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/* 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 "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 */
bmi_emul_set_read_fail_reg(emul, BMI160_OFFSET_ACC70);
zassert_equal(-EIO, ms->drv->get_offset(ms, ret, &temp), NULL);
bmi_emul_set_read_fail_reg(emul, BMI160_OFFSET_ACC70 + 1);
zassert_equal(-EIO, ms->drv->get_offset(ms, ret, &temp), NULL);
bmi_emul_set_read_fail_reg(emul, BMI160_OFFSET_ACC70 + 2);
zassert_equal(-EIO, ms->drv->get_offset(ms, ret, &temp), NULL);
bmi_emul_set_read_fail_reg(emul, BMI_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 */
bmi_emul_set_read_fail_reg(emul, BMI_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 */
bmi_emul_set_read_fail_reg(emul, BMI160_OFFSET_GYR70);
zassert_equal(-EIO, ms->drv->get_offset(ms, ret, &temp), NULL);
bmi_emul_set_read_fail_reg(emul, BMI160_OFFSET_GYR70 + 1);
zassert_equal(-EIO, ms->drv->get_offset(ms, ret, &temp), NULL);
bmi_emul_set_read_fail_reg(emul, BMI160_OFFSET_GYR70 + 2);
zassert_equal(-EIO, ms->drv->get_offset(ms, ret, &temp), NULL);
bmi_emul_set_read_fail_reg(emul, BMI160_OFFSET_EN_GYR98);
zassert_equal(-EIO, ms->drv->get_offset(ms, ret, &temp), NULL);
bmi_emul_set_read_fail_reg(emul, BMI_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 */
bmi_emul_set_read_fail_reg(emul, BMI160_OFFSET_EN_GYR98);
zassert_equal(-EIO, ms->drv->set_offset(ms, input_v, temp), NULL);
bmi_emul_set_read_fail_reg(emul, BMI_EMUL_NO_FAIL_REG);
bmi_emul_set_write_fail_reg(emul, BMI160_OFFSET_EN_GYR98);
zassert_equal(-EIO, ms->drv->set_offset(ms, input_v, temp), NULL);
bmi_emul_set_write_fail_reg(emul, BMI_EMUL_NO_FAIL_REG);
/* Test fail on offset write */
bmi_emul_set_write_fail_reg(emul, BMI160_OFFSET_ACC70);
zassert_equal(-EIO, ms->drv->set_offset(ms, input_v, temp), NULL);
bmi_emul_set_write_fail_reg(emul, BMI160_OFFSET_ACC70 + 1);
zassert_equal(-EIO, ms->drv->set_offset(ms, input_v, temp), NULL);
bmi_emul_set_write_fail_reg(emul, BMI160_OFFSET_ACC70 + 2);
zassert_equal(-EIO, ms->drv->set_offset(ms, input_v, temp), NULL);
bmi_emul_set_write_fail_reg(emul, BMI_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 */
bmi_emul_set_read_fail_reg(emul, BMI160_OFFSET_EN_GYR98);
zassert_equal(-EIO, ms->drv->set_offset(ms, input_v, temp), NULL);
bmi_emul_set_read_fail_reg(emul, BMI_EMUL_NO_FAIL_REG);
bmi_emul_set_write_fail_reg(emul, BMI160_OFFSET_EN_GYR98);
zassert_equal(-EIO, ms->drv->set_offset(ms, input_v, temp), NULL);
bmi_emul_set_write_fail_reg(emul, BMI_EMUL_NO_FAIL_REG);
/* Test fail on offset write */
bmi_emul_set_write_fail_reg(emul, BMI160_OFFSET_GYR70);
zassert_equal(-EIO, ms->drv->set_offset(ms, input_v, temp), NULL);
bmi_emul_set_write_fail_reg(emul, BMI160_OFFSET_GYR70 + 1);
zassert_equal(-EIO, ms->drv->set_offset(ms, input_v, temp), NULL);
bmi_emul_set_write_fail_reg(emul, BMI160_OFFSET_GYR70 + 2);
zassert_equal(-EIO, ms->drv->set_offset(ms, input_v, temp), NULL);
bmi_emul_set_write_fail_reg(emul, BMI_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 */
bmi_emul_set_write_fail_reg(emul, BMI160_ACC_RANGE);
/* Test fail on write */
zassert_equal(-EIO, 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(-EIO, 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 */
bmi_emul_set_write_fail_reg(emul, BMI_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 */
bmi_emul_set_write_fail_reg(emul, BMI160_GYR_RANGE);
/* Test fail on write */
zassert_equal(-EIO, 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(-EIO, 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 */
bmi_emul_set_write_fail_reg(emul, BMI_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 */
bmi_emul_set_read_fail_reg(emul, BMI160_ACC_CONF);
/* Test fail on read */
zassert_equal(-EIO, 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(-EIO, 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 */
bmi_emul_set_read_fail_reg(emul, BMI_EMUL_NO_FAIL_REG);
/* Setup emulator fail on write */
bmi_emul_set_write_fail_reg(emul, BMI160_ACC_CONF);
/* Test fail on write */
zassert_equal(-EIO, 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(-EIO, 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 */
bmi_emul_set_write_fail_reg(emul, BMI_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 */
bmi_emul_set_read_fail_reg(emul, BMI160_GYR_CONF);
/* Test fail on read */
zassert_equal(-EIO, 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(-EIO, 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 */
bmi_emul_set_read_fail_reg(emul, BMI_EMUL_NO_FAIL_REG);
/* Setup emulator fail on write */
bmi_emul_set_write_fail_reg(emul, BMI160_GYR_CONF);
/* Test fail on write */
zassert_equal(-EIO, 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(-EIO, 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 */
bmi_emul_set_write_fail_reg(emul, BMI_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 */
bmi_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);
bmi_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 */
bmi_emul_set_read_fail_reg(emul, BMI_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 */
bmi_emul_set_read_fail_reg(emul, BMI160_STATUS);
zassert_equal(-EIO, ms->drv->read(ms, ret_v), NULL);
bmi_emul_set_read_fail_reg(emul, BMI_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 */
bmi_emul_set_read_fail_reg(emul, BMI160_ACC_X_L_G);
zassert_equal(-EIO, ms->drv->read(ms, ret_v), NULL);
bmi_emul_set_read_fail_reg(emul, BMI160_ACC_X_H_G);
zassert_equal(-EIO, ms->drv->read(ms, ret_v), NULL);
bmi_emul_set_read_fail_reg(emul, BMI160_ACC_Y_L_G);
zassert_equal(-EIO, ms->drv->read(ms, ret_v), NULL);
bmi_emul_set_read_fail_reg(emul, BMI160_ACC_Y_H_G);
zassert_equal(-EIO, ms->drv->read(ms, ret_v), NULL);
bmi_emul_set_read_fail_reg(emul, BMI160_ACC_Z_L_G);
zassert_equal(-EIO, ms->drv->read(ms, ret_v), NULL);
bmi_emul_set_read_fail_reg(emul, BMI160_ACC_Z_H_G);
zassert_equal(-EIO, ms->drv->read(ms, ret_v), NULL);
bmi_emul_set_read_fail_reg(emul, BMI_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 */
bmi_emul_set_read_fail_reg(emul, BMI160_STATUS);
zassert_equal(-EIO, ms->drv->read(ms, ret_v), NULL);
bmi_emul_set_read_fail_reg(emul, BMI_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 */
bmi_emul_set_read_fail_reg(emul, BMI160_GYR_X_L_G);
zassert_equal(-EIO, ms->drv->read(ms, ret_v), NULL);
bmi_emul_set_read_fail_reg(emul, BMI160_GYR_X_H_G);
zassert_equal(-EIO, ms->drv->read(ms, ret_v), NULL);
bmi_emul_set_read_fail_reg(emul, BMI160_GYR_Y_L_G);
zassert_equal(-EIO, ms->drv->read(ms, ret_v), NULL);
bmi_emul_set_read_fail_reg(emul, BMI160_GYR_Y_H_G);
zassert_equal(-EIO, ms->drv->read(ms, ret_v), NULL);
bmi_emul_set_read_fail_reg(emul, BMI160_GYR_Z_L_G);
zassert_equal(-EIO, ms->drv->read(ms, ret_v), NULL);
bmi_emul_set_read_fail_reg(emul, BMI160_GYR_Z_H_G);
zassert_equal(-EIO, ms->drv->read(ms, ret_v), NULL);
bmi_emul_set_read_fail_reg(emul, BMI_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, int byte, void *data)
{
if (reg == BMI160_STATUS) {
bmi_emul_set_reg(emul, BMI160_STATUS, 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 */
bmi_emul_set_read_fail_reg(emul, BMI160_ACC_CONF);
zassert_equal(-EIO, 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 */
bmi_emul_set_read_fail_reg(emul, BMI160_STATUS);
zassert_equal(-EIO, 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 */
bmi_emul_set_read_fail_reg(emul, BMI_EMUL_NO_FAIL_REG);
bmi_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 */
bmi_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 */
bmi_emul_set_read_fail_reg(emul, BMI160_GYR_CONF);
zassert_equal(-EIO, 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 */
bmi_emul_set_read_fail_reg(emul, BMI160_STATUS);
zassert_equal(-EIO, 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 */
bmi_emul_set_read_fail_reg(emul, BMI_EMUL_NO_FAIL_REG);
bmi_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 */
bmi_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;
int ret;
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, 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 ec_response_motion_sensor_data vector;
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 */
bmi_emul_set_read_fail_reg(emul, BMI160_INT_STATUS_0);
zassert_equal(-EIO, ms->drv->irq_handler(ms, &event), NULL);
bmi_emul_set_read_fail_reg(emul, BMI160_INT_STATUS_1);
zassert_equal(-EIO, ms->drv->irq_handler(ms, &event), NULL);
bmi_emul_set_read_fail_reg(emul, BMI_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 */
bmi_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 */
bmi_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);
}
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