		/* Generate and add a gyroscope sample. */
-		gyro_cal_update_gyro(
-			&gyro_cal, timestamp_us,
-			normal_random2(gyro_bias, gyro_rms_noise) +
-				amplitude * sin(2.0f * omega_dt * i),
-			normal_random2(gyro_bias, gyro_rms_noise) -
-				amplitude * sin(2.1f * omega_dt * i),
-			normal_random2(gyro_bias, gyro_rms_noise) +
-				amplitude * cos(4.3f * omega_dt * i),
-			kDefaultTemperatureKelvin);
-
-		/* Check for calibration update. Break after first one. */
-		calibration_received = gyro_cal_new_bias_available(&gyro_cal);
-		if (calibration_received)
-			break;
-	}
-
-	/* Determine that NO calibration had occurred. */
-	TEST_EQ(calibration_received, false, "%d");
-
-	/* Make sure that the device was NOT classified as "still". */
-	TEST_GT(1.0f, gyro_cal.stillness_confidence, "%f");
-
-	return EC_SUCCESS;
-}
-
-/**
- * Tests that a shift in a stillness window mean does not trigger a calibration.
- *
- * @return EC_SUCCESS on success.
- */
-static int test_gyro_cal_win_mean_shift(void)
-{
-	struct gyro_cal gyro_cal;
-	int i;
-
-	/* Statistics for simulated gyroscope data. */
-	const float sample_rate = 400.0f; /* [Hz] */
-	const float gyro_bias = MDEG_TO_RAD * 150.0f; /* [rad/sec] */
-	const float gyro_bias_shift = MDEG_TO_RAD * 60.0f; /* [rad/sec] */
-	const uint64_t sample_interval_nanos = HZ_TO_PERIOD_NANOS(sample_rate);
-
-	/* Initialize the gyro calibration. */
-	gyro_cal_initialization_for_test(&gyro_cal);
-
-	/*
-	 * Simulates 8 seconds of sensor data (no noise, just a gyro mean shift
-	 * after 4 seconds).
-	 * Assumptions: The max stillness period is 6 seconds, and the mean
-	 * delta limit is 50mDPS. The mean shift should be detected and exceed
-	 * the 50mDPS limit, and no calibration should be triggered. NOTE: This
-	 * step is not large enough to trip the variance checking within the
-	 * stillness detectors.
-	 */
-	for (i = 0; i < (int)(8.0f * sample_rate); i++) {
-		const uint32_t timestamp_us =
-			(i * sample_interval_nanos) / 1000;
-
-		/* Generate and add a accelerometer sample. */
-		gyro_cal_update_accel(&gyro_cal, timestamp_us, 0.0f, 0.0f,
-				      9.81f);
-
-		/* Generate and add a gyroscope sample. */
-		if (timestamp_us > 4 * SECOND) {
-			gyro_cal_update_gyro(&gyro_cal, timestamp_us,
-					     gyro_bias + gyro_bias_shift,
-					     gyro_bias + gyro_bias_shift,
-					     gyro_bias + gyro_bias_shift,
-					     kDefaultTemperatureKelvin);
-		} else {
-			gyro_cal_update_gyro(&gyro_cal, timestamp_us, gyro_bias,
-					     gyro_bias, gyro_bias,
-					     kDefaultTemperatureKelvin);
-		}
-	}
-
-	/* Determine that NO calibration had occurred. */
-	TEST_EQ(gyro_cal_new_bias_available(&gyro_cal), false, "%d");
-
-	return EC_SUCCESS;
-}
-
-/**
- * Tests that a temperature variation outside the acceptable range prevents a
- * calibration.
- *
- * @return EC_SUCCESS on success.
- */
-static int test_gyro_cal_temperature_shift(void)
-{
-	int i;
-	struct gyro_cal gyro_cal;
-
-	/* Statistics for simulated gyroscope data. */
-	const float sample_rate = 400.0f; /* [Hz] */
-	const float gyro_bias = MDEG_TO_RAD * 150.0f; /* [rad/sec] */
-	const float temperature_shift_kelvin = 2.6f;
-	const uint64_t sample_interval_nanos = HZ_TO_PERIOD_NANOS(sample_rate);
-
-	gyro_cal_initialization_for_test(&gyro_cal);
-
-	/*
-	 * Simulates 8 seconds of sensor data (no noise, just a temperature
-	 * shift after 4 seconds).
-	 * Assumptions: The max stillness period is 6 seconds, and the
-	 * temperature delta limit is 1.5C. The shift should be detected and
-	 * exceed the limit, and no calibration should be triggered.
-	 */
-	for (i = 0; i < (int)(8.0f * sample_rate); i++) {
-		const uint32_t timestamp_us =
-			(i * sample_interval_nanos) / 1000;
-		float temperature_kelvin = kDefaultTemperatureKelvin;
-
-		/* Generate and add a accelerometer sample. */
-		gyro_cal_update_accel(&gyro_cal, timestamp_us, 0.0f, 0.0f,
-				      9.81f);
-
-		/* Sets the temperature value. */
-		if (timestamp_us > 4 * SECOND)
-			temperature_kelvin += temperature_shift_kelvin;
-
-		/* Generate and add a gyroscope sample. */
-		gyro_cal_update_gyro(&gyro_cal, timestamp_us, gyro_bias,
-				     gyro_bias, gyro_bias,
-				     (int)temperature_kelvin);
-	}
-
-	/* Determine that NO calibration had occurred. */
-	TEST_EQ(gyro_cal_new_bias_available(&gyro_cal), false, "%d");
-
-	return EC_SUCCESS;
-}
-
-/**
- * Verifies that complete sensor stillness results in the correct bias estimate
- * and produces the correct timestamp.
- *
- * @return EC_SUCCESS on success;
- */
-static int test_gyro_cal_stillness_timestamp(void)
-{
-	struct gyro_cal gyro_cal;
-	int64_t time_us;
-
-	/*
-	 * 10Hz update rate for 11 seconds should trigger the in-situ
-	 * algorithms.
-	 */
-	const float gyro_bias_x = 0.09f;
-	const float gyro_bias_y = -0.04f;
-	const float gyro_bias_z = 0.05f;
-
-	float bias[3];
-	int temperature_kelvin = 273;
-	uint32_t calibration_time_us = 0;
-
-	gyro_cal_initialization_for_test(&gyro_cal);
-	for (time_us = 0; time_us < 11 * SECOND; time_us += 100 * MSEC) {
-		/* Generate and add a accelerometer sample. */
-		gyro_cal_update_accel(&gyro_cal, time_us, 0.0f, 0.0f, 9.81f);
-
-		/* Generate and add a gyroscope sample. */
-		gyro_cal_update_gyro(&gyro_cal, time_us, gyro_bias_x,
-				     gyro_bias_y, gyro_bias_z,
-				     kDefaultTemperatureKelvin);
-	}
-
-	/* Determine if there is a new calibration. Get the calibration value.
-	 */
-	TEST_EQ(gyro_cal_new_bias_available(&gyro_cal), 1, "%d");
-
-	gyro_cal_get_bias(&gyro_cal, bias, &temperature_kelvin,
-			  &calibration_time_us);
-
-	/* Make sure that the bias estimate is within kToleranceGyroRps. */
-	TEST_NEAR(gyro_bias_x - bias[0], 0.0f, 0.0001f, "%f");
-	TEST_NEAR(gyro_bias_y - bias[1], 0.0f, 0.0001f, "%f");
-	TEST_NEAR(gyro_bias_z - bias[2], 0.0f, 0.0001f, "%f");
-
-	/* Checks that the calibration occurred at the expected time. */
-	TEST_EQ(6 * SECOND, gyro_cal.calibration_time_us, "%u");
-
-	/* Make sure that the device was classified as 100% "still". */
-	TEST_NEAR(1.0f, gyro_cal.stillness_confidence, 0.0001f, "%f");
-
-	/* Make sure that the calibration temperature is correct. */
-	TEST_EQ(kDefaultTemperatureKelvin, temperature_kelvin, "%d");
-
-	return EC_SUCCESS;
-}
-
-/**
- * Verifies that setting an initial bias works.
- *
- * @return EC_SUCCESS on success.
- */
-static int test_gyro_cal_set_bias(void)
-{
-	struct gyro_cal gyro_cal;
-
-	/* Get the initialized bias value; should be zero. */
-	float bias[3] = { 0.0f, 0.0f, 0.0f };
-	int temperature_kelvin = 273;
-	uint32_t calibration_time_us = 10;
-
-	/* Initialize the gyro calibration. */
-	gyro_cal_initialization_for_test(&gyro_cal);
-	gyro_cal_get_bias(&gyro_cal, bias, &temperature_kelvin,
-			  &calibration_time_us);
-	TEST_NEAR(0.0f, bias[0], 0.0001f, "%f");
-	TEST_NEAR(0.0f, bias[1], 0.0001f, "%f");
-	TEST_NEAR(0.0f, bias[2], 0.0001f, "%f");
-	TEST_EQ(0, temperature_kelvin, "%d");
-	TEST_EQ(0, calibration_time_us, "%d");
-
-	/* Set the calibration bias estimate. */
-	bias[0] = 1.0f;
-	bias[1] = 2.0f;
-	bias[2] = 3.0f;
-	gyro_cal_set_bias(&gyro_cal, bias, 31, 3 * 60 * SECOND);
-
-	bias[0] = 0.0f;
-	bias[1] = 0.0f;
-	bias[2] = 0.0f;
-	/* Check that it was set correctly. */
-	gyro_cal_get_bias(&gyro_cal, bias, &temperature_kelvin,
-			  &calibration_time_us);
-	TEST_NEAR(1.0f, bias[0], 0.0001f, "%f");
-	TEST_NEAR(2.0f, bias[1], 0.0001f, "%f");
-	TEST_NEAR(3.0f, bias[2], 0.0001f, "%f");
-	TEST_EQ(31, temperature_kelvin, "%d");
-	TEST_EQ(3 * 60 * SECOND, calibration_time_us, "%u");
-
-	return EC_SUCCESS;
-}
-
-/**
- * Verifies that the gyroCalRemoveBias function works as intended.
- *
- * @return EC_SUCCESS on success
- */
-static int test_gyro_cal_remove_bias(void)
-{
-	struct gyro_cal gyro_cal;
-	float bias[3] = { 1.0f, 2.0f, 3.0f };
-	float bias_out[3];
-
-	/* Initialize the gyro calibration. */
-	gyro_cal_initialization_for_test(&gyro_cal);
-
-	/* Set an calibration bias estimate. */
-	gyro_cal_set_bias(&gyro_cal, bias, kDefaultTemperatureKelvin,
-			  5 * 60 * SECOND);
-
-	/* Correct the bias, and check that it has been adequately removed. */
-	gyro_cal_remove_bias(&gyro_cal, bias, bias_out);
-
-	/* Make sure that the bias estimate is within kToleranceGyroRps. */
-	TEST_NEAR(0.0f, bias_out[0], 0.0001f, "%f");
-	TEST_NEAR(0.0f, bias_out[1], 0.0001f, "%f");
-	TEST_NEAR(0.0f, bias_out[2], 0.0001f, "%f");
-
-	return EC_SUCCESS;
-}
-
-void run_test(int argc, char **argv)
-{
-	test_reset();
-
-	RUN_TEST(test_gyro_cal_calibration);
-	RUN_TEST(test_gyro_cal_no_calibration);
-	RUN_TEST(test_gyro_cal_win_mean_shift);
-	RUN_TEST(test_gyro_cal_temperature_shift);
-	RUN_TEST(test_gyro_cal_stillness_timestamp);
-	RUN_TEST(test_gyro_cal_set_bias);
-	RUN_TEST(test_gyro_cal_remove_bias);
-
-	test_print_result();
-}