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/* Copyright 2020 The ChromiumOS Authors
* 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 "gyro_cal_init_for_test.h"
#include "gyro_cal.h"
#include "timer.h"
#include <stdio.h>
int mkbp_send_event(uint8_t event_type)
{
return 1;
}
/*
* Mocked driver (can be re-used for all sensors).
*/
static int mock_read_temp(const struct motion_sensor_t *s, int *temp)
{
if (temp)
*temp = 200;
return EC_SUCCESS;
}
static struct accelgyro_drv mock_sensor_driver = {
.read_temp = mock_read_temp,
};
/*
* Accelerometer, magnetometer, and gyroscope data structs.
*/
static struct accel_cal_algo 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 accel_cal_data = {
.still_det =
STILL_DET(FLOAT_TO_FP(0.00025f), 800 * MSEC, 1200 * MSEC, 5),
.algos = accel_cal_algos,
.num_temp_windows = ARRAY_SIZE(accel_cal_algos),
};
static struct mag_cal_t mag_cal_data;
static struct gyro_cal gyro_cal_data;
/*
* Motion sensor array and count.
*/
struct motion_sensor_t motion_sensors[] = {
{
.type = MOTIONSENSE_TYPE_ACCEL,
.default_range = 4,
.drv = &mock_sensor_driver,
.online_calib_data[0] = {
.type_specific_data = &accel_cal_data,
},
},
{
.type = MOTIONSENSE_TYPE_MAG,
.default_range = 4,
.drv = &mock_sensor_driver,
.online_calib_data[0] = {
.type_specific_data = &mag_cal_data,
},
},
{
.type = MOTIONSENSE_TYPE_GYRO,
.default_range = 4,
.drv = &mock_sensor_driver,
.online_calib_data[0] = {
.type_specific_data = &gyro_cal_data,
},
},
};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
static void spoof_sensor_data(struct motion_sensor_t *s, int x, int y, int z)
{
struct ec_response_motion_sensor_data data;
uint32_t timestamp = 0;
/* Set the data and flags. */
data.data[X] = x;
data.data[Y] = y;
data.data[Z] = z;
s->flags |= MOTIONSENSE_FLAG_IN_SPOOF_MODE;
/* Pass the data to online_calibdation. */
online_calibration_process_data(&data, s, timestamp);
}
/*
* Begin testing.
*/
static int test_accel_calibration_on_spoof(void)
{
struct ec_response_online_calibration_data out;
/* Send spoof data (1, 2, 3). */
spoof_sensor_data(&motion_sensors[0], 1, 2, 3);
/* Check that we have new values. */
TEST_ASSERT(online_calibration_has_new_values());
/* Get the new values for sensor 0. */
TEST_ASSERT(online_calibration_read(&motion_sensors[0], &out));
/* Validate the new values. */
TEST_EQ(out.data[X], 1, "%d");
TEST_EQ(out.data[Y], 2, "%d");
TEST_EQ(out.data[Z], 3, "%d");
/* Validate that no other sensors have data. */
TEST_ASSERT(!online_calibration_has_new_values());
return EC_SUCCESS;
}
static int test_mag_calibration_on_spoof(void)
{
struct ec_response_online_calibration_data out;
/* Send spoof data (4, 5, 6). */
spoof_sensor_data(&motion_sensors[1], 4, 5, 6);
/* Check that we have new values. */
TEST_ASSERT(online_calibration_has_new_values());
/* Get the new values for sensor 0. */
TEST_ASSERT(online_calibration_read(&motion_sensors[1], &out));
/* Validate the new values. */
TEST_EQ(out.data[X], 4, "%d");
TEST_EQ(out.data[Y], 5, "%d");
TEST_EQ(out.data[Z], 6, "%d");
/* Validate that no other sensors have data. */
TEST_ASSERT(!online_calibration_has_new_values());
return EC_SUCCESS;
}
static int test_gyro_calibration_on_spoof(void)
{
struct ec_response_online_calibration_data out;
/* Send spoof data (7, 8, 9). */
spoof_sensor_data(&motion_sensors[2], 7, 8, 9);
/* Check that we have new values. */
TEST_ASSERT(online_calibration_has_new_values());
/* Get the new values for sensor 0. */
TEST_ASSERT(online_calibration_read(&motion_sensors[2], &out));
/* Validate the new values. */
TEST_EQ(out.data[X], 7, "%d");
TEST_EQ(out.data[Y], 8, "%d");
TEST_EQ(out.data[Z], 9, "%d");
/* Validate that no other sensors have data. */
TEST_ASSERT(!online_calibration_has_new_values());
return EC_SUCCESS;
}
void before_test(void)
{
online_calibration_init();
gyro_cal_initialization_for_test(&gyro_cal_data);
}
void run_test(int argc, const char **argv)
{
test_reset();
RUN_TEST(test_accel_calibration_on_spoof);
RUN_TEST(test_mag_calibration_on_spoof);
RUN_TEST(test_gyro_calibration_on_spoof);
test_print_result();
}
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