path: root/zephyr/test/drivers/default/src/lis2dw12.c

/* Copyright 2022 The ChromiumOS Authors
 * Use of this source code is governed by a BSD-style license that can be
 * found in the LICENSE file.
 */

#include "driver/accel_lis2dw12.h"
#include "emul/emul_common_i2c.h"
#include "emul/emul_lis2dw12.h"
#include "test/drivers/test_state.h"

#include <zephyr/drivers/emul.h>
#include <zephyr/ztest.h>

#define LIS2DW12_NODELABEL DT_NODELABEL(ms_lis2dw12_accel)
#define LIS2DW12_SENSOR_ID SENSOR_ID(LIS2DW12_NODELABEL)
#define LIS2DW12_EMUL_NODE DT_NODELABEL(lis2dw12_emul)

#include <stdio.h>

#define CHECK_XYZ_EQUALS(VEC1, VEC2)                                  \
	do {                                                          \
		zassert_equal((VEC1)[X], (VEC2)[X],                   \
			      "Got %d for X, expected %d", (VEC1)[X], \
			      (VEC2)[X]);                             \
		zassert_equal((VEC1)[Y], (VEC2)[Y],                   \
			      "Got %d for Y, expected %d", (VEC1)[Y], \
			      (VEC2)[Y]);                             \
		zassert_equal((VEC1)[Z], (VEC2)[Z],                   \
			      "Got %d for Z, expected %d", (VEC1)[Z], \
			      (VEC2)[Z]);                             \
	} while (0)

/** Used with the LIS2DW12 set rate function to control rounding behavior */
enum lis2dw12_round_mode {
	ROUND_DOWN,
	ROUND_UP,
};

static inline void lis2dw12_setup(void)
{
	lis2dw12_emul_reset(EMUL_DT_GET(LIS2DW12_EMUL_NODE));

	/* Reset certain sensor struct values */
	struct motion_sensor_t *ms = &motion_sensors[LIS2DW12_SENSOR_ID];

	ms->current_range = 0;
}

static void lis2dw12_before(void *state)
{
	ARG_UNUSED(state);
	lis2dw12_setup();
}

static void lis2dw12_after(void *state)
{
	ARG_UNUSED(state);
	lis2dw12_setup();
}

ZTEST(lis2dw12, test_lis2dw12_init__fail_read_who_am_i)
{
	const struct emul *emul = EMUL_DT_GET(LIS2DW12_EMUL_NODE);
	struct i2c_common_emul_data *common_data =
		emul_lis2dw12_get_i2c_common_data(emul);
	struct motion_sensor_t *ms = &motion_sensors[LIS2DW12_SENSOR_ID];
	int rv;

	i2c_common_emul_set_read_fail_reg(common_data, LIS2DW12_WHO_AM_I_REG);
	rv = ms->drv->init(ms);
	zassert_equal(EC_ERROR_INVAL, rv);
}

ZTEST(lis2dw12, test_lis2dw12_init__fail_who_am_i)
{
	const struct emul *emul = EMUL_DT_GET(LIS2DW12_EMUL_NODE);
	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);
}

ZTEST(lis2dw12, test_lis2dw12_init__fail_write_soft_reset)
{
	const struct emul *emul = EMUL_DT_GET(LIS2DW12_EMUL_NODE);
	struct i2c_common_emul_data *common_data =
		emul_lis2dw12_get_i2c_common_data(emul);
	struct motion_sensor_t *ms = &motion_sensors[LIS2DW12_SENSOR_ID];
	int rv;

	i2c_common_emul_set_write_fail_reg(common_data,
					   LIS2DW12_SOFT_RESET_ADDR);
	rv = ms->drv->init(ms);
	zassert_equal(EC_ERROR_INVAL, rv);
}

ZTEST(lis2dw12, test_lis2dw12_init__timeout_read_soft_reset)
{
	const struct emul *emul = EMUL_DT_GET(LIS2DW12_EMUL_NODE);
	struct i2c_common_emul_data *common_data =
		emul_lis2dw12_get_i2c_common_data(emul);
	struct motion_sensor_t *ms = &motion_sensors[LIS2DW12_SENSOR_ID];
	int rv;

	i2c_common_emul_set_read_fail_reg(common_data,
					  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(const struct 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;
}

ZTEST(lis2dw12, test_lis2dw12_init__fail_set_bdu)
{
	const struct emul *emul = EMUL_DT_GET(LIS2DW12_EMUL_NODE);
	struct i2c_common_emul_data *common_data =
		emul_lis2dw12_get_i2c_common_data(emul);
	struct motion_sensor_t *ms = &motion_sensors[LIS2DW12_SENSOR_ID];
	int rv;

	i2c_common_emul_set_write_func(
		common_data, 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");
}

ZTEST(lis2dw12, test_lis2dw12_init__fail_set_lir)
{
	const struct emul *emul = EMUL_DT_GET(LIS2DW12_EMUL_NODE);
	struct i2c_common_emul_data *common_data =
		emul_lis2dw12_get_i2c_common_data(emul);
	struct motion_sensor_t *ms = &motion_sensors[LIS2DW12_SENSOR_ID];
	int rv;

	i2c_common_emul_set_read_fail_reg(common_data, LIS2DW12_LIR_ADDR);

	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");
}

static int lis2dw12_test_mock_write_fail_set_power_mode(const struct emul *emul,
							int reg, uint8_t val,
							int bytes, void *data)
{
	if (reg == LIS2DW12_ACC_LPMODE_ADDR && bytes == 1 &&
	    (val & LIS2DW12_ACC_LPMODE_MASK) != 0) {
		/* Cause an error when trying to set the LPMODE */
		return -EIO;
	}
	return 1;
}

ZTEST(lis2dw12, test_lis2dw12_init__fail_set_power_mode)
{
	const struct emul *emul = EMUL_DT_GET(LIS2DW12_EMUL_NODE);
	struct i2c_common_emul_data *common_data =
		emul_lis2dw12_get_i2c_common_data(emul);
	struct motion_sensor_t *ms = &motion_sensors[LIS2DW12_SENSOR_ID];
	int rv;

	i2c_common_emul_set_write_func(
		common_data, lis2dw12_test_mock_write_fail_set_power_mode,
		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");
}

ZTEST(lis2dw12, test_lis2dw12_init__success)
{
	const struct emul *emul = EMUL_DT_GET(LIS2DW12_EMUL_NODE);
	struct motion_sensor_t *ms = &motion_sensors[LIS2DW12_SENSOR_ID];
	struct stprivate_data *drvdata = ms->drv_data;

	int rv;

	rv = ms->drv->init(ms);
	zassert_equal(EC_SUCCESS, rv, "init returned %d but expected %d", rv,
		      EC_SUCCESS);
	zassert_true(lis2dw12_emul_get_soft_reset_count(emul) > 0,
		     "expected at least one soft reset");
	zassert_equal(LIS2DW12_RESOLUTION, drvdata->resol,
		      "Expected resolution of %d but got %d",
		      LIS2DW12_RESOLUTION, drvdata->resol);
}

ZTEST(lis2dw12, test_lis2dw12_set_power_mode)
{
	const struct emul *emul = EMUL_DT_GET(LIS2DW12_EMUL_NODE);
	struct i2c_common_emul_data *common_data =
		emul_lis2dw12_get_i2c_common_data(emul);
	struct motion_sensor_t *ms = &motion_sensors[LIS2DW12_SENSOR_ID];
	int rv;

	/* Part 1: happy path */
	rv = lis2dw12_set_power_mode(ms, LIS2DW12_LOW_POWER,
				     LIS2DW12_LOW_POWER_MODE_2);
	zassert_equal(rv, EC_SUCCESS, "Expected %d but got %d", EC_SUCCESS, rv);

	/* Part 2: unimplemented modes */
	rv = lis2dw12_set_power_mode(ms, LIS2DW12_LOW_POWER,
				     LIS2DW12_LOW_POWER_MODE_1);
	zassert_equal(rv, EC_ERROR_UNIMPLEMENTED, "Expected %d but got %d",
		      EC_ERROR_UNIMPLEMENTED, rv);

	/* Part 3: attempt to set mode but cannot modify reg. */
	i2c_common_emul_set_read_fail_reg(common_data, LIS2DW12_ACC_MODE_ADDR);
	rv = lis2dw12_set_power_mode(ms, LIS2DW12_LOW_POWER,
				     LIS2DW12_LOW_POWER_MODE_2);
	zassert_equal(rv, EC_ERROR_INVAL, "Expected %d but got %d",
		      EC_ERROR_INVAL, rv);
}

ZTEST(lis2dw12, test_lis2dw12_set_range)
{
	const struct emul *emul = EMUL_DT_GET(LIS2DW12_EMUL_NODE);
	struct i2c_common_emul_data *common_data =
		emul_lis2dw12_get_i2c_common_data(emul);
	struct motion_sensor_t *ms = &motion_sensors[LIS2DW12_SENSOR_ID];
	int rv;

	/* Part 1: Happy path. Go above the max range; it will be automatically
	 * clamped.
	 */

	rv = ms->drv->set_range(ms, LIS2DW12_ACCEL_FS_MAX_VAL + 1, 0);
	zassert_equal(rv, EC_SUCCESS, "Expected %d but got %d", EC_SUCCESS, rv);
	zassert_equal(ms->current_range, LIS2DW12_ACCEL_FS_MAX_VAL,
		      "Expected %d but got %d", LIS2DW12_ACCEL_FS_MAX_VAL,
		      ms->current_range);

	/* Part 2: Error accessing register */
	i2c_common_emul_set_read_fail_reg(common_data, LIS2DW12_FS_ADDR);
	rv = ms->drv->set_range(ms, LIS2DW12_ACCEL_FS_MAX_VAL, 0);
	zassert_equal(rv, EC_ERROR_INVAL, "Expected %d but got %d",
		      EC_ERROR_INVAL, rv);
}

ZTEST(lis2dw12, test_lis2dw12_set_rate)
{
	const struct emul *emul = EMUL_DT_GET(LIS2DW12_EMUL_NODE);
	struct motion_sensor_t *ms = &motion_sensors[LIS2DW12_SENSOR_ID];
	struct stprivate_data *drv_data = ms->drv_data;
	int rv;

	/* Part 1: Turn off sensor with rate=0 */
	rv = ms->drv->set_data_rate(ms, 0, 0);

	zassert_equal(lis2dw12_emul_peek_odr(emul), LIS2DW12_ODR_POWER_OFF_VAL,
		      "Output data rate should be %d but got %d",
		      LIS2DW12_ODR_POWER_OFF_VAL, lis2dw12_emul_peek_odr(emul));
	zassert_equal(drv_data->base.odr, LIS2DW12_ODR_POWER_OFF_VAL,
		      "Output data rate should be %d but got %d",
		      LIS2DW12_ODR_POWER_OFF_VAL, drv_data->base.odr);
	zassert_equal(rv, EC_SUCCESS, "Returned %d but expected %d", rv,
		      EC_SUCCESS);

	/* Part 2: Set some output data rates. We will request a certain rate
	 * and make sure the closest supported rate is used.
	 */

	static const struct {
		int requested_rate; /* millihertz */
		enum lis2dw12_round_mode round;
		int expected_norm_rate; /* millihertz */
		uint8_t expected_reg_val;
	} test_params[] = {
		{ 1000, ROUND_DOWN, LIS2DW12_ODR_MIN_VAL,
		  LIS2DW12_ODR_12HZ_VAL },
		{ 12501, ROUND_DOWN, 12500, LIS2DW12_ODR_12HZ_VAL },
		{ 25001, ROUND_DOWN, 25000, LIS2DW12_ODR_25HZ_VAL },
		{ 50001, ROUND_DOWN, 50000, LIS2DW12_ODR_50HZ_VAL },
		{ 100001, ROUND_DOWN, 100000, LIS2DW12_ODR_100HZ_VAL },
		{ 200001, ROUND_DOWN, 200000, LIS2DW12_ODR_200HZ_VAL },
		{ 400001, ROUND_DOWN, 400000, LIS2DW12_ODR_400HZ_VAL },
		{ 800001, ROUND_DOWN, 800000, LIS2DW12_ODR_800HZ_VAL },
		{ 1600001, ROUND_DOWN, 1600000, LIS2DW12_ODR_1_6kHZ_VAL },
		{ 3200001, ROUND_DOWN, LIS2DW12_ODR_MAX_VAL,
		  LIS2DW12_ODR_1_6kHZ_VAL },

		{ 1000, ROUND_UP, LIS2DW12_ODR_MIN_VAL, LIS2DW12_ODR_12HZ_VAL },
		{ 12501, ROUND_UP, 25000, LIS2DW12_ODR_25HZ_VAL },
		{ 25001, ROUND_UP, 50000, LIS2DW12_ODR_50HZ_VAL },
		{ 50001, ROUND_UP, 100000, LIS2DW12_ODR_100HZ_VAL },
		{ 100001, ROUND_UP, 200000, LIS2DW12_ODR_200HZ_VAL },
		{ 200001, ROUND_UP, 400000, LIS2DW12_ODR_400HZ_VAL },
		{ 400001, ROUND_UP, 800000, LIS2DW12_ODR_800HZ_VAL },
		{ 800001, ROUND_UP, 1600000, LIS2DW12_ODR_1_6kHZ_VAL },
		{ 1600001, ROUND_UP, LIS2DW12_ODR_MAX_VAL,
		  LIS2DW12_ODR_1_6kHZ_VAL },
	};

	for (size_t i = 0; i < ARRAY_SIZE(test_params); i++) {
		/* For each test vector in the above array */
		drv_data->base.odr = -1;
		rv = ms->drv->set_data_rate(ms, test_params[i].requested_rate,
					    test_params[i].round);

		/* Check the normalized rate the driver chose */
		zassert_equal(
			drv_data->base.odr, test_params[i].expected_norm_rate,
			"For requested rate %d, output data rate should be %d but got %d",
			test_params[i].requested_rate,
			test_params[i].expected_norm_rate, drv_data->base.odr);

		/* Read ODR and mode bits back from CTRL1 register */
		uint8_t odr_bits = lis2dw12_emul_peek_odr(emul);

		zassert_equal(
			odr_bits, test_params[i].expected_reg_val,
			"For requested rate %d, ODR bits should be 0x%x but got 0x%x - %d",
			test_params[i].requested_rate,
			test_params[i].expected_reg_val, odr_bits,
			LIS2DW12_ODR_MAX_VAL);

		/* Check if high performance mode was enabled if rate >
		 * 200,000mHz
		 */

		uint8_t mode_bits = lis2dw12_emul_peek_mode(emul);
		uint8_t lpmode_bits = lis2dw12_emul_peek_lpmode(emul);

		if (odr_bits > LIS2DW12_ODR_200HZ_VAL) {
			/* High performance mode, LP mode immaterial */
			zassert_equal(mode_bits, LIS2DW12_HIGH_PERF,
				      "MODE[1:0] should be 0x%x, but got 0x%x",
				      LIS2DW12_HIGH_PERF, mode_bits);

		} else {
			/* Low power mode, LP mode 2 */
			zassert_equal(mode_bits, LIS2DW12_LOW_POWER,
				      "MODE[1:0] should be 0x%x, but got 0x%x",
				      LIS2DW12_LOW_POWER, mode_bits);

			zassert_equal(
				lpmode_bits, LIS2DW12_LOW_POWER_MODE_2,
				"LPMODE[1:0] should be 0x%x, but got 0x%x",
				LIS2DW12_LOW_POWER_MODE_2, lpmode_bits);
		}
	}
}

ZTEST(lis2dw12, test_lis2dw12_read)
{
	const struct emul *emul = EMUL_DT_GET(LIS2DW12_EMUL_NODE);
	struct i2c_common_emul_data *common_data =
		emul_lis2dw12_get_i2c_common_data(emul);

	struct motion_sensor_t *ms = &motion_sensors[LIS2DW12_SENSOR_ID];
	struct stprivate_data *drvdata = ms->drv_data;
	intv3_t sample = { 0, 0, 0 };
	int rv;

	/* Reading requires a range to be set. Use 1 so it has no effect
	 * when scaling samples. Also need to set the sensor resolution
	 * manually.
	 */

	ms->drv->set_range(ms, 1, 0);
	drvdata->resol = LIS2DW12_RESOLUTION;

	/* Part 1: Try to read from sensor, but cannot check status register for
	 * ready bit
	 */

	i2c_common_emul_set_read_fail_reg(common_data, LIS2DW12_STATUS_REG);

	rv = ms->drv->read(ms, sample);

	zassert_equal(rv, EC_ERROR_INVAL,
		      "Expected return val of %d but got %d", EC_ERROR_INVAL,
		      rv);

	/* Part 2: Try to read sensor, but no new data is available. In this
	 * case, the driver should return the reading in from `ms->raw_xyz`
	 */

	i2c_common_emul_set_read_fail_reg(common_data,
					  I2C_COMMON_EMUL_NO_FAIL_REG);
	lis2dw12_emul_clear_accel_reading(emul);
	ms->raw_xyz[X] = 123;
	ms->raw_xyz[Y] = 456;
	ms->raw_xyz[Z] = 789;

	rv = ms->drv->read(ms, sample);

	zassert_equal(rv, EC_SUCCESS, "Expected return val of %d but got %d",
		      EC_SUCCESS, rv);
	CHECK_XYZ_EQUALS(sample, ms->raw_xyz);

	/* Part 3: Read from sensor w/ data ready, but an error occurs during
	 * read.
	 */
	intv3_t fake_sample = { 100, 200, 300 };

	i2c_common_emul_set_read_fail_reg(common_data, LIS2DW12_OUT_X_L_ADDR);
	lis2dw12_emul_set_accel_reading(emul, fake_sample);

	rv = ms->drv->read(ms, sample);

	zassert_equal(rv, EC_ERROR_INVAL,
		      "Expected return val of %d but got %d", EC_ERROR_INVAL,
		      rv);

	/* Part 4: Success */

	intv3_t expected_sample;

	for (int i = 0; i < ARRAY_SIZE(expected_sample); i++) {
		/* The read routine will normalize `fake_sample` to use the full
		 * range of INT16, so we need to compensate in our expected
		 * output
		 */

		expected_sample[i] =
			fake_sample[i] * (1 << (16 - LIS2DW12_RESOLUTION));
	}

	i2c_common_emul_set_read_fail_reg(common_data,
					  I2C_COMMON_EMUL_NO_FAIL_REG);

	lis2dw12_emul_set_accel_reading(emul, fake_sample);

	rv = ms->drv->read(ms, sample);

	zassert_equal(rv, EC_SUCCESS, "Expected return val of %d but got %d",
		      EC_SUCCESS, rv);
	CHECK_XYZ_EQUALS(sample, expected_sample);
}

ZTEST_SUITE(lis2dw12, drivers_predicate_post_main, NULL, lis2dw12_before,
	    lis2dw12_after, NULL);