diff options
Diffstat (limited to 'zephyr/test/drivers')
24 files changed, 0 insertions, 8237 deletions
diff --git a/zephyr/test/drivers/CMakeLists.txt b/zephyr/test/drivers/CMakeLists.txt deleted file mode 100644 index c90b334e60..0000000000 --- a/zephyr/test/drivers/CMakeLists.txt +++ /dev/null @@ -1,17 +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. - -cmake_minimum_required(VERSION 3.13.1) -find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE}) -project(drivers) - -# Include the local test directory for shimmed_test_tasks.h -zephyr_include_directories("${CMAKE_CURRENT_SOURCE_DIR}") -zephyr_include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include") -zephyr_include_directories("${PLATFORM_EC}/driver/ppc/") - -FILE(GLOB test_sources src/*.c) -target_sources(app PRIVATE ${test_sources}) - -target_sources(app PRIVATE "${PLATFORM_EC}/test/cbi.c") diff --git a/zephyr/test/drivers/README.md b/zephyr/test/drivers/README.md deleted file mode 100644 index 8ea3dcdde1..0000000000 --- a/zephyr/test/drivers/README.md +++ /dev/null @@ -1,50 +0,0 @@ -This is the combined driver test. The goal is to have many driver test suites -in one binary, so that compile time will be faster than many small tests, and -so we can test interactions between different subsystems easily. - -## Run all the test suites - -```bash -(chroot) zmake configure --test zephyr/test/drivers -``` - -To see all the output of zmake (for example if the build fails) - -```bash -(chroot) zmake -l DEBUG -j 1 configure --test zephyr/test/drivers -``` - -## Code coverage - -To calculate code coverage for this test only - -```bash -(chroot) zmake configure --coverage --test zephyr/test/drivers -(chroot) lcov --gcov-tool ~/trunk/src/platform/ec/util/llvm-gcov.sh -q \ - -o build/zephyr/test/drivers/lcov.info -c -d build/zephyr/test/drivers -(chroot) genhtml -q -o build/zephyr/test/drivers/coverage_rpt \ - build/zephyr/test/drivers/lcov.info -``` - -The report will be in build/zephyr/test/drivers/coverage_rpt/index.html - -## Debugging - -You need the host version of gdb: - -```bash -(chroot) sudo emerge -j sys-devel/gdb -``` - -Build the test -```bash -(chroot) zmake configure --build zephyr/test/drivers -``` - -Then run gdb - -``` -(chroot) gdb build/zephyr/test/drivers/build-singleimage/zephyr/zephyr.exe -# Set breakpoints, run, etc. -``` - diff --git a/zephyr/test/drivers/include/gpio_map.h b/zephyr/test/drivers/include/gpio_map.h deleted file mode 100644 index 1f67138bd2..0000000000 --- a/zephyr/test/drivers/include/gpio_map.h +++ /dev/null @@ -1,25 +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. - */ - -#ifndef __ZEPHYR_GPIO_MAP_H -#define __ZEPHYR_GPIO_MAP_H - -#include <devicetree.h> -#include <gpio_signal.h> - -/* - * Without https://github.com/zephyrproject-rtos/zephyr/pull/29282, we need - * to manually link GPIO_ defines that platform/ec code expects to the - * enum gpio_signal values that are generated by device tree bindings. - * - * Note we only need to create aliases for GPIOs that are referenced in common - * platform/ec code. - */ -#define CONFIG_TEMP_SENSOR_POWER_GPIO GPIO_PG_EC_DSW_PWROK - -#define EC_CROS_GPIO_INTERRUPTS \ - GPIO_INT(GPIO_AC_PRESENT, GPIO_INT_EDGE_BOTH, extpower_interrupt) - -#endif /* __ZEPHYR_GPIO_MAP_H */ diff --git a/zephyr/test/drivers/include/stubs.h b/zephyr/test/drivers/include/stubs.h deleted file mode 100644 index 1ae0f3a50d..0000000000 --- a/zephyr/test/drivers/include/stubs.h +++ /dev/null @@ -1,10 +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 "power.h" - -enum usbc_port { USBC_PORT_C0 = 0, USBC_PORT_C1, USBC_PORT_COUNT }; - -void set_mock_power_state(enum power_state state); diff --git a/zephyr/test/drivers/overlay.dts b/zephyr/test/drivers/overlay.dts deleted file mode 100644 index b211d77caa..0000000000 --- a/zephyr/test/drivers/overlay.dts +++ /dev/null @@ -1,561 +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 <dt-bindings/gpio_defines.h> -#include <cros/thermistor/thermistor.dtsi> - -/ { - aliases { - bmi260-int = &ms_bmi260_accel; - bmi160-int = &ms_bmi160_accel; - lis2dw12-int = &ms_lis2dw12_accel; - tcs3400-int = &tcs3400_clear; - }; - named-gpios { - compatible = "named-gpios"; - - ec_batt_pres_odl { - gpios = <&gpio0 1 GPIO_INPUT>; - enum-name = "GPIO_BATT_PRES_ODL"; - label = "EC_BATT_PRES_ODL"; - }; - acok_od { - gpios = <&gpio0 2 GPIO_INPUT>; - enum-name = "GPIO_AC_PRESENT"; - label = "ACOK_OD"; - }; - /* In test WP is output because CBI use it, but it is also - * input, because test_all_tags set it to enable write - * protection. - */ - gpio_wp_l: wp_l { - #gpio-cells = <0>; - gpios = <&gpio0 3 (GPIO_INPUT | GPIO_OUTPUT)>; - enum-name = "GPIO_WP_L"; - label = "WP_L"; - }; - pg_ec_dsw_pwrok { - gpios = <&gpio0 4 GPIO_INPUT>; - enum-name = "GPIO_PG_EC_DSW_PWROK"; - label = "PG_EC_DSW_PWROK"; - }; - ec_pch_wake_odl { - gpios = <&gpio0 5 GPIO_OUT_HIGH>; - enum-name = "GPIO_EC_PCH_WAKE_ODL"; - label = "EC_PCH_WAKE_ODL"; - }; - /* Setup USB C1 pin as output to check their state in test */ - usb_c1_ls_en { - gpios = <&gpio0 6 (GPIO_INPUT | GPIO_PULL_UP | - GPIO_OUTPUT)>; - enum-name = "GPIO_USB_C1_LS_EN"; - label = "USB_C1_LS_EN"; - }; - usb_c1_rt_rst_odl { - gpios = <&gpio0 7 (GPIO_OUTPUT | GPIO_INPUT)>; - enum-name = "GPIO_USB_C1_RT_RST_ODL"; - label = "USB_C1_RT_RST_ODL"; - }; - }; - named-i2c-ports { - compatible = "named-i2c-ports"; - - usb-c0 { - i2c-port = <&i2c0>; - enum-name = "I2C_PORT_USB_C0"; - label = "USB_C0"; - }; - usb-c1 { - i2c-port = <&i2c0>; - enum-name = "I2C_PORT_USB_C1"; - label = "USB_C1"; - }; - battery { - i2c-port = <&i2c0>; - enum-name = "I2C_PORT_BATTERY"; - label = "BATTERY"; - }; - power { - i2c-port = <&i2c0>; - enum-name = "I2C_PORT_POWER"; - label = "POWER"; - }; - charger { - i2c-port = <&i2c0>; - enum-name = "I2C_PORT_CHARGER"; - label = "CHARGER"; - }; - eeprom { - i2c-port = <&i2c0>; - enum-name = "I2C_PORT_EEPROM"; - label = "EEPROM"; - }; - i2c_accel: accel { - i2c-port = <&i2c0>; - enum-name = "I2C_PORT_ACCEL"; - label = "ACCEL"; - }; - i2c_sensor: sensor { - i2c-port = <&i2c1>; - enum-name = "I2C_PORT_SENSOR"; - label = "SENSOR"; - }; - }; - - named-batteries { - compatible = "named-batteries"; - - lgc011 { - enum-name = "lgc011"; - }; - }; - - adc0: adc { - compatible = "zephyr,adc-emul"; - nchannels = <4>; - ref-internal-mv = <3300>; - #io-channel-cells = <1>; - label = "ADC_0"; - status = "okay"; - }; - - named-adc-channels { - compatible = "named-adc-channels"; - - adc_charger: charger { - label = "ADC_TEMP_SENSOR_CHARGER"; - enum-name = "ADC_TEMP_SENSOR_CHARGER"; - channel = <0>; - }; - adc_pp3300_regulator: pp3300-regulator { - label = "ADC_TEMP_SENSOR_PP3300_REGULATOR"; - enum-name = "ADC_TEMP_SENSOR_PP3300_REGULATOR"; - channel = <1>; - }; - adc_ddr_soc: ddr-soc { - label = "ADC_TEMP_SENSOR_DDR_SOC"; - enum-name = "ADC_TEMP_SENSOR_DDR_SOC"; - channel = <2>; - }; - adc_fan: fan { - label = "ADC_TEMP_SENSOR_FAN"; - enum-name = "ADC_TEMP_SENSOR_FAN"; - channel = <3>; - }; - }; - - named-temp-sensors { - charger { - thermistor = <&thermistor_3V3_13K7_47K_4050B>; - status = "okay"; - compatible = "cros-ec,temp-sensor"; - label = "TEMP_SENSOR_CHARGER"; - enum-name = "TEMP_SENSOR_CHARGER"; - temp_fan_off = <40>; - temp_fan_max = <55>; - temp_host_high = <75>; - temp_host_halt = <80>; - temp_host_release_high = <65>; - adc = <&adc_charger>; - }; - pp3300-regulator { - thermistor = <&thermistor_3V3_30K9_47K_4050B>; - status = "okay"; - compatible = "cros-ec,temp-sensor"; - label = "TEMP_SENSOR_PP3300_REGULATOR"; - enum-name = "TEMP_SENSOR_PP3300_REGULATOR"; - temp_fan_off = <40>; - temp_fan_max = <55>; - temp_host_high = <75>; - temp_host_halt = <80>; - temp_host_release_high = <65>; - adc = <&adc_pp3300_regulator>; - }; - ddr-soc { - thermistor = <&thermistor_3V3_51K1_47K_4050B>; - status = "okay"; - compatible = "cros-ec,temp-sensor"; - label = "TEMP_SENSOR_DDR_SOC"; - enum-name = "TEMP_SENSOR_DDR_SOC"; - temp_fan_off = <35>; - temp_fan_max = <50>; - temp_host_high = <70>; - temp_host_halt = <80>; - temp_host_release_high = <65>; - adc = <&adc_ddr_soc>; - }; - fan { - thermistor = <&thermistor_3V0_22K6_47K_4050B>; - status = "okay"; - compatible = "cros-ec,temp-sensor"; - label = "TEMP_SENSOR_FAN"; - enum-name = "TEMP_SENSOR_FAN"; - temp_fan_off = <35>; - temp_fan_max = <50>; - temp_host_high = <70>; - temp_host_halt = <80>; - temp_host_release_high = <65>; - adc = <&adc_fan>; - }; - }; - - /* - * Declare mutexes used by sensor drivers. - * A mutex node is used to create an instance of mutex_t. - * A mutex node is referenced by a sensor node if the - * corresponding sensor driver needs to use the - * instance of the mutex. - */ - motionsense-mutex { - compatible = "cros-ec,motionsense-mutex"; - mutex_bmi260: bmi260-mutex { - label = "BMI260_MUTEX"; - }; - - mutex_bmi160: bmi160-mutex { - label = "BMI160_MUTEX"; - }; - - mutex_lis2dw12: lis2dw12-mutex { - label = "LIS2DW12_MUTEX"; - }; - }; - - /* - * Driver specific data. A driver-specific data can be shared with - * different motion sensors while they are using the same driver. - */ - motionsense-sensor-data { - bmi260_data: bmi260-drv-data { - compatible = "cros-ec,drvdata-bmi260"; - status = "okay"; - }; - - bmi160_data: bmi160-drv-data { - compatible = "cros-ec,drvdata-bmi160"; - status = "okay"; - }; - - lis2dw12_data: lis2dw12-drv-data { - compatible = "cros-ec,drvdata-lis2dw12"; - status = "okay"; - }; - - tcs_clear_data: tcs3400-clear-drv-data { - compatible = "cros-ec,drvdata-tcs3400-clear"; - status = "okay"; - - als-drv-data { - compatible = "cros-ec,accelgyro-als-drv-data"; - als-cal { - scale = <1>; - uscale = <0>; - offset = <0>; - als-channel-scale { - compatible = - "cros-ec,accelgyro-als-channel-scale"; - k-channel-scale = <1>; - cover-scale = <1>; - }; - }; - }; - }; - - tcs_rgb_data: tcs3400-rgb-drv-data { - compatible = "cros-ec,drvdata-tcs3400-rgb"; - status = "okay"; - - /* node for rgb_calibration_t defined in accelgyro.h */ - rgb_calibration { - compatible = - "cros-ec,accelgyro-rgb-calibration"; - - irt = <1>; - - rgb-cal-x { - offset = <0>; - coeff = <0 1 0 0>; - als-channel-scale { - compatible = - "cros-ec,accelgyro-als-channel-scale"; - k-channel-scale = <1>; - cover-scale = <1>; - }; - }; - rgb-cal-y { - offset = <0>; - coeff = <0 0 1 0>; - als-channel-scale { - compatible = - "cros-ec,accelgyro-als-channel-scale"; - k-channel-scale = <1>; - cover-scale = <1>; - }; - }; - rgb-cal-z { - offset = <0>; - coeff = <0 0 0 1>; - als-channel-scale { - compatible = - "cros-ec,accelgyro-als-channel-scale"; - k-channel-scale = <1>; - cover-scale = <1>; - }; - }; - }; - }; - }; - - /* - * List of motion sensors that creates motion_sensors array. - * The label "lid_accel" and "base_accel" are used to indicate - * motion sensor IDs for lid angle calculation. - */ - motionsense-sensor { - ms_bmi260_accel: ms-bmi260-accel { - compatible = "cros-ec,bmi260-accel"; - status = "okay"; - - label = "BMI260 emul accel"; - location = "MOTIONSENSE_LOC_BASE"; - mutex = <&mutex_bmi260>; - port = <&i2c_accel>; - drv-data = <&bmi260_data>; - default-range = <4>; - i2c-spi-addr-flags = "BMI260_ADDR0_FLAGS"; - }; - - ms_bmi260_gyro: ms-bmi260-gyro { - compatible = "cros-ec,bmi260-gyro"; - status = "okay"; - - label = "BMI260 emul gyro"; - location = "MOTIONSENSE_LOC_BASE"; - mutex = <&mutex_bmi260>; - port = <&i2c_accel>; - drv-data = <&bmi260_data>; - default-range = <1000>; /* dps */ - i2c-spi-addr-flags = "BMI260_ADDR0_FLAGS"; - }; - - ms_bmi160_accel: ms-bmi160-accel { - compatible = "cros-ec,bmi160-accel"; - status = "okay"; - - label = "BMI160 emul accel"; - location = "MOTIONSENSE_LOC_BASE"; - mutex = <&mutex_bmi160>; - port = <&i2c_sensor>; - drv-data = <&bmi160_data>; - default-range = <4>; - i2c-spi-addr-flags = "BMI160_ADDR0_FLAGS"; - }; - - ms_bmi160_gyro: ms-bmi160-gyro { - compatible = "cros-ec,bmi160-gyro"; - status = "okay"; - - label = "BMI160 emul gyro"; - location = "MOTIONSENSE_LOC_BASE"; - mutex = <&mutex_bmi160>; - port = <&i2c_sensor>; - drv-data = <&bmi160_data>; - default-range = <1000>; /* dps */ - i2c-spi-addr-flags = "BMI160_ADDR0_FLAGS"; - }; - - ms_lis2dw12_accel: ms-lis2dw12-accel { - compatible = "cros-ec,lis2dw12"; - status = "okay"; - - label = "LIS2DW12"; - location = "MOTIONSENSE_LOC_BASE"; - mutex = <&mutex_lis2dw12>; - port = <&i2c_accel>; - drv-data = <&lis2dw12_data>; - default-range = <2>; - i2c-spi-addr-flags = "LIS2DWL_ADDR1_FLAGS"; - }; - - tcs3400_clear: tcs3400-clear { - compatible = "cros-ec,tcs3400-clear"; - status = "okay"; - - label = "Clear Light"; - location = "MOTIONSENSE_LOC_BASE"; - port = <&i2c_sensor>; - default-range = <0x10000>; - drv-data = <&tcs_clear_data>; - i2c-spi-addr-flags = "TCS3400_I2C_ADDR_FLAGS"; - configs { - compatible = - "cros-ec,motionsense-sensor-config"; - ec-s0 { - /* Run ALS sensor in S0 */ - label = "SENSOR_CONFIG_EC_S0"; - odr = <1000>; - }; - }; - }; - - tcs3400_rgb: tcs3400-rgb { - compatible = "cros-ec,tcs3400-rgb"; - status = "okay"; - - label = "RGB Light"; - location = "MOTIONSENSE_LOC_BASE"; - default-range = <0x10000>; /* scale = 1x, uscale = 0 */ - drv-data = <&tcs_rgb_data>; - }; - }; - - /* - * Second i2c bus is required, because there is already device with - * address 0x68 on the first bus - */ - i2c1: i2c@400 { - status = "okay"; - compatible = "zephyr,i2c-emul-controller"; - clock-frequency = <I2C_BITRATE_STANDARD>; - #address-cells = <1>; - #size-cells = <0>; - reg = <0x400 4>; - label = "I2C_1"; - - accel_bmi160: bmi160@68 { - compatible = "zephyr,bmi"; - reg = <0x68>; - label = "BMI160"; - device-model = "BMI_EMUL_160"; - error-on-ro-write; - error-on-wo-read; - error-on-reserved-bit-write; - simulate-command-exec-time; - }; - - tcs_emul: tcs@39 { - compatible = "zephyr,tcs3400"; - reg = <0x39>; - label = "TCS_EMUL"; - error-on-ro-write; - error-on-reserved-bit-write; - error-on-msb-first-access; - }; - }; -}; - -&espi0 { - espi-host@0 { - status = "okay"; - compatible = "zephyr,espi-emul-espi-host"; - reg = <0x0>; - label = "ESPI_HOST"; - }; -}; - -&gpio0 { - ngpios = <8>; -}; - -&i2c0 { - cbi_eeprom: eeprom@56 { - compatible = "atmel,at24"; - reg = <0x56>; - label = "EEPROM_CBI"; - size = <512>; - pagesize = <8>; - address-width = <8>; - timeout = <5>; - wp-gpios = <&gpio_wp_l>; - }; - - battery: sb@b { - compatible = "zephyr,smart-battery"; - reg = <0xb>; - label = "BATTERY"; - cycle-count = <99>; - version = "BATTERY_SPEC_VER_1_1_WITH_PEC"; - }; - - bma_emul: bma@18 { - compatible = "zephyr,bma255"; - reg = <0x18>; - label = "BMA_EMUL"; - error-on-compensation-not-ready; - error-on-ro-write; - error-on-reserved-bit-write; - error-on-msb-first-access; - }; - - pi3usb9201_emul: pi3usb9201@5f { - compatible = "zephyr,pi3usb9201-emul"; - reg = <0x5f>; - label = "PI3USB9201_EMUL"; - }; - - syv682x_emul: syv682x@41 { - compatible = "zephyr,syv682x-emul"; - reg = <0x41>; - label = "SYV682X_EMUL"; - }; - - accel_bmi260: bmi260@68 { - compatible = "zephyr,bmi"; - reg = <0x68>; - label = "BMI260"; - device-model = "BMI_EMUL_260"; - error-on-ro-write; - error-on-wo-read; - error-on-reserved-bit-write; - simulate-command-exec-time; - }; - - usb_c1_bb_retimer_emul: bbretimer@42 { - compatible = "cros,bb-retimer-emul"; - reg = <0x42>; - label = "USB_C1_BB_RETIMER"; - vendor = "BB_RETIMER_VENDOR_ID_1"; - error-on-ro-write; - error-on-reserved-bit-write; - }; - - ln9310: ln9310@80 { - compatible = "cros,ln9310-emul"; - status = "okay"; - reg = <0x80>; - label = "LN9310"; - }; - - lis2dw12_emul: lis2dw12@19 { - compatible = "cros,lis2dw12-emul"; - status = "okay"; - reg = <0x19>; - label = "LIS2DW12_EMUL"; - }; - - i2c_mock: i2c_mock@84 { - compatible = "cros,i2c-mock"; - status = "okay"; - reg = <0x84>; - label = "I2C_MOCK"; - }; -}; - -/* Enable all thermistors for testing */ -&thermistor_3V3_30K9_47K_4050B { - status = "okay"; -}; - -&thermistor_3V0_22K6_47K_4050B { - status = "okay"; -}; - -&thermistor_3V3_13K7_47K_4050B { - status = "okay"; -}; - -&thermistor_3V3_51K1_47K_4050B { - status = "okay"; -}; diff --git a/zephyr/test/drivers/prj.conf b/zephyr/test/drivers/prj.conf deleted file mode 100644 index 99a275f9e2..0000000000 --- a/zephyr/test/drivers/prj.conf +++ /dev/null @@ -1,90 +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. - -# Enabling this config will show all I2C traffic, do not commit with this line -# uncommented, it is here to make it easy to find/enable. -# CONFIG_I2C_LOG_LEVEL_DBG=y - -CONFIG_ZTEST=y -CONFIG_ZTEST_ASSERT_VERBOSE=1 -CONFIG_ZTEST_MOCKING=y -CONFIG_ZTEST_PARAMETER_COUNT=5 -CONFIG_PLATFORM_EC=y -CONFIG_CROS_EC=y -CONFIG_SHIMMED_TASKS=y -CONFIG_EMUL=y -CONFIG_LOG=y -CONFIG_I2C=y -CONFIG_I2C_EMUL=y -CONFIG_GPIO=y -CONFIG_GPIO_EMUL=y -CONFIG_EMUL_EEPROM_AT2X=y -CONFIG_EMUL_SMART_BATTERY=y -CONFIG_EMUL_BC12_DETECT_PI3USB9201=y -CONFIG_EMUL_PPC_SYV682X=y -CONFIG_ADC=y -CONFIG_ADC_EMUL=y -CONFIG_HEAP_MEM_POOL_SIZE=1024 -CONFIG_EMUL_BMA255=y -CONFIG_EMUL_BMI=y -CONFIG_EMUL_TCS3400=y -CONFIG_EMUL_BB_RETIMER=y - -CONFIG_PLATFORM_EC_POWERSEQ=y - -CONFIG_HAS_TASK_USB_CHG_P0=y -CONFIG_HAS_TASK_USB_CHG_P1=y -CONFIG_HAS_TASK_PD_C1=y - -CONFIG_PLATFORM_EC_BATTERY_PRESENT_GPIO=y -CONFIG_PLATFORM_EC_EXTPOWER_GPIO=y - -CONFIG_PLATFORM_EC_USB_PID=0x5000 -CONFIG_PLATFORM_EC_USBC=y -CONFIG_PLATFORM_EC_USB_CHARGER=y -CONFIG_PLATFORM_EC_BC12_DETECT_PI3USB9201=y -CONFIG_PLATFORM_EC_USB_POWER_DELIVERY=y -CONFIG_PLATFORM_EC_USB_PD_5V_EN_CUSTOM=y -CONFIG_PLATFORM_EC_I2C=y -CONFIG_PLATFORM_EC_BATTERY=y -CONFIG_PLATFORM_EC_BATTERY_SMART=y -CONFIG_PLATFORM_EC_CHARGER_SENSE_RESISTOR=10 -CONFIG_PLATFORM_EC_CHARGER_SENSE_RESISTOR_AC=10 -CONFIG_PLATFORM_EC_CHARGER_ISL9241=y -CONFIG_PLATFORM_EC_USB_PD_VBUS_MEASURE_CHARGER=y -CONFIG_PLATFORM_EC_BATTERY_FUEL_GAUGE=y -CONFIG_PLATFORM_EC_HOSTCMD=y -CONFIG_PLATFORM_EC_USB_PD_TCPM_TUSB422=y -CONFIG_PLATFORM_EC_USB_MUX_VIRTUAL=y -CONFIG_PLATFORM_EC_USBC_PPC_SN5S330=y -CONFIG_PLATFORM_EC_CBI_EEPROM=y -CONFIG_PLATFORM_EC_ADC=y -CONFIG_PLATFORM_EC_TEMP_SENSOR=y -CONFIG_PLATFORM_EC_THERMISTOR=y -CONFIG_PLATFORM_EC_SWITCHCAP_LN9310=y -CONFIG_PLATFORM_EC_ACCEL_BMA255=y -CONFIG_PLATFORM_EC_MOTIONSENSE=y -CONFIG_PLATFORM_EC_ACCELGYRO_BMI160=y -CONFIG_PLATFORM_EC_ACCELGYRO_BMI260=y -CONFIG_PLATFORM_EC_ACCELGYRO_BMI_COMM_I2C=y -CONFIG_PLATFORM_EC_ACCEL_INTERRUPTS=y -CONFIG_PLATFORM_EC_ACCEL_FIFO=y -CONFIG_PLATFORM_EC_SENSOR_TIGHT_TIMESTAMPS=y -CONFIG_PLATFORM_EC_ALS_TCS3400=y -CONFIG_PLATFORM_EC_USBC_RETIMER_INTEL_BB=y - -CONFIG_ESPI=y -CONFIG_ESPI_EMUL=y -CONFIG_EMUL_ESPI_HOST=y -CONFIG_PLATFORM_EC_ESPI=y -CONFIG_ESPI_PERIPHERAL_ACPI_SHM_REGION=y -CONFIG_ESPI_PERIPHERAL_CUSTOM_OPCODE=y -CONFIG_ESPI_PERIPHERAL_EC_HOST_CMD=y - -# Things that default to on, but aren't working yet -CONFIG_PLATFORM_EC_BACKLIGHT_LID=n -CONFIG_PLATFORM_EC_SWITCH=n -CONFIG_PLATFORM_EC_VBOOT_HASH=n -CONFIG_PLATFORM_EC_POWERSEQ_INTEL=n -CONFIG_PLATFORM_EC_POWERSEQ_PP5000_CONTROL=n diff --git a/zephyr/test/drivers/src/battery.c b/zephyr/test/drivers/src/battery.c deleted file mode 100644 index 315f822985..0000000000 --- a/zephyr/test/drivers/src/battery.c +++ /dev/null @@ -1,35 +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 <drivers/gpio.h> -#include <drivers/gpio/gpio_emul.h> - -#include "battery.h" - -#define GPIO_BATT_PRES_ODL_PATH DT_PATH(named_gpios, ec_batt_pres_odl) -#define GPIO_BATT_PRES_ODL_PORT DT_GPIO_PIN(GPIO_BATT_PRES_ODL_PATH, gpios) - -static void test_battery_is_present_gpio(void) -{ - const struct device *dev = - DEVICE_DT_GET(DT_GPIO_CTLR(GPIO_BATT_PRES_ODL_PATH, gpios)); - - zassert_not_null(dev, NULL); - /* ec_batt_pres_odl = 0 means battery present. */ - zassert_ok(gpio_emul_input_set(dev, GPIO_BATT_PRES_ODL_PORT, 0), NULL); - zassert_equal(BP_YES, battery_is_present(), NULL); - /* ec_batt_pres_odl = 1 means battery missing. */ - zassert_ok(gpio_emul_input_set(dev, GPIO_BATT_PRES_ODL_PORT, 1), NULL); - zassert_equal(BP_NO, battery_is_present(), NULL); -} - -void test_suite_battery(void) -{ - ztest_test_suite(battery, - ztest_user_unit_test(test_battery_is_present_gpio)); - ztest_run_test_suite(battery); -} diff --git a/zephyr/test/drivers/src/bb_retimer.c b/zephyr/test/drivers/src/bb_retimer.c deleted file mode 100644 index cecee6020f..0000000000 --- a/zephyr/test/drivers/src/bb_retimer.c +++ /dev/null @@ -1,528 +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 <drivers/gpio.h> -#include <drivers/gpio/gpio_emul.h> - -#include "common.h" -#include "ec_tasks.h" -#include "emul/emul_bb_retimer.h" -#include "emul/emul_common_i2c.h" -#include "hooks.h" -#include "i2c.h" -#include "stubs.h" -#include "usb_prl_sm.h" -#include "usb_tc_sm.h" - -#include "driver/retimer/bb_retimer.h" - -#define GPIO_USB_C1_LS_EN_PATH DT_PATH(named_gpios, usb_c1_ls_en) -#define GPIO_USB_C1_LS_EN_PORT DT_GPIO_PIN(GPIO_USB_C1_LS_EN_PATH, gpios) -#define GPIO_USB_C1_RT_RST_ODL_PATH DT_PATH(named_gpios, usb_c1_rt_rst_odl) -#define GPIO_USB_C1_RT_RST_ODL_PORT \ - DT_GPIO_PIN(GPIO_USB_C1_RT_RST_ODL_PATH, gpios) -#define EMUL_LABEL DT_NODELABEL(usb_c1_bb_retimer_emul) - -#define BB_RETIMER_ORD DT_DEP_ORD(EMUL_LABEL) - -/** Test is retimer fw update capable function. */ -static void test_bb_is_fw_update_capable(void) -{ - /* BB retimer is fw update capable */ - zassert_true(bb_usb_retimer.is_retimer_fw_update_capable(), NULL); -} - -/** Test is retimer fw update capable function. */ -static void test_bb_set_state(void) -{ - struct pd_discovery *disc; - uint32_t conn, exp_conn; - struct i2c_emul *emul; - bool ack_required; - - emul = bb_emul_get(BB_RETIMER_ORD); - - set_test_runner_tid(); - - /* Setup emulator fail on write */ - i2c_common_emul_set_write_fail_reg(emul, - BB_RETIMER_REG_CONNECTION_STATE); - - /* Test fail on reset register write */ - zassert_equal(EC_ERROR_INVAL, - bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_NONE, &ack_required), - NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - - /* Do not fail on write */ - i2c_common_emul_set_write_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Set UFP role for whole test */ - tc_set_data_role(USBC_PORT_C1, PD_ROLE_UFP); - - /* Test none mode */ - bb_emul_set_reg(emul, BB_RETIMER_REG_CONNECTION_STATE, 0x12144678); - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_NONE, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - /* Only UFP mode is set */ - exp_conn = BB_RETIMER_USB_DATA_ROLE; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - /* Test USB3 gen1 mode */ - prl_set_rev(USBC_PORT_C1, TCPCI_MSG_SOP_PRIME, PD_REV10); - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_USB_ENABLED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_USB_DATA_ROLE | - BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_USB_3_CONNECTION; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - /* Test USB3 gen2 mode */ - disc = pd_get_am_discovery_and_notify_access( - USBC_PORT_C1, TCPCI_MSG_SOP_PRIME); - disc->identity.product_t1.p_rev20.ss = USB_R20_SS_U31_GEN1_GEN2; - prl_set_rev(USBC_PORT_C1, TCPCI_MSG_SOP_PRIME, PD_REV30); - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_USB_ENABLED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_USB_DATA_ROLE | - BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_USB_3_CONNECTION | - BB_RETIMER_USB_3_SPEED; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - /* Test TBT mode */ - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_TBT_COMPAT_ENABLED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_USB_DATA_ROLE | - BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_TBT_CONNECTION; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - /* Test USB4 mode */ - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_USB4_ENABLED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_USB_DATA_ROLE | - BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_USB4_ENABLED; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - /* Test USB4 mode with polarity inverted */ - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_USB4_ENABLED | - USB_PD_MUX_POLARITY_INVERTED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_USB_DATA_ROLE | - BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_CONNECTION_ORIENTATION | - BB_RETIMER_USB4_ENABLED; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - /* Test DP mode */ - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_DP_ENABLED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_USB_DATA_ROLE | - BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_DP_CONNECTION; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_DP_ENABLED | - USB_PD_MUX_HPD_IRQ, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_USB_DATA_ROLE | - BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_DP_CONNECTION | - BB_RETIMER_IRQ_HPD; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_DP_ENABLED | - USB_PD_MUX_HPD_LVL, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_USB_DATA_ROLE | - BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_DP_CONNECTION | - BB_RETIMER_HPD_LVL; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); -} - -/** Test setting different options for DFP role */ -static void test_bb_set_dfp_state(void) -{ - union tbt_mode_resp_device device_resp; - union tbt_mode_resp_cable cable_resp; - struct pd_discovery *disc, *dev_disc; - uint32_t conn, exp_conn; - struct i2c_emul *emul; - bool ack_required; - - emul = bb_emul_get(BB_RETIMER_ORD); - - set_test_runner_tid(); - - tc_set_data_role(USBC_PORT_C1, PD_ROLE_DFP); - - /* Test PD mux none mode with DFP should clear all bits in state */ - bb_emul_set_reg(emul, BB_RETIMER_REG_CONNECTION_STATE, 0x12144678); - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_NONE, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = 0; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - /* Set active cable type */ - disc = pd_get_am_discovery_and_notify_access( - USBC_PORT_C1, TCPCI_MSG_SOP_PRIME); - disc->identity.idh.product_type = IDH_PTYPE_ACABLE; - disc->identity.product_t2.a2_rev30.active_elem = ACTIVE_RETIMER; - prl_set_rev(USBC_PORT_C1, TCPCI_MSG_SOP_PRIME, PD_REV30); - - /* Set cable VDO */ - disc->svid_cnt = 1; - disc->svids[0].svid = USB_VID_INTEL; - disc->svids[0].discovery = PD_DISC_COMPLETE; - disc->svids[0].mode_cnt = 1; - cable_resp.tbt_alt_mode = TBT_ALTERNATE_MODE; - cable_resp.tbt_cable_speed = TBT_SS_RES_0; - cable_resp.tbt_rounded = TBT_GEN3_NON_ROUNDED; - cable_resp.tbt_cable = TBT_CABLE_NON_OPTICAL; - cable_resp.retimer_type = USB_NOT_RETIMER; - cable_resp.lsrx_comm = BIDIR_LSRX_COMM; - cable_resp.tbt_active_passive = TBT_CABLE_PASSIVE; - disc->svids[0].mode_vdo[0] = cable_resp.raw_value; - - /* Set device VDO */ - dev_disc = pd_get_am_discovery_and_notify_access( - USBC_PORT_C1, TCPCI_MSG_SOP); - dev_disc->svid_cnt = 1; - dev_disc->svids[0].svid = USB_VID_INTEL; - dev_disc->svids[0].discovery = PD_DISC_COMPLETE; - dev_disc->svids[0].mode_cnt = 1; - device_resp.tbt_alt_mode = TBT_ALTERNATE_MODE; - device_resp.tbt_adapter = TBT_ADAPTER_TBT3; - device_resp.intel_spec_b0 = VENDOR_SPECIFIC_NOT_SUPPORTED; - device_resp.vendor_spec_b0 = VENDOR_SPECIFIC_NOT_SUPPORTED; - device_resp.vendor_spec_b1 = VENDOR_SPECIFIC_NOT_SUPPORTED; - dev_disc->svids[0].mode_vdo[0] = device_resp.raw_value; - - /* Test USB mode with active cable */ - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_USB_ENABLED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_USB_3_CONNECTION | - BB_RETIMER_USB_3_SPEED | - BB_RETIMER_RE_TIMER_DRIVER | - BB_RETIMER_ACTIVE_PASSIVE; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - /* Test TBT mode with active cable */ - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_TBT_COMPAT_ENABLED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_TBT_CONNECTION | - BB_RETIMER_ACTIVE_PASSIVE; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - /* Test TBT mode with retimer */ - cable_resp.retimer_type = USB_RETIMER; - disc->svids[0].mode_vdo[0] = cable_resp.raw_value; - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_TBT_COMPAT_ENABLED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_TBT_CONNECTION | - BB_RETIMER_RE_TIMER_DRIVER | - BB_RETIMER_ACTIVE_PASSIVE; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - /* Test TBT mode with optical cable */ - cable_resp.retimer_type = USB_NOT_RETIMER; - cable_resp.tbt_cable = TBT_CABLE_OPTICAL; - disc->svids[0].mode_vdo[0] = cable_resp.raw_value; - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_TBT_COMPAT_ENABLED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_TBT_CONNECTION | - BB_RETIMER_TBT_CABLE_TYPE | - BB_RETIMER_ACTIVE_PASSIVE; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - /* Test TBT mode with active link training */ - cable_resp.tbt_cable = TBT_CABLE_NON_OPTICAL; - cable_resp.lsrx_comm = UNIDIR_LSRX_COMM; - disc->svids[0].mode_vdo[0] = cable_resp.raw_value; - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_TBT_COMPAT_ENABLED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_TBT_CONNECTION | - BB_RETIMER_TBT_ACTIVE_LINK_TRAINING | - BB_RETIMER_ACTIVE_PASSIVE; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - /* Test TBT mode with different cable speeds */ - cable_resp.lsrx_comm = BIDIR_LSRX_COMM; - cable_resp.tbt_cable_speed = TBT_SS_U31_GEN1; - disc->svids[0].mode_vdo[0] = cable_resp.raw_value; - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_TBT_COMPAT_ENABLED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_TBT_CONNECTION | - BB_RETIMER_USB4_TBT_CABLE_SPEED_SUPPORT(1) | - BB_RETIMER_ACTIVE_PASSIVE; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - cable_resp.tbt_cable_speed = TBT_SS_U32_GEN1_GEN2; - disc->svids[0].mode_vdo[0] = cable_resp.raw_value; - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_TBT_COMPAT_ENABLED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_TBT_CONNECTION | - BB_RETIMER_USB4_TBT_CABLE_SPEED_SUPPORT(2) | - BB_RETIMER_ACTIVE_PASSIVE; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - cable_resp.tbt_cable_speed = TBT_SS_TBT_GEN3; - disc->svids[0].mode_vdo[0] = cable_resp.raw_value; - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_TBT_COMPAT_ENABLED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_TBT_CONNECTION | - BB_RETIMER_USB4_TBT_CABLE_SPEED_SUPPORT(3) | - BB_RETIMER_ACTIVE_PASSIVE; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - /* Test TBT mode with TBT gen4 cable */ - cable_resp.tbt_cable_speed = TBT_SS_RES_0; - cable_resp.tbt_rounded = TBT_GEN3_GEN4_ROUNDED_NON_ROUNDED; - disc->svids[0].mode_vdo[0] = cable_resp.raw_value; - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_TBT_COMPAT_ENABLED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_TBT_CONNECTION | - BB_RETIMER_TBT_CABLE_GENERATION(1) | - BB_RETIMER_ACTIVE_PASSIVE; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - /* Test TBT mode with legacy TBT adapter */ - cable_resp.tbt_rounded = TBT_GEN3_NON_ROUNDED; - disc->svids[0].mode_vdo[0] = cable_resp.raw_value; - device_resp.tbt_adapter = TBT_ADAPTER_TBT2_LEGACY; - dev_disc->svids[0].mode_vdo[0] = device_resp.raw_value; - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_TBT_COMPAT_ENABLED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_TBT_CONNECTION | - BB_RETIMER_TBT_TYPE | - BB_RETIMER_ACTIVE_PASSIVE; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - /* Test TBT mode with Intel specific b0 */ - device_resp.tbt_adapter = TBT_ADAPTER_TBT3; - device_resp.intel_spec_b0 = VENDOR_SPECIFIC_SUPPORTED; - dev_disc->svids[0].mode_vdo[0] = device_resp.raw_value; - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_TBT_COMPAT_ENABLED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_TBT_CONNECTION | - BB_RETIMER_VPRO_DOCK_DP_OVERDRIVE | - BB_RETIMER_ACTIVE_PASSIVE; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); - - /* Test TBT mode with vendor specific b1 */ - device_resp.intel_spec_b0 = VENDOR_SPECIFIC_NOT_SUPPORTED; - device_resp.vendor_spec_b1 = VENDOR_SPECIFIC_SUPPORTED; - dev_disc->svids[0].mode_vdo[0] = device_resp.raw_value; - zassert_equal(EC_SUCCESS, bb_usb_retimer.set(&usb_muxes[USBC_PORT_C1], - USB_PD_MUX_TBT_COMPAT_ENABLED, - &ack_required), NULL); - zassert_false(ack_required, "ACK is never required for BB retimer"); - conn = bb_emul_get_reg(emul, BB_RETIMER_REG_CONNECTION_STATE); - exp_conn = BB_RETIMER_DATA_CONNECTION_PRESENT | - BB_RETIMER_TBT_CONNECTION | - BB_RETIMER_VPRO_DOCK_DP_OVERDRIVE | - BB_RETIMER_ACTIVE_PASSIVE; - zassert_equal(exp_conn, conn, "Expected state 0x%lx, got 0x%lx", - exp_conn, conn); -} - -/** Test BB retimer init */ -static void test_bb_init(void) -{ - const struct device *gpio_dev = - DEVICE_DT_GET(DT_GPIO_CTLR(GPIO_USB_C1_LS_EN_PATH, gpios)); - struct i2c_emul *emul; - - zassert_not_null(gpio_dev, "Cannot get GPIO device"); - - emul = bb_emul_get(BB_RETIMER_ORD); - - /* Set AP to normal state and wait for chipset task */ - set_mock_power_state(POWER_S0); - k_msleep(1); - - /* Setup emulator fail on read */ - i2c_common_emul_set_read_fail_reg(emul, BB_RETIMER_REG_VENDOR_ID); - /* Test fail on vendor ID read */ - zassert_equal(EC_ERROR_INVAL, - bb_usb_retimer.init(&usb_muxes[USBC_PORT_C1]), NULL); - /* Enable pins should be set always after init, when AP is on */ - zassert_equal(1, gpio_emul_output_get(gpio_dev, GPIO_USB_C1_LS_EN_PORT), - NULL); - zassert_equal(1, gpio_emul_output_get(gpio_dev, - GPIO_USB_C1_RT_RST_ODL_PORT), - NULL); - - /* Setup wrong vendor ID */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - bb_emul_set_reg(emul, BB_RETIMER_REG_VENDOR_ID, 0x12144678); - /* Test fail on wrong vendor ID */ - zassert_equal(EC_ERROR_INVAL, - bb_usb_retimer.init(&usb_muxes[USBC_PORT_C1]), NULL); - zassert_equal(1, gpio_emul_output_get(gpio_dev, GPIO_USB_C1_LS_EN_PORT), - NULL); - zassert_equal(1, gpio_emul_output_get(gpio_dev, - GPIO_USB_C1_RT_RST_ODL_PORT), - NULL); - - /* Setup emulator fail on device ID read */ - i2c_common_emul_set_read_fail_reg(emul, BB_RETIMER_REG_DEVICE_ID); - bb_emul_set_reg(emul, BB_RETIMER_REG_VENDOR_ID, BB_RETIMER_VENDOR_ID_1); - /* Test fail on device ID read */ - zassert_equal(EC_ERROR_INVAL, - bb_usb_retimer.init(&usb_muxes[USBC_PORT_C1]), NULL); - zassert_equal(1, gpio_emul_output_get(gpio_dev, GPIO_USB_C1_LS_EN_PORT), - NULL); - zassert_equal(1, gpio_emul_output_get(gpio_dev, - GPIO_USB_C1_RT_RST_ODL_PORT), - NULL); - - /* Setup wrong device ID */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - bb_emul_set_reg(emul, BB_RETIMER_REG_DEVICE_ID, 0x12144678); - /* Test fail on wrong device ID */ - zassert_equal(EC_ERROR_INVAL, - bb_usb_retimer.init(&usb_muxes[USBC_PORT_C1]), NULL); - zassert_equal(1, gpio_emul_output_get(gpio_dev, GPIO_USB_C1_LS_EN_PORT), - NULL); - zassert_equal(1, gpio_emul_output_get(gpio_dev, - GPIO_USB_C1_RT_RST_ODL_PORT), - NULL); - - /* Test successful init */ - bb_emul_set_reg(emul, BB_RETIMER_REG_DEVICE_ID, BB_RETIMER_DEVICE_ID); - zassert_equal(EC_SUCCESS, bb_usb_retimer.init(&usb_muxes[USBC_PORT_C1]), - NULL); - zassert_equal(1, gpio_emul_output_get(gpio_dev, GPIO_USB_C1_LS_EN_PORT), - NULL); - zassert_equal(1, gpio_emul_output_get(gpio_dev, - GPIO_USB_C1_RT_RST_ODL_PORT), - NULL); - - /* Set AP to off state and wait for chipset task */ - set_mock_power_state(POWER_G3); - k_msleep(1); - - /* With AP off, init should fail and pins should be unset */ - zassert_equal(EC_ERROR_NOT_POWERED, - bb_usb_retimer.init(&usb_muxes[USBC_PORT_C1]), NULL); - zassert_equal(0, gpio_emul_output_get(gpio_dev, GPIO_USB_C1_LS_EN_PORT), - NULL); - zassert_equal(0, gpio_emul_output_get(gpio_dev, - GPIO_USB_C1_RT_RST_ODL_PORT), - NULL); -} - - -void test_suite_bb_retimer(void) -{ - ztest_test_suite(bb_retimer, - ztest_user_unit_test(test_bb_is_fw_update_capable), - ztest_user_unit_test(test_bb_set_state), - ztest_user_unit_test(test_bb_set_dfp_state), - ztest_user_unit_test(test_bb_init)); - ztest_run_test_suite(bb_retimer); -} diff --git a/zephyr/test/drivers/src/bc12.c b/zephyr/test/drivers/src/bc12.c deleted file mode 100644 index 4251448f2c..0000000000 --- a/zephyr/test/drivers/src/bc12.c +++ /dev/null @@ -1,280 +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 <drivers/gpio.h> -#include <drivers/gpio/gpio_emul.h> - -#include "emul/emul_pi3usb9201.h" - -#include "timer.h" -#include "usb_charge.h" -#include "battery.h" -#include "extpower.h" -#include "stubs.h" - -#include <logging/log.h> -LOG_MODULE_REGISTER(test_drivers_bc12, LOG_LEVEL_DBG); - -#define EMUL_LABEL DT_NODELABEL(pi3usb9201_emul) - -#define PI3USB9201_ORD DT_DEP_ORD(EMUL_LABEL) - -/* Control_1 register bit definitions */ -#define PI3USB9201_REG_CTRL_1_INT_MASK BIT(0) -#define PI3USB9201_REG_CTRL_1_MODE_SHIFT 1 -#define PI3USB9201_REG_CTRL_1_MODE_MASK (0x7 << \ - PI3USB9201_REG_CTRL_1_MODE_SHIFT) - -/* Control_2 register bit definitions */ -#define PI3USB9201_REG_CTRL_2_AUTO_SW BIT(1) -#define PI3USB9201_REG_CTRL_2_START_DET BIT(3) - -/* Host status register bit definitions */ -#define PI3USB9201_REG_HOST_STS_BC12_DET BIT(0) -#define PI3USB9201_REG_HOST_STS_DEV_PLUG BIT(1) -#define PI3USB9201_REG_HOST_STS_DEV_UNPLUG BIT(2) - -enum pi3usb9201_mode { - PI3USB9201_POWER_DOWN, - PI3USB9201_SDP_HOST_MODE, - PI3USB9201_DCP_HOST_MODE, - PI3USB9201_CDP_HOST_MODE, - PI3USB9201_CLIENT_MODE, - PI3USB9201_RESERVED_1, - PI3USB9201_RESERVED_2, - PI3USB9201_USB_PATH_ON, -}; - -enum pi3usb9201_client_sts { - CHG_OTHER = 0, - CHG_2_4A, - CHG_2_0A, - CHG_1_0A, - CHG_RESERVED, - CHG_CDP, - CHG_SDP, - CHG_DCP, -}; - -struct bc12_status { - enum charge_supplier supplier; - int current_limit; -}; - -static const struct bc12_status bc12_chg_limits[] = { - [CHG_OTHER] = { .supplier = CHARGE_SUPPLIER_OTHER, - .current_limit = 500 }, - [CHG_2_4A] = { .supplier = CHARGE_SUPPLIER_PROPRIETARY, - .current_limit = USB_CHARGER_MAX_CURR_MA }, - [CHG_2_0A] = { .supplier = CHARGE_SUPPLIER_PROPRIETARY, - .current_limit = USB_CHARGER_MAX_CURR_MA }, - [CHG_1_0A] = { .supplier = CHARGE_SUPPLIER_PROPRIETARY, - .current_limit = 1000 }, - [CHG_RESERVED] = { .supplier = CHARGE_SUPPLIER_NONE, - .current_limit = 0 }, - [CHG_CDP] = { .supplier = CHARGE_SUPPLIER_BC12_CDP, - .current_limit = USB_CHARGER_MAX_CURR_MA }, - [CHG_SDP] = { .supplier = CHARGE_SUPPLIER_BC12_SDP, - .current_limit = 500 }, -#if defined(CONFIG_CHARGE_RAMP_SW) || defined(CONFIG_CHARGE_RAMP_HW) - [CHG_DCP] = { .supplier = CHARGE_SUPPLIER_BC12_DCP, - .current_limit = USB_CHARGER_MAX_CURR_MA }, -#else - [CHG_DCP] = { .supplier = CHARGE_SUPPLIER_BC12_DCP, - .current_limit = 500 }, -#endif -}; - -#define GPIO_BATT_PRES_ODL_PATH DT_PATH(named_gpios, ec_batt_pres_odl) -#define GPIO_BATT_PRES_ODL_PORT DT_GPIO_PIN(GPIO_BATT_PRES_ODL_PATH, gpios) - -#define GPIO_ACOK_OD_PATH DT_PATH(named_gpios, acok_od) -#define GPIO_ACOK_OD_PORT DT_GPIO_PIN(GPIO_ACOK_OD_PATH, gpios) - -static void test_bc12_pi3usb9201_host_mode(void) -{ - struct i2c_emul *emul = pi3usb9201_emul_get(PI3USB9201_ORD); - uint8_t a, b; - - /* - * Pretend that the USB-C Port Manager (TCPMv2) has set the port data - * role to DFP. - */ - task_set_event(TASK_ID_USB_CHG_P0, USB_CHG_EVENT_DR_DFP); - msleep(1); - /* - * Expect the pi3usb9201 driver to configure CDP host mode and unmask - * interrupts. - */ - pi3usb9201_emul_get_reg(emul, PI3USB9201_REG_CTRL_1, &a); - b = PI3USB9201_CDP_HOST_MODE << PI3USB9201_REG_CTRL_1_MODE_SHIFT; - zassert_equal(a, b, NULL); - - /* Pretend that a device has been plugged in. */ - msleep(500); - pi3usb9201_emul_set_reg(emul, PI3USB9201_REG_HOST_STS, - PI3USB9201_REG_HOST_STS_DEV_PLUG); - task_set_event(TASK_ID_USB_CHG_P0, USB_CHG_EVENT_BC12); - msleep(1); - /* Expect the pi3usb9201 driver to configure SDP host mode. */ - pi3usb9201_emul_get_reg(emul, PI3USB9201_REG_CTRL_1, &a); - b = PI3USB9201_SDP_HOST_MODE << PI3USB9201_REG_CTRL_1_MODE_SHIFT; - zassert_equal(a, b, NULL); - pi3usb9201_emul_set_reg(emul, PI3USB9201_REG_HOST_STS, 0); - - /* Pretend that a device has been unplugged. */ - msleep(500); - pi3usb9201_emul_set_reg(emul, PI3USB9201_REG_HOST_STS, - PI3USB9201_REG_HOST_STS_DEV_UNPLUG); - task_set_event(TASK_ID_USB_CHG_P0, USB_CHG_EVENT_BC12); - msleep(1); - /* Expect the pi3usb9201 driver to configure CDP host mode. */ - pi3usb9201_emul_get_reg(emul, PI3USB9201_REG_CTRL_1, &a); - b = PI3USB9201_CDP_HOST_MODE << PI3USB9201_REG_CTRL_1_MODE_SHIFT; - zassert_equal(a, b, NULL); - pi3usb9201_emul_set_reg(emul, PI3USB9201_REG_HOST_STS, 0); -} - -static void test_bc12_pi3usb9201_client_mode( - enum pi3usb9201_client_sts detect_result, - enum charge_supplier supplier, int current_limit) -{ - struct i2c_emul *emul = pi3usb9201_emul_get(PI3USB9201_ORD); - uint8_t a, b; - int port, voltage; - - /* - * Pretend that the USB-C Port Manager (TCPMv2) has set the port data - * role to UFP and decided charging from the port is allowed. - */ - msleep(500); - task_set_event(TASK_ID_USB_CHG_P0, USB_CHG_EVENT_DR_UFP); - charge_manager_update_dualrole(USBC_PORT_C0, CAP_DEDICATED); - msleep(1); - /* - * Expect the pi3usb9201 driver to configure client mode and start - * detection. - */ - pi3usb9201_emul_get_reg(emul, PI3USB9201_REG_CTRL_1, &a); - b = PI3USB9201_CLIENT_MODE << PI3USB9201_REG_CTRL_1_MODE_SHIFT; - zassert_equal(a, b, NULL); - pi3usb9201_emul_get_reg(emul, PI3USB9201_REG_CTRL_2, &a); - b = PI3USB9201_REG_CTRL_2_START_DET; - zassert_equal(a, b, NULL); - - /* Pretend that detection completed. */ - msleep(500); - pi3usb9201_emul_set_reg(emul, PI3USB9201_REG_CLIENT_STS, - 1 << detect_result); - task_set_event(TASK_ID_USB_CHG_P0, USB_CHG_EVENT_BC12); - msleep(1); - /* Expect the pi3usb9201 driver to clear the start bit. */ - pi3usb9201_emul_get_reg(emul, PI3USB9201_REG_CTRL_2, &a); - zassert_equal(a, 0, NULL); - pi3usb9201_emul_set_reg(emul, PI3USB9201_REG_CLIENT_STS, 0); - /* - * Expect the charge manager to select the detected BC1.2 supplier. - */ - port = CHARGE_PORT_NONE; - voltage = 0; - if (supplier != CHARGE_SUPPLIER_NONE) { - port = USBC_PORT_C0; - voltage = USB_CHARGER_VOLTAGE_MV; - } - zassert_equal(charge_manager_get_active_charge_port(), - port, NULL); - zassert_equal(charge_manager_get_supplier(), - supplier, NULL); - zassert_equal(charge_manager_get_charger_current(), - current_limit, NULL); - zassert_equal(charge_manager_get_charger_voltage(), - voltage, NULL); - - /* - * Pretend that the USB-C Port Manager (TCPMv2) has set the port data - * role to disconnected. - */ - msleep(500); - task_set_event(TASK_ID_USB_CHG_P0, USB_CHG_EVENT_CC_OPEN); - msleep(1); - /* - * Expect the pi3usb9201 driver to configure power down mode and mask - * interrupts. - */ - pi3usb9201_emul_get_reg(emul, PI3USB9201_REG_CTRL_1, &a); - b = PI3USB9201_POWER_DOWN << PI3USB9201_REG_CTRL_1_MODE_SHIFT; - b |= PI3USB9201_REG_CTRL_1_INT_MASK; - zassert_equal(a, b, NULL); - /* Expect the charge manager to have no active supplier. */ - zassert_equal(charge_manager_get_active_charge_port(), - CHARGE_PORT_NONE, NULL); - zassert_equal(charge_manager_get_supplier(), - CHARGE_SUPPLIER_NONE, NULL); - zassert_equal(charge_manager_get_charger_current(), 0, NULL); - zassert_equal(charge_manager_get_charger_voltage(), 0, NULL); -} - -/* - * PI3USB9201 is a dual-role BC1.2 charger detector/advertiser used on USB - * ports. It can be programmed to operate in host mode or client mode through - * I2C. When operating as a host, PI3USB9201 enables BC1.2 SDP/CDP/DCP - * advertisement to the attached USB devices via the D+/- connection. When - * operating as a client, PI3USB9201 starts BC1.2 detection to detect the - * attached host type. In both host mode and client mode, the detection results - * are reported through I2C to the controller. - */ -static void test_bc12_pi3usb9201(void) -{ - const struct device *batt_pres_dev = - DEVICE_DT_GET(DT_GPIO_CTLR(GPIO_BATT_PRES_ODL_PATH, gpios)); - const struct device *acok_dev = - DEVICE_DT_GET(DT_GPIO_CTLR(GPIO_ACOK_OD_PATH, gpios)); - struct i2c_emul *emul = pi3usb9201_emul_get(PI3USB9201_ORD); - uint8_t a, b; - - /* Pretend we have battery and AC so charging works normally. */ - zassert_ok(gpio_emul_input_set(batt_pres_dev, - GPIO_BATT_PRES_ODL_PORT, 0), NULL); - zassert_equal(BP_YES, battery_is_present(), NULL); - zassert_ok(gpio_emul_input_set(acok_dev, GPIO_ACOK_OD_PORT, 1), NULL); - msleep(CONFIG_EXTPOWER_DEBOUNCE_MS + 1); - zassert_equal(1, extpower_is_present(), NULL); - - /* Wait long enough for TCPMv2 to be idle. */ - msleep(2000); - - /* - * Pretend that the USB-C Port Manager (TCPMv2) has set the port data - * role to disconnected. - */ - task_set_event(TASK_ID_USB_CHG_P0, USB_CHG_EVENT_CC_OPEN); - task_set_event(TASK_ID_USB_CHG_P1, USB_CHG_EVENT_CC_OPEN); - msleep(1); - /* - * Expect the pi3usb9201 driver to configure power down mode and mask - * interrupts. - */ - pi3usb9201_emul_get_reg(emul, PI3USB9201_REG_CTRL_1, &a); - b = PI3USB9201_POWER_DOWN << PI3USB9201_REG_CTRL_1_MODE_SHIFT; - b |= PI3USB9201_REG_CTRL_1_INT_MASK; - zassert_equal(a, b, NULL); - - test_bc12_pi3usb9201_host_mode(); - - for (int c = CHG_OTHER; c <= CHG_DCP; c++) { - test_bc12_pi3usb9201_client_mode(c, - bc12_chg_limits[c].supplier, - bc12_chg_limits[c].current_limit); - } -} - -void test_suite_bc12(void) -{ - ztest_test_suite(bc12, - ztest_user_unit_test(test_bc12_pi3usb9201)); - ztest_run_test_suite(bc12); -} 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); -} 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); -} diff --git a/zephyr/test/drivers/src/bmi260.c b/zephyr/test/drivers/src/bmi260.c deleted file mode 100644 index 637e5f353b..0000000000 --- a/zephyr/test/drivers/src/bmi260.c +++ /dev/null @@ -1,1864 +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_bmi260.h" -#include "driver/accelgyro_bmi_common.h" - -#define BMI_ORD DT_DEP_ORD(DT_NODELABEL(accel_bmi260)) -#define BMI_ACC_SENSOR_ID SENSOR_ID(DT_NODELABEL(ms_bmi260_accel)) -#define BMI_GYR_SENSOR_ID SENSOR_ID(DT_NODELABEL(ms_bmi260_gyro)) -#define BMI_INT_EVENT \ - TASK_EVENT_MOTION_SENSOR_INTERRUPT(SENSOR_ID(DT_ALIAS(bmi260_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; - uint8_t nv_c; - - emul = bmi_emul_get(BMI_ORD); - ms = &motion_sensors[BMI_ACC_SENSOR_ID]; - - /* Test fail on NV CONF register read and write */ - i2c_common_emul_set_read_fail_reg(emul, BMI260_NV_CONF); - 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, BMI260_NV_CONF); - 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); - - /* Setup NV_CONF register value */ - bmi_emul_set_reg(emul, BMI260_NV_CONF, 0x7); - /* 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); - nv_c = bmi_emul_get_reg(emul, BMI260_NV_CONF); - /* Only ACC_OFFSET_EN bit should be changed */ - zassert_equal(0x7 | BMI260_ACC_OFFSET_EN, nv_c, - "Expected 0x%x, got 0x%x", - 0x7 | BMI260_ACC_OFFSET_EN, nv_c); - - /* Setup NV_CONF register value */ - bmi_emul_set_reg(emul, BMI260_NV_CONF, 0); - /* 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); - nv_c = bmi_emul_get_reg(emul, BMI260_NV_CONF); - /* Only ACC_OFFSET_EN bit should be changed */ - zassert_equal(BMI260_ACC_OFFSET_EN, nv_c, "Expected 0x%x, got 0x%x", - BMI260_ACC_OFFSET_EN, nv_c); -} - -/** - * 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, BMI260_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, BMI260_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, BMI260_OFFSET_GYR70); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_offset(ms, input_v, temp), - NULL); - i2c_common_emul_set_write_fail_reg(emul, BMI260_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, BMI260_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); - /* - * Depending on used range, gyroscope values may be up to 4 bits - * more accurate then offset value resolution. - */ - compare_int3v_eps(exp_v, ret_v, 32); - /* Gyroscope offset should be enabled */ - zassert_true(bmi_emul_get_reg(emul, BMI260_OFFSET_EN_GYR98) & - BMI260_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_eps(exp_v, ret_v, 32); - zassert_true(bmi_emul_get_reg(emul, BMI260_OFFSET_EN_GYR98) & - BMI260_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, BMI260_ACC_RANGE); - - switch (exp_range) { - case 2: - exp_range_reg = BMI260_GSEL_2G; - break; - case 4: - exp_range_reg = BMI260_GSEL_4G; - break; - case 8: - exp_range_reg = BMI260_GSEL_8G; - break; - case 16: - exp_range_reg = BMI260_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, BMI260_ACC_RANGE, BMI260_GSEL_2G); - /* Setup emulator fail on write */ - i2c_common_emul_set_write_fail_reg(emul, BMI260_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(BMI260_GSEL_2G, - bmi_emul_get_reg(emul, BMI260_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(BMI260_GSEL_2G, - bmi_emul_get_reg(emul, BMI260_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, BMI260_GYR_RANGE); - - switch (exp_range) { - case 125: - exp_range_reg = BMI260_DPS_SEL_125; - break; - case 250: - exp_range_reg = BMI260_DPS_SEL_250; - break; - case 500: - exp_range_reg = BMI260_DPS_SEL_500; - break; - case 1000: - exp_range_reg = BMI260_DPS_SEL_1000; - break; - case 2000: - exp_range_reg = BMI260_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, BMI260_GYR_RANGE, BMI260_DPS_SEL_250); - /* Setup emulator fail on write */ - i2c_common_emul_set_write_fail_reg(emul, BMI260_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(BMI260_DPS_SEL_250, - bmi_emul_get_reg(emul, BMI260_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(BMI260_DPS_SEL_250, - bmi_emul_get_reg(emul, BMI260_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, BMI260_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; - uint8_t pwr_ctrl; - 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, BMI260_ACC_CONF); - - /* Setup emulator fail on read */ - i2c_common_emul_set_read_fail_reg(emul, BMI260_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, BMI260_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, BMI260_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, BMI260_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, BMI260_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, BMI260_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 */ - bmi_emul_set_reg(emul, BMI260_PWR_CTRL, - BMI260_AUX_EN | BMI260_GYR_EN | BMI260_ACC_EN); - bmi_emul_set_reg(emul, BMI260_ACC_CONF, BMI260_FILTER_PERF); - zassert_equal(EC_SUCCESS, ms->drv->set_data_rate(ms, 0, 0), NULL); - - pwr_ctrl = bmi_emul_get_reg(emul, BMI260_PWR_CTRL); - reg_rate = bmi_emul_get_reg(emul, BMI260_ACC_CONF); - zassert_equal(BMI260_AUX_EN | BMI260_GYR_EN, pwr_ctrl, NULL); - zassert_true(!(reg_rate & BMI260_FILTER_PERF), NULL); - - /* Test enabling sensor */ - bmi_emul_set_reg(emul, BMI260_PWR_CTRL, 0); - bmi_emul_set_reg(emul, BMI260_ACC_CONF, 0); - zassert_equal(EC_SUCCESS, ms->drv->set_data_rate(ms, 50000, 0), NULL); - - pwr_ctrl = bmi_emul_get_reg(emul, BMI260_PWR_CTRL); - reg_rate = bmi_emul_get_reg(emul, BMI260_ACC_CONF); - zassert_equal(BMI260_ACC_EN, pwr_ctrl, NULL); - zassert_true(reg_rate & BMI260_FILTER_PERF, NULL); -} - -/** - * 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, BMI260_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; - uint8_t pwr_ctrl; - 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, BMI260_GYR_CONF); - - /* Setup emulator fail on read */ - i2c_common_emul_set_read_fail_reg(emul, BMI260_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, BMI260_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, BMI260_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, BMI260_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, BMI260_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, BMI260_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 */ - bmi_emul_set_reg(emul, BMI260_PWR_CTRL, - BMI260_AUX_EN | BMI260_GYR_EN | BMI260_ACC_EN); - bmi_emul_set_reg(emul, BMI260_GYR_CONF, - BMI260_FILTER_PERF | BMI260_GYR_NOISE_PERF); - zassert_equal(EC_SUCCESS, ms->drv->set_data_rate(ms, 0, 0), NULL); - - pwr_ctrl = bmi_emul_get_reg(emul, BMI260_PWR_CTRL); - reg_rate = bmi_emul_get_reg(emul, BMI260_GYR_CONF); - zassert_equal(BMI260_AUX_EN | BMI260_ACC_EN, pwr_ctrl, NULL); - zassert_true(!(reg_rate & (BMI260_FILTER_PERF | BMI260_GYR_NOISE_PERF)), - NULL); - - /* Test enabling sensor */ - bmi_emul_set_reg(emul, BMI260_PWR_CTRL, 0); - bmi_emul_set_reg(emul, BMI260_GYR_CONF, 0); - zassert_equal(EC_SUCCESS, ms->drv->set_data_rate(ms, 50000, 0), NULL); - - pwr_ctrl = bmi_emul_get_reg(emul, BMI260_PWR_CTRL); - reg_rate = bmi_emul_get_reg(emul, BMI260_GYR_CONF); - zassert_equal(BMI260_GYR_EN, pwr_ctrl, NULL); - zassert_true(reg_rate & (BMI260_FILTER_PERF | BMI260_GYR_NOISE_PERF), - NULL); -} - -/** - * 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, BMI260_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, BMI260_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, BMI260_TEMPERATURE_0, 0x00); - bmi_emul_set_reg(emul, BMI260_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, BMI260_TEMPERATURE_0, 0x00); - bmi_emul_set_reg(emul, BMI260_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, BMI260_TEMPERATURE_0, 0xff); - bmi_emul_set_reg(emul, BMI260_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, BMI260_TEMPERATURE_0, 0x01); - bmi_emul_set_reg(emul, BMI260_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, BMI260_TEMPERATURE_0, 0x00); - bmi_emul_set_reg(emul, BMI260_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, BMI260_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, BMI260_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, BMI260_STATUS, BMI260_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, BMI260_STATUS, BMI260_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, BMI260_ACC_X_L_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI260_ACC_X_H_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI260_ACC_Y_L_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI260_ACC_Y_H_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI260_ACC_Z_L_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI260_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, BMI260_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, BMI260_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, BMI260_STATUS, BMI260_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, BMI260_STATUS, BMI260_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, BMI260_GYR_X_L_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI260_GYR_X_H_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI260_GYR_Y_L_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI260_GYR_Y_H_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI260_GYR_Z_L_G); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, ret_v), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI260_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; -} - -/** Test acceleromtere calibration */ -static void test_bmi_acc_perform_calib(void) -{ - struct motion_sensor_t *ms; - struct i2c_emul *emul; - 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_ACC_SENSOR_ID]; - - /* 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] */ - exp_off[0] = -exp_off[0]; - exp_off[1] = -exp_off[1]; - exp_off[2] = BMI_EMUL_1G - 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 read */ - i2c_common_emul_set_read_fail_reg(emul, BMI260_ACC_CONF); - zassert_equal(EC_ERROR_INVAL, ms->drv->perform_calib(ms, 1), NULL); - zassert_equal(range, ms->current_range, NULL); - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - zassert_equal(rate, ms->drv->get_data_rate(ms), NULL); - - /* Test fail on status read */ - i2c_common_emul_set_read_fail_reg(emul, BMI260_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); - - /* Test fail on data not ready */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - bmi_emul_set_reg(emul, BMI260_STATUS, 0); - zassert_equal(EC_ERROR_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 data status ready for rest of the test */ - bmi_emul_set_reg(emul, BMI260_STATUS, BMI260_DRDY_ACC); - - /* Test fail on data read */ - i2c_common_emul_set_read_fail_reg(emul, BMI260_ACC_X_L_G); - 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 setting offset */ - i2c_common_emul_set_read_fail_reg(emul, BMI260_NV_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); - - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* 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_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); -} - -/** Test gyroscope calibration */ -static void test_bmi_gyr_perform_calib(void) -{ - struct motion_sensor_t *ms; - struct i2c_emul *emul; - 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]; - - /* Range and rate cannot change after calibration */ - range = 125; - 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 read */ - i2c_common_emul_set_read_fail_reg(emul, BMI260_GYR_CONF); - zassert_equal(EC_ERROR_INVAL, ms->drv->perform_calib(ms, 1), NULL); - zassert_equal(range, ms->current_range, NULL); - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - zassert_equal(rate, ms->drv->get_data_rate(ms), NULL); - - /* Test fail on status read */ - i2c_common_emul_set_read_fail_reg(emul, BMI260_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); - - /* Test fail on data not ready */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - bmi_emul_set_reg(emul, BMI260_STATUS, 0); - zassert_equal(EC_ERROR_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 data status ready for rest of the test. Gyroscope calibration - * should check DRDY_GYR bit, but current driver check only for ACC. - */ - bmi_emul_set_reg(emul, BMI260_STATUS, - BMI260_DRDY_ACC | BMI260_DRDY_GYR); - - /* Test fail on data read */ - i2c_common_emul_set_read_fail_reg(emul, BMI260_GYR_X_L_G); - 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 setting offset */ - i2c_common_emul_set_read_fail_reg(emul, BMI260_OFFSET_EN_GYR98); - 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); - - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* 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); -} - -/** - * Custom emulatro read function which always return INIT OK status in - * INTERNAL STATUS register. Used in init test. - */ -static int emul_init_ok(struct i2c_emul *emul, int reg, uint8_t *val, int byte, - void *data) -{ - bmi_emul_set_reg(emul, BMI260_INTERNAL_STATUS, BMI260_INIT_OK); - - return 1; -} - -/** Test init function of BMI260 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. It is needed custom function to set value of - * BMI260_INTERNAL_STATUS register, because init function triggers reset - * which clears value set in this register before test. - */ - i2c_common_emul_set_read_func(emul, emul_init_ok, NULL); - zassert_equal(EC_RES_SUCCESS, ms_acc->drv->init(ms_acc), NULL); - - zassert_equal(EC_RES_SUCCESS, ms_gyr->drv->init(ms_gyr), NULL); - - /* Remove custom emulator read function */ - i2c_common_emul_set_read_func(emul, NULL, 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 == BMI260_INT_STATUS_0) { - bmi_emul_set_reg(emul, BMI260_INT_STATUS_0, - d->interrupts & 0xff); - d->interrupts &= 0xff00; - } else if (reg + byte == BMI260_INT_STATUS_1) { - bmi_emul_set_reg(emul, BMI260_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, BMI260_INT_STATUS_0); - zassert_equal(EC_ERROR_INVAL, ms->drv->irq_handler(ms, &event), NULL); - i2c_common_emul_set_read_fail_reg(emul, BMI260_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, BMI260_INT_STATUS_0, 0); - bmi_emul_set_reg(emul, BMI260_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 = BMI260_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 = BMI260_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 = BMI260_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 = BMI260_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 = BMI260_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 = BMI260_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_bmi260(void) -{ - ztest_test_suite(bmi260, - 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(bmi260); -} diff --git a/zephyr/test/drivers/src/espi.c b/zephyr/test/drivers/src/espi.c deleted file mode 100644 index c852f1b771..0000000000 --- a/zephyr/test/drivers/src/espi.c +++ /dev/null @@ -1,35 +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 "ec_commands.h" -#include "host_command.h" - -static void test_host_command_get_protocol_info(void) -{ - struct ec_response_get_protocol_info response; - struct host_cmd_handler_args args = - BUILD_HOST_COMMAND(EC_CMD_GET_PROTOCOL_INFO, 0, response); - - zassert_ok(host_command_process(&args), NULL); - zassert_ok(args.result, NULL); - zassert_equal(args.response_size, sizeof(response), NULL); - zassert_equal(response.protocol_versions, BIT(3), NULL); - zassert_equal(response.max_request_packet_size, EC_LPC_HOST_PACKET_SIZE, - NULL); - zassert_equal(response.max_response_packet_size, - EC_LPC_HOST_PACKET_SIZE, NULL); - zassert_equal(response.flags, 0, NULL); -} - -void test_suite_espi(void) -{ - ztest_test_suite(espi, - ztest_user_unit_test( - test_host_command_get_protocol_info)); - ztest_run_test_suite(espi); -} diff --git a/zephyr/test/drivers/src/lis2dw12.c b/zephyr/test/drivers/src/lis2dw12.c deleted file mode 100644 index 287430e65b..0000000000 --- a/zephyr/test/drivers/src/lis2dw12.c +++ /dev/null @@ -1,119 +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 <ztest.h> -#include <drivers/emul.h> -#include "driver/accel_lis2dw12.h" -#include "emul/emul_common_i2c.h" -#include "emul/emul_lis2dw12.h" - -#define LIS2DW12_NODELABEL DT_NODELABEL(ms_lis2dw12_accel) -#define LIS2DW12_SENSOR_ID SENSOR_ID(LIS2DW12_NODELABEL) -#define EMUL_LABEL DT_LABEL(DT_NODELABEL(lis2dw12_emul)) - -#include <stdio.h> -static void lis2dw12_setup(void) -{ - lis2dw12_emul_reset(emul_get_binding(EMUL_LABEL)); -} - -static void test_lis2dw12_init__fail_read_who_am_i(void) -{ - const struct emul *emul = emul_get_binding(EMUL_LABEL); - struct motion_sensor_t *ms = &motion_sensors[LIS2DW12_SENSOR_ID]; - int rv; - - i2c_common_emul_set_read_fail_reg(lis2dw12_emul_to_i2c_emul(emul), - LIS2DW12_WHO_AM_I_REG); - rv = ms->drv->init(ms); - zassert_equal(EC_ERROR_INVAL, rv, NULL); -} - -static void test_lis2dw12_init__fail_who_am_i(void) -{ - const struct emul *emul = emul_get_binding(EMUL_LABEL); - struct motion_sensor_t *ms = &motion_sensors[LIS2DW12_SENSOR_ID]; - int rv; - - lis2dw12_emul_set_who_am_i(emul, ~LIS2DW12_WHO_AM_I); - - rv = ms->drv->init(ms); - zassert_equal(EC_ERROR_ACCESS_DENIED, rv, - "init returned %d but was expecting %d", rv, - EC_ERROR_ACCESS_DENIED); -} - -static void test_lis2dw12_init__fail_write_soft_reset(void) -{ - const struct emul *emul = emul_get_binding(EMUL_LABEL); - struct motion_sensor_t *ms = &motion_sensors[LIS2DW12_SENSOR_ID]; - int rv; - - i2c_common_emul_set_write_fail_reg(lis2dw12_emul_to_i2c_emul(emul), - LIS2DW12_SOFT_RESET_ADDR); - rv = ms->drv->init(ms); - zassert_equal(EC_ERROR_INVAL, rv, NULL); -} - -static void test_lis2dw12_init__timeout_read_soft_reset(void) -{ - const struct emul *emul = emul_get_binding(EMUL_LABEL); - struct motion_sensor_t *ms = &motion_sensors[LIS2DW12_SENSOR_ID]; - int rv; - - i2c_common_emul_set_read_fail_reg(lis2dw12_emul_to_i2c_emul(emul), - LIS2DW12_SOFT_RESET_ADDR); - rv = ms->drv->init(ms); - zassert_equal(EC_ERROR_TIMEOUT, rv, "init returned %d but expected %d", - rv, EC_ERROR_TIMEOUT); -} - -static int lis2dw12_test_mock_write_fail_set_bdu(struct i2c_emul *emul, int reg, - uint8_t val, int bytes, - void *data) -{ - if (reg == LIS2DW12_BDU_ADDR && bytes == 1 && - (val & LIS2DW12_BDU_MASK) != 0) { - return -EIO; - } - return 1; -} - -static void test_lis2dw12_init__fail_set_bdu(void) -{ - const struct emul *emul = emul_get_binding(EMUL_LABEL); - struct motion_sensor_t *ms = &motion_sensors[LIS2DW12_SENSOR_ID]; - int rv; - - i2c_common_emul_set_write_func(lis2dw12_emul_to_i2c_emul(emul), - lis2dw12_test_mock_write_fail_set_bdu, - NULL); - rv = ms->drv->init(ms); - zassert_equal(EC_ERROR_INVAL, rv, "init returned %d but expected %d", - rv, EC_ERROR_INVAL); - zassert_true(lis2dw12_emul_get_soft_reset_count(emul) > 0, - "expected at least one soft reset"); -} - -void test_suite_lis2dw12(void) -{ - ztest_test_suite(lis2dw12, - ztest_unit_test_setup_teardown( - test_lis2dw12_init__fail_read_who_am_i, - lis2dw12_setup, unit_test_noop), - ztest_unit_test_setup_teardown( - test_lis2dw12_init__fail_who_am_i, - lis2dw12_setup, unit_test_noop), - ztest_unit_test_setup_teardown( - test_lis2dw12_init__fail_write_soft_reset, - lis2dw12_setup, unit_test_noop), - ztest_unit_test_setup_teardown( - test_lis2dw12_init__timeout_read_soft_reset, - lis2dw12_setup, unit_test_noop), - ztest_unit_test_setup_teardown( - test_lis2dw12_init__fail_set_bdu, - lis2dw12_setup, unit_test_noop)); - ztest_run_test_suite(lis2dw12); -} diff --git a/zephyr/test/drivers/src/ln9310.c b/zephyr/test/drivers/src/ln9310.c deleted file mode 100644 index 0033931039..0000000000 --- a/zephyr/test/drivers/src/ln9310.c +++ /dev/null @@ -1,50 +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 <ztest.h> -#include <drivers/emul.h> -#include "driver/ln9310.h" -#include "emul/emul_ln9310.h" - -void test_ln9310_2s_no_startup__passes_init(void) -{ - const struct emul *emulator = - emul_get_binding(DT_LABEL(DT_NODELABEL(ln9310))); - - zassert_not_null(emulator, NULL); - - ln9310_emul_set_context(emulator); - ln9310_emul_reset(emulator); - ln9310_emul_set_battery_cell_type(emulator, BATTERY_CELL_TYPE_2S); - ln9310_emul_set_version(emulator, LN9310_BC_STS_C_CHIP_REV_FIXED); - - zassert_ok(ln9310_init(), NULL); - zassert_true(ln9310_emul_is_init(emulator), NULL); -} - -void test_ln9310_3s_no_startup__passes_init(void) -{ - const struct emul *emulator = - emul_get_binding(DT_LABEL(DT_NODELABEL(ln9310))); - - zassert_not_null(emulator, NULL); - - ln9310_emul_set_context(emulator); - ln9310_emul_reset(emulator); - ln9310_emul_set_battery_cell_type(emulator, BATTERY_CELL_TYPE_3S); - ln9310_emul_set_version(emulator, LN9310_BC_STS_C_CHIP_REV_FIXED); - - zassert_ok(ln9310_init(), NULL); - zassert_true(ln9310_emul_is_init(emulator), NULL); -} - -void test_suite_ln9310(void) -{ - ztest_test_suite( - ln9310, - ztest_unit_test(test_ln9310_2s_no_startup__passes_init), - ztest_unit_test(test_ln9310_3s_no_startup__passes_init)); - ztest_run_test_suite(ln9310); -} diff --git a/zephyr/test/drivers/src/main.c b/zephyr/test/drivers/src/main.c deleted file mode 100644 index 8d40bc4373..0000000000 --- a/zephyr/test/drivers/src/main.c +++ /dev/null @@ -1,50 +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 "ec_app_main.h" - -extern void test_suite_battery(void); -extern void test_suite_cbi(void); -extern void test_suite_smart_battery(void); -extern void test_suite_thermistor(void); -extern void test_suite_temp_sensor(void); -extern void test_suite_bma2x2(void); -extern void test_suite_bc12(void); -extern void test_suite_ppc(void); -extern void test_suite_bmi260(void); -extern void test_suite_bmi160(void); -extern void test_suite_tcs3400(void); -extern void test_suite_espi(void); -extern void test_suite_bb_retimer(void); -extern void test_suite_ln9310(void); -extern void test_suite_lis2dw12(void); -extern void test_suite_stm_mems_common(void); - -void test_main(void) -{ - /* Test suites to run before ec_app_main.*/ - - ec_app_main(); - - /* Test suites to run after ec_app_main.*/ - test_suite_battery(); - test_suite_cbi(); - test_suite_smart_battery(); - test_suite_thermistor(); - test_suite_temp_sensor(); - test_suite_bma2x2(); - test_suite_bc12(); - test_suite_ppc(); - test_suite_bmi260(); - test_suite_bmi160(); - test_suite_tcs3400(); - test_suite_espi(); - test_suite_bb_retimer(); - test_suite_ln9310(); - test_suite_lis2dw12(); - test_suite_stm_mems_common(); -} diff --git a/zephyr/test/drivers/src/ppc.c b/zephyr/test/drivers/src/ppc.c deleted file mode 100644 index dced25c227..0000000000 --- a/zephyr/test/drivers/src/ppc.c +++ /dev/null @@ -1,84 +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 <ztest_assert.h> - -#include "emul/emul_syv682x.h" - -#include "stubs.h" -#include "syv682x.h" -#include "timer.h" -#include "usbc_ppc.h" - -#define SYV682X_ORD DT_DEP_ORD(DT_NODELABEL(syv682x_emul)) - -static const int syv682x_port = 1; - -static void test_ppc_syv682x_vbus_enable(void) -{ - struct i2c_emul *emul = syv682x_emul_get(SYV682X_ORD); - uint8_t reg; - - zassert_ok(syv682x_emul_get_reg(emul, SYV682X_CONTROL_1_REG, ®), - "Reading CONTROL_1 failed"); - zassert_equal(reg & SYV682X_CONTROL_1_PWR_ENB, - SYV682X_CONTROL_1_PWR_ENB, "VBUS sourcing disabled"); - zassert_false(ppc_is_sourcing_vbus(syv682x_port), - "PPC sourcing VBUS at beginning of test"); - - zassert_ok(ppc_vbus_source_enable(syv682x_port, true), - "VBUS enable failed"); - zassert_ok(syv682x_emul_get_reg(emul, SYV682X_CONTROL_1_REG, ®), - "Reading CONTROL_1 failed"); - zassert_equal(reg & SYV682X_CONTROL_1_PWR_ENB, 0, - "VBUS sourcing disabled"); - zassert_true(ppc_is_sourcing_vbus(syv682x_port), - "PPC is not sourcing VBUS after VBUS enabled"); -} - -static void test_ppc_syv682x_interrupt(void) -{ - struct i2c_emul *emul = syv682x_emul_get(SYV682X_ORD); - - syv682x_emul_set_status(emul, SYV682X_STATUS_OC_5V); - syv682x_interrupt(syv682x_port); - - /* An OC event less than 100 ms should not cause VBUS to turn off. */ - msleep(50); - syv682x_interrupt(syv682x_port); - zassert_true(ppc_is_sourcing_vbus(syv682x_port), - "PPC is not sourcing VBUS after 50 ms OC"); - /* But one greater than 100 ms should. */ - msleep(60); - syv682x_interrupt(syv682x_port); - zassert_false(ppc_is_sourcing_vbus(syv682x_port), - "PPC is sourcing VBUS after 100 ms OC"); - - syv682x_emul_set_status(emul, 0x0); - /* - * TODO(b/190519131): Organize the tests to be more hermetic and avoid - * the following issue: The driver triggers overcurrent protection. If - * overcurrent protection is triggered 3 times, the TC won't turn the - * port back on without a detach. This could frustrate efforts to test - * the TC. - */ -} - -static void test_ppc_syv682x(void) -{ - zassert_ok(ppc_init(syv682x_port), "PPC init failed"); - - test_ppc_syv682x_vbus_enable(); - test_ppc_syv682x_interrupt(); -} - -void test_suite_ppc(void) -{ - ztest_test_suite(ppc, - ztest_user_unit_test(test_ppc_syv682x)); - ztest_run_test_suite(ppc); -} diff --git a/zephyr/test/drivers/src/smart.c b/zephyr/test/drivers/src/smart.c deleted file mode 100644 index 7c053f1c23..0000000000 --- a/zephyr/test/drivers/src/smart.c +++ /dev/null @@ -1,281 +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_common_i2c.h" -#include "emul/emul_smart_battery.h" - -#include "battery.h" -#include "battery_smart.h" - -#define BATTERY_ORD DT_DEP_ORD(DT_NODELABEL(battery)) - -/** Test all simple getters */ -static void test_battery_getters(void) -{ - struct sbat_emul_bat_data *bat; - struct i2c_emul *emul; - char block[32]; - int expected; - int word; - - emul = sbat_emul_get_ptr(BATTERY_ORD); - bat = sbat_emul_get_bat_data(emul); - - zassert_equal(EC_SUCCESS, battery_get_mode(&word), NULL); - zassert_equal(bat->mode, word, "%d != %d", bat->mode, word); - - expected = 100 * bat->cap / bat->design_cap; - zassert_equal(EC_SUCCESS, battery_state_of_charge_abs(&word), NULL); - zassert_equal(expected, word, "%d != %d", expected, word); - - zassert_equal(EC_SUCCESS, battery_remaining_capacity(&word), NULL); - zassert_equal(bat->cap, word, "%d != %d", bat->cap, word); - zassert_equal(EC_SUCCESS, battery_full_charge_capacity(&word), NULL); - zassert_equal(bat->full_cap, word, "%d != %d", bat->full_cap, word); - zassert_equal(EC_SUCCESS, battery_cycle_count(&word), NULL); - zassert_equal(bat->cycle_count, word, "%d != %d", - bat->cycle_count, word); - zassert_equal(EC_SUCCESS, battery_design_capacity(&word), NULL); - zassert_equal(bat->design_cap, word, "%d != %d", bat->design_cap, word); - zassert_equal(EC_SUCCESS, battery_design_voltage(&word), NULL); - zassert_equal(bat->design_mv, word, "%d != %d", bat->design_mv, word); - zassert_equal(EC_SUCCESS, battery_serial_number(&word), NULL); - zassert_equal(bat->sn, word, "%d != %d", bat->sn, word); - zassert_equal(EC_SUCCESS, get_battery_manufacturer_name(block, 32), - NULL); - zassert_mem_equal(block, bat->mf_name, bat->mf_name_len, - "%s != %s", block, bat->mf_name); - zassert_equal(EC_SUCCESS, battery_device_name(block, 32), NULL); - zassert_mem_equal(block, bat->dev_name, bat->dev_name_len, - "%s != %s", block, bat->dev_name); - zassert_equal(EC_SUCCESS, battery_device_chemistry(block, 32), NULL); - zassert_mem_equal(block, bat->dev_chem, bat->dev_chem_len, - "%s != %s", block, bat->dev_chem); - word = battery_get_avg_current(); - zassert_equal(bat->avg_cur, word, "%d != %d", bat->avg_cur, word); - - bat->avg_cur = 200; - expected = (bat->full_cap - bat->cap) * 60 / bat->avg_cur; - zassert_equal(EC_SUCCESS, battery_time_to_full(&word), NULL); - zassert_equal(expected, word, "%d != %d", expected, word); - - bat->cur = -200; - expected = bat->cap * 60 / (-bat->cur); - zassert_equal(EC_SUCCESS, battery_run_time_to_empty(&word), NULL); - zassert_equal(expected, word, "%d != %d", expected, word); - - bat->avg_cur = -200; - expected = bat->cap * 60 / (-bat->avg_cur); - zassert_equal(EC_SUCCESS, battery_time_to_empty(&word), NULL); - zassert_equal(expected, word, "%d != %d", expected, word); -} - -/** Test battery status */ -static void test_battery_status(void) -{ - struct sbat_emul_bat_data *bat; - struct i2c_emul *emul; - int expected; - int status; - - emul = sbat_emul_get_ptr(BATTERY_ORD); - bat = sbat_emul_get_bat_data(emul); - - bat->status = 0; - bat->cur = -200; - bat->cap_alarm = 0; - bat->time_alarm = 0; - bat->cap = bat->full_cap / 2; - bat->error_code = STATUS_CODE_OVERUNDERFLOW; - - expected = 0; - expected |= STATUS_DISCHARGING; - expected |= STATUS_CODE_OVERUNDERFLOW; - - zassert_equal(EC_SUCCESS, battery_status(&status), NULL); - zassert_equal(expected, status, "%d != %d", expected, status); -} - -/** Test wait for stable function */ -static void test_battery_wait_for_stable(void) -{ - struct i2c_emul *emul; - - emul = sbat_emul_get_ptr(BATTERY_ORD); - - /* Should fail when read function always fail */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_FAIL_ALL_REG); - zassert_equal(EC_ERROR_NOT_POWERED, battery_wait_for_stable(), NULL); - - /* Should be ok with default handler */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - zassert_equal(EC_SUCCESS, battery_wait_for_stable(), NULL); -} - -/** Test manufacture date */ -static void test_battery_manufacture_date(void) -{ - struct sbat_emul_bat_data *bat; - struct i2c_emul *emul; - int day, month, year; - int exp_month = 5; - int exp_year = 2018; - int exp_day = 19; - uint16_t date; - - emul = sbat_emul_get_ptr(BATTERY_ORD); - bat = sbat_emul_get_bat_data(emul); - - date = sbat_emul_date_to_word(exp_day, exp_month, exp_year); - bat->mf_date = date; - - zassert_equal(EC_SUCCESS, battery_manufacture_date(&year, &month, &day), - NULL); - zassert_equal(exp_day, day, "%d != %d", exp_day, day); - zassert_equal(exp_month, month, "%d != %d", exp_month, month); - zassert_equal(exp_year, year, "%d != %d", exp_year, year); -} - -/** Test time at rate */ -static void test_battery_time_at_rate(void) -{ - struct sbat_emul_bat_data *bat; - struct i2c_emul *emul; - int expect_time; - int minutes; - int rate; - - emul = sbat_emul_get_ptr(BATTERY_ORD); - bat = sbat_emul_get_bat_data(emul); - - /* 3000mAh at rate 300mA will be discharged in 10h */ - bat->cap = 3000; - rate = -300; - expect_time = 600; - - zassert_equal(EC_SUCCESS, battery_time_at_rate(rate, &minutes), NULL); - zassert_equal(expect_time, minutes, "%d != %d", expect_time, minutes); - - /* 1000mAh at rate 1000mA will be charged in 1h */ - bat->cap = bat->full_cap - 1000; - rate = 1000; - /* battery_time_at_rate report time to full as negative number */ - expect_time = -60; - - zassert_equal(EC_SUCCESS, battery_time_at_rate(rate, &minutes), NULL); - zassert_equal(expect_time, minutes, "%d != %d", expect_time, minutes); -} - -/** Test battery get params */ -static void test_battery_get_params(void) -{ - struct sbat_emul_bat_data *bat; - struct batt_params batt; - struct i2c_emul *emul; - int flags; - - emul = sbat_emul_get_ptr(BATTERY_ORD); - bat = sbat_emul_get_bat_data(emul); - - /* Battery wants to charge */ - bat->desired_charg_cur = 1000; - bat->desired_charg_volt = 5000; - - /* Fail temperature read */ - i2c_common_emul_set_read_fail_reg(emul, SB_TEMPERATURE); - flags = BATT_FLAG_WANT_CHARGE | BATT_FLAG_RESPONSIVE | - BATT_FLAG_BAD_TEMPERATURE; - battery_get_params(&batt); - zassert_equal(flags, batt.flags, "0x%x != 0x%x", flags, batt.flags); - - /* Fail state of charge read; want charge cannot be set */ - i2c_common_emul_set_read_fail_reg(emul, SB_RELATIVE_STATE_OF_CHARGE); - flags = BATT_FLAG_RESPONSIVE | BATT_FLAG_BAD_STATE_OF_CHARGE; - battery_get_params(&batt); - zassert_equal(flags, batt.flags, "0x%x != 0x%x", flags, batt.flags); - - /* Fail voltage read */ - i2c_common_emul_set_read_fail_reg(emul, SB_VOLTAGE); - flags = BATT_FLAG_WANT_CHARGE | BATT_FLAG_RESPONSIVE | - BATT_FLAG_BAD_VOLTAGE; - battery_get_params(&batt); - zassert_equal(flags, batt.flags, "0x%x != 0x%x", flags, batt.flags); - - /* Fail current read */ - i2c_common_emul_set_read_fail_reg(emul, SB_CURRENT); - flags = BATT_FLAG_WANT_CHARGE | BATT_FLAG_RESPONSIVE | - BATT_FLAG_BAD_CURRENT; - battery_get_params(&batt); - zassert_equal(flags, batt.flags, "0x%x != 0x%x", flags, batt.flags); - - /* Fail average current read */ - i2c_common_emul_set_read_fail_reg(emul, SB_AVERAGE_CURRENT); - flags = BATT_FLAG_WANT_CHARGE | BATT_FLAG_RESPONSIVE | - BATT_FLAG_BAD_AVERAGE_CURRENT; - battery_get_params(&batt); - zassert_equal(flags, batt.flags, "0x%x != 0x%x", flags, batt.flags); - - /* Fail charging voltage read; want charge cannot be set */ - i2c_common_emul_set_read_fail_reg(emul, SB_CHARGING_VOLTAGE); - flags = BATT_FLAG_RESPONSIVE | BATT_FLAG_BAD_DESIRED_VOLTAGE; - battery_get_params(&batt); - zassert_equal(flags, batt.flags, "0x%x != 0x%x", flags, batt.flags); - - /* Fail charging voltage read; want charge cannot be set */ - i2c_common_emul_set_read_fail_reg(emul, SB_CHARGING_CURRENT); - flags = BATT_FLAG_RESPONSIVE | BATT_FLAG_BAD_DESIRED_CURRENT; - battery_get_params(&batt); - zassert_equal(flags, batt.flags, "0x%x != 0x%x", flags, batt.flags); - - /* Fail remaining capacity read */ - i2c_common_emul_set_read_fail_reg(emul, SB_REMAINING_CAPACITY); - flags = BATT_FLAG_WANT_CHARGE | BATT_FLAG_RESPONSIVE | - BATT_FLAG_BAD_REMAINING_CAPACITY; - battery_get_params(&batt); - zassert_equal(flags, batt.flags, "0x%x != 0x%x", flags, batt.flags); - - /* Fail full capacity read */ - i2c_common_emul_set_read_fail_reg(emul, SB_FULL_CHARGE_CAPACITY); - flags = BATT_FLAG_WANT_CHARGE | BATT_FLAG_RESPONSIVE | - BATT_FLAG_BAD_FULL_CAPACITY; - battery_get_params(&batt); - zassert_equal(flags, batt.flags, "0x%x != 0x%x", flags, batt.flags); - - /* Fail status read */ - i2c_common_emul_set_read_fail_reg(emul, SB_BATTERY_STATUS); - flags = BATT_FLAG_WANT_CHARGE | BATT_FLAG_RESPONSIVE | - BATT_FLAG_BAD_STATUS; - battery_get_params(&batt); - zassert_equal(flags, batt.flags, "0x%x != 0x%x", flags, batt.flags); - - /* Fail all */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_FAIL_ALL_REG); - flags = BATT_FLAG_BAD_ANY; - battery_get_params(&batt); - zassert_equal(flags, batt.flags, "0x%x != 0x%x", flags, batt.flags); - - /* Use default handler, everything should be ok */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - flags = BATT_FLAG_WANT_CHARGE | BATT_FLAG_RESPONSIVE; - battery_get_params(&batt); - zassert_equal(flags, batt.flags, "0x%x != 0x%x", flags, batt.flags); -} - -void test_suite_smart_battery(void) -{ - ztest_test_suite(smart_battery, - ztest_user_unit_test(test_battery_getters), - ztest_user_unit_test(test_battery_status), - ztest_user_unit_test(test_battery_wait_for_stable), - ztest_user_unit_test(test_battery_manufacture_date), - ztest_user_unit_test(test_battery_time_at_rate), - ztest_user_unit_test(test_battery_get_params)); - ztest_run_test_suite(smart_battery); -} diff --git a/zephyr/test/drivers/src/stm_mems_common.c b/zephyr/test/drivers/src/stm_mems_common.c deleted file mode 100644 index 3085007f4d..0000000000 --- a/zephyr/test/drivers/src/stm_mems_common.c +++ /dev/null @@ -1,56 +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 <ztest.h> -#include <device.h> -#include <devicetree.h> -#include <errno.h> - -#include "common.h" -#include "driver/stm_mems_common.h" -#include "emul/emul_common_i2c.h" -#include "emul/i2c_mock.h" -#include "i2c/i2c.h" - -#define MOCK_EMUL emul_get_binding(DT_LABEL(DT_NODELABEL(i2c_mock))) - -static void setup(void) -{ - i2c_mock_reset(MOCK_EMUL); -} - -static int mock_read_fn(struct i2c_emul *emul, int reg, uint8_t *val, int bytes, - void *data) -{ - ztest_check_expected_value(reg); - ztest_check_expected_value(bytes); - return ztest_get_return_value(); -} - -static void test_st_raw_read_n(void) -{ - const struct emul *emul = MOCK_EMUL; - struct i2c_emul *i2c_emul = i2c_mock_to_i2c_emul(emul); - int rv; - - i2c_common_emul_set_read_func(i2c_emul, mock_read_fn, NULL); - ztest_expect_value(mock_read_fn, reg, 0x80); - ztest_expect_value(mock_read_fn, bytes, 0); - ztest_returns_value(mock_read_fn, -EIO); - - rv = st_raw_read_n(I2C_PORT_POWER, i2c_mock_get_addr(emul), 0, NULL, 2); - /* The shim layer translates -EIO to EC_ERROR_INVAL. */ - zassert_equal(rv, EC_ERROR_INVAL, "rv was %d but expected %d", rv, - EC_ERROR_INVAL); -} - -void test_suite_stm_mems_common(void) -{ - ztest_test_suite(stm_mems_common, - ztest_unit_test_setup_teardown( - test_st_raw_read_n, - setup, unit_test_noop)); - ztest_run_test_suite(stm_mems_common); -} diff --git a/zephyr/test/drivers/src/stubs.c b/zephyr/test/drivers/src/stubs.c deleted file mode 100644 index 6dab320b9a..0000000000 --- a/zephyr/test/drivers/src/stubs.c +++ /dev/null @@ -1,233 +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 "battery.h" -#include "battery_fuel_gauge.h" -#include "bc12/pi3usb9201_public.h" -#include "charge_ramp.h" -#include "charger.h" -#include "charger/isl9241_public.h" -#include "config.h" -#include "i2c/i2c.h" -#include "power.h" -#include "ppc/sn5s330_public.h" -#include "ppc/syv682x_public.h" -#include "retimer/bb_retimer_public.h" -#include "stubs.h" -#include "tcpm/tusb422_public.h" -#include "tcpm/tusb422_public.h" -#include "usb_mux.h" -#include "usb_pd_tcpm.h" -#include "usbc_ppc.h" - -/* All of these definitions are just to get the test to link. None of these - * functions are useful or behave as they should. Please remove them once the - * real code is able to be added. Most of the things here should either be - * in emulators or in the native_posix board-specific code or part of the - * device tree. - */ - -/* BC1.2 charger detect configuration */ -const struct pi3usb9201_config_t pi3usb9201_bc12_chips[] = { - [USBC_PORT_C0] = { - .i2c_port = I2C_PORT_USB_C0, - .i2c_addr_flags = PI3USB9201_I2C_ADDR_3_FLAGS, - }, - [USBC_PORT_C1] = { - .i2c_port = I2C_PORT_USB_C1, - .i2c_addr_flags = PI3USB9201_I2C_ADDR_1_FLAGS, - }, -}; -BUILD_ASSERT(ARRAY_SIZE(pi3usb9201_bc12_chips) == USBC_PORT_COUNT); - -/* Charger Chip Configuration */ -const struct charger_config_t chg_chips[] = { - { - .i2c_port = I2C_PORT_CHARGER, - .i2c_addr_flags = ISL9241_ADDR_FLAGS, - .drv = &isl9241_drv, - }, -}; - -const struct board_batt_params board_battery_info[] = { - /* LGC\011 L17L3PB0 Battery Information */ - /* - * Battery info provided by ODM on b/143477210, comment #11 - */ - [BATTERY_LGC011] = { - .fuel_gauge = { - .manuf_name = "LGC", - .ship_mode = { - .reg_addr = 0x00, - .reg_data = { 0x10, 0x10 }, - }, - .fet = { - .reg_addr = 0x0, - .reg_mask = 0x6000, - .disconnect_val = 0x6000, - } - }, - .batt_info = { - .voltage_max = TARGET_WITH_MARGIN(13200, 5), - .voltage_normal = 11550, /* mV */ - .voltage_min = 9000, /* mV */ - .precharge_current = 256, /* mA */ - .start_charging_min_c = 0, - .start_charging_max_c = 45, - .charging_min_c = 0, - .charging_max_c = 60, - .discharging_min_c = 0, - .discharging_max_c = 75, - }, - }, -}; -BUILD_ASSERT(ARRAY_SIZE(board_battery_info) == BATTERY_TYPE_COUNT); - -const enum battery_type DEFAULT_BATTERY_TYPE = BATTERY_LGC011; - -int board_set_active_charge_port(int port) -{ - return EC_SUCCESS; -} - -int board_is_vbus_too_low(int port, enum chg_ramp_vbus_state ramp_state) -{ - return 0; -} - -void board_set_charge_limit(int port, int supplier, int charge_ma, int max_ma, - int charge_mv) -{ -} - -struct tcpc_config_t tcpc_config[] = { - [USBC_PORT_C0] = { - .bus_type = EC_BUS_TYPE_I2C, - .i2c_info = { - .port = I2C_PORT_USB_C0, - .addr_flags = TUSB422_I2C_ADDR_FLAGS, - }, - .drv = &tusb422_tcpm_drv, - }, - [USBC_PORT_C1] = { - .bus_type = EC_BUS_TYPE_I2C, - .i2c_info = { - .port = I2C_PORT_USB_C1, - .addr_flags = TUSB422_I2C_ADDR_FLAGS, - }, - .drv = &tusb422_tcpm_drv, - }, -}; -BUILD_ASSERT(ARRAY_SIZE(tcpc_config) == USBC_PORT_COUNT); -BUILD_ASSERT(CONFIG_USB_PD_PORT_MAX_COUNT == USBC_PORT_COUNT); - -int board_is_sourcing_vbus(int port) -{ - return 0; -} - -struct usb_mux usbc1_virtual_usb_mux = { - .usb_port = USBC_PORT_C1, - .driver = &virtual_usb_mux_driver, - .hpd_update = &virtual_hpd_update, -}; - -struct usb_mux usb_muxes[] = { - [USBC_PORT_C0] = { - .usb_port = USBC_PORT_C0, - .driver = &virtual_usb_mux_driver, - .hpd_update = &virtual_hpd_update, - }, - [USBC_PORT_C1] = { - .usb_port = USBC_PORT_C1, - .driver = &bb_usb_retimer, - .hpd_update = bb_retimer_hpd_update, - .next_mux = &usbc1_virtual_usb_mux, - .i2c_port = I2C_PORT_USB_C1, - .i2c_addr_flags = DT_REG_ADDR(DT_NODELABEL( - usb_c1_bb_retimer_emul)), - }, -}; -BUILD_ASSERT(ARRAY_SIZE(usb_muxes) == USBC_PORT_COUNT); - -struct bb_usb_control bb_controls[] = { - [USBC_PORT_C0] = { - /* USB-C port 0 doesn't have a retimer */ - }, - [USBC_PORT_C1] = { - .usb_ls_en_gpio = GPIO_USB_C1_LS_EN, - .retimer_rst_gpio = GPIO_USB_C1_RT_RST_ODL, - }, -}; -BUILD_ASSERT(ARRAY_SIZE(bb_controls) == USBC_PORT_COUNT); - -void pd_power_supply_reset(int port) -{ -} - -int pd_check_vconn_swap(int port) -{ - return 0; -} - -int pd_set_power_supply_ready(int port) -{ - return EC_SUCCESS; -} - -/* USBC PPC configuration */ -struct ppc_config_t ppc_chips[] = { - [USBC_PORT_C0] = { - .i2c_port = I2C_PORT_USB_C0, - .i2c_addr_flags = SN5S330_ADDR0_FLAGS, - .drv = &sn5s330_drv, - }, - [USBC_PORT_C1] = { - .i2c_port = I2C_PORT_USB_C1, - .i2c_addr_flags = SYV682X_ADDR1_FLAGS, - /* TODO(b/190519131): Add FRS GPIO, test FRS */ - .drv = &syv682x_drv, - }, -}; -BUILD_ASSERT(ARRAY_SIZE(ppc_chips) == USBC_PORT_COUNT); -unsigned int ppc_cnt = ARRAY_SIZE(ppc_chips); - -void system_hibernate(uint32_t seconds, uint32_t microseconds) -{ -} - -uint16_t tcpc_get_alert_status(void) -{ - return 0; -} - -enum power_state power_chipset_init(void) -{ - return POWER_G3; -} - -enum power_state mock_state = POWER_G3; - -void set_mock_power_state(enum power_state state) -{ - mock_state = state; - task_wake(TASK_ID_CHIPSET); -} - -enum power_state power_handle_state(enum power_state state) -{ - return mock_state; -} - -void chipset_reset(enum chipset_reset_reason reason) -{ -} - -void chipset_force_shutdown(enum chipset_shutdown_reason reason) -{ -} - -/* Power signals list. Must match order of enum power_signal. */ -const struct power_signal_info power_signal_list[] = {}; diff --git a/zephyr/test/drivers/src/tcs3400.c b/zephyr/test/drivers/src/tcs3400.c deleted file mode 100644 index c20137c1ad..0000000000 --- a/zephyr/test/drivers/src/tcs3400.c +++ /dev/null @@ -1,622 +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_tcs3400.h" -#include "emul/emul_common_i2c.h" - -#include "motion_sense.h" -#include "motion_sense_fifo.h" -#include "driver/als_tcs3400.h" - -#define TCS_ORD DT_DEP_ORD(DT_NODELABEL(tcs_emul)) -#define TCS_CLR_SENSOR_ID SENSOR_ID(DT_NODELABEL(tcs3400_clear)) -#define TCS_RGB_SENSOR_ID SENSOR_ID(DT_NODELABEL(tcs3400_rgb)) -#define TCS_INT_EVENT \ - TASK_EVENT_MOTION_SENSOR_INTERRUPT(SENSOR_ID(DT_ALIAS(tcs3400_int))) - -/** How accurate comparision of rgb sensors should be */ -#define V_EPS 8 - -/** Test initialization of light sensor driver and device */ -static void test_tcs_init(void) -{ - struct motion_sensor_t *ms, *ms_rgb; - struct i2c_emul *emul; - - emul = tcs_emul_get(TCS_ORD); - ms = &motion_sensors[TCS_CLR_SENSOR_ID]; - ms_rgb = &motion_sensors[TCS_RGB_SENSOR_ID]; - - /* RGB sensor initialization is always successful */ - zassert_equal(EC_SUCCESS, ms_rgb->drv->init(ms_rgb), NULL); - - /* Fail init on communication errors */ - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_FAIL_ALL_REG); - zassert_equal(EC_ERROR_INVAL, ms->drv->init(ms), NULL); - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Fail on bad ID */ - tcs_emul_set_reg(emul, TCS_I2C_ID, 0); - zassert_equal(EC_ERROR_ACCESS_DENIED, ms->drv->init(ms), NULL); - /* Restore ID */ - tcs_emul_set_reg(emul, TCS_I2C_ID, - DT_STRING_TOKEN(DT_NODELABEL(tcs_emul), device_id)); - - /* Test successful init. ATIME and AGAIN should be changed on init */ - zassert_equal(EC_SUCCESS, ms->drv->init(ms), NULL); - zassert_equal(TCS_DEFAULT_ATIME, - tcs_emul_get_reg(emul, TCS_I2C_ATIME), NULL); - zassert_equal(TCS_DEFAULT_AGAIN, - tcs_emul_get_reg(emul, TCS_I2C_CONTROL), NULL); -} - -/** Test if read function leaves device in correct mode to accuire data */ -static void test_tcs_read(void) -{ - struct motion_sensor_t *ms; - struct i2c_emul *emul; - uint8_t enable; - intv3_t v; - - emul = tcs_emul_get(TCS_ORD); - ms = &motion_sensors[TCS_CLR_SENSOR_ID]; - - /* Test error on writing registers */ - i2c_common_emul_set_write_fail_reg(emul, TCS_I2C_ATIME); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, v), NULL); - i2c_common_emul_set_write_fail_reg(emul, TCS_I2C_CONTROL); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, v), NULL); - i2c_common_emul_set_write_fail_reg(emul, TCS_I2C_ENABLE); - zassert_equal(EC_ERROR_INVAL, ms->drv->read(ms, v), NULL); - i2c_common_emul_set_write_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Test starting read with calibration */ - tcs_emul_set_reg(emul, TCS_I2C_ATIME, 0); - tcs_emul_set_reg(emul, TCS_I2C_CONTROL, 0); - tcs_emul_set_reg(emul, TCS_I2C_ENABLE, 0); - zassert_equal(EC_SUCCESS, ms->drv->perform_calib(ms, 1), NULL); - zassert_equal(EC_RES_IN_PROGRESS, ms->drv->read(ms, v), NULL); - zassert_equal(TCS_CALIBRATION_ATIME, - tcs_emul_get_reg(emul, TCS_I2C_ATIME), NULL); - zassert_equal(TCS_CALIBRATION_AGAIN, - tcs_emul_get_reg(emul, TCS_I2C_CONTROL), NULL); - enable = tcs_emul_get_reg(emul, TCS_I2C_ENABLE); - zassert_true(enable & TCS_I2C_ENABLE_POWER_ON, NULL); - zassert_true(enable & TCS_I2C_ENABLE_ADC_ENABLE, NULL); - zassert_true(enable & TCS_I2C_ENABLE_INT_ENABLE, NULL); - - /* Test starting read without calibration */ - tcs_emul_set_reg(emul, TCS_I2C_ATIME, 0); - tcs_emul_set_reg(emul, TCS_I2C_CONTROL, 0); - tcs_emul_set_reg(emul, TCS_I2C_ENABLE, 0); - zassert_equal(EC_SUCCESS, ms->drv->perform_calib(ms, 0), NULL); - zassert_equal(EC_RES_IN_PROGRESS, ms->drv->read(ms, v), NULL); - enable = tcs_emul_get_reg(emul, TCS_I2C_ENABLE); - zassert_true(enable & TCS_I2C_ENABLE_POWER_ON, NULL); - zassert_true(enable & TCS_I2C_ENABLE_ADC_ENABLE, NULL); - zassert_true(enable & TCS_I2C_ENABLE_INT_ENABLE, NULL); -} - -/** Check if FIFO for RGB and clear sensor is empty */ -static void check_fifo_empty_f(struct motion_sensor_t *ms, - struct motion_sensor_t *ms_rgb, int line) -{ - struct ec_response_motion_sensor_data vector; - uint16_t size; - - /* 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; - } - - if (ms - motion_sensors == vector.sensor_num) { - zassert_unreachable( - "Unexpected frame for clear sensor"); - } - - if (ms_rgb - motion_sensors == vector.sensor_num) { - zassert_unreachable("Unexpected frame for rgb sensor"); - } - } -} -#define check_fifo_empty(ms, ms_rgb) \ - check_fifo_empty_f(ms, ms_rgb, __LINE__) - -/** - * Test different conditions where irq handler fail or commit no data - * to fifo - */ -static void test_tcs_irq_handler_fail(void) -{ - struct motion_sensor_t *ms, *ms_rgb; - struct i2c_emul *emul; - uint32_t event; - - emul = tcs_emul_get(TCS_ORD); - ms = &motion_sensors[TCS_CLR_SENSOR_ID]; - ms_rgb = &motion_sensors[TCS_RGB_SENSOR_ID]; - - /* Fail on wrong event */ - event = 0x1234 & ~TCS_INT_EVENT; - zassert_equal(EC_ERROR_NOT_HANDLED, ms->drv->irq_handler(ms, &event), - NULL); - check_fifo_empty(ms, ms_rgb); - - event = TCS_INT_EVENT; - /* Test error on reading status */ - i2c_common_emul_set_read_fail_reg(emul, TCS_I2C_STATUS); - 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); - check_fifo_empty(ms, ms_rgb); - - /* Test fail on changing device power state */ - i2c_common_emul_set_write_fail_reg(emul, TCS_I2C_ENABLE); - zassert_equal(EC_ERROR_INVAL, ms->drv->irq_handler(ms, &event), NULL); - i2c_common_emul_set_write_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - check_fifo_empty(ms, ms_rgb); - - /* Test that no data is committed when status is 0 */ - tcs_emul_set_reg(emul, TCS_I2C_STATUS, 0); - zassert_equal(EC_SUCCESS, ms->drv->irq_handler(ms, &event), NULL); - check_fifo_empty(ms, ms_rgb); -} - -/** - * Check if last data committed to FIFO for RGB and clear sensor equals to - * expected value. - */ -static void check_fifo_f(struct motion_sensor_t *ms, - struct motion_sensor_t *ms_rgb, - int *exp_v, int eps, int line) -{ - struct ec_response_motion_sensor_data vector; - uint16_t size; - int ret_v[4] = {-1, -1, -1, -1}; - int i; - - /* 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; - } - - /* Get clear frame */ - if (ms - motion_sensors == vector.sensor_num) { - ret_v[0] = vector.udata[0]; - } - - /* Get rgb frame */ - if (ms_rgb - motion_sensors == vector.sensor_num) { - ret_v[1] = vector.udata[0]; - ret_v[2] = vector.udata[1]; - ret_v[3] = vector.udata[2]; - } - } - - if (ret_v[0] == -1) { - zassert_unreachable("No frame for clear sensor, line %d", line); - } - - if (ret_v[1] == -1) { - zassert_unreachable("No frame for rgb sensor, line %d", line); - } - - /* Compare with last committed data */ - for (i = 0; i < 4; i++) { - zassert_within(exp_v[i], ret_v[i], eps, - "Expected [%d; %d; %d; %d], got [%d; %d; %d; %d]; line: %d", - exp_v[0], exp_v[1], exp_v[2], exp_v[3], - ret_v[0], ret_v[1], ret_v[2], ret_v[3], line); - } -} -#define check_fifo(ms, ms_rgb, exp_v, eps) \ - check_fifo_f(ms, ms_rgb, exp_v, eps, __LINE__) - -/** Test calibration mode reading of light sensor values */ -static void test_tcs_read_calibration(void) -{ - struct motion_sensor_t *ms, *ms_rgb; - struct i2c_emul *emul; - uint32_t event = TCS_INT_EVENT; - int emul_v[4]; - int exp_v[4]; - intv3_t v; - - emul = tcs_emul_get(TCS_ORD); - ms = &motion_sensors[TCS_CLR_SENSOR_ID]; - ms_rgb = &motion_sensors[TCS_RGB_SENSOR_ID]; - - /* Need to be set to collect all data in FIFO */ - ms->oversampling_ratio = 1; - ms_rgb->oversampling_ratio = 1; - /* Enable calibration mode */ - zassert_equal(EC_SUCCESS, ms->drv->perform_calib(ms, 1), NULL); - /* Setup AGAIN and ATIME for calibration */ - zassert_equal(EC_RES_IN_PROGRESS, ms->drv->read(ms, v), NULL); - - /* Test data that are in calibration range */ - exp_v[0] = 12; - exp_v[1] = 123; - exp_v[2] = 1234; - exp_v[3] = 12345; - /* - * Emulator value is with gain 64, while expected value is - * with gain 16 - */ - emul_v[0] = exp_v[0] * 64 / 16; - emul_v[1] = exp_v[1] * 64 / 16; - emul_v[2] = exp_v[2] * 64 / 16; - emul_v[3] = exp_v[3] * 64 / 16; - tcs_emul_set_val(emul, TCS_EMUL_C, emul_v[0]); - tcs_emul_set_val(emul, TCS_EMUL_R, emul_v[1]); - tcs_emul_set_val(emul, TCS_EMUL_G, emul_v[2]); - tcs_emul_set_val(emul, TCS_EMUL_B, emul_v[3]); - /* Set status to show valid data */ - tcs_emul_set_reg(emul, TCS_I2C_STATUS, TCS_I2C_STATUS_RGBC_VALID); - - zassert_equal(EC_SUCCESS, ms->drv->irq_handler(ms, &event), NULL); - /* In calibration mode check for exact match */ - check_fifo(ms, ms_rgb, exp_v, 1); - - /* Test data that are outside of calibration range */ - exp_v[0] = 0; - exp_v[1] = UINT16_MAX; - exp_v[2] = UINT16_MAX; - exp_v[3] = 213; - /* - * Emulator value is with gain 64, while expected value is - * with gain 16 - */ - emul_v[0] = 0; - emul_v[1] = exp_v[1] * 64 / 16; - emul_v[2] = (UINT16_MAX + 23) * 64 / 16; - emul_v[3] = exp_v[3] * 64 / 16; - tcs_emul_set_val(emul, TCS_EMUL_C, emul_v[0]); - tcs_emul_set_val(emul, TCS_EMUL_R, emul_v[1]); - tcs_emul_set_val(emul, TCS_EMUL_G, emul_v[2]); - tcs_emul_set_val(emul, TCS_EMUL_B, emul_v[3]); - /* Set status to show valid data */ - tcs_emul_set_reg(emul, TCS_I2C_STATUS, TCS_I2C_STATUS_RGBC_VALID); - - zassert_equal(EC_SUCCESS, ms->drv->irq_handler(ms, &event), NULL); - /* In calibration mode check for exact match */ - check_fifo(ms, ms_rgb, exp_v, 1); -} - -/** - * Set emulator internal value using expected output value returned by - * the driver. First element of expected vector is IR value used in - * calculations. Based on that clear light value is calculated. - * First element of expected vector is updated by this function. - */ -static void set_emul_val_from_exp(int *exp_v, uint16_t *scale, - struct i2c_emul *emul) -{ - int emul_v[4]; - int ir; - - /* We use exp_v[0] as IR value */ - ir = exp_v[0]; - /* Driver will return lux value as calculated blue light value */ - exp_v[0] = exp_v[2]; - - /* - * Driver takes care of different ATIME and AGAIN value, so expected - * value is always normalized to ATIME 256 and AGAIN 16. Convert it - * to internal emulator value (ATIME 256, AGAIN 64) and add expected IR - * value. Clear light is the sum of rgb light and IR component. - */ - emul_v[1] = (exp_v[1] + ir) * 64 / 16; - emul_v[2] = (exp_v[2] + ir) * 64 / 16; - emul_v[3] = (exp_v[3] + ir) * 64 / 16; - emul_v[0] = (exp_v[1] + exp_v[2] + exp_v[3] + ir) * 64 / 16; - - /* Apply scale, driver should divide by this value */ - emul_v[0] = SENSOR_APPLY_SCALE(emul_v[0], scale[0]); - emul_v[1] = SENSOR_APPLY_SCALE(emul_v[1], scale[1]); - emul_v[2] = SENSOR_APPLY_SCALE(emul_v[2], scale[2]); - emul_v[3] = SENSOR_APPLY_SCALE(emul_v[3], scale[3]); - - /* Set emulator values */ - tcs_emul_set_val(emul, TCS_EMUL_C, emul_v[0]); - tcs_emul_set_val(emul, TCS_EMUL_R, emul_v[1]); - tcs_emul_set_val(emul, TCS_EMUL_G, emul_v[2]); - tcs_emul_set_val(emul, TCS_EMUL_B, emul_v[3]); -} - -/** Test normal mode reading of light sensor values */ -static void test_tcs_read_xyz(void) -{ - struct motion_sensor_t *ms, *ms_rgb; - struct i2c_emul *emul; - uint32_t event = TCS_INT_EVENT; - /* Expected data to test: IR, R, G, B */ - int exp_v[][4] = { - {200, 1110, 870, 850}, - {300, 1110, 10000, 8500}, - {600, 50000, 40000, 30000}, - {1000, 3000, 40000, 2000}, - {1000, 65000, 65000, 65000}, - {100, 214, 541, 516}, - {143, 2141, 5414, 5163}, - {100, 50000, 40000, 30000}, - {1430, 2141, 5414, 5163}, - {10000, 50000, 40000, 30000}, - {10000, 214, 541, 516}, - {15000, 50000, 40000, 30000}, - }; - uint16_t scale[4] = { - MOTION_SENSE_DEFAULT_SCALE, MOTION_SENSE_DEFAULT_SCALE, - MOTION_SENSE_DEFAULT_SCALE, MOTION_SENSE_DEFAULT_SCALE - }; - int i, test; - intv3_t v; - - emul = tcs_emul_get(TCS_ORD); - ms = &motion_sensors[TCS_CLR_SENSOR_ID]; - ms_rgb = &motion_sensors[TCS_RGB_SENSOR_ID]; - - /* Need to be set to collect all data in FIFO */ - ms->oversampling_ratio = 1; - ms_rgb->oversampling_ratio = 1; - /* Disable calibration mode */ - zassert_equal(EC_SUCCESS, ms->drv->perform_calib(ms, 0), NULL); - /* Setup AGAIN and ATIME for normal mode */ - zassert_equal(EC_RES_IN_PROGRESS, ms->drv->read(ms, v), NULL); - - /* Test different data in supported range */ - for (test = 0; test < ARRAY_SIZE(exp_v); test++) { - set_emul_val_from_exp(exp_v[test], scale, emul); - - /* Run few times to allow driver change gain */ - for (i = 0; i < 5; i++) { - tcs_emul_set_reg(emul, TCS_I2C_STATUS, - TCS_I2C_STATUS_RGBC_VALID); - zassert_equal(EC_SUCCESS, - ms->drv->irq_handler(ms, &event), NULL); - } - check_fifo(ms, ms_rgb, exp_v[test], V_EPS); - } - - /* Test data that are outside of supported range */ - exp_v[0][0] = 3000; - exp_v[0][1] = UINT16_MAX; - exp_v[0][2] = UINT16_MAX * 32; - exp_v[0][3] = 200; - set_emul_val_from_exp(exp_v[0], scale, emul); - - /* Run few times to allow driver change gain */ - for (i = 0; i < 10; i++) { - tcs_emul_set_reg(emul, TCS_I2C_STATUS, - TCS_I2C_STATUS_RGBC_VALID); - zassert_equal(EC_SUCCESS, ms->drv->irq_handler(ms, &event), - NULL); - } - /* - * If saturation value is exceeded on any rgb sensor, than data - * shouldn't be committed to FIFO. - */ - check_fifo_empty(ms, ms_rgb); -} - -/** - * Test getting and setting scale of light sensor. Checks if collected values - * are scaled properly. - */ -static void test_tcs_scale(void) -{ - struct motion_sensor_t *ms, *ms_rgb; - struct i2c_emul *emul; - uint32_t event = TCS_INT_EVENT; - /* Expected data to test: IR, R, G, B */ - int exp_v[][4] = { - {200, 1110, 870, 850}, - {300, 1110, 10000, 8500}, - {600, 5000, 4000, 3000}, - {100, 3000, 4000, 2000}, - {100, 1000, 1000, 1000}, - }; - /* Scale for each test */ - uint16_t exp_scale[][4] = { - {MOTION_SENSE_DEFAULT_SCALE, MOTION_SENSE_DEFAULT_SCALE, - MOTION_SENSE_DEFAULT_SCALE, MOTION_SENSE_DEFAULT_SCALE}, - {MOTION_SENSE_DEFAULT_SCALE + 300, - MOTION_SENSE_DEFAULT_SCALE + 300, - MOTION_SENSE_DEFAULT_SCALE + 300, - MOTION_SENSE_DEFAULT_SCALE + 300}, - {MOTION_SENSE_DEFAULT_SCALE - 300, - MOTION_SENSE_DEFAULT_SCALE - 300, - MOTION_SENSE_DEFAULT_SCALE - 300, - MOTION_SENSE_DEFAULT_SCALE - 300}, - {MOTION_SENSE_DEFAULT_SCALE + 345, - MOTION_SENSE_DEFAULT_SCALE - 5423, - MOTION_SENSE_DEFAULT_SCALE - 30, - MOTION_SENSE_DEFAULT_SCALE + 400}, - {MOTION_SENSE_DEFAULT_SCALE - 345, - MOTION_SENSE_DEFAULT_SCALE + 5423, - MOTION_SENSE_DEFAULT_SCALE + 30, - MOTION_SENSE_DEFAULT_SCALE - 400}, - {MOTION_SENSE_DEFAULT_SCALE, MOTION_SENSE_DEFAULT_SCALE, - MOTION_SENSE_DEFAULT_SCALE, MOTION_SENSE_DEFAULT_SCALE} - }; - uint16_t scale[3]; - int16_t temp; - int i, test; - intv3_t v; - - emul = tcs_emul_get(TCS_ORD); - ms = &motion_sensors[TCS_CLR_SENSOR_ID]; - ms_rgb = &motion_sensors[TCS_RGB_SENSOR_ID]; - - /* Need to be set to collect all data in FIFO */ - ms->oversampling_ratio = 1; - ms_rgb->oversampling_ratio = 1; - /* Disable calibration mode */ - zassert_equal(EC_SUCCESS, ms->drv->perform_calib(ms, 0), NULL); - /* Setup AGAIN and ATIME for normal mode */ - zassert_equal(EC_RES_IN_PROGRESS, ms->drv->read(ms, v), NULL); - - /* Test different data in supported range */ - for (test = 0; test < ARRAY_SIZE(exp_v); test++) { - /* Set and test clear sensor scale */ - zassert_equal(EC_SUCCESS, - ms->drv->set_scale(ms, exp_scale[test], 0), - "test %d", test); - zassert_equal(EC_SUCCESS, - ms->drv->get_scale(ms, scale, &temp), - "test %d", test); - zassert_equal((int16_t)EC_MOTION_SENSE_INVALID_CALIB_TEMP, temp, - "test %d, %d", test, temp); - zassert_equal(exp_scale[test][0], scale[0], "test %d", test); - - /* Set and test RGB sensor scale */ - zassert_equal(EC_SUCCESS, ms_rgb->drv->set_scale(ms_rgb, - &(exp_scale[test][1]), 0), - "test %d", test); - zassert_equal(EC_SUCCESS, - ms_rgb->drv->get_scale(ms_rgb, scale, &temp), - "test %d", test); - zassert_equal((int16_t)EC_MOTION_SENSE_INVALID_CALIB_TEMP, temp, - "test %d", test); - zassert_equal(exp_scale[test][1], scale[0], "test %d", test); - zassert_equal(exp_scale[test][2], scale[1], "test %d", test); - zassert_equal(exp_scale[test][3], scale[2], "test %d", test); - - set_emul_val_from_exp(exp_v[test], exp_scale[test], emul); - - /* Run few times to allow driver change gain */ - for (i = 0; i < 5; i++) { - tcs_emul_set_reg(emul, TCS_I2C_STATUS, - TCS_I2C_STATUS_RGBC_VALID); - zassert_equal(EC_SUCCESS, - ms->drv->irq_handler(ms, &event), NULL); - } - check_fifo(ms, ms_rgb, exp_v[test], V_EPS); - } - - /* Test fail if scale equals 0 */ - scale[0] = 0; - scale[1] = MOTION_SENSE_DEFAULT_SCALE; - scale[2] = MOTION_SENSE_DEFAULT_SCALE; - zassert_equal(EC_ERROR_INVAL, ms->drv->set_scale(ms, scale, 0), NULL); - - zassert_equal(EC_ERROR_INVAL, ms_rgb->drv->set_scale(ms_rgb, scale, 0), - NULL); - scale[0] = MOTION_SENSE_DEFAULT_SCALE; - scale[1] = 0; - scale[2] = MOTION_SENSE_DEFAULT_SCALE; - zassert_equal(EC_ERROR_INVAL, ms_rgb->drv->set_scale(ms_rgb, scale, 0), - NULL); - scale[0] = MOTION_SENSE_DEFAULT_SCALE; - scale[1] = MOTION_SENSE_DEFAULT_SCALE; - scale[2] = 0; - zassert_equal(EC_ERROR_INVAL, ms_rgb->drv->set_scale(ms_rgb, scale, 0), - NULL); -} - -/** Test setting and getting data rate of light sensor */ -static void test_tcs_data_rate(void) -{ - struct motion_sensor_t *ms, *ms_rgb; - struct i2c_emul *emul; - uint8_t enable; - - emul = tcs_emul_get(TCS_ORD); - ms = &motion_sensors[TCS_CLR_SENSOR_ID]; - /* RGB sensor doesn't set rate, but return rate of clear sesnor */ - ms_rgb = &motion_sensors[TCS_RGB_SENSOR_ID]; - - /* Test fail on reading device power state */ - i2c_common_emul_set_read_fail_reg(emul, TCS_I2C_ENABLE); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_data_rate(ms, 0, 0), NULL); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_data_rate(ms, 0, 1), NULL); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_data_rate(ms, 100, 0), NULL); - zassert_equal(EC_ERROR_INVAL, ms->drv->set_data_rate(ms, 100, 1), NULL); - i2c_common_emul_set_read_fail_reg(emul, I2C_COMMON_EMUL_NO_FAIL_REG); - - /* Test setting 0 rate disables device */ - zassert_equal(EC_SUCCESS, ms->drv->set_data_rate(ms, 0, 0), NULL); - zassert_equal(0, tcs_emul_get_reg(emul, TCS_I2C_ENABLE), NULL); - zassert_equal(0, ms->drv->get_data_rate(ms), NULL); - zassert_equal(0, ms_rgb->drv->get_data_rate(ms_rgb), NULL); - - zassert_equal(EC_SUCCESS, ms->drv->set_data_rate(ms, 0, 1), NULL); - zassert_equal(0, tcs_emul_get_reg(emul, TCS_I2C_ENABLE), NULL); - zassert_equal(0, tcs_emul_get_reg(emul, TCS_I2C_ENABLE), NULL); - zassert_equal(0, ms->drv->get_data_rate(ms), NULL); - zassert_equal(0, ms_rgb->drv->get_data_rate(ms_rgb), NULL); - - - /* Test setting non-zero rate enables device */ - zassert_equal(EC_SUCCESS, ms->drv->set_data_rate(ms, 100, 0), NULL); - enable = tcs_emul_get_reg(emul, TCS_I2C_ENABLE); - zassert_true(enable & TCS_I2C_ENABLE_POWER_ON, NULL); - zassert_true(enable & TCS_I2C_ENABLE_ADC_ENABLE, NULL); - zassert_true(enable & TCS_I2C_ENABLE_INT_ENABLE, NULL); - zassert_equal(100, ms->drv->get_data_rate(ms), NULL); - zassert_equal(100, ms_rgb->drv->get_data_rate(ms_rgb), NULL); - - zassert_equal(EC_SUCCESS, ms->drv->set_data_rate(ms, 100, 1), NULL); - enable = tcs_emul_get_reg(emul, TCS_I2C_ENABLE); - zassert_true(enable & TCS_I2C_ENABLE_POWER_ON, NULL); - zassert_true(enable & TCS_I2C_ENABLE_ADC_ENABLE, NULL); - zassert_true(enable & TCS_I2C_ENABLE_INT_ENABLE, NULL); - zassert_equal(100, ms->drv->get_data_rate(ms), NULL); - zassert_equal(100, ms_rgb->drv->get_data_rate(ms_rgb), NULL); - - /* Test RGB sensor doesn't change data rate */ - zassert_equal(EC_SUCCESS, ms_rgb->drv->set_data_rate(ms_rgb, 300, 0), - NULL); - zassert_equal(100, ms->drv->get_data_rate(ms), NULL); - zassert_equal(100, ms_rgb->drv->get_data_rate(ms_rgb), NULL); - - zassert_equal(EC_SUCCESS, ms_rgb->drv->set_data_rate(ms_rgb, 300, 1), - NULL); - zassert_equal(100, ms->drv->get_data_rate(ms), NULL); - zassert_equal(100, ms_rgb->drv->get_data_rate(ms_rgb), NULL); -} - -/** Test set range function of clear and RGB sensors */ -static void test_tcs_set_range(void) -{ - struct motion_sensor_t *ms, *ms_rgb; - struct i2c_emul *emul; - - emul = tcs_emul_get(TCS_ORD); - ms = &motion_sensors[TCS_CLR_SENSOR_ID]; - ms_rgb = &motion_sensors[TCS_RGB_SENSOR_ID]; - - /* RGB sensor doesn't set anything */ - zassert_equal(EC_SUCCESS, ms_rgb->drv->set_range(ms_rgb, 1, 0), NULL); - - /* Clear sensor doesn't change anything on device to set range */ - zassert_equal(EC_SUCCESS, ms->drv->set_range(ms, 0x12300, 1), NULL); - zassert_equal(0x12300, ms->current_range, NULL); - - zassert_equal(EC_SUCCESS, ms->drv->set_range(ms, 0x10000, 0), NULL); - zassert_equal(0x10000, ms->current_range, NULL); -} - -void test_suite_tcs3400(void) -{ - ztest_test_suite(tcs3400, - ztest_user_unit_test(test_tcs_init), - ztest_user_unit_test(test_tcs_read), - ztest_user_unit_test(test_tcs_irq_handler_fail), - ztest_user_unit_test(test_tcs_read_calibration), - ztest_user_unit_test(test_tcs_read_xyz), - ztest_user_unit_test(test_tcs_scale), - ztest_user_unit_test(test_tcs_data_rate), - ztest_user_unit_test(test_tcs_set_range)); - ztest_run_test_suite(tcs3400); -} diff --git a/zephyr/test/drivers/src/temp_sensor.c b/zephyr/test/drivers/src/temp_sensor.c deleted file mode 100644 index 83a343e572..0000000000 --- a/zephyr/test/drivers/src/temp_sensor.c +++ /dev/null @@ -1,139 +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 <drivers/adc.h> -#include <drivers/adc/adc_emul.h> -#include <drivers/gpio.h> -#include <drivers/gpio/gpio_emul.h> - -#include <math.h> - -#include "common.h" -#include "temp_sensor.h" -#include "temp_sensor/temp_sensor.h" - -#define GPIO_PG_EC_DSW_PWROK_PATH DT_PATH(named_gpios, pg_ec_dsw_pwrok) -#define GPIO_PG_EC_DSW_PWROK_PORT DT_GPIO_PIN(GPIO_PG_EC_DSW_PWROK_PATH, gpios) - -#define ADC_DEVICE_NODE DT_NODELABEL(adc0) -#define ADC_CHANNELS_NUM DT_PROP(DT_NODELABEL(adc0), nchannels) - -/** Test error code when invalid sensor is passed to temp_sensor_read() */ -static void test_temp_sensor_wrong_id(void) -{ - int temp; - - zassert_equal(EC_ERROR_INVAL, temp_sensor_read(TEMP_SENSOR_COUNT, - &temp), - NULL); -} - -/** Test error code when temp_sensor_read() is called with powered off ADC */ -static void test_temp_sensor_adc_error(void) -{ - const struct device *gpio_dev = - DEVICE_DT_GET(DT_GPIO_CTLR(GPIO_PG_EC_DSW_PWROK_PATH, gpios)); - int temp; - - zassert_not_null(gpio_dev, "Cannot get GPIO device"); - - /* - * pg_ec_dsw_pwrok = 0 means ADC is not powered. - * adc_read will return error - */ - zassert_ok(gpio_emul_input_set(gpio_dev, GPIO_PG_EC_DSW_PWROK_PORT, 0), - NULL); - - zassert_equal(EC_ERROR_NOT_POWERED, - temp_sensor_read(TEMP_SENSOR_CHARGER, &temp), NULL); - zassert_equal(EC_ERROR_NOT_POWERED, - temp_sensor_read(TEMP_SENSOR_DDR_SOC, &temp), NULL); - zassert_equal(EC_ERROR_NOT_POWERED, - temp_sensor_read(TEMP_SENSOR_FAN, &temp), NULL); - zassert_equal(EC_ERROR_NOT_POWERED, - temp_sensor_read(TEMP_SENSOR_PP3300_REGULATOR, &temp), - NULL); - - /* power ADC */ - zassert_ok(gpio_emul_input_set(gpio_dev, GPIO_PG_EC_DSW_PWROK_PORT, 1), - NULL); -} - -/** Simple ADC emulator custom function which always return error */ -static int adc_error_func(const struct device *dev, unsigned int channel, - void *param, uint32_t *result) -{ - return -EINVAL; -} - -/** - * Set valid response only for ADC channel connected with tested sensor. - * Check if temp_sensor_read() from tested sensor returns EC_SUCCESS and - * valid temperature. Set invalid response on ADC channel for next test. - */ -static void check_valid_temperature(const struct device *adc_dev, int sensor) -{ - int temp; - - /* ADC channel of tested sensor return valid value */ - zassert_ok(adc_emul_const_value_set(adc_dev, temp_sensors[sensor].idx, - 1000), - "adc_emul_const_value_set() failed (sensor %d)", sensor); - zassert_equal(EC_SUCCESS, temp_sensor_read(sensor, &temp), NULL); - zassert_within(temp, 273 + 50, 51, - "Expected temperature in 0*C-100*C, got %d*C (sensor %d)", - temp - 273, sensor); - /* Return error on ADC channel of tested sensor */ - zassert_ok(adc_emul_value_func_set(adc_dev, temp_sensors[sensor].idx, - adc_error_func, NULL), - "adc_emul_value_func_set() failed (sensor %d)", sensor); -} - -/** Test if temp_sensor_read() returns temperature on success */ -static void test_temp_sensor_read(void) -{ - const struct device *adc_dev = DEVICE_DT_GET(ADC_DEVICE_NODE); - int chan; - - zassert_not_null(adc_dev, "Cannot get ADC device"); - - /* Return error on all ADC channels */ - for (chan = 0; chan < ADC_CHANNELS_NUM; chan++) { - zassert_ok(adc_emul_value_func_set(adc_dev, chan, - adc_error_func, NULL), - "channel %d adc_emul_value_func_set() failed", chan); - } - - check_valid_temperature(adc_dev, TEMP_SENSOR_CHARGER); - check_valid_temperature(adc_dev, TEMP_SENSOR_DDR_SOC); - check_valid_temperature(adc_dev, TEMP_SENSOR_FAN); - check_valid_temperature(adc_dev, TEMP_SENSOR_PP3300_REGULATOR); - - /* Return correct value on all ADC channels */ - for (chan = 0; chan < ADC_CHANNELS_NUM; chan++) { - zassert_ok(adc_emul_const_value_set(adc_dev, chan, 1000), - "channel %d adc_emul_const_value_set() failed", - chan); - } -} - -void test_suite_temp_sensor(void) -{ - const struct device *dev = - DEVICE_DT_GET(DT_GPIO_CTLR(GPIO_PG_EC_DSW_PWROK_PATH, gpios)); - - zassert_not_null(dev, NULL); - /* Before tests make sure that power pin is set. */ - zassert_ok(gpio_emul_input_set(dev, GPIO_PG_EC_DSW_PWROK_PORT, 1), - NULL); - - ztest_test_suite(temp_sensor, - ztest_user_unit_test(test_temp_sensor_wrong_id), - ztest_user_unit_test(test_temp_sensor_adc_error), - ztest_user_unit_test(test_temp_sensor_read)); - ztest_run_test_suite(temp_sensor); -} diff --git a/zephyr/test/drivers/src/thermistor.c b/zephyr/test/drivers/src/thermistor.c deleted file mode 100644 index a7137d5f19..0000000000 --- a/zephyr/test/drivers/src/thermistor.c +++ /dev/null @@ -1,295 +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 <drivers/adc.h> -#include <drivers/adc/adc_emul.h> -#include <drivers/gpio.h> -#include <drivers/gpio/gpio_emul.h> -#include <temp_sensor.h> - -#include "common.h" -#include "../driver/temp_sensor/thermistor.h" -#include "temp_sensor/temp_sensor.h" - - -#define GPIO_PG_EC_DSW_PWROK_PATH DT_PATH(named_gpios, pg_ec_dsw_pwrok) -#define GPIO_PG_EC_DSW_PWROK_PORT DT_GPIO_PIN(GPIO_PG_EC_DSW_PWROK_PATH, gpios) - -#define ADC_DEVICE_NODE DT_NODELABEL(adc0) - -/* TODO replace counting macros with DT macro when - * https://github.com/zephyrproject-rtos/zephyr/issues/38715 lands - */ -#define _ACCUMULATOR(x) -#define NAMED_TEMP_SENSORS_SIZE \ - DT_FOREACH_CHILD(DT_PATH(named_temp_sensors), _ACCUMULATOR) \ - 0 -#define TEMP_SENSORS_ENABLED_SIZE \ - DT_FOREACH_STATUS_OKAY(cros_ec_temp_sensor, _ACCUMULATOR) 0 - -/* Conversion of temperature doesn't need to be 100% accurate */ -#define TEMP_EPS 2 - -#define A_VALID_VOLTAGE 1000 -/** - * Test if get temp function return expected error when ADC is not powered - * (indicated as GPIO pin set to low) and return success after powering on ADC. - */ -static void test_thermistor_power_pin(void) -{ - int temp; - int sensor_idx; - - const struct device *gpio_dev = - DEVICE_DT_GET(DT_GPIO_CTLR(GPIO_PG_EC_DSW_PWROK_PATH, gpios)); - const struct device *adc_dev = DEVICE_DT_GET(ADC_DEVICE_NODE); - - zassert_not_null(gpio_dev, "Cannot get GPIO device"); - zassert_not_null(adc_dev, "Cannot get ADC device"); - - /* Make sure that ADC return a valid value */ - for (sensor_idx = 0; sensor_idx < NAMED_TEMP_SENSORS_SIZE; - sensor_idx++) { - const struct temp_sensor_t *sensor = &temp_sensors[sensor_idx]; - - zassert_ok(adc_emul_const_value_set(adc_dev, - sensor->idx, - A_VALID_VOLTAGE), - "adc_emul_value_func_set() failed on %s", - sensor->name); - } - - /* pg_ec_dsw_pwrok = 0 means ADC is not powered. */ - zassert_ok(gpio_emul_input_set(gpio_dev, GPIO_PG_EC_DSW_PWROK_PORT, 0), - NULL); - - for (sensor_idx = 0; sensor_idx < NAMED_TEMP_SENSORS_SIZE; - sensor_idx++) { - const struct temp_sensor_t *sensor = &temp_sensors[sensor_idx]; - - zassert_equal(EC_ERROR_NOT_POWERED, sensor->read(sensor, &temp), - "%s failed", sensor->name); - } - - /* pg_ec_dsw_pwrok = 1 means ADC is powered. */ - zassert_ok(gpio_emul_input_set(gpio_dev, GPIO_PG_EC_DSW_PWROK_PORT, 1), - NULL); - - for (sensor_idx = 0; sensor_idx < NAMED_TEMP_SENSORS_SIZE; - sensor_idx++) { - const struct temp_sensor_t *sensor = &temp_sensors[sensor_idx]; - - zassert_equal(EC_SUCCESS, sensor->read(sensor, &temp), - "%s failed", sensor->name); - } -} - -/* Simple ADC emulator custom function which always return error */ -static int adc_error_func(const struct device *dev, unsigned int channel, - void *param, uint32_t *result) -{ - return -EINVAL; -} - -/** Test if get temp function return expected error on ADC malfunction */ -static void test_thermistor_adc_read_error(void) -{ - int temp; - int sensor_idx; - - const struct device *adc_dev = DEVICE_DT_GET(ADC_DEVICE_NODE); - - zassert_not_null(adc_dev, "Cannot get ADC device"); - - /* Return error on all ADC channels */ - for (sensor_idx = 0; sensor_idx < NAMED_TEMP_SENSORS_SIZE; - sensor_idx++) { - const struct temp_sensor_t *sensor = &temp_sensors[sensor_idx]; - - zassert_ok(adc_emul_value_func_set(adc_dev, sensor->idx, - adc_error_func, NULL), - "adc_emul_value_func_set() failed on %s", - sensor->name); - } - - for (sensor_idx = 0; sensor_idx < NAMED_TEMP_SENSORS_SIZE; - sensor_idx++) { - const struct temp_sensor_t *sensor = &temp_sensors[sensor_idx]; - - zassert_equal(EC_ERROR_UNKNOWN, sensor->read(sensor, &temp), - "%s failed", sensor->name); - } -} - -/** Get resistance of thermistor for given temperature */ -static int resistance_47kohm_B4050(int t) -{ - /* Thermistor manufacturer resistance lookup table*/ - int r_table[] = { - 155700, 147900, 140600, 133700, 127200, /* 0*C - 4*C */ - 121000, 115100, 109600, 104300, 99310, /* 5*C - 9*C */ - 94600, 90130, 85890, 81870, 78070, /* 10*C - 14*C */ - 74450, 71020, 67770, 64680, 61750, /* 15*C - 19*C */ - 58970, 56320, 53810, 51430, 49160, /* 20*C - 24*C */ - 47000, 44950, 42990, 41130, 39360, /* 25*C - 29*C */ - 37680, 36070, 34540, 33080, 31690, /* 30*C - 34*C */ - 30360, 29100, 27900, 26750, 25650, /* 35*C - 39*C */ - 24610, 23610, 22660, 21750, 20880, /* 40*C - 44*C */ - 20050, 19260, 18500, 17780, 17090, /* 45*C - 49*C */ - 16430, 15800, 15200, 14620, 14070, /* 50*C - 54*C */ - 13540, 13030, 12550, 12090, 11640, /* 55*C - 59*C */ - 11210, 10800, 10410, 10040, 9676, /* 60*C - 64*C */ - 9331, 8999, 8680, 8374, 8081, /* 65*C - 69*C */ - 7799, 7528, 7268, 7018, 6777, /* 70*C - 74*C */ - 6546, 6324, 6111, 5906, 5708, /* 75*C - 79*C */ - 5518, 5335, 5160, 4990, 4827, /* 80*C - 84*C */ - 4671, 4519, 4374, 4233, 4098, /* 85*C - 89*C */ - 3968, 3842, 3721, 3605, 3492, /* 90*C - 94*C */ - 3384, 3279, 3179, 3082, 2988, /* 95*C - 99*C */ - 2898 /* 100*C */ - }; - - t -= 273; - if (t < 0) - return r_table[0] + 10000; - - if (t >= ARRAY_SIZE(r_table)) - return r_table[ARRAY_SIZE(r_table) - 1] - 100; - - return r_table[t]; -} - -/** - * Calculate output voltage in voltage divider circuit using formula - * Vout = Vs * r2 / (r1 + r2) - */ -static int volt_divider(int vs, int r1, int r2) -{ - return vs * r2 / (r1 + r2); -} - -struct thermistor_state { - const int v; - const int r; - int temp_expected; -}; - -/** ADC emulator function which calculate output voltage for given thermistor */ -static int adc_temperature_func(const struct device *dev, unsigned int channel, - void *param, uint32_t *result) -{ - struct thermistor_state *s = (struct thermistor_state *)param; - - *result = volt_divider(s->v, - s->r, - resistance_47kohm_B4050(s->temp_expected)); - - return 0; -} - -/** Test conversion from ADC raw value to temperature */ -static void do_thermistor_test(const struct temp_sensor_t *temp_sensor, - int reference_mv, int reference_ohms) -{ - int temp_expected; - int temp; - - const struct device *adc_dev = DEVICE_DT_GET(ADC_DEVICE_NODE); - struct thermistor_state state = { - .v = reference_mv, - .r = reference_ohms, - }; - - zassert_not_null(adc_dev, "Cannot get ADC device"); - - /* Setup ADC channel */ - zassert_ok(adc_emul_value_func_set(adc_dev, - temp_sensor->idx, - adc_temperature_func, &state), - "adc_emul_value_func_set() failed on %s", temp_sensor->name); - - /* Makes sure that reference voltage is correct for given thermistor */ - zassert_ok(adc_emul_ref_voltage_set(adc_dev, ADC_REF_INTERNAL, state.v), - "adc_emul_ref_voltage_set() failed %s on ", - temp_sensor->name); - - /* Test whole supported range from 0*C to 100*C (273*K to 373*K) */ - for (temp_expected = 273; temp_expected <= 373; temp_expected++) { - state.temp_expected = temp_expected; - zassert_equal(EC_SUCCESS, temp_sensor->read(temp_sensor, &temp), - "failed on %s", temp_sensor->name); - zassert_within(temp_expected, temp, TEMP_EPS, - "Expected %d*K, got %d*K on %s", temp_expected, - temp, temp_sensor->name); - } - - /* Temperatures below 0*C should be reported as 0*C */ - state.temp_expected = -15 + 273; - zassert_equal(EC_SUCCESS, temp_sensor->read(temp_sensor, &temp), - "failed on %s", temp_sensor->name); - zassert_equal(273, temp, "Expected %d*K, got %d*K on %s", 273, temp, - temp_sensor->name); - - /* Temperatures above 100*C should be reported as 100*C */ - state.temp_expected = 115 + 273; - zassert_equal(EC_SUCCESS, temp_sensor->read(temp_sensor, &temp), - "failed on %s", temp_sensor->name); - zassert_equal(373, temp, "Expected %d*K, got %d*K on %s", 373, temp, - temp_sensor->name); -} - -#define GET_THERMISTOR_REF_MV(node_id) \ - [ZSHIM_TEMP_SENSOR_ID(node_id)] = DT_PROP( \ - DT_PHANDLE(node_id, thermistor), steinhart_reference_mv), - -#define GET_THERMISTOR_REF_RES(node_id) \ - [ZSHIM_TEMP_SENSOR_ID(node_id)] = DT_PROP( \ - DT_PHANDLE(node_id, thermistor), steinhart_reference_res), - -static void test_thermistors_adc_temperature_conversion(void) -{ - int sensor_idx; - - const static int reference_mv_arr[] = { DT_FOREACH_STATUS_OKAY( - cros_temp_sensor, GET_THERMISTOR_REF_MV) }; - const static int reference_res_arr[] = { DT_FOREACH_STATUS_OKAY( - cros_temp_sensor, GET_THERMISTOR_REF_RES) }; - - for (sensor_idx = 0; sensor_idx < NAMED_TEMP_SENSORS_SIZE; sensor_idx++) - do_thermistor_test(&temp_sensors[sensor_idx], - reference_mv_arr[sensor_idx], - reference_res_arr[sensor_idx]); -} - -static void test_device_nodes_enabled(void) -{ - zassert_equal(NAMED_TEMP_SENSORS_SIZE, TEMP_SENSORS_ENABLED_SIZE, - "Temperature sensors in device tree and " - "those enabled for test differ"); - - /* Thermistor nodes being enabled are already tested by compilation. */ -} - -void test_suite_thermistor(void) -{ - const struct device *dev = - DEVICE_DT_GET(DT_GPIO_CTLR(GPIO_PG_EC_DSW_PWROK_PATH, gpios)); - - zassert_not_null(dev, NULL); - /* Before tests make sure that power pin is set. */ - zassert_ok(gpio_emul_input_set(dev, GPIO_PG_EC_DSW_PWROK_PORT, 1), - NULL); - - ztest_test_suite(thermistor, - ztest_user_unit_test(test_device_nodes_enabled), - ztest_user_unit_test(test_thermistor_power_pin), - ztest_user_unit_test(test_thermistor_adc_read_error), - ztest_user_unit_test( - test_thermistors_adc_temperature_conversion)); - - ztest_run_test_suite(thermistor); -} diff --git a/zephyr/test/drivers/zmake.yaml b/zephyr/test/drivers/zmake.yaml deleted file mode 100644 index 31d8523e8e..0000000000 --- a/zephyr/test/drivers/zmake.yaml +++ /dev/null @@ -1,14 +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. - -board: native_posix -supported-zephyr-versions: - - v2.6 -supported-toolchains: - - llvm - - host -output-type: elf -is-test: true -dts-overlays: - - overlay.dts |