| /* Copyright (c) 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 "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; |
| extern unsigned motion_interval; |
| |
| /* |
| * 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 ms to wait for the task to read the vectors. |
| */ |
| #define TEST_LID_SLEEP_RATE (TEST_LID_EC_RATE / 5) |
| |
| /*****************************************************************************/ |
| /* Mock functions */ |
| static int accel_init(const struct motion_sensor_t *s) |
| { |
| return EC_SUCCESS; |
| } |
| |
| static int accel_read(const struct motion_sensor_t *s, vector_3_t v) |
| { |
| rotate(s->xyz, *s->rot_standard_ref, v); |
| return EC_SUCCESS; |
| } |
| |
| static int accel_set_range(const struct motion_sensor_t *s, |
| const int range, |
| const int rnd) |
| { |
| return EC_SUCCESS; |
| } |
| |
| static int accel_get_range(const struct motion_sensor_t *s) |
| { |
| return 0; |
| } |
| |
| static int accel_set_resolution(const struct motion_sensor_t *s, |
| const int res, |
| const int rnd) |
| { |
| 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 | (rnd ? ROUND_UP_FLAG : 0); |
| 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_range = accel_get_range, |
| .set_resolution = accel_set_resolution, |
| .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[] = { |
| {.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 = 2, /* g, enough for laptop. */ |
| .config = { |
| /* AP: by default shutdown all sensors */ |
| [SENSOR_CONFIG_AP] = { |
| .odr = 0, |
| .ec_rate = 0, |
| }, |
| /* 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, |
| }, |
| [SENSOR_CONFIG_EC_S5] = { |
| .odr = 0, |
| .ec_rate = 0, |
| }, |
| }, |
| }, |
| {.name = "lid", |
| .active_mask = SENSOR_ACTIVE_S0, |
| .chip = MOTIONSENSE_CHIP_KXCJ9, |
| .type = MOTIONSENSE_TYPE_ACCEL, |
| .location = MOTIONSENSE_LOC_LID, |
| .drv = &test_motion_sense, |
| .rot_standard_ref = NULL, |
| .default_range = 2, /* g, enough for laptop. */ |
| .config = { |
| /* AP: by default shutdown all sensors */ |
| [SENSOR_CONFIG_AP] = { |
| .odr = 0, |
| .ec_rate = 0, |
| }, |
| /* 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, |
| }, |
| [SENSOR_CONFIG_EC_S5] = { |
| .odr = 0, |
| .ec_rate = 0, |
| }, |
| }, |
| }, |
| }; |
| 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); |
| task_wake(TASK_ID_MOTIONSENSE); |
| 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]; |
| |
| /* We don't have TASK_CHIP so simulate init ourselves */ |
| hook_notify(HOOK_CHIPSET_SHUTDOWN); |
| TEST_ASSERT(sensor_active == SENSOR_ACTIVE_S5); |
| TEST_ASSERT(accel_get_data_rate(lid) == 0); |
| TEST_ASSERT(motion_interval == 0); |
| |
| /* Go to S0 state */ |
| hook_notify(HOOK_CHIPSET_SUSPEND); |
| hook_notify(HOOK_CHIPSET_RESUME); |
| msleep(1000); |
| TEST_ASSERT(sensor_active == SENSOR_ACTIVE_S0); |
| TEST_ASSERT(accel_get_data_rate(lid) == (119000 | ROUND_UP_FLAG)); |
| TEST_ASSERT(motion_interval == TEST_LID_EC_RATE); |
| |
| /* |
| * 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] = 1000; |
| lid->xyz[X] = 0; |
| lid->xyz[Y] = 0; |
| lid->xyz[Z] = -1000; |
| /* Initial wake up, like init does */ |
| task_wake(TASK_ID_MOTIONSENSE); |
| |
| /* wait for the EC sampling period to expire */ |
| msleep(TEST_LID_EC_RATE); |
| task_wake(TASK_ID_MOTIONSENSE); |
| |
| wait_for_valid_sample(); |
| TEST_ASSERT(motion_lid_get_angle() == 0); |
| |
| /* Set lid open to 90 degrees. */ |
| lid->xyz[X] = 0; |
| lid->xyz[Y] = 1000; |
| lid->xyz[Z] = 0; |
| wait_for_valid_sample(); |
| TEST_ASSERT(motion_lid_get_angle() == 90); |
| |
| /* Set lid open to 225. */ |
| lid->xyz[X] = 0; |
| lid->xyz[Y] = -500; |
| lid->xyz[Z] = 500; |
| wait_for_valid_sample(); |
| TEST_ASSERT(motion_lid_get_angle() == 225); |
| |
| /* Set lid open to 350 */ |
| lid->xyz[X] = 0; |
| lid->xyz[Y] = -173; |
| lid->xyz[Z] = -984; |
| wait_for_valid_sample(); |
| TEST_ASSERT(motion_lid_get_angle() == 350); |
| |
| /* Set lid open to 10, check rotation did not change. */ |
| lid->xyz[X] = 0; |
| lid->xyz[Y] = 173; |
| lid->xyz[Z] = -984; |
| wait_for_valid_sample(); |
| TEST_ASSERT(motion_lid_get_angle() == 350); |
| |
| /* Rotate back to 180 and then 10 */ |
| lid->xyz[X] = 0; |
| lid->xyz[Y] = 0; |
| lid->xyz[Z] = 1000; |
| wait_for_valid_sample(); |
| TEST_ASSERT(motion_lid_get_angle() == 180); |
| |
| lid->xyz[X] = 0; |
| lid->xyz[Y] = 173; |
| lid->xyz[Z] = -984; |
| wait_for_valid_sample(); |
| TEST_ASSERT(motion_lid_get_angle() == 10); |
| |
| /* |
| * 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] = 1000; |
| 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] = 500; |
| base->xyz[Y] = 400; |
| base->xyz[Z] = 300; |
| lid->xyz[X] = 500; |
| lid->xyz[Y] = 400; |
| lid->xyz[Z] = 300; |
| wait_for_valid_sample(); |
| TEST_ASSERT(motion_lid_get_angle() == 180); |
| |
| return EC_SUCCESS; |
| } |
| |
| |
| void run_test(void) |
| { |
| test_reset(); |
| |
| RUN_TEST(test_lid_angle); |
| |
| test_print_result(); |
| } |