samus: added gyro support for lsm6ds0

Changed motion_sense task to assume sensors are unpowered in G3
and re-initialize sensors every time coming out of G3.

Added EC command line test utils as well.
Fixed some bug during unit tests.

BUG=chrome-os-partner:27313,27320
BRANCH=ToT
TEST=Verified on Samus.

Tested with accel EC CLIs
accelread, accelrange, accelrate, accelres

Tested accelcalib, a ACCEL calibration util, and it succeeded.

Tested sysfs interface:
cd /sys/bus/iio/devices/iio:device1
 cat in_accel_*_gyro_raw

Signed-off-by: Sheng-Liang Song <ssl@chromium.org>
Change-Id: I5752b00c03e1942c790ea4f28610fda83fa2dcbc
Reviewed-on: https://chromium-review.googlesource.com/211484
Reviewed-by: Alec Berg <alecaberg@chromium.org>

2 files changed, 54 insertions, 72 deletions

diff --git a/test/math_util.c b/test/math_util.c
index e69005fcbc..3c5a3fae01 100644
--- a/test/math_util.c
+++ b/test/math_util.c
@@ -6,7 +6,7 @@
  */
 
 #include <math.h>
-
+#include <stdio.h>
 #include "math_util.h"
 #include "motion_sense.h"
 #include "test_util.h"
@@ -14,7 +14,7 @@
 
 /*****************************************************************************/
 /* Need to define motion sensor globals just to compile. */
-const struct motion_sensor_t motion_sensors[] = {};
+struct motion_sensor_t motion_sensors[] = {};
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
 /*****************************************************************************/
@@ -41,7 +41,6 @@ static int test_acos(void)
 	return EC_SUCCESS;
 }
 
-
 void run_test(void)
 {
 	test_reset();
diff --git a/test/motion_sense.c b/test/motion_sense.c
index 941b6cc9e7..b9a928ef8c 100644
--- a/test/motion_sense.c
+++ b/test/motion_sense.c
@@ -9,6 +9,7 @@
 
 #include "accelgyro.h"
 #include "common.h"
+#include "hooks.h"
 #include "host_command.h"
 #include "motion_sense.h"
 #include "task.h"
@@ -16,105 +17,82 @@
 #include "timer.h"
 #include "util.h"
 
-/* Mock acceleration values for motion sense task to read in. */
-int mock_x_acc[ACCEL_COUNT], mock_y_acc[ACCEL_COUNT], mock_z_acc[ACCEL_COUNT];
+/* For vector_3_t, define which coordinates are in which location. */
+enum {
+	X, Y, Z
+};
 
 /*****************************************************************************/
 /* Mock functions */
-
-static int accel_init(void *drv_data, int i2c_addr)
+static int accel_init(const struct motion_sensor_t *s)
 {
 	return EC_SUCCESS;
 }
 
-static int accel_read_base(void *drv_data, int *x_acc, int *y_acc, int *z_acc)
+static int accel_read(const struct motion_sensor_t *s,
+	int *x_acc, int *y_acc, int *z_acc)
 {
-	/* Return the mock values. */
-	*x_acc = mock_x_acc[ACCEL_BASE];
-	*y_acc = mock_y_acc[ACCEL_BASE];
-	*z_acc = mock_z_acc[ACCEL_BASE];
-
+	*x_acc = s->xyz[X];
+	*y_acc = s->xyz[Y];
+	*z_acc = s->xyz[Z];
 	return EC_SUCCESS;
 }
 
-static int accel_read_lid(void *drv_data, int *x_acc, int *y_acc, int *z_acc)
-{
-	/* Return the mock values. */
-	*x_acc = mock_x_acc[ACCEL_LID];
-	*y_acc = mock_y_acc[ACCEL_LID];
-	*z_acc = mock_z_acc[ACCEL_LID];
-
-	return EC_SUCCESS;
-}
-
-static int accel_set_range(void *drv_data,
+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(void *drv_data,
+static int accel_get_range(const struct motion_sensor_t *s,
 			   int * const range)
 {
 	return EC_SUCCESS;
 }
 
-static int accel_set_resolution(void *drv_data,
+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(void *drv_data,
+static int accel_get_resolution(const struct motion_sensor_t *s,
 				int * const res)
 {
 	return EC_SUCCESS;
 }
 
-static int accel_set_datarate(void *drv_data,
+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_datarate(void *drv_data,
+static int accel_get_data_rate(const struct motion_sensor_t *s,
 			      int * const rate)
 {
 	return EC_SUCCESS;
 }
 
-const struct accelgyro_info test_motion_sense_base = {
-	.chip_type = CHIP_TEST,
-	.sensor_type = SENSOR_ACCELEROMETER,
+const struct accelgyro_drv test_motion_sense = {
 	.init = accel_init,
-	.read = accel_read_base,
+	.read = accel_read,
 	.set_range = accel_set_range,
 	.get_range = accel_get_range,
 	.set_resolution = accel_set_resolution,
 	.get_resolution = accel_get_resolution,
-	.set_datarate = accel_set_datarate,
-	.get_datarate = accel_get_datarate,
+	.set_data_rate = accel_set_data_rate,
+	.get_data_rate = accel_get_data_rate,
 };
 
-const struct accelgyro_info test_motion_sense_lid = {
-	.chip_type = CHIP_TEST,
-	.sensor_type = SENSOR_ACCELEROMETER,
-	.init = accel_init,
-	.read = accel_read_lid,
-	.set_range = accel_set_range,
-	.get_range = accel_get_range,
-	.set_resolution = accel_set_resolution,
-	.get_resolution = accel_get_resolution,
-	.set_datarate = accel_set_datarate,
-	.get_datarate = accel_get_datarate,
-};
-
-const struct motion_sensor_t motion_sensors[] = {
-	{"test base sensor", LOCATION_BASE, &test_motion_sense_base, NULL, 0},
-	{"test lid sensor", LOCATION_LID, &test_motion_sense_lid, NULL, 0},
+struct motion_sensor_t motion_sensors[] = {
+	{"base", SENSOR_CHIP_LSM6DS0, SENSOR_ACCELEROMETER, LOCATION_BASE,
+		&test_motion_sense, NULL, NULL, 0},
+	{"lid", SENSOR_CHIP_KXCJ9, SENSOR_ACCELEROMETER, LOCATION_LID,
+		&test_motion_sense, NULL, NULL, 0},
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
@@ -125,16 +103,21 @@ 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];
+
+	hook_notify(HOOK_CHIPSET_STARTUP);
+
 	/*
 	 * Set the base accelerometer as if it were sitting flat on a desk
 	 * and set the lid to closed.
 	 */
-	mock_x_acc[ACCEL_BASE] = 0;
-	mock_y_acc[ACCEL_BASE] = 0;
-	mock_z_acc[ACCEL_BASE] = 1000;
-	mock_x_acc[ACCEL_LID] = 0;
-	mock_y_acc[ACCEL_LID] = 0;
-	mock_z_acc[ACCEL_LID] = 1000;
+	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)
@@ -142,9 +125,9 @@ static int test_lid_angle(void)
 	TEST_ASSERT(motion_get_lid_angle() == 0);
 
 	/* Set lid open to 90 degrees. */
-	mock_x_acc[ACCEL_LID] = -1000;
-	mock_y_acc[ACCEL_LID] = 0;
-	mock_z_acc[ACCEL_LID] = 0;
+	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)
@@ -152,9 +135,9 @@ static int test_lid_angle(void)
 	TEST_ASSERT(motion_get_lid_angle() == 90);
 
 	/* Set lid open to 225. */
-	mock_x_acc[ACCEL_LID] = 500;
-	mock_y_acc[ACCEL_LID] = 0;
-	mock_z_acc[ACCEL_LID] = -500;
+	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)
@@ -165,9 +148,9 @@ static int test_lid_angle(void)
 	 * 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.
 	 */
-	mock_x_acc[ACCEL_BASE] = 0;
-	mock_y_acc[ACCEL_BASE] = 1000;
-	mock_z_acc[ACCEL_BASE] = 0;
+	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)
@@ -178,12 +161,12 @@ static int test_lid_angle(void)
 	 * Use all three axes and set lid to negative base and make sure
 	 * angle is 180.
 	 */
-	mock_x_acc[ACCEL_BASE] = 500;
-	mock_y_acc[ACCEL_BASE] = 400;
-	mock_z_acc[ACCEL_BASE] = 300;
-	mock_x_acc[ACCEL_LID] = -500;
-	mock_y_acc[ACCEL_LID] = -400;
-	mock_z_acc[ACCEL_LID] = -300;
+	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)