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, 69 insertions, 0 deletions

diff --git a/test/motion_common.h b/test/motion_common.h
new file mode 100644
index 0000000000..3adb9f24e5
--- /dev/null
+++ b/test/motion_common.h
@@ -0,0 +1,69 @@
+/* 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.
+ */
+#ifndef __CROS_EC_MOTION_COMMON_H
+#define __CROS_EC_MOTION_COMMON_H
+
+#include "motion_sense.h"
+/*
+ * Period in us for the motion task period.
+ * The task will read the vectors at that interval
+ */
+#define TEST_LID_EC_RATE (1 * MSEC)
+#define TEST_LID_FREQUENCY (1e9 / TEST_LID_EC_RATE)   /* mHz */
+
+/*
+ * Time in ms to wait for the task to read the vectors.
+ */
+#define TEST_LID_SLEEP_RATE (TEST_LID_EC_RATE / 5)
+
+/* We gather 6 elements [2 vectors of 3 axis] per sample. */
+#define TEST_LID_SAMPLE_SIZE (2 * 3)
+
+extern enum chipset_state_mask sensor_active;
+extern unsigned int motion_interval;
+
+extern struct motion_sensor_t motion_sensors[];
+extern const unsigned int motion_sensor_count;
+
+void wait_for_valid_sample(void);
+void feed_accel_data(const float *array, int *idx,
+		int (filler)(const struct motion_sensor_t *s, const float f));
+
+/*
+ * External data - from
+ * chromium/src/ash/wm/tablet_mode/tablet_mode_controller_unittest.cc
+ *
+ * Test accelerometer data taken with the lid at less than 180 degrees while
+ * shaking the device around. The data is to be interpreted in groups of 6 where
+ * each 6 values corresponds to the base accelerometer (-y / g, -x / g, -z / g)
+ * followed by the lid accelerometer (-y / g , x / g, z / g).
+ * [ CONFIG_ACCEL_STD_REF_FRAME_OLD must be defined to used this array. ]
+ */
+extern const float kAccelerometerLaptopModeTestData[];
+extern const size_t kAccelerometerLaptopModeTestDataLength;
+
+/*
+ * Test accelerometer data taken with the lid open 360 degrees while
+ * shaking the device around. The data is to be interpreted in groups of 6 where
+ * each 6 values corresponds to the base accelerometer (-y / g, -x / g, -z / g)
+ * followed by the lid accelerometer (-y / g , x / g, z / g).
+ * [ CONFIG_ACCEL_STD_REF_FRAME_OLD must be defined to used this array. ]
+ */
+extern const float kAccelerometerFullyOpenTestData[];
+extern const size_t kAccelerometerFullyOpenTestDataLength;
+
+/*
+ * Test accelerometer data taken with the lid open 360 degrees while the device
+ * hinge was nearly vertical, while shaking the device around. The data is to be
+ * interpreted in groups of 6 where each 6 values corresponds to the X, Y, and Z
+ * readings from the base and lid accelerometers in this order.
+ */
+extern const float kAccelerometerVerticalHingeTestData[];
+extern const size_t kAccelerometerVerticalHingeTestDataLength;
+extern const float kAccelerometerVerticalHingeUnstableTestData[];
+extern const size_t kAccelerometerVerticalHingeUnstableTestDataLength;
+#endif  /* __CROS_EC_MOTION_COMMON_H */