diff options
Diffstat (limited to 'zephyr/test/drivers/src/bma2x2.c')
| -rw-r--r-- | zephyr/test/drivers/src/bma2x2.c | 926 |
1 files changed, 0 insertions, 926 deletions
diff --git a/zephyr/test/drivers/src/bma2x2.c b/zephyr/test/drivers/src/bma2x2.c deleted file mode 100644 index 8b77464b48..0000000000 --- a/zephyr/test/drivers/src/bma2x2.c +++ /dev/null @@ -1,926 +0,0 @@ -/* Copyright 2021 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. - */ - -#include <zephyr.h> -#include <ztest.h> - -#include "common.h" -#include "i2c.h" -#include "emul/emul_bma255.h" -#include "emul/emul_common_i2c.h" - -#include "accelgyro.h" -#include "motion_sense.h" -#include "driver/accel_bma2x2.h" - -/** How accurate comparision of vectors should be. */ -#define V_EPS 8 - -#define EMUL_LABEL DT_NODELABEL(bma_emul) - -#define BMA_ORD DT_DEP_ORD(EMUL_LABEL) - -/** Mutex for test motion sensor */ -static mutex_t sensor_mutex; - -/** Rotation used in some tests */ -static const mat33_fp_t test_rotation = { - { 0, FLOAT_TO_FP(1), 0}, - { FLOAT_TO_FP(-1), 0, 0}, - { 0, 0, FLOAT_TO_FP(-1)} -}; - -/** Rotate given vector by test rotation */ -void rotate_int3v_by_test_rotation(int16_t *v) -{ - int16_t t; - - t = v[0]; - v[0] = -v[1]; - v[1] = t; - v[2] = -v[2]; -} - -static struct accelgyro_saved_data_t acc_data; - -/** Mock minimal motion sensor setup required for bma2x2 driver test */ -static struct motion_sensor_t ms = { - .name = "bma_emul", - .type = MOTIONSENSE_TYPE_ACCEL, - .drv = &bma2x2_accel_drv, - .mutex = &sensor_mutex, - .drv_data = &acc_data, - .port = NAMED_I2C(accel), - .i2c_spi_addr_flags = DT_REG_ADDR(EMUL_LABEL), - .rot_standard_ref = NULL, - .current_range = 0, -}; - -/** Set emulator offset values to vector of three int16_t */ -static void set_emul_offset(struct i2c_emul *emul, int16_t *offset) -{ - bma_emul_set_off(emul, BMA_EMUL_AXIS_X, offset[0]); - bma_emul_set_off(emul, BMA_EMUL_AXIS_Y, offset[1]); - bma_emul_set_off(emul, BMA_EMUL_AXIS_Z, offset[2]); -} - -/** Save emulator offset values to vector of three int16_t */ -static void get_emul_offset(struct i2c_emul *emul, int16_t *offset) -{ - offset[0] = bma_emul_get_off(emul, BMA_EMUL_AXIS_X); - offset[1] = bma_emul_get_off(emul, BMA_EMUL_AXIS_Y); - offset[2] = bma_emul_get_off(emul, BMA_EMUL_AXIS_Z); -} - -/** Set emulator accelerometer values to vector of three int16_t */ -static void set_emul_acc(struct i2c_emul *emul, int16_t *acc) -{ - bma_emul_set_acc(emul, BMA_EMUL_AXIS_X, acc[0]); - bma_emul_set_acc(emul, BMA_EMUL_AXIS_Y, acc[1]); - bma_emul_set_acc(emul, BMA_EMUL_AXIS_Z, acc[2]); -} - -/** Convert accelerometer read to units used by emulator */ -static void drv_acc_to_emul(intv3_t drv, int range, int16_t *out) -{ - const int scale = MOTION_SCALING_FACTOR / BMA_EMUL_1G; - - out[0] = drv[0] * range / scale; - out[1] = drv[1] * range / scale; - out[2] = drv[2] * range / scale; -} - -/** Compare two vectors of three int16_t */ -static void compare_int3v_f(int16_t *exp_v, int16_t *v, int line) -{ - int i; - - for (i = 0; i < 3; i++) { - zassert_within(exp_v[i], v[i], V_EPS, - "Expected [%d; %d; %d], got [%d; %d; %d]; line: %d", - exp_v[0], exp_v[1], exp_v[2], v[0], v[1], v[2], line); - } -} -#define compare_int3v(exp_v, v) compare_int3v_f(exp_v, v, __LINE__) - -/** Data for reset fail function */ -struct reset_func_data { - /** Fail for given attempts */ - int fail_attempts; - /** Do not fail for given attempts */ - int ok_before_fail; - /** Reset register value after given attempts */ - int reset_value; -}; - -/** - * Custom emulator function used in init test. It returns cmd soft when reset - * register is accessed data.reset_value times. Error is returned after - * accessing register data.ok_before_fail times. Error is returned during next - * data.fail_attempts times. - */ -static int emul_read_reset(struct i2c_emul *emul, int reg, uint8_t *buf, - int bytes, void *data) -{ - struct reset_func_data *d = data; - - reg = bma_emul_access_reg(emul, reg, bytes, true /* = read */); - if (reg != BMA2x2_RST_ADDR) { - return 1; - } - - if (d->reset_value > 0) { - d->reset_value--; - bma_emul_set_reg(emul, BMA2x2_RST_ADDR, BMA2x2_CMD_SOFT_RESET); - } else { - bma_emul_set_reg(emul, BMA2x2_RST_ADDR, 0); - } - - if (d->ok_before_fail > 0) { - d->ok_before_fail--; - return 1; - } - - if (d->fail_attempts > 0) { - d->fail_attempts--; - return -EIO; - } - - return 1; -} - -/** - * Test get offset with and without rotation. Also test behaviour on I2C error. - */ -static void test_bma_get_offset(void) -{ - struct i2c_emul *emul; - int16_t ret_offset[3]; - int16_t exp_offset[3]; - int16_t temp; - - emul = bma_emul_get(BMA_ORD); - - /* Test fail on each axis */ - i2c_common_emul_set_read_fail_reg(emul, BMA2x2_OFFSET_X_AXIS_ADDR); - zassert_equal(EC_ERROR_INVAL, - ms.drv->get_offset(&ms, ret_offset, &temp), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMA2x2_OFFSET_Y_AXIS_ADDR); - zassert_equal(EC_ERROR_INVAL, - ms.drv->get_offset(&ms, ret_offset, &temp), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMA2x2_OFFSET_Z_AXIS_ADDR); - zassert_equal(EC_ERROR_INVAL, - ms.drv->get_offset(&ms, ret_offset, &temp), NULL); - - /* Do not fail on read */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Set emulator offset */ - exp_offset[0] = BMA_EMUL_1G / 10; - exp_offset[1] = BMA_EMUL_1G / 20; - exp_offset[2] = -(int)BMA_EMUL_1G / 30; - set_emul_offset(emul, exp_offset); - /* Disable rotation */ - ms.rot_standard_ref = NULL; - - /* Test get offset without rotation */ - zassert_equal(EC_SUCCESS, ms.drv->get_offset(&ms, ret_offset, &temp), - NULL); - zassert_equal(temp, (int16_t)EC_MOTION_SENSE_INVALID_CALIB_TEMP, NULL); - compare_int3v(exp_offset, ret_offset); - - /* Setup rotation and rotate expected offset */ - ms.rot_standard_ref = &test_rotation; - rotate_int3v_by_test_rotation(exp_offset); - - /* Test get offset with rotation */ - zassert_equal(EC_SUCCESS, ms.drv->get_offset(&ms, ret_offset, &temp), - NULL); - zassert_equal(temp, (int16_t)EC_MOTION_SENSE_INVALID_CALIB_TEMP, NULL); - compare_int3v(exp_offset, ret_offset); -} - -/** - * Test set offset with and without rotation. Also test behaviour on I2C error. - */ -static void test_bma_set_offset(void) -{ - struct i2c_emul *emul; - int16_t ret_offset[3]; - int16_t exp_offset[3]; - int16_t temp = 0; - - emul = bma_emul_get(BMA_ORD); - - /* Test fail on each axis */ - i2c_common_emul_set_write_fail_reg(emul, BMA2x2_OFFSET_X_AXIS_ADDR); - zassert_equal(EC_ERROR_INVAL, ms.drv->set_offset(&ms, exp_offset, temp), - NULL); - i2c_common_emul_set_write_fail_reg(emul, BMA2x2_OFFSET_Y_AXIS_ADDR); - zassert_equal(EC_ERROR_INVAL, ms.drv->set_offset(&ms, exp_offset, temp), - NULL); - i2c_common_emul_set_write_fail_reg(emul, BMA2x2_OFFSET_Z_AXIS_ADDR); - zassert_equal(EC_ERROR_INVAL, ms.drv->set_offset(&ms, exp_offset, temp), - NULL); - - /* Do not fail on write */ - i2c_common_emul_set_write_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Set input offset */ - exp_offset[0] = BMA_EMUL_1G / 10; - exp_offset[1] = BMA_EMUL_1G / 20; - exp_offset[2] = -(int)BMA_EMUL_1G / 30; - /* Disable rotation */ - ms.rot_standard_ref = NULL; - - /* Test set offset without rotation */ - zassert_equal(EC_SUCCESS, ms.drv->set_offset(&ms, exp_offset, temp), - NULL); - get_emul_offset(emul, ret_offset); - compare_int3v(exp_offset, ret_offset); - - /* Setup rotation and rotate input for set_offset function */ - ms.rot_standard_ref = &test_rotation; - ret_offset[0] = exp_offset[0]; - ret_offset[1] = exp_offset[1]; - ret_offset[2] = exp_offset[2]; - rotate_int3v_by_test_rotation(ret_offset); - - /* Test set offset with rotation */ - zassert_equal(EC_SUCCESS, ms.drv->set_offset(&ms, ret_offset, temp), - NULL); - get_emul_offset(emul, ret_offset); - compare_int3v(exp_offset, ret_offset); -} - -/* - * Try to set range and check if expected range was set in driver and in - * emulator. - */ -static void check_set_range_f(struct i2c_emul *emul, int range, int rnd, - int exp_range, int line) -{ - uint8_t exp_range_reg; - uint8_t range_reg; - - zassert_equal(EC_SUCCESS, ms.drv->set_range(&ms, range, rnd), - "set_range failed; line: %d", line); - zassert_equal(exp_range, ms.current_range, - "Expected range %d, got %d; line %d", - exp_range, ms.current_range, line); - range_reg = bma_emul_get_reg(emul, BMA2x2_RANGE_SELECT_ADDR); - range_reg &= BMA2x2_RANGE_SELECT_MSK; - - switch (exp_range) { - case 2: - exp_range_reg = BMA2x2_RANGE_2G; - break; - case 4: - exp_range_reg = BMA2x2_RANGE_4G; - break; - case 8: - exp_range_reg = BMA2x2_RANGE_8G; - break; - case 16: - exp_range_reg = BMA2x2_RANGE_16G; - break; - default: - /* Unknown expected range */ - zassert_unreachable( - "Expected range %d not supported by device; line %d", - exp_range, line); - return; - } - - zassert_equal(exp_range_reg, range_reg, - "Expected range reg 0x%x, got 0x%x; line %d", - exp_range_reg, range_reg, line); -} -#define check_set_range(emul, range, rnd, exp_range) \ - check_set_range_f(emul, range, rnd, exp_range, __LINE__) - -/** Test set range with and without I2C errors. */ -static void test_bma_set_range(void) -{ - struct i2c_emul *emul; - int start_range; - - emul = bma_emul_get(BMA_ORD); - - /* Setup starting range, shouldn't be changed on error */ - start_range = 2; - ms.current_range = start_range; - bma_emul_set_reg(emul, BMA2x2_RANGE_SELECT_ADDR, BMA2x2_RANGE_2G); - /* Setup emulator fail on read */ - i2c_common_emul_set_read_fail_reg(emul, BMA2x2_RANGE_SELECT_ADDR); - - /* Test fail on read */ - zassert_equal(EC_ERROR_INVAL, ms.drv->set_range(&ms, 12, 0), NULL); - zassert_equal(start_range, ms.current_range, NULL); - zassert_equal(BMA2x2_RANGE_2G, - bma_emul_get_reg(emul, BMA2x2_RANGE_SELECT_ADDR), NULL); - zassert_equal(EC_ERROR_INVAL, ms.drv->set_range(&ms, 12, 1), NULL); - zassert_equal(start_range, ms.current_range, NULL); - zassert_equal(BMA2x2_RANGE_2G, - bma_emul_get_reg(emul, BMA2x2_RANGE_SELECT_ADDR), NULL); - - /* Do not fail on read */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Setup emulator fail on write */ - i2c_common_emul_set_write_fail_reg(emul, BMA2x2_RANGE_SELECT_ADDR); - - /* Test fail on write */ - zassert_equal(EC_ERROR_INVAL, ms.drv->set_range(&ms, 12, 0), NULL); - zassert_equal(start_range, ms.current_range, NULL); - zassert_equal(BMA2x2_RANGE_2G, - bma_emul_get_reg(emul, BMA2x2_RANGE_SELECT_ADDR), NULL); - zassert_equal(EC_ERROR_INVAL, ms.drv->set_range(&ms, 12, 1), NULL); - zassert_equal(start_range, ms.current_range, NULL); - zassert_equal(BMA2x2_RANGE_2G, - bma_emul_get_reg(emul, BMA2x2_RANGE_SELECT_ADDR), NULL); - - /* Do not fail on write */ - i2c_common_emul_set_write_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Test setting range with rounding down */ - check_set_range(emul, 1, 0, 2); - check_set_range(emul, 2, 0, 2); - check_set_range(emul, 3, 0, 2); - check_set_range(emul, 4, 0, 4); - check_set_range(emul, 5, 0, 4); - check_set_range(emul, 6, 0, 4); - check_set_range(emul, 7, 0, 4); - check_set_range(emul, 8, 0, 8); - check_set_range(emul, 9, 0, 8); - check_set_range(emul, 15, 0, 8); - check_set_range(emul, 16, 0, 16); - check_set_range(emul, 17, 0, 16); - - /* Test setting range with rounding up */ - check_set_range(emul, 1, 1, 2); - check_set_range(emul, 2, 1, 2); - check_set_range(emul, 3, 1, 4); - check_set_range(emul, 4, 1, 4); - check_set_range(emul, 5, 1, 8); - check_set_range(emul, 6, 1, 8); - check_set_range(emul, 7, 1, 8); - check_set_range(emul, 8, 1, 8); - check_set_range(emul, 9, 1, 16); - check_set_range(emul, 15, 1, 16); - check_set_range(emul, 16, 1, 16); - check_set_range(emul, 17, 1, 16); -} - -/** Test init with and without I2C errors. */ -static void test_bma_init(void) -{ - struct reset_func_data reset_func_data; - struct i2c_emul *emul; - - emul = bma_emul_get(BMA_ORD); - - /* Setup emulator fail read function */ - i2c_common_emul_set_read_fail_reg(emul, BMA2x2_CHIP_ID_ADDR); - - /* Test fail on chip id read */ - zassert_equal(EC_ERROR_UNKNOWN, ms.drv->init(&ms), NULL); - - /* Disable failing on chip id read, but set wrong value */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - bma_emul_set_reg(emul, BMA2x2_CHIP_ID_ADDR, 23); - - /* Test wrong chip id */ - zassert_equal(EC_ERROR_ACCESS_DENIED, ms.drv->init(&ms), NULL); - - /* Set correct chip id, but fail on reset reg read */ - i2c_common_emul_set_read_fail_reg(emul, BMA2x2_RST_ADDR); - bma_emul_set_reg(emul, BMA2x2_CHIP_ID_ADDR, BMA255_CHIP_ID_MAJOR); - - /* Test fail on reset register read */ - zassert_equal(EC_ERROR_INVAL, ms.drv->init(&ms), NULL); - - /* Do not fail on read */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Setup emulator fail on write */ - i2c_common_emul_set_write_fail_reg(emul, BMA2x2_RST_ADDR); - - /* Test fail on reset register write */ - zassert_equal(EC_ERROR_INVAL, ms.drv->init(&ms), NULL); - - /* Do not fail on write */ - i2c_common_emul_set_write_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Setup emulator fail reset read function */ - reset_func_data.ok_before_fail = 1; - reset_func_data.fail_attempts = 100; - reset_func_data.reset_value = 0; - i2c_common_emul_set_read_func(emul, emul_read_reset, &reset_func_data); - - /* Test fail on too many reset read errors */ - zassert_equal(EC_ERROR_TIMEOUT, ms.drv->init(&ms), NULL); - - /* Test success after reset read errors */ - reset_func_data.ok_before_fail = 1; - reset_func_data.fail_attempts = 3; - zassert_equal(EC_RES_SUCCESS, ms.drv->init(&ms), NULL); - - /* Test success without read errors */ - reset_func_data.fail_attempts = 0; - zassert_equal(EC_RES_SUCCESS, ms.drv->init(&ms), NULL); - - /* Test fail on too many reset read wrong value */ - reset_func_data.fail_attempts = 0; - reset_func_data.reset_value = 100; - zassert_equal(EC_ERROR_TIMEOUT, ms.drv->init(&ms), NULL); - - /* Test success on few reset read wrong value */ - reset_func_data.fail_attempts = 0; - reset_func_data.reset_value = 4; - zassert_equal(EC_RES_SUCCESS, ms.drv->init(&ms), NULL); - - /* Remove custom emulator read function */ - i2c_common_emul_set_read_func(emul, NULL, NULL); -} - -/* - * Try to set data rate and check if expected rate was set in driver and in - * emulator. - */ -static void check_set_rate_f(struct i2c_emul *emul, int rate, int rnd, - int exp_rate, int line) -{ - uint8_t exp_rate_reg; - uint8_t rate_reg; - int drv_rate; - - zassert_equal(EC_SUCCESS, ms.drv->set_data_rate(&ms, rate, rnd), - "set_data_rate failed; line: %d", line); - drv_rate = ms.drv->get_data_rate(&ms); - zassert_equal(exp_rate, drv_rate, "Expected rate %d, got %d; line %d", - exp_rate, drv_rate, line); - rate_reg = bma_emul_get_reg(emul, BMA2x2_BW_SELECT_ADDR); - rate_reg &= BMA2x2_BW_MSK; - - switch (exp_rate) { - case 7812: - exp_rate_reg = BMA2x2_BW_7_81HZ; - break; - case 15625: - exp_rate_reg = BMA2x2_BW_15_63HZ; - break; - case 31250: - exp_rate_reg = BMA2x2_BW_31_25HZ; - break; - case 62500: - exp_rate_reg = BMA2x2_BW_62_50HZ; - break; - case 125000: - exp_rate_reg = BMA2x2_BW_125HZ; - break; - case 250000: - exp_rate_reg = BMA2x2_BW_250HZ; - break; - case 500000: - exp_rate_reg = BMA2x2_BW_500HZ; - break; - case 1000000: - exp_rate_reg = BMA2x2_BW_1000HZ; - break; - default: - /* Unknown expected rate */ - zassert_unreachable( - "Expected rate %d not supported by device; line %d", - exp_rate, line); - return; - } - - zassert_equal(exp_rate_reg, rate_reg, - "Expected rate reg 0x%x, got 0x%x; line %d", - exp_rate_reg, rate_reg, line); -} -#define check_set_rate(emul, rate, rnd, exp_rate) \ - check_set_rate_f(emul, rate, rnd, exp_rate, __LINE__) - -/** Test set and get rate with and without I2C errors. */ -static void test_bma_rate(void) -{ - struct i2c_emul *emul; - uint8_t reg_rate; - int drv_rate; - - emul = bma_emul_get(BMA_ORD); - - /* Test setting rate with rounding down */ - check_set_rate(emul, 1, 0, 7812); - check_set_rate(emul, 1, 0, 7812); - check_set_rate(emul, 7811, 0, 7812); - check_set_rate(emul, 7812, 0, 7812); - check_set_rate(emul, 7813, 0, 7812); - check_set_rate(emul, 15624, 0, 7812); - check_set_rate(emul, 15625, 0, 15625); - check_set_rate(emul, 15626, 0, 15625); - check_set_rate(emul, 31249, 0, 15625); - check_set_rate(emul, 31250, 0, 31250); - check_set_rate(emul, 31251, 0, 31250); - check_set_rate(emul, 62499, 0, 31250); - check_set_rate(emul, 62500, 0, 62500); - check_set_rate(emul, 62501, 0, 62500); - check_set_rate(emul, 124999, 0, 62500); - check_set_rate(emul, 125000, 0, 125000); - check_set_rate(emul, 125001, 0, 125000); - check_set_rate(emul, 249999, 0, 125000); - check_set_rate(emul, 250000, 0, 250000); - check_set_rate(emul, 250001, 0, 250000); - check_set_rate(emul, 499999, 0, 250000); - check_set_rate(emul, 500000, 0, 500000); - check_set_rate(emul, 500001, 0, 500000); - check_set_rate(emul, 999999, 0, 500000); - check_set_rate(emul, 1000000, 0, 1000000); - check_set_rate(emul, 1000001, 0, 1000000); - check_set_rate(emul, 2000000, 0, 1000000); - - /* Test setting rate with rounding up */ - check_set_rate(emul, 1, 1, 7812); - check_set_rate(emul, 1, 1, 7812); - check_set_rate(emul, 7811, 1, 7812); - check_set_rate(emul, 7812, 1, 7812); - check_set_rate(emul, 7813, 1, 15625); - check_set_rate(emul, 15624, 1, 15625); - check_set_rate(emul, 15625, 1, 15625); - check_set_rate(emul, 15626, 1, 31250); - check_set_rate(emul, 31249, 1, 31250); - check_set_rate(emul, 31250, 1, 31250); - check_set_rate(emul, 31251, 1, 62500); - check_set_rate(emul, 62499, 1, 62500); - check_set_rate(emul, 62500, 1, 62500); - check_set_rate(emul, 62501, 1, 125000); - check_set_rate(emul, 124999, 1, 125000); - check_set_rate(emul, 125000, 1, 125000); - check_set_rate(emul, 125001, 1, 250000); - check_set_rate(emul, 249999, 1, 250000); - check_set_rate(emul, 250000, 1, 250000); - check_set_rate(emul, 250001, 1, 500000); - check_set_rate(emul, 499999, 1, 500000); - check_set_rate(emul, 500000, 1, 500000); - check_set_rate(emul, 500001, 1, 1000000); - check_set_rate(emul, 999999, 1, 1000000); - check_set_rate(emul, 1000000, 1, 1000000); - check_set_rate(emul, 1000001, 1, 1000000); - check_set_rate(emul, 2000000, 1, 1000000); - - /* Current rate shouldn't be changed on error */ - drv_rate = ms.drv->get_data_rate(&ms); - reg_rate = bma_emul_get_reg(emul, BMA2x2_BW_SELECT_ADDR); - - /* Setup emulator fail on read */ - i2c_common_emul_set_read_fail_reg(emul, BMA2x2_BW_SELECT_ADDR); - - /* Test fail on read */ - zassert_equal(EC_ERROR_INVAL, ms.drv->set_data_rate(&ms, 15625, 0), - NULL); - zassert_equal(drv_rate, ms.drv->get_data_rate(&ms), NULL); - zassert_equal(reg_rate, bma_emul_get_reg(emul, BMA2x2_BW_SELECT_ADDR), - NULL); - zassert_equal(EC_ERROR_INVAL, ms.drv->set_data_rate(&ms, 15625, 1), - NULL); - zassert_equal(drv_rate, ms.drv->get_data_rate(&ms), NULL); - zassert_equal(reg_rate, - bma_emul_get_reg(emul, BMA2x2_BW_SELECT_ADDR), NULL); - - /* Do not fail on read */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Setup emulator fail on write */ - i2c_common_emul_set_write_fail_reg(emul, BMA2x2_BW_SELECT_ADDR); - - /* Test fail on write */ - zassert_equal(EC_ERROR_INVAL, ms.drv->set_data_rate(&ms, 15625, 0), - NULL); - zassert_equal(drv_rate, ms.drv->get_data_rate(&ms), NULL); - zassert_equal(reg_rate, bma_emul_get_reg(emul, BMA2x2_BW_SELECT_ADDR), - NULL); - zassert_equal(EC_ERROR_INVAL, ms.drv->set_data_rate(&ms, 15625, 1), - NULL); - zassert_equal(drv_rate, ms.drv->get_data_rate(&ms), NULL); - zassert_equal(reg_rate, bma_emul_get_reg(emul, BMA2x2_BW_SELECT_ADDR), - NULL); - - /* Do not fail on write */ - i2c_common_emul_set_write_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); -} - -/** Test read with and without I2C errors. */ -static void test_bma_read(void) -{ - struct i2c_emul *emul; - int16_t ret_acc[3]; - int16_t exp_acc[3]; - intv3_t ret_acc_v; - - emul = bma_emul_get(BMA_ORD); - - /* Set offset 0 to simplify test */ - bma_emul_set_off(emul, BMA_EMUL_AXIS_X, 0); - bma_emul_set_off(emul, BMA_EMUL_AXIS_Y, 0); - bma_emul_set_off(emul, BMA_EMUL_AXIS_Z, 0); - - /* Test fail on each axis */ - i2c_common_emul_set_read_fail_reg(emul, BMA2x2_X_AXIS_LSB_ADDR); - zassert_equal(EC_ERROR_INVAL, ms.drv->read(&ms, ret_acc_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMA2x2_X_AXIS_MSB_ADDR); - zassert_equal(EC_ERROR_INVAL, ms.drv->read(&ms, ret_acc_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMA2x2_Y_AXIS_LSB_ADDR); - zassert_equal(EC_ERROR_INVAL, ms.drv->read(&ms, ret_acc_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMA2x2_Y_AXIS_MSB_ADDR); - zassert_equal(EC_ERROR_INVAL, ms.drv->read(&ms, ret_acc_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMA2x2_Z_AXIS_LSB_ADDR); - zassert_equal(EC_ERROR_INVAL, ms.drv->read(&ms, ret_acc_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMA2x2_Z_AXIS_MSB_ADDR); - zassert_equal(EC_ERROR_INVAL, ms.drv->read(&ms, ret_acc_v), NULL); - - /* Do not fail on read */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Set input accelerometer values */ - exp_acc[0] = BMA_EMUL_1G / 10; - exp_acc[1] = BMA_EMUL_1G / 20; - exp_acc[2] = -(int)BMA_EMUL_1G / 30; - set_emul_acc(emul, exp_acc); - /* Disable rotation */ - ms.rot_standard_ref = NULL; - /* Set range to 2G */ - zassert_equal(EC_SUCCESS, ms.drv->set_range(&ms, 2, 0), NULL); - - /* Test read without rotation */ - zassert_equal(EC_SUCCESS, ms.drv->read(&ms, ret_acc_v), NULL); - drv_acc_to_emul(ret_acc_v, 2, ret_acc); - compare_int3v(exp_acc, ret_acc); - - /* Set range to 4G */ - zassert_equal(EC_SUCCESS, ms.drv->set_range(&ms, 4, 0), NULL); - - /* Test read without rotation */ - zassert_equal(EC_SUCCESS, ms.drv->read(&ms, ret_acc_v), NULL); - drv_acc_to_emul(ret_acc_v, 4, ret_acc); - compare_int3v(exp_acc, ret_acc); - - /* Setup rotation and rotate expected vector */ - ms.rot_standard_ref = &test_rotation; - rotate_int3v_by_test_rotation(exp_acc); - /* Set range to 2G */ - zassert_equal(EC_SUCCESS, ms.drv->set_range(&ms, 2, 0), NULL); - - /* Test read with rotation */ - zassert_equal(EC_SUCCESS, ms.drv->read(&ms, ret_acc_v), NULL); - drv_acc_to_emul(ret_acc_v, 2, ret_acc); - compare_int3v(exp_acc, ret_acc); - - /* Set range to 4G */ - zassert_equal(EC_SUCCESS, ms.drv->set_range(&ms, 4, 0), NULL); - - /* Test read with rotation */ - zassert_equal(EC_SUCCESS, ms.drv->read(&ms, ret_acc_v), NULL); - drv_acc_to_emul(ret_acc_v, 4, ret_acc); - compare_int3v(exp_acc, ret_acc); -} - -/** Data for functions used in perform_calib test */ -struct calib_func_data { - /** Time when offset compensation where triggered */ - int calib_start; - /** Time how long offset cal ready should be unset */ - int time; - /** Flag indicate if read should fail after compensation is triggered */ - int read_fail; -}; - -/** - * Custom emulator read function used in perform_calib test. It controls if - * cal ready bit in offset control register should be set. It is set after - * data.time miliseconds passed from data.calib_start time. Function returns - * error when offset control register is accessed when cal ready bit is not set - * and data.read_fail is not zero. - */ -static int emul_read_calib_func(struct i2c_emul *emul, int reg, uint8_t *val, - int bytes, void *data) -{ - struct calib_func_data *d = data; - uint8_t reg_val; - int cur_time; - - reg = bma_emul_access_reg(emul, reg, bytes, true /* = read */); - if (reg != BMA2x2_OFFSET_CTRL_ADDR) { - return 1; - } - - reg_val = bma_emul_get_reg(emul, BMA2x2_OFFSET_CTRL_ADDR); - cur_time = k_uptime_get_32(); - if (cur_time - d->calib_start < d->time) { - if (d->read_fail) { - return -EIO; - } - reg_val &= ~BMA2x2_OFFSET_CAL_READY; - } else { - reg_val |= BMA2x2_OFFSET_CAL_READY; - } - bma_emul_set_reg(emul, BMA2x2_OFFSET_CTRL_ADDR, reg_val); - - return 1; -} - -/** - * Custom emulator write function used in perform_calib test. It sets - * calib_start field in data with time when offset compensation process was - * triggerd. - */ -static int emul_write_calib_func(struct i2c_emul *emul, int reg, uint8_t val, - int bytes, void *data) -{ - struct calib_func_data *d = data; - - reg = bma_emul_access_reg(emul, reg, bytes, false /* = read */); - if (reg != BMA2x2_OFFSET_CTRL_ADDR) { - return 1; - } - - if (val & BMA2x2_OFFSET_TRIGGER_MASK) { - d->calib_start = k_uptime_get_32(); - } - - return 1; -} - -/** Test offset compensation with and without I2C errors. */ -static void test_bma_perform_calib(void) -{ - struct calib_func_data func_data; - struct i2c_emul *emul; - int16_t start_off[3]; - int16_t exp_off[3]; - int16_t ret_off[3]; - int range; - int rate; - mat33_fp_t rot = { - { FLOAT_TO_FP(1), 0, 0}, - { 0, FLOAT_TO_FP(1), 0}, - { 0, 0, FLOAT_TO_FP(-1)} - }; - - emul = bma_emul_get(BMA_ORD); - - /* Range and rate cannot change after calibration */ - range = 4; - rate = 125000; - zassert_equal(EC_SUCCESS, ms.drv->set_range(&ms, range, 0), NULL); - zassert_equal(EC_SUCCESS, ms.drv->set_data_rate(&ms, rate, 0), NULL); - - /* Set offset 0 */ - start_off[0] = 0; - start_off[1] = 0; - start_off[2] = 0; - set_emul_offset(emul, start_off); - - /* Set input accelerometer values */ - exp_off[0] = BMA_EMUL_1G / 10; - exp_off[1] = BMA_EMUL_1G / 20; - exp_off[2] = -(int)BMA_EMUL_1G / 30; - set_emul_acc(emul, exp_off); - - /* - * Expected offset is [-X, -Y, 1G - Z] for no rotation or positive - * rotation on Z axis - */ - exp_off[0] = -exp_off[0]; - exp_off[1] = -exp_off[1]; - exp_off[2] = BMA_EMUL_1G - exp_off[2]; - - /* Setup emulator calibration functions */ - i2c_common_emul_set_read_func(emul, emul_read_calib_func, &func_data); - i2c_common_emul_set_write_func(emul, emul_write_calib_func, &func_data); - - /* Setup emulator to fail on first access to offset control register */ - func_data.calib_start = k_uptime_get_32(); - func_data.read_fail = 1; - func_data.time = 1000000; - - /* Test success on disabling calibration */ - zassert_equal(EC_SUCCESS, ms.drv->perform_calib(&ms, 0), NULL); - zassert_equal(range, ms.current_range, NULL); - zassert_equal(rate, ms.drv->get_data_rate(&ms), NULL); - - /* Test fail on first access to offset control register */ - zassert_equal(EC_ERROR_INVAL, ms.drv->perform_calib(&ms, 1), NULL); - zassert_equal(range, ms.current_range, NULL); - zassert_equal(rate, ms.drv->get_data_rate(&ms), NULL); - - /* Setup emulator to return cal not ready */ - func_data.calib_start = k_uptime_get_32(); - func_data.read_fail = 0; - func_data.time = 1000000; - - /* Test fail on cal not ready */ - zassert_equal(EC_ERROR_ACCESS_DENIED, ms.drv->perform_calib(&ms, 1), - NULL); - zassert_equal(range, ms.current_range, NULL); - zassert_equal(rate, ms.drv->get_data_rate(&ms), NULL); - - /* - * Setup emulator to fail on access to offset control register after - * triggering offset compensation - */ - func_data.calib_start = 0; - func_data.read_fail = 1; - func_data.time = 160; - - /* Test fail on read during offset compensation */ - zassert_equal(EC_ERROR_INVAL, ms.drv->perform_calib(&ms, 1), NULL); - zassert_equal(range, ms.current_range, NULL); - zassert_equal(rate, ms.drv->get_data_rate(&ms), NULL); - - /* - * Setup emulator to return cal not ready for 1s after triggering - * offset compensation - */ - func_data.calib_start = 0; - func_data.read_fail = 0; - func_data.time = 1000; - - zassert_equal(EC_RES_TIMEOUT, ms.drv->perform_calib(&ms, 1), NULL); - zassert_equal(range, ms.current_range, NULL); - zassert_equal(rate, ms.drv->get_data_rate(&ms), NULL); - - /* - * Setup emulator to return cal not ready for 160ms after triggering - * offset compensation - */ - func_data.calib_start = 0; - func_data.read_fail = 0; - func_data.time = 160; - /* Disable rotation */ - ms.rot_standard_ref = NULL; - - /* Test successful offset compenastion without rotation */ - zassert_equal(EC_SUCCESS, ms.drv->perform_calib(&ms, 1), NULL); - zassert_equal(range, ms.current_range, NULL); - zassert_equal(rate, ms.drv->get_data_rate(&ms), NULL); - get_emul_offset(emul, ret_off); - compare_int3v(exp_off, ret_off); - - func_data.calib_start = 0; - /* Enable rotation with negative value on Z axis */ - ms.rot_standard_ref = &rot; - /* Expected offset -1G - accelerometer[Z] */ - exp_off[2] = -((int)BMA_EMUL_1G) - bma_emul_get_acc(emul, - BMA_EMUL_AXIS_Z); - - /* Test successful offset compenastion with negative Z rotation */ - zassert_equal(EC_SUCCESS, ms.drv->perform_calib(&ms, 1), NULL); - zassert_equal(range, ms.current_range, NULL); - zassert_equal(rate, ms.drv->get_data_rate(&ms), NULL); - get_emul_offset(emul, ret_off); - compare_int3v(exp_off, ret_off); - - func_data.calib_start = 0; - /* Set positive rotation on Z axis */ - rot[2][2] = FLOAT_TO_FP(1); - /* Expected offset 1G - accelerometer[Z] */ - exp_off[2] = BMA_EMUL_1G - bma_emul_get_acc(emul, BMA_EMUL_AXIS_Z); - - /* Test successful offset compenastion with positive Z rotation */ - zassert_equal(EC_SUCCESS, ms.drv->perform_calib(&ms, 1), NULL); - zassert_equal(range, ms.current_range, NULL); - zassert_equal(rate, ms.drv->get_data_rate(&ms), NULL); - get_emul_offset(emul, ret_off); - compare_int3v(exp_off, ret_off); - - /* Remove custom emulator functions */ - i2c_common_emul_set_read_func(emul, NULL, NULL); - i2c_common_emul_set_write_func(emul, NULL, NULL); -} - -/** Test get resolution. */ -static void test_bma_get_resolution(void) -{ - /* Resolution should be always 12 bits */ - zassert_equal(12, ms.drv->get_resolution(&ms), NULL); -} - -void test_suite_bma2x2(void) -{ - k_mutex_init(&sensor_mutex); - - ztest_test_suite(bma2x2, - ztest_user_unit_test(test_bma_get_offset), - ztest_user_unit_test(test_bma_set_offset), - ztest_user_unit_test(test_bma_set_range), - ztest_user_unit_test(test_bma_init), - ztest_user_unit_test(test_bma_rate), - ztest_user_unit_test(test_bma_read), - ztest_user_unit_test(test_bma_perform_calib), - ztest_user_unit_test(test_bma_get_resolution)); - ztest_run_test_suite(bma2x2); -} |