common:online_calibration: Spoof sensor data

This change allows the `accelspoof` ec command to also
override the calibration data (bypassing the calibration
module). This config flag should be used when testing
layers above the EC (kernel and up)'s handling of the
calibration values.

BRANCH=none
BUG=none
TEST=Built on eve and added unit tests.
TEST=make run-online_calibration_spoof -j

Signed-off-by: Yuval Peress <peress@chromium.org>
Change-Id: I4735b9613c152af5559661a91565b05635d6495e
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2494986

1 files changed, 114 insertions, 0 deletions

diff --git a/test/gyro_cal_init_for_test.c b/test/gyro_cal_init_for_test.c
new file mode 100644
index 0000000000..3963e5a207
--- /dev/null
+++ b/test/gyro_cal_init_for_test.c
@@ -0,0 +1,114 @@
+/* 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 "timer.h"
+#include "gyro_cal_init_for_test.h"
+#include <string.h>
+
+#define NANO_PI (3.14159265359f)
+/** Unit conversion: milli-degrees to radians. */
+#define MDEG_TO_RAD (NANO_PI / 180.0e3f)
+
+/**
+ *
+ * @param det              Pointer to the stillness detector
+ * @param var_threshold    The variance threshold in units^2
+ * @param confidence_delta The confidence delta in units^2
+ */
+static void gyro_still_det_initialization_for_test(struct gyro_still_det *det,
+						   float var_threshold,
+						   float confidence_delta)
+{
+	/* Clear all data structure variables to 0. */
+	memset(det, 0, sizeof(struct gyro_still_det));
+
+	/*
+	 * Set the delta about the variance threshold for calculation
+	 * of the stillness confidence score.
+	 */
+	if (confidence_delta < var_threshold)
+		det->confidence_delta = confidence_delta;
+	else
+		det->confidence_delta = var_threshold;
+
+	/*
+	 * Set the variance threshold parameter for the stillness
+	 * confidence score.
+	 */
+	det->var_threshold = var_threshold;
+
+	/* Signal to start capture of next stillness data window. */
+	det->start_new_window = true;
+}
+
+void gyro_cal_initialization_for_test(struct gyro_cal *gyro_cal)
+{
+	/* GyroCal initialization. */
+	memset(gyro_cal, 0, sizeof(struct gyro_cal));
+
+	/*
+	 * Initialize the stillness detectors.
+	 * Gyro parameter input units are [rad/sec].
+	 * Accel parameter input units are [m/sec^2].
+	 * Magnetometer parameter input units are [uT].
+	 */
+	gyro_still_det_initialization_for_test(&gyro_cal->gyro_stillness_detect,
+					       /* var_threshold */ 5e-5f,
+					       /* confidence_delta */ 1e-5f);
+	gyro_still_det_initialization_for_test(
+		&gyro_cal->accel_stillness_detect,
+		/* var_threshold */ 8e-3f,
+		/* confidence_delta */ 1.6e-3f);
+	gyro_still_det_initialization_for_test(&gyro_cal->mag_stillness_detect,
+					       /* var_threshold */ 1.4f,
+					       /* confidence_delta */ 0.25f);
+
+	/* Reset stillness flag and start timestamp. */
+	gyro_cal->prev_still = false;
+	gyro_cal->start_still_time_us = 0;
+
+	/* Set the min and max window stillness duration. */
+	gyro_cal->min_still_duration_us = 5 * SECOND;
+	gyro_cal->max_still_duration_us = 6 * SECOND;
+
+	/* Sets the duration of the stillness processing windows. */
+	gyro_cal->window_time_duration_us = 1500000;
+
+	/* Set the window timeout duration. */
+	gyro_cal->gyro_window_timeout_duration_us = 5 * SECOND;
+
+	/* Load the last valid cal from system memory. */
+	gyro_cal->bias_x = 0.0f; /* [rad/sec] */
+	gyro_cal->bias_y = 0.0f; /* [rad/sec] */
+	gyro_cal->bias_z = 0.0f; /* [rad/sec] */
+	gyro_cal->calibration_time_us = 0;
+
+	/* Set the stillness threshold required for gyro bias calibration. */
+	gyro_cal->stillness_threshold = 0.95f;
+
+	/*
+	 * Current window end-time used to assist in keeping sensor data
+	 * collection in sync. Setting this to zero signals that sensor data
+	 * will be dropped until a valid end-time is set from the first gyro
+	 * timestamp received.
+	 */
+	gyro_cal->stillness_win_endtime_us = 0;
+
+	/* Gyro calibrations will be applied (see, gyro_cal_remove_bias()). */
+	gyro_cal->gyro_calibration_enable = true;
+
+	/*
+	 * Sets the stability limit for the stillness window mean acceptable
+	 * delta.
+	 */
+	gyro_cal->stillness_mean_delta_limit = 50.0f * MDEG_TO_RAD;
+
+	/* Sets the min/max temperature delta limit for the stillness period. */
+	gyro_cal->temperature_delta_limit_kelvin = 1.5f;
+
+	/* Ensures that the data tracking functionality is reset. */
+	init_gyro_cal(gyro_cal);
+}