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/* Copyright 2020 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 "accel_cal.h"
#include "accelgyro.h"
#include "hwtimer.h"
#include "mag_cal.h"
#include "online_calibration.h"
#include "test_util.h"
#include "timer.h"
#include <stdio.h>
int mkbp_send_event(uint8_t event_type)
{
return 1;
}
struct mock_read_temp_result {
void *s;
int temp;
int ret;
int used_count;
struct mock_read_temp_result *next;
};
static struct mock_read_temp_result *mock_read_temp_results;
static int mock_read_temp(const struct motion_sensor_t *s, int *temp)
{
struct mock_read_temp_result *ptr = mock_read_temp_results;
while (ptr) {
if (ptr->s == s) {
if (ptr->ret == EC_SUCCESS)
*temp = ptr->temp;
ptr->used_count++;
return ptr->ret;
}
ptr = ptr->next;
}
return EC_ERROR_UNKNOWN;
}
static struct accelgyro_drv mock_sensor_driver = {
.read_temp = mock_read_temp,
};
static struct accel_cal_algo base_accel_cal_algos[] = {
{
.newton_fit = NEWTON_FIT(4, 15, FLOAT_TO_FP(0.01f),
FLOAT_TO_FP(0.25f),
FLOAT_TO_FP(1.0e-8f), 100),
}
};
static struct accel_cal base_accel_cal_data = {
.still_det = STILL_DET(FLOAT_TO_FP(0.00025f), 800 * MSEC, 1200 * MSEC,
5),
.algos = base_accel_cal_algos,
.num_temp_windows = ARRAY_SIZE(base_accel_cal_algos),
};
static struct mag_cal_t lid_mag_cal_data;
static bool next_accel_cal_accumulate_result;
static fpv3_t next_accel_cal_bias;
bool accel_cal_accumulate(
struct accel_cal *cal, uint32_t sample_time, fp_t x, fp_t y, fp_t z,
fp_t temp)
{
if (next_accel_cal_accumulate_result) {
cal->bias[X] = next_accel_cal_bias[X];
cal->bias[Y] = next_accel_cal_bias[Y];
cal->bias[Z] = next_accel_cal_bias[Z];
}
return next_accel_cal_accumulate_result;
}
struct motion_sensor_t motion_sensors[] = {
[BASE] = {
.type = MOTIONSENSE_TYPE_ACCEL,
.default_range = 4,
.drv = &mock_sensor_driver,
.online_calib_data[0] = {
.type_specific_data = &base_accel_cal_data,
},
},
[LID] = {
.type = MOTIONSENSE_TYPE_MAG,
.default_range = 4,
.drv = &mock_sensor_driver,
.online_calib_data[0] = {
.type_specific_data = &lid_mag_cal_data,
}
},
};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
static int test_read_temp_on_stage(void)
{
struct mock_read_temp_result expected = { &motion_sensors[BASE], 200,
EC_SUCCESS, 0, NULL };
struct ec_response_motion_sensor_data data;
int rc;
mock_read_temp_results = &expected;
data.sensor_num = BASE;
rc = online_calibration_process_data(
&data, &motion_sensors[0], __hw_clock_source_read());
TEST_EQ(rc, EC_SUCCESS, "%d");
TEST_EQ(expected.used_count, 1, "%d");
return EC_SUCCESS;
}
static int test_read_temp_from_cache_on_stage(void)
{
struct mock_read_temp_result expected = { &motion_sensors[BASE], 200,
EC_SUCCESS, 0, NULL };
struct ec_response_motion_sensor_data data;
int rc;
mock_read_temp_results = &expected;
data.sensor_num = BASE;
rc = online_calibration_process_data(
&data, &motion_sensors[0], __hw_clock_source_read());
TEST_EQ(rc, EC_SUCCESS, "%d");
rc = online_calibration_process_data(
&data, &motion_sensors[0], __hw_clock_source_read());
TEST_EQ(rc, EC_SUCCESS, "%d");
TEST_EQ(expected.used_count, 1, "%d");
return EC_SUCCESS;
}
static int test_read_temp_twice_after_cache_stale(void)
{
struct mock_read_temp_result expected = { &motion_sensors[BASE], 200,
EC_SUCCESS, 0, NULL };
struct ec_response_motion_sensor_data data;
int rc;
mock_read_temp_results = &expected;
data.sensor_num = BASE;
rc = online_calibration_process_data(
&data, &motion_sensors[0], __hw_clock_source_read());
TEST_EQ(rc, EC_SUCCESS, "%d");
sleep(2);
rc = online_calibration_process_data(
&data, &motion_sensors[0], __hw_clock_source_read());
TEST_EQ(rc, EC_SUCCESS, "%d");
TEST_EQ(expected.used_count, 2, "%d");
return EC_SUCCESS;
}
static int test_new_calibration_value(void)
{
struct mock_read_temp_result expected = { &motion_sensors[BASE], 200,
EC_SUCCESS, 0, NULL };
struct ec_response_motion_sensor_data data;
struct ec_response_online_calibration_data cal_data;
int rc;
mock_read_temp_results = &expected;
next_accel_cal_accumulate_result = false;
data.sensor_num = BASE;
rc = online_calibration_process_data(
&data, &motion_sensors[BASE], __hw_clock_source_read());
TEST_EQ(rc, EC_SUCCESS, "%d");
TEST_EQ(online_calibration_has_new_values(), false, "%d");
next_accel_cal_accumulate_result = true;
next_accel_cal_bias[X] = 0.01f; /* expect: 81 */
next_accel_cal_bias[Y] = -0.02f; /* expect: -163 */
next_accel_cal_bias[Z] = 0; /* expect: 0 */
rc = online_calibration_process_data(
&data, &motion_sensors[BASE], __hw_clock_source_read());
TEST_EQ(rc, EC_SUCCESS, "%d");
TEST_EQ(online_calibration_has_new_values(), true, "%d");
rc = online_calibration_read(&motion_sensors[BASE], &cal_data);
TEST_EQ(rc, true, "%d");
TEST_EQ(cal_data.data[X], 81, "%d");
TEST_EQ(cal_data.data[Y], -163, "%d");
TEST_EQ(cal_data.data[Z], 0, "%d");
TEST_EQ(online_calibration_has_new_values(), false, "%d");
return EC_SUCCESS;
}
int test_mag_reading_updated_cal(void)
{
struct mag_cal_t expected_results;
struct ec_response_motion_sensor_data data;
int rc;
int test_values[] = { 207, -17, -37 };
data.sensor_num = LID;
data.data[X] = test_values[X];
data.data[Y] = test_values[Y];
data.data[Z] = test_values[Z];
init_mag_cal(&expected_results);
mag_cal_update(&expected_results, test_values);
rc = online_calibration_process_data(
&data, &motion_sensors[LID], __hw_clock_source_read());
TEST_EQ(rc, EC_SUCCESS, "%d");
TEST_EQ(expected_results.kasa_fit.nsamples,
lid_mag_cal_data.kasa_fit.nsamples, "%d");
return EC_SUCCESS;
}
void before_test(void)
{
mock_read_temp_results = NULL;
online_calibration_init();
}
void run_test(int argc, char **argv)
{
test_reset();
RUN_TEST(test_read_temp_on_stage);
RUN_TEST(test_read_temp_from_cache_on_stage);
RUN_TEST(test_read_temp_twice_after_cache_stale);
RUN_TEST(test_new_calibration_value);
RUN_TEST(test_mag_reading_updated_cal);
test_print_result();
}
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