motion_lid: Rewrite lid angle calculation based on chromium code

Use code from ash/wm/tablet_mode/tablet_mode_controller.cc, in
particular TabletModeController::HandleHingeRotation()
to calculate lid angle.
Add unit tests based on
ash/wm/tablet_mode/tablet_mode_controller_unittest.cc and the data file
accelerometer_test_data_literals.cc.

BUG=b:120346412
BRANCH=none
TEST=Check unit tests pass, check it compile on FPU based EC, EC without
FPU and no 64 bit support (ampton).
Check lid calculation is correct on eve:
- with "while true ; do ectool motionsense lid_angle ; sleep 1 ; done"
Check when hinge is almost vertical lid angle is close to constant or
marked are unrieliable.
Check when shaking device, lid angle is also unreliable
Check with evtest SW_TABLET_MODE event is trigger when lid angle is
available and cross 180 region.

Change-Id: I545f7333ed9b53accedb75f238f747f66bae1f5d
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/1388844
Commit-Ready: ChromeOS CL Exonerator Bot <chromiumos-cl-exonerator@appspot.gserviceaccount.com>
Reviewed-by: Jett Rink <jettrink@chromium.org>

1 files changed, 103 insertions, 0 deletions

diff --git a/test/motion_angle.c b/test/motion_angle.c
new file mode 100644
index 0000000000..c69f1dccc2
--- /dev/null
+++ b/test/motion_angle.c
@@ -0,0 +1,103 @@
+/* Copyright 2019 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.
+ *
+ * Test motion sense code: Check lid angle calculation and tablet mode
+ * transition.
+ */
+
+#include <math.h>
+#include <stdio.h>
+
+#include "accelgyro.h"
+#include "common.h"
+#include "gpio.h"
+#include "hooks.h"
+#include "motion_common.h"
+#include "motion_lid.h"
+#include "motion_sense.h"
+#include "tablet_mode.h"
+#include "test_util.h"
+#include "util.h"
+
+/*****************************************************************************/
+/* Test utilities */
+
+/* Array units is in m/s^2 - old matrix format. */
+int filler(const struct motion_sensor_t *s, const float v)
+{
+	return (v * MOTION_SCALING_FACTOR) / s->drv->get_range(s);
+}
+
+static int test_lid_angle_less180(void)
+{
+	int index = 0, lid_angle;
+	struct motion_sensor_t *lid = &motion_sensors[
+		CONFIG_LID_ANGLE_SENSOR_LID];
+	struct motion_sensor_t *base = &motion_sensors[
+		CONFIG_LID_ANGLE_SENSOR_BASE];
+
+	/* We don't have TASK_CHIP so simulate init ourselves */
+	hook_notify(HOOK_CHIPSET_SHUTDOWN);
+	TEST_ASSERT(sensor_active == SENSOR_ACTIVE_S5);
+	TEST_ASSERT(lid->drv->get_data_rate(lid) == 0);
+	TEST_ASSERT(motion_interval == 0);
+
+	/* Go to S0 state */
+	hook_notify(HOOK_CHIPSET_SUSPEND);
+	hook_notify(HOOK_CHIPSET_RESUME);
+	msleep(1000);
+	TEST_ASSERT(sensor_active == SENSOR_ACTIVE_S0);
+	TEST_ASSERT(lid->drv->get_data_rate(lid) == TEST_LID_FREQUENCY);
+	TEST_ASSERT(motion_interval == TEST_LID_EC_RATE);
+
+	/* Open lid, testing close to 180 degree. */
+	gpio_set_level(GPIO_LID_OPEN, 1);
+	msleep(1000);
+
+	cprints(CC_ACCEL, "start loop");
+	/* Check we will never enter tablet mode. */
+	while (index < kAccelerometerLaptopModeTestDataLength) {
+		feed_accel_data(kAccelerometerLaptopModeTestData,
+				&index, filler);
+		wait_for_valid_sample();
+		lid_angle = motion_lid_get_angle();
+		cprints(CC_ACCEL, "%d : LID(%d, %d, %d)/BASE(%d, %d, %d): %d",
+				index / TEST_LID_SAMPLE_SIZE,
+				lid->xyz[X], lid->xyz[Y], lid->xyz[Z],
+				base->xyz[X], base->xyz[Y], base->xyz[Z],
+				lid_angle);
+		/* We need few sample to debounce and enter laptop mode. */
+		TEST_ASSERT(index < TEST_LID_SAMPLE_SIZE *
+				(TABLET_MODE_DEBOUNCE_COUNT + 2) ||
+			    !tablet_get_mode());
+	}
+
+	/* Check we will never exit tablet mode. */
+	index = 0;
+	while (index < kAccelerometerFullyOpenTestDataLength) {
+		feed_accel_data(kAccelerometerFullyOpenTestData,
+				&index, filler);
+		wait_for_valid_sample();
+		lid_angle = motion_lid_get_angle();
+		cprints(CC_ACCEL, "%d : LID(%d, %d, %d)/BASE(%d, %d, %d): %d",
+				index / TEST_LID_SAMPLE_SIZE,
+				lid->xyz[X], lid->xyz[Y], lid->xyz[Z],
+				base->xyz[X], base->xyz[Y], base->xyz[Z],
+				lid_angle);
+		TEST_ASSERT(index < TEST_LID_SAMPLE_SIZE *
+				(TABLET_MODE_DEBOUNCE_COUNT + 2) ||
+			    tablet_get_mode());
+	}
+	return EC_SUCCESS;
+}
+
+
+void run_test(void)
+{
+	test_reset();
+
+	RUN_TEST(test_lid_angle_less180);
+
+	test_print_result();
+}