Samus: Split motion sense and lid angle

Split motion_sense.c.
Translate the accel data in the Android coordinate right away.

BUG=chrome-os-partner:32002
BRANCH=ToT
TEST=On samus, check lid angle are still correct.

Change-Id: If743e25245dc1ce4cdacb8a4d5af22616c4a79e4
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/225486
Reviewed-by: Sheng-liang Song <ssl@chromium.org>
Reviewed-by: Alec Berg <alecaberg@chromium.org>

1 files changed, 208 insertions, 0 deletions

diff --git a/test/motion_lid.c b/test/motion_lid.c
new file mode 100644
index 0000000000..e8880e85a8
--- /dev/null
+++ b/test/motion_lid.c
@@ -0,0 +1,208 @@
+/* Copyright (c) 2014 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.
+ */
+
+#include <math.h>
+
+#include "accelgyro.h"
+#include "common.h"
+#include "hooks.h"
+#include "host_command.h"
+#include "motion_lid.h"
+#include "motion_sense.h"
+#include "task.h"
+#include "test_util.h"
+#include "timer.h"
+#include "util.h"
+
+/* For vector_3_t, define which coordinates are in which location. */
+enum {
+	X, Y, Z
+};
+
+/*****************************************************************************/
+/* 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,
+	int *x_acc, int *y_acc, int *z_acc)
+{
+	*x_acc = s->xyz[X];
+	*y_acc = s->xyz[Y];
+	*z_acc = s->xyz[Z];
+	return EC_SUCCESS;
+}
+
+static int accel_set_range(const struct motion_sensor_t *s,
+			   const int range,
+			   const int rnd)
+{
+	return EC_SUCCESS;
+}
+
+static int accel_get_range(const struct motion_sensor_t *s,
+			   int * const range)
+{
+	return EC_SUCCESS;
+}
+
+static int accel_set_resolution(const struct motion_sensor_t *s,
+				const int res,
+				const int rnd)
+{
+	return EC_SUCCESS;
+}
+
+static int accel_get_resolution(const struct motion_sensor_t *s,
+				int * const res)
+{
+	return EC_SUCCESS;
+}
+
+static int accel_set_data_rate(const struct motion_sensor_t *s,
+			      const int rate,
+			      const int rnd)
+{
+	return EC_SUCCESS;
+}
+
+static int accel_get_data_rate(const struct motion_sensor_t *s,
+			      int * const rate)
+{
+	return EC_SUCCESS;
+}
+
+const struct accelgyro_drv test_motion_sense = {
+	.init = accel_init,
+	.read = accel_read,
+	.set_range = accel_set_range,
+	.get_range = accel_get_range,
+	.set_resolution = accel_set_resolution,
+	.get_resolution = accel_get_resolution,
+	.set_data_rate = accel_set_data_rate,
+	.get_data_rate = accel_get_data_rate,
+};
+
+const matrix_3x3_t base_standard_ref = {
+	{ 1, 0, 0},
+	{ 0, 1, 0},
+	{ 0, 0, 1}
+};
+
+const matrix_3x3_t lid_standard_ref = {
+	{ 1, 0, 0},
+	{ 1, 0, 0},
+	{ 0, 0, 1}
+};
+
+struct motion_sensor_t motion_sensors[] = {
+	{SENSOR_ACTIVE_S0_S3_S5, "base", SENSOR_CHIP_LSM6DS0,
+		SENSOR_ACCELEROMETER, LOCATION_BASE,
+		&test_motion_sense, NULL, NULL,
+		0, &base_standard_ref, 119000, 2},
+	{SENSOR_ACTIVE_S0, "lid", SENSOR_CHIP_KXCJ9,
+		SENSOR_ACCELEROMETER, LOCATION_LID,
+		&test_motion_sense, NULL, NULL,
+		0, &lid_standard_ref, 100000, 2},
+};
+const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
+
+/*****************************************************************************/
+/* Test utilities */
+static int test_lid_angle(void)
+{
+	uint8_t *lpc_status = host_get_memmap(EC_MEMMAP_ACC_STATUS);
+	uint8_t sample;
+
+	struct motion_sensor_t *base = &motion_sensors[0];
+	struct motion_sensor_t *lid = &motion_sensors[1];
+
+	/* Go to S3 state */
+	hook_notify(HOOK_CHIPSET_STARTUP);
+
+	/* Go to S0 state */
+	hook_notify(HOOK_CHIPSET_RESUME);
+
+	/*
+	 * Set the base accelerometer as if it were sitting flat on a desk
+	 * and set the lid to closed.
+	 */
+	base->xyz[X] = 0;
+	base->xyz[Y] = 0;
+	base->xyz[Z] = 1000;
+	lid->xyz[X] = 0;
+	lid->xyz[Y] = 0;
+	lid->xyz[Z] = 1000;
+	sample = *lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK;
+	task_wake(TASK_ID_MOTIONSENSE);
+	while ((*lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK) == sample)
+		msleep(5);
+	TEST_ASSERT(motion_lid_get_angle() == 0);
+
+	/* Set lid open to 90 degrees. */
+	lid->xyz[X] = -1000;
+	lid->xyz[Y] = 0;
+	lid->xyz[Z] = 0;
+	sample = *lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK;
+	task_wake(TASK_ID_MOTIONSENSE);
+	while ((*lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK) == sample)
+		msleep(5);
+	TEST_ASSERT(motion_lid_get_angle() == 90);
+
+	/* Set lid open to 225. */
+	lid->xyz[X] = 500;
+	lid->xyz[Y] = 0;
+	lid->xyz[Z] = -500;
+	sample = *lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK;
+	task_wake(TASK_ID_MOTIONSENSE);
+	while ((*lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK) == sample)
+		msleep(5);
+	TEST_ASSERT(motion_lid_get_angle() == 225);
+
+	/*
+	 * Align base with hinge and make sure it returns unreliable for angle.
+	 * In this test it doesn't matter what the lid acceleration vector is.
+	 */
+	base->xyz[X] = 0;
+	base->xyz[Y] = 1000;
+	base->xyz[Z] = 0;
+	sample = *lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK;
+	task_wake(TASK_ID_MOTIONSENSE);
+	while ((*lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK) == sample)
+		msleep(5);
+	TEST_ASSERT(motion_lid_get_angle() == LID_ANGLE_UNRELIABLE);
+
+	/*
+	 * Use all three axes and set lid to negative base and make sure
+	 * angle is 180.
+	 */
+	base->xyz[X] = 500;
+	base->xyz[Y] = 400;
+	base->xyz[Z] = 300;
+	lid->xyz[X] = -500;
+	lid->xyz[Y] = -400;
+	lid->xyz[Z] = -300;
+	sample = *lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK;
+	task_wake(TASK_ID_MOTIONSENSE);
+	while ((*lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK) == sample)
+		msleep(5);
+	TEST_ASSERT(motion_lid_get_angle() == 180);
+
+	return EC_SUCCESS;
+}
+
+
+void run_test(void)
+{
+	test_reset();
+
+	RUN_TEST(test_lid_angle);
+
+	test_print_result();
+}