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/* Copyright 2014 The Chromium OS Authors. All rights reserved.
* Use of this source code is governed by a BSD-style license that can be
* found in the LICENSE file.
*
* Test motion sense code.
*/
#include <math.h>
#include <stdio.h>
#include "accelgyro.h"
#include "common.h"
#include "gpio.h"
#include "hooks.h"
#include "host_command.h"
#include "motion_lid.h"
#include "motion_sense.h"
#include "task.h"
#include "test_util.h"
#include "timer.h"
#include "util.h"
extern enum chipset_state_mask sensor_active;
/*
* Period in us for the motion task period.
* The task will read the vectors at that interval
*/
#define TEST_LID_EC_RATE (10 * MSEC)
/*
* Time in us to wait for the task to read the vectors.
*/
#define TEST_LID_SLEEP_RATE (TEST_LID_EC_RATE / 5)
#define ONE_G_MEASURED (1 << 14)
/*****************************************************************************/
/* Mock functions */
static int accel_init(struct motion_sensor_t *s)
{
return EC_SUCCESS;
}
static int accel_read(const struct motion_sensor_t *s, intv3_t v)
{
rotate(s->xyz, *s->rot_standard_ref, v);
return EC_SUCCESS;
}
static int accel_set_range(struct motion_sensor_t *s,
const int range,
const int rnd)
{
s->current_range = range;
return EC_SUCCESS;
}
static int accel_get_resolution(const struct motion_sensor_t *s)
{
return 0;
}
int test_data_rate[2] = { 0 };
static int accel_set_data_rate(const struct motion_sensor_t *s,
const int rate,
const int rnd)
{
test_data_rate[s - motion_sensors] = rate;
return EC_SUCCESS;
}
static int accel_get_data_rate(const struct motion_sensor_t *s)
{
return test_data_rate[s - motion_sensors];
}
const struct accelgyro_drv test_motion_sense = {
.init = accel_init,
.read = accel_read,
.set_range = accel_set_range,
.get_resolution = accel_get_resolution,
.set_data_rate = accel_set_data_rate,
.get_data_rate = accel_get_data_rate,
};
struct motion_sensor_t motion_sensors[] = {
[BASE] = {
.name = "base",
.active_mask = SENSOR_ACTIVE_S0_S3_S5,
.chip = MOTIONSENSE_CHIP_LSM6DS0,
.type = MOTIONSENSE_TYPE_ACCEL,
.location = MOTIONSENSE_LOC_BASE,
.drv = &test_motion_sense,
.rot_standard_ref = NULL,
.default_range = MOTION_SCALING_FACTOR / ONE_G_MEASURED,
.config = {
/* EC use accel for angle detection */
[SENSOR_CONFIG_EC_S0] = {
.odr = 119000 | ROUND_UP_FLAG,
.ec_rate = TEST_LID_EC_RATE
},
/* Used for double tap */
[SENSOR_CONFIG_EC_S3] = {
.odr = 119000 | ROUND_UP_FLAG,
.ec_rate = TEST_LID_EC_RATE * 100,
},
},
},
[LID] = {
.name = "lid",
.active_mask = SENSOR_ACTIVE_S0_S3,
.chip = MOTIONSENSE_CHIP_KXCJ9,
.type = MOTIONSENSE_TYPE_ACCEL,
.location = MOTIONSENSE_LOC_LID,
.drv = &test_motion_sense,
.rot_standard_ref = NULL,
.default_range = MOTION_SCALING_FACTOR / ONE_G_MEASURED,
.config = {
/* EC use accel for angle detection */
[SENSOR_CONFIG_EC_S0] = {
.odr = 119000 | ROUND_UP_FLAG,
.ec_rate = TEST_LID_EC_RATE,
},
/* Used for double tap */
[SENSOR_CONFIG_EC_S3] = {
.odr = 200000 | ROUND_UP_FLAG,
.ec_rate = TEST_LID_EC_RATE * 100,
},
},
},
};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
/*****************************************************************************/
/* Test utilities */
static void wait_for_valid_sample(void)
{
uint8_t sample;
uint8_t *lpc_status = host_get_memmap(EC_MEMMAP_ACC_STATUS);
sample = *lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK;
usleep(TEST_LID_EC_RATE);
while ((*lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK) == sample)
usleep(TEST_LID_SLEEP_RATE);
}
static int test_lid_angle(void)
{
struct motion_sensor_t *base = &motion_sensors[
CONFIG_LID_ANGLE_SENSOR_BASE];
struct motion_sensor_t *lid = &motion_sensors[
CONFIG_LID_ANGLE_SENSOR_LID];
int lid_angle;
/* We don't have TASK_CHIP so simulate init ourselves */
hook_notify(HOOK_CHIPSET_SHUTDOWN);
/* Wait for the sensor task to start */
msleep(50);
TEST_ASSERT(sensor_active == SENSOR_ACTIVE_S5);
TEST_ASSERT(accel_get_data_rate(lid) == 0);
/* Go to S0 state */
hook_notify(HOOK_CHIPSET_SUSPEND);
hook_notify(HOOK_CHIPSET_RESUME);
msleep(50);
TEST_ASSERT(sensor_active == SENSOR_ACTIVE_S0);
TEST_ASSERT(accel_get_data_rate(lid) == 119000);
/*
* Set the base accelerometer as if it were sitting flat on a desk
* and set the lid to closed.
*/
base->xyz[X] = 0;
base->xyz[Y] = 0;
base->xyz[Z] = ONE_G_MEASURED;
lid->xyz[X] = 0;
lid->xyz[Y] = 0;
lid->xyz[Z] = -ONE_G_MEASURED;
gpio_set_level(GPIO_LID_OPEN, 0);
wait_for_valid_sample();
lid_angle = motion_lid_get_angle();
cprints(CC_ACCEL, "LID(%d, %d, %d)/BASE(%d, %d, %d): %d",
lid->xyz[X], lid->xyz[Y], lid->xyz[Z],
base->xyz[X], base->xyz[Y], base->xyz[Z],
lid_angle);
TEST_ASSERT(lid_angle == 0);
/* Set lid open to 90 degrees. */
lid->xyz[X] = 0;
lid->xyz[Y] = ONE_G_MEASURED;
lid->xyz[Z] = 0;
gpio_set_level(GPIO_LID_OPEN, 1);
msleep(100);
wait_for_valid_sample();
TEST_ASSERT(motion_lid_get_angle() == 90);
/* Set lid open to 225. */
lid->xyz[X] = 0;
lid->xyz[Y] = -1 * ONE_G_MEASURED * 0.707106;
lid->xyz[Z] = ONE_G_MEASURED * 0.707106;
wait_for_valid_sample();
TEST_ASSERT(motion_lid_get_angle() == 225);
/* Set lid open to 350 */
lid->xyz[X] = 0;
lid->xyz[Y] = -1 * ONE_G_MEASURED * 0.1736;
lid->xyz[Z] = -1 * ONE_G_MEASURED * 0.9848;
wait_for_valid_sample();
TEST_ASSERT(motion_lid_get_angle() == 350);
/*
* Set lid open to 10. Since the lid switch still indicates that it's
* open, we should be getting an unreliable reading.
*/
lid->xyz[X] = 0;
lid->xyz[Y] = ONE_G_MEASURED * 0.1736;
lid->xyz[Z] = -1 * ONE_G_MEASURED * 0.9848;
wait_for_valid_sample();
TEST_ASSERT(motion_lid_get_angle() == LID_ANGLE_UNRELIABLE);
/* Rotate back to 180 and then 10 */
lid->xyz[X] = 0;
lid->xyz[Y] = 0;
lid->xyz[Z] = ONE_G_MEASURED;
wait_for_valid_sample();
TEST_ASSERT(motion_lid_get_angle() == 180);
/*
* Again, since the lid isn't closed, the angle should be unreliable.
* See SMALL_LID_ANGLE_RANGE.
*/
lid->xyz[X] = 0;
lid->xyz[Y] = ONE_G_MEASURED * 0.1736;
lid->xyz[Z] = -1 * ONE_G_MEASURED * 0.9848;
wait_for_valid_sample();
TEST_ASSERT(motion_lid_get_angle() == LID_ANGLE_UNRELIABLE);
/*
* Align base with hinge and make sure it returns unreliable for angle.
* In this test it doesn't matter what the lid acceleration vector is.
*/
base->xyz[X] = ONE_G_MEASURED;
base->xyz[Y] = 0;
base->xyz[Z] = 0;
wait_for_valid_sample();
TEST_ASSERT(motion_lid_get_angle() == LID_ANGLE_UNRELIABLE);
/*
* Use all three axes and set lid to negative base and make sure
* angle is 180.
*/
base->xyz[X] = 5296;
base->xyz[Y] = 7856;
base->xyz[Z] = 13712;
lid->xyz[X] = 5296;
lid->xyz[Y] = 7856;
lid->xyz[Z] = 13712;
wait_for_valid_sample();
TEST_ASSERT(motion_lid_get_angle() == 180);
/*
* Close the lid and set the angle to 0.
*/
base->xyz[X] = 0;
base->xyz[Y] = 0;
base->xyz[Z] = ONE_G_MEASURED;
lid->xyz[X] = 0;
lid->xyz[Y] = 0;
lid->xyz[Z] = -1 * ONE_G_MEASURED;
gpio_set_level(GPIO_LID_OPEN, 0);
msleep(100);
wait_for_valid_sample();
TEST_ASSERT(motion_lid_get_angle() == 0);
/*
* Make the angle large, but since the lid is closed, the angle should
* be regarded as unreliable.
*/
lid->xyz[X] = 0;
lid->xyz[Y] = -1 * ONE_G_MEASURED * 0.1736;
lid->xyz[Z] = -1 * ONE_G_MEASURED * 0.9848;
wait_for_valid_sample();
TEST_ASSERT(motion_lid_get_angle() == LID_ANGLE_UNRELIABLE);
/*
* Open the lid to 350, and then close the lid and set the angle
* to 10. The reading of small angle shouldn't be corrected.
*/
gpio_set_level(GPIO_LID_OPEN, 1);
msleep(100);
gpio_set_level(GPIO_LID_OPEN, 0);
msleep(100);
lid->xyz[X] = 0;
lid->xyz[Y] = ONE_G_MEASURED * 0.1736;
lid->xyz[Z] = -1 * ONE_G_MEASURED * 0.9848;
wait_for_valid_sample();
TEST_ASSERT(motion_lid_get_angle() == 10);
return EC_SUCCESS;
}
void run_test(int argc, char **argv)
{
test_reset();
RUN_TEST(test_lid_angle);
test_print_result();
}
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