diff options
Diffstat (limited to 'zephyr/test/drivers/src/bmi160.c')
| -rw-r--r-- | zephyr/test/drivers/src/bmi160.c | 1873 |
1 files changed, 0 insertions, 1873 deletions
diff --git a/zephyr/test/drivers/src/bmi160.c b/zephyr/test/drivers/src/bmi160.c deleted file mode 100644 index ceb55896eb..0000000000 --- a/zephyr/test/drivers/src/bmi160.c +++ /dev/null @@ -1,1873 +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_bmi.h" -#include "emul/emul_common_i2c.h" - -#include "motion_sense_fifo.h" -#include "driver/accelgyro_bmi160.h" -#include "driver/accelgyro_bmi_common.h" - -#define BMI_ORD DT_DEP_ORD(DT_NODELABEL(accel_bmi160)) -#define BMI_ACC_SENSOR_ID SENSOR_ID(DT_NODELABEL(ms_bmi160_accel)) -#define BMI_GYR_SENSOR_ID SENSOR_ID(DT_NODELABEL(ms_bmi160_gyro)) -#define BMI_INT_EVENT \ - TASK_EVENT_MOTION_SENSOR_INTERRUPT(SENSOR_ID(DT_ALIAS(bmi160_int))) - -/** How accurate comparision of vectors should be */ -#define V_EPS 8 - -/** Convert from one type of vector to another */ -#define convert_int3v_int16(v, r) do { \ - r[0] = v[0]; \ - r[1] = v[1]; \ - r[2] = v[2]; \ - } while (0) - -/** 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 */ -static void rotate_int3v_by_test_rotation(intv3_t v) -{ - int16_t t; - - t = v[0]; - v[0] = -v[1]; - v[1] = t; - v[2] = -v[2]; -} - -/** Set emulator accelerometer offset values to intv3_t vector */ -static void set_emul_acc_offset(struct i2c_emul *emul, intv3_t offset) -{ - bmi_emul_set_off(emul, BMI_EMUL_ACC_X, offset[0]); - bmi_emul_set_off(emul, BMI_EMUL_ACC_Y, offset[1]); - bmi_emul_set_off(emul, BMI_EMUL_ACC_Z, offset[2]); -} - -/** Save emulator accelerometer offset values to intv3_t vector */ -static void get_emul_acc_offset(struct i2c_emul *emul, intv3_t offset) -{ - offset[0] = bmi_emul_get_off(emul, BMI_EMUL_ACC_X); - offset[1] = bmi_emul_get_off(emul, BMI_EMUL_ACC_Y); - offset[2] = bmi_emul_get_off(emul, BMI_EMUL_ACC_Z); -} - -/** Set emulator accelerometer values to intv3_t vector */ -static void set_emul_acc(struct i2c_emul *emul, intv3_t acc) -{ - bmi_emul_set_value(emul, BMI_EMUL_ACC_X, acc[0]); - bmi_emul_set_value(emul, BMI_EMUL_ACC_Y, acc[1]); - bmi_emul_set_value(emul, BMI_EMUL_ACC_Z, acc[2]); -} - -/** Set emulator gyroscope offset values to intv3_t vector */ -static void set_emul_gyr_offset(struct i2c_emul *emul, intv3_t offset) -{ - bmi_emul_set_off(emul, BMI_EMUL_GYR_X, offset[0]); - bmi_emul_set_off(emul, BMI_EMUL_GYR_Y, offset[1]); - bmi_emul_set_off(emul, BMI_EMUL_GYR_Z, offset[2]); -} - -/** Save emulator gyroscope offset values to intv3_t vector */ -static void get_emul_gyr_offset(struct i2c_emul *emul, intv3_t offset) -{ - offset[0] = bmi_emul_get_off(emul, BMI_EMUL_GYR_X); - offset[1] = bmi_emul_get_off(emul, BMI_EMUL_GYR_Y); - offset[2] = bmi_emul_get_off(emul, BMI_EMUL_GYR_Z); -} - -/** Set emulator gyroscope values to vector of three int16_t */ -static void set_emul_gyr(struct i2c_emul *emul, intv3_t gyr) -{ - bmi_emul_set_value(emul, BMI_EMUL_GYR_X, gyr[0]); - bmi_emul_set_value(emul, BMI_EMUL_GYR_Y, gyr[1]); - bmi_emul_set_value(emul, BMI_EMUL_GYR_Z, gyr[2]); -} - -/** Convert accelerometer read to units used by emulator */ -static void drv_acc_to_emul(intv3_t drv, int range, intv3_t out) -{ - const int scale = MOTION_SCALING_FACTOR / BMI_EMUL_1G; - - out[0] = drv[0] * range / scale; - out[1] = drv[1] * range / scale; - out[2] = drv[2] * range / scale; -} - -/** Convert gyroscope read to units used by emulator */ -static void drv_gyr_to_emul(intv3_t drv, int range, intv3_t out) -{ - const int scale = MOTION_SCALING_FACTOR / BMI_EMUL_125_DEG_S; - - range /= 125; - out[0] = drv[0] * range / scale; - out[1] = drv[1] * range / scale; - out[2] = drv[2] * range / scale; -} - -/** Compare two vectors of intv3_t type */ -static void compare_int3v_f(intv3_t exp_v, intv3_t v, int eps, int line) -{ - int i; - - for (i = 0; i < 3; i++) { - zassert_within(exp_v[i], v[i], 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_eps(exp_v, v, e) compare_int3v_f(exp_v, v, e, __LINE__) -#define compare_int3v(exp_v, v) compare_int3v_eps(exp_v, v, V_EPS) - -/** Test get accelerometer offset with and without rotation */ -static void test_bmi_acc_get_offset(void) -{ - struct motion_sensor_t *ms; - struct i2c_emul *emul; - int16_t ret[3]; - intv3_t ret_v; - intv3_t exp_v; - int16_t temp; - - emul = bmi_emul_get(BMI_ORD); - ms = &motion_sensors[BMI_ACC_SENSOR_ID]; - - /* Set emulator offset */ - exp_v[0] = BMI_EMUL_1G / 10; - exp_v[1] = BMI_EMUL_1G / 20; - exp_v[2] = -(int)BMI_EMUL_1G / 30; - set_emul_acc_offset(emul, exp_v); - /* BMI driver returns value in mg units */ - exp_v[0] = 1000 / 10; - exp_v[1] = 1000 / 20; - exp_v[2] = -1000 / 30; - - /* Test fail on offset read */ - i2c_common_emul_set_read_fail_reg(emul, BMI160_OFFSET_ACC70); - zassert_equal(EC_ERROR_INVAL, ms->drv->get_offset(ms, ret, &temp), - NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI160_OFFSET_ACC70 + 1); - zassert_equal(EC_ERROR_INVAL, ms->drv->get_offset(ms, ret, &temp), - NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI160_OFFSET_ACC70 + 2); - zassert_equal(EC_ERROR_INVAL, ms->drv->get_offset(ms, ret, &temp), - NULL); - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Disable rotation */ - ms->rot_standard_ref = NULL; - - /* Test get offset without rotation */ - zassert_equal(EC_SUCCESS, ms->drv->get_offset(ms, ret, &temp), - NULL); - zassert_equal(temp, (int16_t)EC_MOTION_SENSE_INVALID_CALIB_TEMP, NULL); - convert_int3v_int16(ret, ret_v); - compare_int3v(exp_v, ret_v); - - /* Setup rotation and rotate expected offset */ - ms->rot_standard_ref = &test_rotation; - rotate_int3v_by_test_rotation(exp_v); - - /* Test get offset with rotation */ - zassert_equal(EC_SUCCESS, ms->drv->get_offset(ms, ret, &temp), - NULL); - zassert_equal(temp, (int16_t)EC_MOTION_SENSE_INVALID_CALIB_TEMP, NULL); - convert_int3v_int16(ret, ret_v); - compare_int3v(exp_v, ret_v); -} - -/** Test get gyroscope offset with and without rotation */ -static void test_bmi_gyr_get_offset(void) -{ - struct motion_sensor_t *ms; - struct i2c_emul *emul; - int16_t ret[3]; - intv3_t ret_v; - intv3_t exp_v; - int16_t temp; - - emul = bmi_emul_get(BMI_ORD); - ms = &motion_sensors[BMI_GYR_SENSOR_ID]; - - /* Do not fail on read */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Set emulator offset */ - exp_v[0] = BMI_EMUL_125_DEG_S / 100; - exp_v[1] = BMI_EMUL_125_DEG_S / 200; - exp_v[2] = -(int)BMI_EMUL_125_DEG_S / 300; - set_emul_gyr_offset(emul, exp_v); - /* BMI driver returns value in mdeg/s units */ - exp_v[0] = 125000 / 100; - exp_v[1] = 125000 / 200; - exp_v[2] = -125000 / 300; - - /* Test fail on offset read */ - i2c_common_emul_set_read_fail_reg(emul, BMI160_OFFSET_GYR70); - zassert_equal(EC_ERROR_INVAL, ms->drv->get_offset(ms, ret, &temp), - NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI160_OFFSET_GYR70 + 1); - zassert_equal(EC_ERROR_INVAL, ms->drv->get_offset(ms, ret, &temp), - NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI160_OFFSET_GYR70 + 2); - zassert_equal(EC_ERROR_INVAL, ms->drv->get_offset(ms, ret, &temp), - NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI160_OFFSET_EN_GYR98); - zassert_equal(EC_ERROR_INVAL, ms->drv->get_offset(ms, ret, &temp), - NULL); - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Disable rotation */ - ms->rot_standard_ref = NULL; - - /* Test get offset without rotation */ - zassert_equal(EC_SUCCESS, ms->drv->get_offset(ms, ret, &temp), - NULL); - zassert_equal(temp, (int16_t)EC_MOTION_SENSE_INVALID_CALIB_TEMP, NULL); - convert_int3v_int16(ret, ret_v); - compare_int3v_eps(exp_v, ret_v, 64); - - /* Setup rotation and rotate expected offset */ - ms->rot_standard_ref = &test_rotation; - rotate_int3v_by_test_rotation(exp_v); - - /* Test get offset with rotation */ - zassert_equal(EC_SUCCESS, ms->drv->get_offset(ms, ret, &temp), - NULL); - zassert_equal(temp, (int16_t)EC_MOTION_SENSE_INVALID_CALIB_TEMP, NULL); - convert_int3v_int16(ret, ret_v); - compare_int3v_eps(exp_v, ret_v, 64); -} - -/** - * Test set accelerometer offset with and without rotation. Also test behaviour - * on I2C error. - */ -static void test_bmi_acc_set_offset(void) -{ - struct motion_sensor_t *ms; - struct i2c_emul *emul; - int16_t input_v[3]; - int16_t temp = 0; - intv3_t ret_v; - intv3_t exp_v; - - emul = bmi_emul_get(BMI_ORD); - ms = &motion_sensors[BMI_ACC_SENSOR_ID]; - - /* Test fail on OFFSET EN GYR98 register read and write */ - i2c_common_emul_set_read_fail_reg(emul, BMI160_OFFSET_EN_GYR98); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_offset(ms, input_v, temp), - NULL); - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - i2c_common_emul_set_write_fail_reg(emul, BMI160_OFFSET_EN_GYR98); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_offset(ms, input_v, temp), - NULL); - i2c_common_emul_set_write_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Test fail on offset write */ - i2c_common_emul_set_write_fail_reg(emul, BMI160_OFFSET_ACC70); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_offset(ms, input_v, temp), - NULL); - i2c_common_emul_set_write_fail_reg(emul, BMI160_OFFSET_ACC70 + 1); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_offset(ms, input_v, temp), - NULL); - i2c_common_emul_set_write_fail_reg(emul, BMI160_OFFSET_ACC70 + 2); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_offset(ms, input_v, temp), - NULL); - i2c_common_emul_set_write_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Set input offset */ - exp_v[0] = BMI_EMUL_1G / 10; - exp_v[1] = BMI_EMUL_1G / 20; - exp_v[2] = -(int)BMI_EMUL_1G / 30; - /* BMI driver accept value in mg units */ - input_v[0] = 1000 / 10; - input_v[1] = 1000 / 20; - input_v[2] = -1000 / 30; - /* Disable rotation */ - ms->rot_standard_ref = NULL; - - /* Test set offset without rotation */ - zassert_equal(EC_SUCCESS, ms->drv->set_offset(ms, input_v, temp), NULL); - get_emul_acc_offset(emul, ret_v); - /* - * Depending on used range, accelerometer values may be up to 6 bits - * more accurate then offset value resolution. - */ - compare_int3v_eps(exp_v, ret_v, 64); - /* Accelerometer offset should be enabled */ - zassert_true(bmi_emul_get_reg(emul, BMI160_OFFSET_EN_GYR98) & - BMI160_OFFSET_ACC_EN, NULL); - - /* Setup rotation and rotate input for set_offset function */ - ms->rot_standard_ref = &test_rotation; - convert_int3v_int16(input_v, ret_v); - rotate_int3v_by_test_rotation(ret_v); - convert_int3v_int16(ret_v, input_v); - - /* Test set offset with rotation */ - zassert_equal(EC_SUCCESS, ms->drv->set_offset(ms, input_v, temp), NULL); - get_emul_acc_offset(emul, ret_v); - compare_int3v_eps(exp_v, ret_v, 64); - /* Accelerometer offset should be enabled */ - zassert_true(bmi_emul_get_reg(emul, BMI160_OFFSET_EN_GYR98) & - BMI160_OFFSET_ACC_EN, NULL); -} - -/** - * Test set gyroscope offset with and without rotation. Also test behaviour - * on I2C error. - */ -static void test_bmi_gyr_set_offset(void) -{ - struct motion_sensor_t *ms; - struct i2c_emul *emul; - int16_t input_v[3]; - int16_t temp = 0; - intv3_t ret_v; - intv3_t exp_v; - - emul = bmi_emul_get(BMI_ORD); - ms = &motion_sensors[BMI_GYR_SENSOR_ID]; - - /* Test fail on OFFSET EN GYR98 register read and write */ - i2c_common_emul_set_read_fail_reg(emul, BMI160_OFFSET_EN_GYR98); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_offset(ms, input_v, temp), - NULL); - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - i2c_common_emul_set_write_fail_reg(emul, BMI160_OFFSET_EN_GYR98); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_offset(ms, input_v, temp), - NULL); - i2c_common_emul_set_write_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Test fail on offset write */ - i2c_common_emul_set_write_fail_reg(emul, BMI160_OFFSET_GYR70); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_offset(ms, input_v, temp), - NULL); - i2c_common_emul_set_write_fail_reg(emul, BMI160_OFFSET_GYR70 + 1); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_offset(ms, input_v, temp), - NULL); - i2c_common_emul_set_write_fail_reg(emul, BMI160_OFFSET_GYR70 + 2); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_offset(ms, input_v, temp), - NULL); - i2c_common_emul_set_write_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Set input offset */ - exp_v[0] = BMI_EMUL_125_DEG_S / 100; - exp_v[1] = BMI_EMUL_125_DEG_S / 200; - exp_v[2] = -(int)BMI_EMUL_125_DEG_S / 300; - /* BMI driver accept value in mdeg/s units */ - input_v[0] = 125000 / 100; - input_v[1] = 125000 / 200; - input_v[2] = -125000 / 300; - /* Disable rotation */ - ms->rot_standard_ref = NULL; - - /* Test set offset without rotation */ - zassert_equal(EC_SUCCESS, ms->drv->set_offset(ms, input_v, temp), NULL); - get_emul_gyr_offset(emul, ret_v); - compare_int3v(exp_v, ret_v); - /* Gyroscope offset should be enabled */ - zassert_true(bmi_emul_get_reg(emul, BMI160_OFFSET_EN_GYR98) & - BMI160_OFFSET_GYRO_EN, NULL); - - /* Setup rotation and rotate input for set_offset function */ - ms->rot_standard_ref = &test_rotation; - convert_int3v_int16(input_v, ret_v); - rotate_int3v_by_test_rotation(ret_v); - convert_int3v_int16(ret_v, input_v); - - /* Test set offset with rotation */ - zassert_equal(EC_SUCCESS, ms->drv->set_offset(ms, input_v, temp), NULL); - get_emul_gyr_offset(emul, ret_v); - compare_int3v(exp_v, ret_v); - zassert_true(bmi_emul_get_reg(emul, BMI160_OFFSET_EN_GYR98) & - BMI160_OFFSET_GYRO_EN, NULL); -} - -/** - * Try to set accelerometer range and check if expected range was set - * in driver and in emulator. - */ -static void check_set_acc_range_f(struct i2c_emul *emul, - struct motion_sensor_t *ms, 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 = bmi_emul_get_reg(emul, BMI160_ACC_RANGE); - - switch (exp_range) { - case 2: - exp_range_reg = BMI160_GSEL_2G; - break; - case 4: - exp_range_reg = BMI160_GSEL_4G; - break; - case 8: - exp_range_reg = BMI160_GSEL_8G; - break; - case 16: - exp_range_reg = BMI160_GSEL_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_acc_range(emul, ms, range, rnd, exp_range) \ - check_set_acc_range_f(emul, ms, range, rnd, exp_range, __LINE__) - -/** Test set accelerometer range with and without I2C errors */ -static void test_bmi_acc_set_range(void) -{ - struct motion_sensor_t *ms; - struct i2c_emul *emul; - int start_range; - - emul = bmi_emul_get(BMI_ORD); - ms = &motion_sensors[BMI_ACC_SENSOR_ID]; - - /* Setup starting range, shouldn't be changed on error */ - start_range = 2; - ms->current_range = start_range; - bmi_emul_set_reg(emul, BMI160_ACC_RANGE, BMI160_GSEL_2G); - /* Setup emulator fail on write */ - i2c_common_emul_set_write_fail_reg(emul, BMI160_ACC_RANGE); - - /* 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(BMI160_GSEL_2G, - bmi_emul_get_reg(emul, BMI160_ACC_RANGE), NULL); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_range(ms, 12, 1), NULL); - zassert_equal(start_range, ms->current_range, NULL); - zassert_equal(BMI160_GSEL_2G, - bmi_emul_get_reg(emul, BMI160_ACC_RANGE), 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_acc_range(emul, ms, 1, 0, 2); - check_set_acc_range(emul, ms, 2, 0, 2); - check_set_acc_range(emul, ms, 3, 0, 2); - check_set_acc_range(emul, ms, 4, 0, 4); - check_set_acc_range(emul, ms, 5, 0, 4); - check_set_acc_range(emul, ms, 6, 0, 4); - check_set_acc_range(emul, ms, 7, 0, 4); - check_set_acc_range(emul, ms, 8, 0, 8); - check_set_acc_range(emul, ms, 9, 0, 8); - check_set_acc_range(emul, ms, 15, 0, 8); - check_set_acc_range(emul, ms, 16, 0, 16); - check_set_acc_range(emul, ms, 17, 0, 16); - - /* Test setting range with rounding up */ - check_set_acc_range(emul, ms, 1, 1, 2); - check_set_acc_range(emul, ms, 2, 1, 2); - check_set_acc_range(emul, ms, 3, 1, 4); - check_set_acc_range(emul, ms, 4, 1, 4); - check_set_acc_range(emul, ms, 5, 1, 8); - check_set_acc_range(emul, ms, 6, 1, 8); - check_set_acc_range(emul, ms, 7, 1, 8); - check_set_acc_range(emul, ms, 8, 1, 8); - check_set_acc_range(emul, ms, 9, 1, 16); - check_set_acc_range(emul, ms, 15, 1, 16); - check_set_acc_range(emul, ms, 16, 1, 16); - check_set_acc_range(emul, ms, 17, 1, 16); -} - -/** - * Try to set gyroscope range and check if expected range was set in driver and - * in emulator. - */ -static void check_set_gyr_range_f(struct i2c_emul *emul, - struct motion_sensor_t *ms, 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 = bmi_emul_get_reg(emul, BMI160_GYR_RANGE); - - switch (exp_range) { - case 125: - exp_range_reg = BMI160_DPS_SEL_125; - break; - case 250: - exp_range_reg = BMI160_DPS_SEL_250; - break; - case 500: - exp_range_reg = BMI160_DPS_SEL_500; - break; - case 1000: - exp_range_reg = BMI160_DPS_SEL_1000; - break; - case 2000: - exp_range_reg = BMI160_DPS_SEL_2000; - 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_gyr_range(emul, ms, range, rnd, exp_range) \ - check_set_gyr_range_f(emul, ms, range, rnd, exp_range, __LINE__) - -/** Test set gyroscope range with and without I2C errors */ -static void test_bmi_gyr_set_range(void) -{ - struct motion_sensor_t *ms; - struct i2c_emul *emul; - int start_range; - - emul = bmi_emul_get(BMI_ORD); - ms = &motion_sensors[BMI_GYR_SENSOR_ID]; - - /* Setup starting range, shouldn't be changed on error */ - start_range = 250; - ms->current_range = start_range; - bmi_emul_set_reg(emul, BMI160_GYR_RANGE, BMI160_DPS_SEL_250); - /* Setup emulator fail on write */ - i2c_common_emul_set_write_fail_reg(emul, BMI160_GYR_RANGE); - - /* Test fail on write */ - zassert_equal(EC_ERROR_INVAL, ms->drv->set_range(ms, 125, 0), NULL); - zassert_equal(start_range, ms->current_range, NULL); - zassert_equal(BMI160_DPS_SEL_250, - bmi_emul_get_reg(emul, BMI160_GYR_RANGE), NULL); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_range(ms, 125, 1), NULL); - zassert_equal(start_range, ms->current_range, NULL); - zassert_equal(BMI160_DPS_SEL_250, - bmi_emul_get_reg(emul, BMI160_GYR_RANGE), 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_gyr_range(emul, ms, 1, 0, 125); - check_set_gyr_range(emul, ms, 124, 0, 125); - check_set_gyr_range(emul, ms, 125, 0, 125); - check_set_gyr_range(emul, ms, 126, 0, 125); - check_set_gyr_range(emul, ms, 249, 0, 125); - check_set_gyr_range(emul, ms, 250, 0, 250); - check_set_gyr_range(emul, ms, 251, 0, 250); - check_set_gyr_range(emul, ms, 499, 0, 250); - check_set_gyr_range(emul, ms, 500, 0, 500); - check_set_gyr_range(emul, ms, 501, 0, 500); - check_set_gyr_range(emul, ms, 999, 0, 500); - check_set_gyr_range(emul, ms, 1000, 0, 1000); - check_set_gyr_range(emul, ms, 1001, 0, 1000); - check_set_gyr_range(emul, ms, 1999, 0, 1000); - check_set_gyr_range(emul, ms, 2000, 0, 2000); - check_set_gyr_range(emul, ms, 2001, 0, 2000); - - /* Test setting range with rounding up */ - check_set_gyr_range(emul, ms, 1, 1, 125); - check_set_gyr_range(emul, ms, 124, 1, 125); - check_set_gyr_range(emul, ms, 125, 1, 125); - check_set_gyr_range(emul, ms, 126, 1, 250); - check_set_gyr_range(emul, ms, 249, 1, 250); - check_set_gyr_range(emul, ms, 250, 1, 250); - check_set_gyr_range(emul, ms, 251, 1, 500); - check_set_gyr_range(emul, ms, 499, 1, 500); - check_set_gyr_range(emul, ms, 500, 1, 500); - check_set_gyr_range(emul, ms, 501, 1, 1000); - check_set_gyr_range(emul, ms, 999, 1, 1000); - check_set_gyr_range(emul, ms, 1000, 1, 1000); - check_set_gyr_range(emul, ms, 1001, 1, 2000); - check_set_gyr_range(emul, ms, 1999, 1, 2000); - check_set_gyr_range(emul, ms, 2000, 1, 2000); - check_set_gyr_range(emul, ms, 2001, 1, 2000); -} - -/** Test get resolution of acclerometer and gyroscope sensor */ -static void test_bmi_get_resolution(void) -{ - struct motion_sensor_t *ms; - - /* Test accelerometer */ - ms = &motion_sensors[BMI_ACC_SENSOR_ID]; - - /* Resolution should be always 16 bits */ - zassert_equal(16, ms->drv->get_resolution(ms), NULL); - - /* Test gyroscope */ - ms = &motion_sensors[BMI_GYR_SENSOR_ID]; - - /* Resolution should be always 16 bits */ - zassert_equal(16, ms->drv->get_resolution(ms), NULL); -} - -/** - * Try to set accelerometer data rate and check if expected rate was set - * in driver and in emulator. - */ -static void check_set_acc_rate_f(struct i2c_emul *emul, - struct motion_sensor_t *ms, 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 = bmi_emul_get_reg(emul, BMI160_ACC_CONF); - rate_reg &= BMI_ODR_MASK; - - switch (exp_rate) { - case 12500: - exp_rate_reg = 0x5; - break; - case 25000: - exp_rate_reg = 0x6; - break; - case 50000: - exp_rate_reg = 0x7; - break; - case 100000: - exp_rate_reg = 0x8; - break; - case 200000: - exp_rate_reg = 0x9; - break; - case 400000: - exp_rate_reg = 0xa; - break; - case 800000: - exp_rate_reg = 0xb; - break; - case 1600000: - exp_rate_reg = 0xc; - 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_acc_rate(emul, ms, rate, rnd, exp_rate) \ - check_set_acc_rate_f(emul, ms, rate, rnd, exp_rate, __LINE__) - -/** Test set and get accelerometer rate with and without I2C errors */ -static void test_bmi_acc_rate(void) -{ - struct motion_sensor_t *ms; - struct i2c_emul *emul; - uint8_t reg_rate; - int pmu_status; - int drv_rate; - - emul = bmi_emul_get(BMI_ORD); - ms = &motion_sensors[BMI_ACC_SENSOR_ID]; - - /* Test setting rate with rounding down */ - check_set_acc_rate(emul, ms, 12500, 0, 12500); - check_set_acc_rate(emul, ms, 12501, 0, 12500); - check_set_acc_rate(emul, ms, 24999, 0, 12500); - check_set_acc_rate(emul, ms, 25000, 0, 25000); - check_set_acc_rate(emul, ms, 25001, 0, 25000); - check_set_acc_rate(emul, ms, 49999, 0, 25000); - check_set_acc_rate(emul, ms, 50000, 0, 50000); - check_set_acc_rate(emul, ms, 50001, 0, 50000); - check_set_acc_rate(emul, ms, 99999, 0, 50000); - check_set_acc_rate(emul, ms, 100000, 0, 100000); - check_set_acc_rate(emul, ms, 100001, 0, 100000); - check_set_acc_rate(emul, ms, 199999, 0, 100000); - check_set_acc_rate(emul, ms, 200000, 0, 200000); - check_set_acc_rate(emul, ms, 200001, 0, 200000); - check_set_acc_rate(emul, ms, 399999, 0, 200000); - /* - * We cannot test frequencies from 400000 to 1600000 because - * CONFIG_EC_MAX_SENSOR_FREQ_MILLIHZ is set to 250000 - */ - - /* Test setting rate with rounding up */ - check_set_acc_rate(emul, ms, 6251, 1, 12500); - check_set_acc_rate(emul, ms, 12499, 1, 12500); - check_set_acc_rate(emul, ms, 12500, 1, 12500); - check_set_acc_rate(emul, ms, 12501, 1, 25000); - check_set_acc_rate(emul, ms, 24999, 1, 25000); - check_set_acc_rate(emul, ms, 25000, 1, 25000); - check_set_acc_rate(emul, ms, 25001, 1, 50000); - check_set_acc_rate(emul, ms, 49999, 1, 50000); - check_set_acc_rate(emul, ms, 50000, 1, 50000); - check_set_acc_rate(emul, ms, 50001, 1, 100000); - check_set_acc_rate(emul, ms, 99999, 1, 100000); - check_set_acc_rate(emul, ms, 100000, 1, 100000); - check_set_acc_rate(emul, ms, 100001, 1, 200000); - check_set_acc_rate(emul, ms, 199999, 1, 200000); - check_set_acc_rate(emul, ms, 200000, 1, 200000); - - /* Test out of range rate with rounding down */ - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 1, 0), NULL); - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 12499, 0), NULL); - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 400000, 0), NULL); - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 2000000, 0), NULL); - - /* Test out of range rate with rounding up */ - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 1, 1), NULL); - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 6250, 1), NULL); - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 200001, 1), NULL); - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 400000, 1), NULL); - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 2000000, 1), NULL); - - /* Current rate shouldn't be changed on error */ - drv_rate = ms->drv->get_data_rate(ms); - reg_rate = bmi_emul_get_reg(emul, BMI160_ACC_CONF); - - /* Setup emulator fail on read */ - i2c_common_emul_set_read_fail_reg(emul, BMI160_ACC_CONF); - - /* Test fail on read */ - zassert_equal(EC_ERROR_INVAL, ms->drv->set_data_rate(ms, 50000, 0), - NULL); - zassert_equal(drv_rate, ms->drv->get_data_rate(ms), NULL); - zassert_equal(reg_rate, bmi_emul_get_reg(emul, BMI160_ACC_CONF), NULL); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_data_rate(ms, 50000, 1), - NULL); - zassert_equal(drv_rate, ms->drv->get_data_rate(ms), NULL); - zassert_equal(reg_rate, bmi_emul_get_reg(emul, BMI160_ACC_CONF), 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, BMI160_ACC_CONF); - - /* Test fail on write */ - zassert_equal(EC_ERROR_INVAL, ms->drv->set_data_rate(ms, 50000, 0), - NULL); - zassert_equal(drv_rate, ms->drv->get_data_rate(ms), NULL); - zassert_equal(reg_rate, bmi_emul_get_reg(emul, BMI160_ACC_CONF), NULL); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_data_rate(ms, 50000, 1), - NULL); - zassert_equal(drv_rate, ms->drv->get_data_rate(ms), NULL); - zassert_equal(reg_rate, bmi_emul_get_reg(emul, BMI160_ACC_CONF), NULL); - - /* Do not fail on write */ - i2c_common_emul_set_write_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Test disabling sensor */ - pmu_status = BMI160_PMU_NORMAL << BMI160_PMU_ACC_OFFSET; - pmu_status |= BMI160_PMU_NORMAL << BMI160_PMU_GYR_OFFSET; - bmi_emul_set_reg(emul, BMI160_PMU_STATUS, pmu_status); - zassert_equal(EC_SUCCESS, ms->drv->set_data_rate(ms, 0, 0), NULL); - - bmi_read8(ms->port, ms->i2c_spi_addr_flags, BMI160_PMU_STATUS, - &pmu_status); - zassert_equal(BMI160_PMU_NORMAL << BMI160_PMU_GYR_OFFSET, pmu_status, - "Gyroscope should be still enabled"); - - /* Test enabling sensor */ - bmi_emul_set_reg(emul, BMI160_PMU_STATUS, 0); - zassert_equal(EC_SUCCESS, ms->drv->set_data_rate(ms, 50000, 0), NULL); - - bmi_read8(ms->port, ms->i2c_spi_addr_flags, BMI160_PMU_STATUS, - &pmu_status); - zassert_equal(BMI160_PMU_NORMAL << BMI160_PMU_ACC_OFFSET, pmu_status, - "Accelerometer should be enabled"); -} - -/** - * Try to set gyroscope data rate and check if expected rate was set - * in driver and in emulator. - */ -static void check_set_gyr_rate_f(struct i2c_emul *emul, - struct motion_sensor_t *ms, 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 = bmi_emul_get_reg(emul, BMI160_GYR_CONF); - rate_reg &= BMI_ODR_MASK; - - switch (exp_rate) { - case 25000: - exp_rate_reg = 0x6; - break; - case 50000: - exp_rate_reg = 0x7; - break; - case 100000: - exp_rate_reg = 0x8; - break; - case 200000: - exp_rate_reg = 0x9; - break; - case 400000: - exp_rate_reg = 0xa; - break; - case 800000: - exp_rate_reg = 0xb; - break; - case 1600000: - exp_rate_reg = 0xc; - break; - case 3200000: - exp_rate_reg = 0xc; - 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_gyr_rate(emul, ms, rate, rnd, exp_rate) \ - check_set_gyr_rate_f(emul, ms, rate, rnd, exp_rate, __LINE__) - -/** Test set and get gyroscope rate with and without I2C errors */ -static void test_bmi_gyr_rate(void) -{ - struct motion_sensor_t *ms; - struct i2c_emul *emul; - uint8_t reg_rate; - int pmu_status; - int drv_rate; - - emul = bmi_emul_get(BMI_ORD); - ms = &motion_sensors[BMI_GYR_SENSOR_ID]; - - /* Test setting rate with rounding down */ - check_set_gyr_rate(emul, ms, 25000, 0, 25000); - check_set_gyr_rate(emul, ms, 25001, 0, 25000); - check_set_gyr_rate(emul, ms, 49999, 0, 25000); - check_set_gyr_rate(emul, ms, 50000, 0, 50000); - check_set_gyr_rate(emul, ms, 50001, 0, 50000); - check_set_gyr_rate(emul, ms, 99999, 0, 50000); - check_set_gyr_rate(emul, ms, 100000, 0, 100000); - check_set_gyr_rate(emul, ms, 100001, 0, 100000); - check_set_gyr_rate(emul, ms, 199999, 0, 100000); - check_set_gyr_rate(emul, ms, 200000, 0, 200000); - check_set_gyr_rate(emul, ms, 200001, 0, 200000); - check_set_gyr_rate(emul, ms, 399999, 0, 200000); - /* - * We cannot test frequencies from 400000 to 3200000 because - * CONFIG_EC_MAX_SENSOR_FREQ_MILLIHZ is set to 250000 - */ - - /* Test setting rate with rounding up */ - check_set_gyr_rate(emul, ms, 12501, 1, 25000); - check_set_gyr_rate(emul, ms, 24999, 1, 25000); - check_set_gyr_rate(emul, ms, 25000, 1, 25000); - check_set_gyr_rate(emul, ms, 25001, 1, 50000); - check_set_gyr_rate(emul, ms, 49999, 1, 50000); - check_set_gyr_rate(emul, ms, 50000, 1, 50000); - check_set_gyr_rate(emul, ms, 50001, 1, 100000); - check_set_gyr_rate(emul, ms, 99999, 1, 100000); - check_set_gyr_rate(emul, ms, 100000, 1, 100000); - check_set_gyr_rate(emul, ms, 100001, 1, 200000); - check_set_gyr_rate(emul, ms, 199999, 1, 200000); - check_set_gyr_rate(emul, ms, 200000, 1, 200000); - - /* Test out of range rate with rounding down */ - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 1, 0), NULL); - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 24999, 0), NULL); - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 400000, 0), NULL); - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 4000000, 0), NULL); - - /* Test out of range rate with rounding up */ - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 1, 1), NULL); - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 12499, 1), NULL); - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 200001, 1), NULL); - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 400000, 1), NULL); - zassert_equal(EC_RES_INVALID_PARAM, - ms->drv->set_data_rate(ms, 4000000, 1), NULL); - - /* Current rate shouldn't be changed on error */ - drv_rate = ms->drv->get_data_rate(ms); - reg_rate = bmi_emul_get_reg(emul, BMI160_GYR_CONF); - - /* Setup emulator fail on read */ - i2c_common_emul_set_read_fail_reg(emul, BMI160_GYR_CONF); - - /* Test fail on read */ - zassert_equal(EC_ERROR_INVAL, ms->drv->set_data_rate(ms, 50000, 0), - NULL); - zassert_equal(drv_rate, ms->drv->get_data_rate(ms), NULL); - zassert_equal(reg_rate, bmi_emul_get_reg(emul, BMI160_GYR_CONF), NULL); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_data_rate(ms, 50000, 1), - NULL); - zassert_equal(drv_rate, ms->drv->get_data_rate(ms), NULL); - zassert_equal(reg_rate, bmi_emul_get_reg(emul, BMI160_GYR_CONF), 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, BMI160_GYR_CONF); - - /* Test fail on write */ - zassert_equal(EC_ERROR_INVAL, ms->drv->set_data_rate(ms, 50000, 0), - NULL); - zassert_equal(drv_rate, ms->drv->get_data_rate(ms), NULL); - zassert_equal(reg_rate, bmi_emul_get_reg(emul, BMI160_GYR_CONF), NULL); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_data_rate(ms, 50000, 1), - NULL); - zassert_equal(drv_rate, ms->drv->get_data_rate(ms), NULL); - zassert_equal(reg_rate, bmi_emul_get_reg(emul, BMI160_GYR_CONF), NULL); - - /* Do not fail on write */ - i2c_common_emul_set_write_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Test disabling sensor */ - pmu_status = BMI160_PMU_NORMAL << BMI160_PMU_ACC_OFFSET; - pmu_status |= BMI160_PMU_NORMAL << BMI160_PMU_GYR_OFFSET; - bmi_emul_set_reg(emul, BMI160_PMU_STATUS, pmu_status); - zassert_equal(EC_SUCCESS, ms->drv->set_data_rate(ms, 0, 0), NULL); - - bmi_read8(ms->port, ms->i2c_spi_addr_flags, BMI160_PMU_STATUS, - &pmu_status); - zassert_equal(BMI160_PMU_NORMAL << BMI160_PMU_ACC_OFFSET, pmu_status, - "Accelerometer should be still enabled"); - - /* Test enabling sensor */ - bmi_emul_set_reg(emul, BMI160_PMU_STATUS, 0); - zassert_equal(EC_SUCCESS, ms->drv->set_data_rate(ms, 50000, 0), NULL); - - bmi_read8(ms->port, ms->i2c_spi_addr_flags, BMI160_PMU_STATUS, - &pmu_status); - zassert_equal(BMI160_PMU_NORMAL << BMI160_PMU_GYR_OFFSET, pmu_status, - "Gyroscope should be enabled"); -} - -/** - * Test setting and getting scale in accelerometer and gyroscope sensors. - * Correct appling scale to results is checked in "read" test. - */ -static void test_bmi_scale(void) -{ - struct motion_sensor_t *ms; - int16_t ret_scale[3]; - int16_t exp_scale[3] = {100, 231, 421}; - int16_t t; - - /* Test accelerometer */ - ms = &motion_sensors[BMI_ACC_SENSOR_ID]; - - zassert_equal(EC_SUCCESS, ms->drv->set_scale(ms, exp_scale, 0), NULL); - zassert_equal(EC_SUCCESS, ms->drv->get_scale(ms, ret_scale, &t), NULL); - - zassert_equal(t, (int16_t)EC_MOTION_SENSE_INVALID_CALIB_TEMP, NULL); - zassert_equal(exp_scale[0], ret_scale[0], NULL); - zassert_equal(exp_scale[1], ret_scale[1], NULL); - zassert_equal(exp_scale[2], ret_scale[2], NULL); - - /* Test gyroscope */ - ms = &motion_sensors[BMI_GYR_SENSOR_ID]; - - zassert_equal(EC_SUCCESS, ms->drv->set_scale(ms, exp_scale, 0), NULL); - zassert_equal(EC_SUCCESS, ms->drv->get_scale(ms, ret_scale, &t), NULL); - - zassert_equal(t, (int16_t)EC_MOTION_SENSE_INVALID_CALIB_TEMP, NULL); - zassert_equal(exp_scale[0], ret_scale[0], NULL); - zassert_equal(exp_scale[1], ret_scale[1], NULL); - zassert_equal(exp_scale[2], ret_scale[2], NULL); -} - -/** Test reading temperature using accelerometer and gyroscope sensors */ -static void test_bmi_read_temp(void) -{ - struct motion_sensor_t *ms_acc, *ms_gyr; - struct i2c_emul *emul; - int ret_temp; - int exp_temp; - - emul = bmi_emul_get(BMI_ORD); - ms_acc = &motion_sensors[BMI_ACC_SENSOR_ID]; - ms_gyr = &motion_sensors[BMI_GYR_SENSOR_ID]; - - /* Setup emulator fail on read */ - i2c_common_emul_set_read_fail_reg(emul, BMI160_TEMPERATURE_0); - zassert_equal(EC_ERROR_NOT_POWERED, - ms_acc->drv->read_temp(ms_acc, &ret_temp), NULL); - zassert_equal(EC_ERROR_NOT_POWERED, - ms_gyr->drv->read_temp(ms_gyr, &ret_temp), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI160_TEMPERATURE_1); - zassert_equal(EC_ERROR_NOT_POWERED, - ms_acc->drv->read_temp(ms_acc, &ret_temp), NULL); - zassert_equal(EC_ERROR_NOT_POWERED, - ms_gyr->drv->read_temp(ms_gyr, &ret_temp), NULL); - /* Do not fail on read */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Fail on invalid temperature */ - bmi_emul_set_reg(emul, BMI160_TEMPERATURE_0, 0x00); - bmi_emul_set_reg(emul, BMI160_TEMPERATURE_1, 0x80); - zassert_equal(EC_ERROR_NOT_POWERED, - ms_acc->drv->read_temp(ms_acc, &ret_temp), NULL); - zassert_equal(EC_ERROR_NOT_POWERED, - ms_gyr->drv->read_temp(ms_gyr, &ret_temp), NULL); - - /* - * Test correct values. Both motion sensors should return the same - * temperature. - */ - exp_temp = C_TO_K(23); - bmi_emul_set_reg(emul, BMI160_TEMPERATURE_0, 0x00); - bmi_emul_set_reg(emul, BMI160_TEMPERATURE_1, 0x00); - zassert_equal(EC_SUCCESS, ms_acc->drv->read_temp(ms_acc, &ret_temp), - NULL); - zassert_equal(exp_temp, ret_temp, NULL); - zassert_equal(EC_SUCCESS, ms_gyr->drv->read_temp(ms_gyr, &ret_temp), - NULL); - zassert_equal(exp_temp, ret_temp, NULL); - - exp_temp = C_TO_K(87); - bmi_emul_set_reg(emul, BMI160_TEMPERATURE_0, 0xff); - bmi_emul_set_reg(emul, BMI160_TEMPERATURE_1, 0x7f); - zassert_equal(EC_SUCCESS, ms_acc->drv->read_temp(ms_acc, &ret_temp), - NULL); - zassert_equal(exp_temp, ret_temp, NULL); - zassert_equal(EC_SUCCESS, ms_gyr->drv->read_temp(ms_gyr, &ret_temp), - NULL); - zassert_equal(exp_temp, ret_temp, NULL); - - exp_temp = C_TO_K(-41); - bmi_emul_set_reg(emul, BMI160_TEMPERATURE_0, 0x01); - bmi_emul_set_reg(emul, BMI160_TEMPERATURE_1, 0x80); - zassert_equal(EC_SUCCESS, ms_acc->drv->read_temp(ms_acc, &ret_temp), - NULL); - zassert_equal(exp_temp, ret_temp, NULL); - zassert_equal(EC_SUCCESS, ms_gyr->drv->read_temp(ms_gyr, &ret_temp), - NULL); - zassert_equal(exp_temp, ret_temp, NULL); - - exp_temp = C_TO_K(47); - bmi_emul_set_reg(emul, BMI160_TEMPERATURE_0, 0x00); - bmi_emul_set_reg(emul, BMI160_TEMPERATURE_1, 0x30); - zassert_equal(EC_SUCCESS, ms_acc->drv->read_temp(ms_acc, &ret_temp), - NULL); - zassert_equal(exp_temp, ret_temp, NULL); - zassert_equal(EC_SUCCESS, ms_gyr->drv->read_temp(ms_gyr, &ret_temp), - NULL); - zassert_equal(exp_temp, ret_temp, NULL); -} - -/** Test reading accelerometer sensor data */ -static void test_bmi_acc_read(void) -{ - struct motion_sensor_t *ms; - struct i2c_emul *emul; - intv3_t ret_v; - intv3_t exp_v; - int16_t scale[3] = {MOTION_SENSE_DEFAULT_SCALE, - MOTION_SENSE_DEFAULT_SCALE, - MOTION_SENSE_DEFAULT_SCALE}; - - emul = bmi_emul_get(BMI_ORD); - ms = &motion_sensors[BMI_ACC_SENSOR_ID]; - - /* Set offset 0 to simplify test */ - bmi_emul_set_off(emul, BMI_EMUL_ACC_X, 0); - bmi_emul_set_off(emul, BMI_EMUL_ACC_Y, 0); - bmi_emul_set_off(emul, BMI_EMUL_ACC_Z, 0); - - /* Fail on read status */ - i2c_common_emul_set_read_fail_reg(emul, BMI160_STATUS); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* When not ready, driver should return saved raw value */ - exp_v[0] = 100; - exp_v[1] = 200; - exp_v[2] = 300; - ms->raw_xyz[0] = exp_v[0]; - ms->raw_xyz[1] = exp_v[1]; - ms->raw_xyz[2] = exp_v[2]; - - /* Status not ready */ - bmi_emul_set_reg(emul, BMI160_STATUS, 0); - zassert_equal(EC_SUCCESS, ms->drv->read(ms, ret_v), NULL); - compare_int3v(exp_v, ret_v); - - /* Status only GYR ready */ - bmi_emul_set_reg(emul, BMI160_STATUS, BMI160_DRDY_GYR); - zassert_equal(EC_SUCCESS, ms->drv->read(ms, ret_v), NULL); - compare_int3v(exp_v, ret_v); - - /* Status ACC ready */ - bmi_emul_set_reg(emul, BMI160_STATUS, BMI160_DRDY_ACC); - - /* Set input accelerometer values */ - exp_v[0] = BMI_EMUL_1G / 10; - exp_v[1] = BMI_EMUL_1G / 20; - exp_v[2] = -(int)BMI_EMUL_1G / 30; - set_emul_acc(emul, exp_v); - /* Disable rotation */ - ms->rot_standard_ref = NULL; - /* Set scale */ - zassert_equal(EC_SUCCESS, ms->drv->set_scale(ms, scale, 0), 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_v), NULL); - drv_acc_to_emul(ret_v, 2, ret_v); - compare_int3v(exp_v, ret_v); - - /* 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_v), NULL); - drv_acc_to_emul(ret_v, 4, ret_v); - compare_int3v(exp_v, ret_v); - - /* Setup rotation and rotate expected vector */ - ms->rot_standard_ref = &test_rotation; - rotate_int3v_by_test_rotation(exp_v); - /* 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_v), NULL); - drv_acc_to_emul(ret_v, 2, ret_v); - compare_int3v(exp_v, ret_v); - - /* 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_v), NULL); - drv_acc_to_emul(ret_v, 4, ret_v); - compare_int3v(exp_v, ret_v); - - /* Fail on read of data registers */ - i2c_common_emul_set_read_fail_reg(emul, BMI160_ACC_X_L_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI160_ACC_X_H_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI160_ACC_Y_L_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI160_ACC_Y_H_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI160_ACC_Z_L_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI160_ACC_Z_H_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - ms->rot_standard_ref = NULL; -} - -/** Test reading gyroscope sensor data */ -static void test_bmi_gyr_read(void) -{ - struct motion_sensor_t *ms; - struct i2c_emul *emul; - intv3_t ret_v; - intv3_t exp_v; - int16_t scale[3] = {MOTION_SENSE_DEFAULT_SCALE, - MOTION_SENSE_DEFAULT_SCALE, - MOTION_SENSE_DEFAULT_SCALE}; - - emul = bmi_emul_get(BMI_ORD); - ms = &motion_sensors[BMI_GYR_SENSOR_ID]; - - /* Set offset 0 to simplify test */ - bmi_emul_set_off(emul, BMI_EMUL_GYR_X, 0); - bmi_emul_set_off(emul, BMI_EMUL_GYR_Y, 0); - bmi_emul_set_off(emul, BMI_EMUL_GYR_Z, 0); - - /* Fail on read status */ - i2c_common_emul_set_read_fail_reg(emul, BMI160_STATUS); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* When not ready, driver should return saved raw value */ - exp_v[0] = 100; - exp_v[1] = 200; - exp_v[2] = 300; - ms->raw_xyz[0] = exp_v[0]; - ms->raw_xyz[1] = exp_v[1]; - ms->raw_xyz[2] = exp_v[2]; - - /* Status not ready */ - bmi_emul_set_reg(emul, BMI160_STATUS, 0); - zassert_equal(EC_SUCCESS, ms->drv->read(ms, ret_v), NULL); - compare_int3v(exp_v, ret_v); - - /* Status only ACC ready */ - bmi_emul_set_reg(emul, BMI160_STATUS, BMI160_DRDY_ACC); - zassert_equal(EC_SUCCESS, ms->drv->read(ms, ret_v), NULL); - compare_int3v(exp_v, ret_v); - - /* Status GYR ready */ - bmi_emul_set_reg(emul, BMI160_STATUS, BMI160_DRDY_GYR); - - /* Set input accelerometer values */ - exp_v[0] = BMI_EMUL_125_DEG_S / 10; - exp_v[1] = BMI_EMUL_125_DEG_S / 20; - exp_v[2] = -(int)BMI_EMUL_125_DEG_S / 30; - set_emul_gyr(emul, exp_v); - /* Disable rotation */ - ms->rot_standard_ref = NULL; - /* Set scale */ - zassert_equal(EC_SUCCESS, ms->drv->set_scale(ms, scale, 0), NULL); - /* Set range to 125°/s */ - zassert_equal(EC_SUCCESS, ms->drv->set_range(ms, 125, 0), NULL); - - /* Test read without rotation */ - zassert_equal(EC_SUCCESS, ms->drv->read(ms, ret_v), NULL); - drv_gyr_to_emul(ret_v, 125, ret_v); - compare_int3v(exp_v, ret_v); - - /* Set range to 1000°/s */ - zassert_equal(EC_SUCCESS, ms->drv->set_range(ms, 1000, 0), NULL); - - /* Test read without rotation */ - zassert_equal(EC_SUCCESS, ms->drv->read(ms, ret_v), NULL); - drv_gyr_to_emul(ret_v, 1000, ret_v); - compare_int3v(exp_v, ret_v); - - /* Setup rotation and rotate expected vector */ - ms->rot_standard_ref = &test_rotation; - rotate_int3v_by_test_rotation(exp_v); - /* Set range to 125°/s */ - zassert_equal(EC_SUCCESS, ms->drv->set_range(ms, 125, 0), NULL); - - /* Test read with rotation */ - zassert_equal(EC_SUCCESS, ms->drv->read(ms, ret_v), NULL); - drv_gyr_to_emul(ret_v, 125, ret_v); - compare_int3v(exp_v, ret_v); - - /* Set range to 1000°/s */ - zassert_equal(EC_SUCCESS, ms->drv->set_range(ms, 1000, 0), NULL); - - /* Test read with rotation */ - zassert_equal(EC_SUCCESS, ms->drv->read(ms, ret_v), NULL); - drv_gyr_to_emul(ret_v, 1000, ret_v); - compare_int3v(exp_v, ret_v); - - /* Fail on read of data registers */ - i2c_common_emul_set_read_fail_reg(emul, BMI160_GYR_X_L_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI160_GYR_X_H_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI160_GYR_Y_L_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI160_GYR_Y_H_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI160_GYR_Z_L_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI160_GYR_Z_H_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - ms->rot_standard_ref = NULL; -} - -/** - * Custom emulatro read function which always return not ready STATUS register. - * Used in calibration test. - */ -static int emul_nrdy(struct i2c_emul *emul, int reg, uint8_t *val, int byte, - void *data) -{ - if (reg == BMI160_STATUS) { - bmi_emul_set_reg(emul, BMI160_STATUS, 0); - *val = 0; - - return 0; - } - - return 1; -} - -/** Test acceleromtere calibration */ -static void test_bmi_acc_perform_calib(void) -{ - struct motion_sensor_t *ms; - struct i2c_emul *emul; - uint8_t pmu_status; - intv3_t start_off; - intv3_t exp_off; - intv3_t ret_off; - 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 = bmi_emul_get(BMI_ORD); - ms = &motion_sensors[BMI_ACC_SENSOR_ID]; - - /* Enable sensors */ - pmu_status = BMI160_PMU_NORMAL << BMI160_PMU_ACC_OFFSET; - pmu_status |= BMI160_PMU_NORMAL << BMI160_PMU_GYR_OFFSET; - bmi_emul_set_reg(emul, BMI160_PMU_STATUS, pmu_status); - - /* Range and rate cannot change after calibration */ - range = 4; - rate = 50000; - 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_acc_offset(emul, start_off); - - /* Set input accelerometer values */ - exp_off[0] = BMI_EMUL_1G / 10; - exp_off[1] = BMI_EMUL_1G / 20; - exp_off[2] = BMI_EMUL_1G - (int)BMI_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] = BMI_EMUL_1G - exp_off[2]; - - /* Test fail on rate set */ - i2c_common_emul_set_read_fail_reg(emul, BMI160_ACC_CONF); - 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); - - /* Test fail on status read */ - i2c_common_emul_set_read_fail_reg(emul, BMI160_STATUS); - 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); - /* Stop fast offset compensation before next test */ - bmi_emul_set_reg(emul, BMI160_CMD_REG, BMI160_CMD_NOOP); - - /* Test fail on data not ready */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - i2c_common_emul_set_read_func(emul, emul_nrdy, NULL); - 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); - /* Remove custom emulator read function */ - i2c_common_emul_set_read_func(emul, NULL, NULL); - /* Stop fast offset compensation before next test */ - bmi_emul_set_reg(emul, BMI160_CMD_REG, BMI160_CMD_NOOP); - - /* 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_acc_offset(emul, ret_off); - /* - * Depending on used range, accelerometer values may be up to 6 bits - * more accurate then offset value resolution. - */ - compare_int3v_eps(exp_off, ret_off, 64); - /* Acelerometer offset should be enabled */ - zassert_true(bmi_emul_get_reg(emul, BMI160_OFFSET_EN_GYR98) & - BMI160_OFFSET_ACC_EN, NULL); - - /* Enable rotation with negative value on Z axis */ - ms->rot_standard_ref = &rot; - /* Expected offset -1G - accelerometer[Z] */ - bmi_emul_set_value(emul, BMI_EMUL_ACC_Z, -(int)BMI_EMUL_1G - 1234); - exp_off[2] = 1234; - - /* 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_acc_offset(emul, ret_off); - compare_int3v_eps(exp_off, ret_off, 64); - /* Acelerometer offset should be enabled */ - zassert_true(bmi_emul_get_reg(emul, BMI160_OFFSET_EN_GYR98) & - BMI160_OFFSET_ACC_EN, NULL); - - /* Set positive rotation on Z axis */ - rot[2][2] = FLOAT_TO_FP(1); - /* Expected offset 1G - accelerometer[Z] */ - bmi_emul_set_value(emul, BMI_EMUL_ACC_Z, BMI_EMUL_1G - 1234); - exp_off[2] = 1234; - - /* 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_acc_offset(emul, ret_off); - compare_int3v_eps(exp_off, ret_off, 64); - /* Acelerometer offset should be enabled */ - zassert_true(bmi_emul_get_reg(emul, BMI160_OFFSET_EN_GYR98) & - BMI160_OFFSET_ACC_EN, NULL); - /* Disable rotation */ - ms->rot_standard_ref = NULL; -} - -/** Test gyroscope calibration */ -static void test_bmi_gyr_perform_calib(void) -{ - struct motion_sensor_t *ms; - struct i2c_emul *emul; - uint8_t pmu_status; - intv3_t start_off; - intv3_t exp_off; - intv3_t ret_off; - int range; - int rate; - - emul = bmi_emul_get(BMI_ORD); - ms = &motion_sensors[BMI_GYR_SENSOR_ID]; - - /* Enable sensors */ - pmu_status = BMI160_PMU_NORMAL << BMI160_PMU_ACC_OFFSET; - pmu_status |= BMI160_PMU_NORMAL << BMI160_PMU_GYR_OFFSET; - bmi_emul_set_reg(emul, BMI160_PMU_STATUS, pmu_status); - - /* Range and rate cannot change after calibration */ - range = 250; - rate = 50000; - 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_gyr_offset(emul, start_off); - - /* Set input accelerometer values */ - exp_off[0] = BMI_EMUL_125_DEG_S / 100; - exp_off[1] = BMI_EMUL_125_DEG_S / 200; - exp_off[2] = -(int)BMI_EMUL_125_DEG_S / 300; - set_emul_gyr(emul, exp_off); - - /* Expected offset is [-X, -Y, -Z] */ - exp_off[0] = -exp_off[0]; - exp_off[1] = -exp_off[1]; - exp_off[2] = -exp_off[2]; - - /* 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 rate set */ - i2c_common_emul_set_read_fail_reg(emul, BMI160_GYR_CONF); - 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); - - /* Test fail on status read */ - i2c_common_emul_set_read_fail_reg(emul, BMI160_STATUS); - 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); - /* Stop fast offset compensation before next test */ - bmi_emul_set_reg(emul, BMI160_CMD_REG, BMI160_CMD_NOOP); - - /* Test fail on data not ready */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - i2c_common_emul_set_read_func(emul, emul_nrdy, NULL); - 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); - /* Remove custom emulator read function */ - i2c_common_emul_set_read_func(emul, NULL, NULL); - /* Stop fast offset compensation before next test */ - bmi_emul_set_reg(emul, BMI160_CMD_REG, BMI160_CMD_NOOP); - - /* Test successful offset compenastion */ - 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_gyr_offset(emul, ret_off); - /* - * Depending on used range, gyroscope values may be up to 4 bits - * more accurate then offset value resolution. - */ - compare_int3v_eps(exp_off, ret_off, 32); - /* Gyroscope offset should be enabled */ - zassert_true(bmi_emul_get_reg(emul, BMI160_OFFSET_EN_GYR98) & - BMI160_OFFSET_GYRO_EN, NULL); -} - -/** Test init function of BMI160 accelerometer and gyroscope sensors */ -static void test_bmi_init(void) -{ - struct motion_sensor_t *ms_acc, *ms_gyr; - struct i2c_emul *emul; - - emul = bmi_emul_get(BMI_ORD); - ms_acc = &motion_sensors[BMI_ACC_SENSOR_ID]; - ms_gyr = &motion_sensors[BMI_GYR_SENSOR_ID]; - - /* Test successful init */ - zassert_equal(EC_RES_SUCCESS, ms_acc->drv->init(ms_acc), NULL); - - zassert_equal(EC_RES_SUCCESS, ms_gyr->drv->init(ms_gyr), NULL); -} - -/** Data for custom emulator read function used in FIFO test */ -struct fifo_func_data { - uint16_t interrupts; -}; - -/** - * Custom emulator read function used in FIFO test. It sets interrupt registers - * to value passed as additional data. It sets interrupt registers to 0 after - * access. - */ -static int emul_fifo_func(struct i2c_emul *emul, int reg, uint8_t *val, - int byte, void *data) -{ - struct fifo_func_data *d = data; - - if (reg + byte == BMI160_INT_STATUS_0) { - bmi_emul_set_reg(emul, BMI160_INT_STATUS_0, - d->interrupts & 0xff); - d->interrupts &= 0xff00; - } else if (reg + byte == BMI160_INT_STATUS_1) { - bmi_emul_set_reg(emul, BMI160_INT_STATUS_1, - (d->interrupts >> 8) & 0xff); - d->interrupts &= 0xff; - } - - return 1; -} - -/** - * Run irq handler on accelerometer sensor and check if committed data in FIFO - * match what was set in FIFO frames in emulator. - */ -static void check_fifo_f(struct motion_sensor_t *ms_acc, - struct motion_sensor_t *ms_gyr, - struct bmi_emul_frame *frame, - int acc_range, int gyr_range, - int line) -{ - struct ec_response_motion_sensor_data vector; - struct bmi_emul_frame *f_acc, *f_gyr; - uint32_t event = BMI_INT_EVENT; - uint16_t size; - intv3_t exp_v; - intv3_t ret_v; - - /* Find first frame of acc and gyr type */ - f_acc = frame; - while (f_acc != NULL && !(f_acc->type & BMI_EMUL_FRAME_ACC)) { - f_acc = f_acc->next; - } - - f_gyr = frame; - while (f_gyr != NULL && !(f_gyr->type & BMI_EMUL_FRAME_GYR)) { - f_gyr = f_gyr->next; - } - - /* Read FIFO in driver */ - zassert_equal(EC_SUCCESS, ms_acc->drv->irq_handler(ms_acc, &event), - NULL); - - /* Read all data committed to FIFO */ - while (motion_sense_fifo_read(sizeof(vector), 1, &vector, &size)) { - /* Ignore timestamp frames */ - if (vector.flags == MOTIONSENSE_SENSOR_FLAG_TIMESTAMP) { - continue; - } - - /* Check acclerometer frames */ - if (ms_acc - motion_sensors == vector.sensor_num) { - if (f_acc == NULL) { - zassert_unreachable( - "Not expected acclerometer data in FIFO, line %d", - line); - } - - convert_int3v_int16(vector.data, ret_v); - drv_acc_to_emul(ret_v, acc_range, ret_v); - exp_v[0] = f_acc->acc_x; - exp_v[1] = f_acc->acc_y; - exp_v[2] = f_acc->acc_z; - compare_int3v_f(exp_v, ret_v, V_EPS, line); - f_acc = f_acc->next; - } - - /* Check gyroscope frames */ - if (ms_gyr - motion_sensors == vector.sensor_num) { - if (f_gyr == NULL) { - zassert_unreachable( - "Not expected gyroscope data in FIFO, line %d", - line); - } - - convert_int3v_int16(vector.data, ret_v); - drv_gyr_to_emul(ret_v, gyr_range, ret_v); - exp_v[0] = f_gyr->gyr_x; - exp_v[1] = f_gyr->gyr_y; - exp_v[2] = f_gyr->gyr_z; - compare_int3v_f(exp_v, ret_v, V_EPS, line); - f_gyr = f_gyr->next; - } - } - - /* Skip frames of different type at the end */ - while (f_acc != NULL && !(f_acc->type & BMI_EMUL_FRAME_ACC)) { - f_acc = f_acc->next; - } - - while (f_gyr != NULL && !(f_gyr->type & BMI_EMUL_FRAME_GYR)) { - f_gyr = f_gyr->next; - } - - /* All frames are readed */ - zassert_is_null(f_acc, "Not all accelerometer frames are read, line %d", - line); - zassert_is_null(f_gyr, "Not all gyroscope frames are read, line %d", - line); -} -#define check_fifo(ms_acc, ms_gyr, frame, acc_range, gyr_range) \ - check_fifo_f(ms_acc, ms_gyr, frame, acc_range, gyr_range, __LINE__) - -/** Test irq handler of accelerometer sensor */ -static void test_bmi_acc_fifo(void) -{ - struct motion_sensor_t *ms, *ms_gyr; - struct fifo_func_data func_data; - struct bmi_emul_frame f[3]; - struct i2c_emul *emul; - int gyr_range = 125; - int acc_range = 2; - int event; - - emul = bmi_emul_get(BMI_ORD); - ms = &motion_sensors[BMI_ACC_SENSOR_ID]; - ms_gyr = &motion_sensors[BMI_GYR_SENSOR_ID]; - - /* Need to be set to collect all data in FIFO */ - ms->oversampling_ratio = 1; - ms_gyr->oversampling_ratio = 1; - /* Only BMI event should be handled */ - event = 0x1234 & ~BMI_INT_EVENT; - zassert_equal(EC_ERROR_NOT_HANDLED, ms->drv->irq_handler(ms, &event), - NULL); - - event = BMI_INT_EVENT; - - /* Test fail to read interrupt status registers */ - i2c_common_emul_set_read_fail_reg(emul, BMI160_INT_STATUS_0); - zassert_equal(EC_ERROR_INVAL, ms->drv->irq_handler(ms, &event), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI160_INT_STATUS_1); - zassert_equal(EC_ERROR_INVAL, ms->drv->irq_handler(ms, &event), NULL); - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Test no interrupt */ - bmi_emul_set_reg(emul, BMI160_INT_STATUS_0, 0); - bmi_emul_set_reg(emul, BMI160_INT_STATUS_1, 0); - - /* Trigger irq handler and check results */ - check_fifo(ms, ms_gyr, NULL, acc_range, gyr_range); - - /* Set custom function for FIFO test */ - i2c_common_emul_set_read_func(emul, emul_fifo_func, &func_data); - /* Enable sensor FIFO */ - zassert_equal(EC_SUCCESS, ms->drv->set_data_rate(ms, 50000, 0), NULL); - /* Set range */ - zassert_equal(EC_SUCCESS, ms->drv->set_range(ms, acc_range, 0), NULL); - zassert_equal(EC_SUCCESS, ms_gyr->drv->set_range(ms_gyr, gyr_range, 0), - NULL); - /* Setup single accelerometer frame */ - f[0].type = BMI_EMUL_FRAME_ACC; - f[0].acc_x = BMI_EMUL_1G / 10; - f[0].acc_y = BMI_EMUL_1G / 20; - f[0].acc_z = -(int)BMI_EMUL_1G / 30; - f[0].next = NULL; - bmi_emul_append_frame(emul, f); - /* Setup interrupts register */ - func_data.interrupts = BMI160_FWM_INT; - - /* Trigger irq handler and check results */ - check_fifo(ms, ms_gyr, f, acc_range, gyr_range); - - /* Setup second accelerometer frame */ - f[1].type = BMI_EMUL_FRAME_ACC; - f[1].acc_x = -(int)BMI_EMUL_1G / 40; - f[1].acc_y = BMI_EMUL_1G / 50; - f[1].acc_z = BMI_EMUL_1G / 60; - f[0].next = &(f[1]); - f[1].next = NULL; - bmi_emul_append_frame(emul, f); - /* Setup interrupts register */ - func_data.interrupts = BMI160_FWM_INT; - - /* Trigger irq handler and check results */ - check_fifo(ms, ms_gyr, f, acc_range, gyr_range); - - /* Enable sensor FIFO */ - zassert_equal(EC_SUCCESS, ms_gyr->drv->set_data_rate(ms_gyr, 50000, 0), - NULL); - - /* Setup first gyroscope frame (after two accelerometer frames) */ - f[2].type = BMI_EMUL_FRAME_GYR; - f[2].gyr_x = -(int)BMI_EMUL_125_DEG_S / 100; - f[2].gyr_y = BMI_EMUL_125_DEG_S / 200; - f[2].gyr_z = BMI_EMUL_125_DEG_S / 300; - f[1].next = &(f[2]); - f[2].next = NULL; - bmi_emul_append_frame(emul, f); - /* Setup interrupts register */ - func_data.interrupts = BMI160_FWM_INT; - - /* Trigger irq handler and check results */ - check_fifo(ms, ms_gyr, f, acc_range, gyr_range); - - /* Setup second accelerometer frame to by gyroscope frame too */ - f[1].type |= BMI_EMUL_FRAME_GYR; - f[1].gyr_x = -(int)BMI_EMUL_125_DEG_S / 300; - f[1].gyr_y = BMI_EMUL_125_DEG_S / 400; - f[1].gyr_z = BMI_EMUL_125_DEG_S / 500; - bmi_emul_append_frame(emul, f); - /* Setup interrupts register */ - func_data.interrupts = BMI160_FWM_INT; - - /* Trigger irq handler and check results */ - check_fifo(ms, ms_gyr, f, acc_range, gyr_range); - - /* Skip frame should be ignored by driver */ - bmi_emul_set_skipped_frames(emul, 8); - bmi_emul_append_frame(emul, f); - /* Setup interrupts register */ - func_data.interrupts = BMI160_FWM_INT; - - /* Trigger irq handler and check results */ - check_fifo(ms, ms_gyr, f, acc_range, gyr_range); - - /* Setup second frame as an config frame */ - f[1].type = BMI_EMUL_FRAME_CONFIG; - /* Indicate that accelerometer range changed */ - f[1].config = 0x1; - bmi_emul_append_frame(emul, f); - /* Setup interrupts register */ - func_data.interrupts = BMI160_FWM_INT; - - /* Trigger irq handler and check results */ - check_fifo(ms, ms_gyr, f, acc_range, gyr_range); - - /* Remove custom emulator read function */ - i2c_common_emul_set_read_func(emul, NULL, NULL); -} - -/** Test irq handler of gyroscope sensor */ -static void test_bmi_gyr_fifo(void) -{ - struct motion_sensor_t *ms; - uint32_t event; - - ms = &motion_sensors[BMI_GYR_SENSOR_ID]; - - /* Interrupt shuldn't be triggered for gyroscope motion sense */ - event = BMI_INT_EVENT; - zassert_equal(EC_ERROR_NOT_HANDLED, ms->drv->irq_handler(ms, &event), - NULL); -} - -void test_suite_bmi160(void) -{ - ztest_test_suite(bmi160, - ztest_user_unit_test(test_bmi_acc_get_offset), - ztest_user_unit_test(test_bmi_gyr_get_offset), - ztest_user_unit_test(test_bmi_acc_set_offset), - ztest_user_unit_test(test_bmi_gyr_set_offset), - ztest_user_unit_test(test_bmi_acc_set_range), - ztest_user_unit_test(test_bmi_gyr_set_range), - ztest_user_unit_test(test_bmi_get_resolution), - ztest_user_unit_test(test_bmi_acc_rate), - ztest_user_unit_test(test_bmi_gyr_rate), - ztest_user_unit_test(test_bmi_scale), - ztest_user_unit_test(test_bmi_read_temp), - ztest_user_unit_test(test_bmi_acc_read), - ztest_user_unit_test(test_bmi_gyr_read), - ztest_user_unit_test(test_bmi_acc_perform_calib), - ztest_user_unit_test(test_bmi_gyr_perform_calib), - ztest_user_unit_test(test_bmi_init), - ztest_user_unit_test(test_bmi_acc_fifo), - ztest_user_unit_test(test_bmi_gyr_fifo)); - ztest_run_test_suite(bmi160); -} |