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, 125 insertions, 0 deletions

diff --git a/test/motion_common.c b/test/motion_common.c
new file mode 100644
index 0000000000..2e0ebc3d91
--- /dev/null
+++ b/test/motion_common.c
@@ -0,0 +1,125 @@
+/* Copyright 2018 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.
+ *
+ * Common test code to test lid angle calculation.
+ */
+
+#include "accelgyro.h"
+#include "host_command.h"
+#include "motion_common.h"
+#include "motion_sense.h"
+#include "task.h"
+#include "timer.h"
+
+/*****************************************************************************/
+/* Mock functions */
+static int accel_init(const struct motion_sensor_t *s)
+{
+	return EC_SUCCESS;
+}
+
+static int accel_read(const struct motion_sensor_t *s, intv3_t v)
+{
+	rotate(s->xyz, *s->rot_standard_ref, v);
+	return EC_SUCCESS;
+}
+
+static int accel_get_range(const struct motion_sensor_t *s)
+{
+	return s->default_range;
+}
+
+static int accel_get_resolution(const struct motion_sensor_t *s)
+{
+	return 0;
+}
+
+int test_data_rate[2] = { 0 };
+
+static int accel_set_data_rate(const struct motion_sensor_t *s,
+			      const int rate,
+			      const int rnd)
+{
+	test_data_rate[s - motion_sensors] = rate | (rnd ? ROUND_UP_FLAG : 0);
+	return EC_SUCCESS;
+}
+
+static int accel_get_data_rate(const struct motion_sensor_t *s)
+{
+	return test_data_rate[s - motion_sensors];
+}
+
+const struct accelgyro_drv test_motion_sense = {
+	.init = accel_init,
+	.read = accel_read,
+	.get_range = accel_get_range,
+	.get_resolution = accel_get_resolution,
+	.set_data_rate = accel_set_data_rate,
+	.get_data_rate = accel_get_data_rate,
+};
+
+struct motion_sensor_t motion_sensors[] = {
+	{
+		.name = "base",
+		.active_mask = SENSOR_ACTIVE_S0_S3_S5,
+		.chip = MOTIONSENSE_CHIP_LSM6DS0,
+		.type = MOTIONSENSE_TYPE_ACCEL,
+		.location = MOTIONSENSE_LOC_BASE,
+		.drv = &test_motion_sense,
+		.rot_standard_ref = NULL,
+		.default_range = 2,  /* g, enough for laptop. */
+		.config = {
+			/* EC use accel for angle detection */
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = TEST_LID_FREQUENCY,
+			},
+		},
+	},
+	{
+		.name = "lid",
+		.active_mask = SENSOR_ACTIVE_S0,
+		.chip = MOTIONSENSE_CHIP_KXCJ9,
+		.type = MOTIONSENSE_TYPE_ACCEL,
+		.location = MOTIONSENSE_LOC_LID,
+		.drv = &test_motion_sense,
+		.rot_standard_ref = NULL,
+		.default_range = 2,  /* g, enough for laptop. */
+		.config = {
+			/* EC use accel for angle detection */
+			[SENSOR_CONFIG_EC_S0] = {
+				.odr = TEST_LID_FREQUENCY,
+			},
+		},
+	},
+};
+const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
+
+/* Read 6 samples from array to sensor vectors, convert units if necessary. */
+void feed_accel_data(const float *array, int *idx,
+		int (filler)(const struct motion_sensor_t*, const float))
+{
+	int i, j;
+
+	for (i = 0; i < motion_sensor_count; i++) {
+		struct motion_sensor_t *s = &motion_sensors[i];
+
+		for (j = X; j <= Z; j++)
+			s->xyz[j] = filler(s, array[*idx + i * 3 + j]);
+	}
+	*idx += 6;
+}
+
+void wait_for_valid_sample(void)
+{
+	uint8_t sample;
+	uint8_t *lpc_status = host_get_memmap(EC_MEMMAP_ACC_STATUS);
+
+	sample = *lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK;
+	usleep(TEST_LID_EC_RATE);
+	task_wake(TASK_ID_MOTIONSENSE);
+	while ((*lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK) == sample)
+		usleep(TEST_LID_SLEEP_RATE);
+}
+
+