diff options
| author | Gwendal Grignou <gwendal@chromium.org> | 2018-12-17 15:14:00 -0800 |
|---|---|---|
| committer | chrome-bot <chrome-bot@chromium.org> | 2019-03-26 17:27:00 -0700 |
| commit | 40f9e2fc0f2354e033553131fd63cfb9f755a2e2 (patch) | |
| tree | 1498d7190aece44697f3bee0e797565391f99750 | |
| parent | 4a48404aeea58bfe0c31d5fea554b5329a223131 (diff) | |
| download | chrome-ec-40f9e2fc0f2354e033553131fd63cfb9f755a2e2.tar.gz | |
motion_lid: Rewrite lid angle calculation based on chromium code
Use code from ash/wm/tablet_mode/tablet_mode_controller.cc, in
particular TabletModeController::HandleHingeRotation()
to calculate lid angle.
Add unit tests based on
ash/wm/tablet_mode/tablet_mode_controller_unittest.cc and the data file
accelerometer_test_data_literals.cc.
BUG=b:120346412
BRANCH=none
TEST=Check unit tests pass, check it compile on FPU based EC, EC without
FPU and no 64 bit support (ampton).
Check lid calculation is correct on eve:
- with "while true ; do ectool motionsense lid_angle ; sleep 1 ; done"
Check when hinge is almost vertical lid angle is close to constant or
marked are unrieliable.
Check when shaking device, lid angle is also unreliable
Check with evtest SW_TABLET_MODE event is trigger when lid angle is
available and cross 180 region.
Change-Id: I545f7333ed9b53accedb75f238f747f66bae1f5d
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/1388844
Commit-Ready: ChromeOS CL Exonerator Bot <chromiumos-cl-exonerator@appspot.gserviceaccount.com>
Reviewed-by: Jett Rink <jettrink@chromium.org>
| -rw-r--r-- | common/motion_lid.c | 357 | ||||
| -rw-r--r-- | include/accelgyro.h | 8 | ||||
| -rw-r--r-- | include/motion_lid.h | 28 | ||||
| -rw-r--r-- | test/build.mk | 4 | ||||
| -rw-r--r-- | test/motion_angle.c | 103 | ||||
| -rw-r--r-- | test/motion_angle.tasklist | 18 | ||||
| -rw-r--r-- | test/motion_angle_data_literals.c | 1003 | ||||
| -rw-r--r-- | test/motion_angle_data_literals_tablet.c | 1040 | ||||
| -rw-r--r-- | test/motion_angle_tablet.c | 111 | ||||
| -rw-r--r-- | test/motion_angle_tablet.tasklist | 18 | ||||
| -rw-r--r-- | test/motion_common.c | 125 | ||||
| -rw-r--r-- | test/motion_common.h | 69 | ||||
| -rw-r--r-- | test/motion_lid.c | 65 | ||||
| -rw-r--r-- | test/test_config.h | 16 |
14 files changed, 2715 insertions, 250 deletions
diff --git a/common/motion_lid.c b/common/motion_lid.c index 4513df1e48..dd3506a3b8 100644 --- a/common/motion_lid.c +++ b/common/motion_lid.c @@ -38,7 +38,7 @@ static fp_t last_lid_angle_fp = FLOAT_TO_FP(-1); * measurements when the lid is physically closed. This will be used in * reliability calculations. */ -#define SMALL_LID_ANGLE_RANGE 15 +#define SMALL_LID_ANGLE_RANGE (FLOAT_TO_FP(15)) #endif /* Current acceleration vectors and current lid angle. */ @@ -46,15 +46,15 @@ static int lid_angle_deg; static int lid_angle_is_reliable; -/* - * Angle threshold for how close the hinge aligns with gravity before - * considering the lid angle calculation unreliable. For computational - * efficiency, value is given unit-less, so if you want the threshold to be - * at 15 degrees, the value would be cos(15 deg) = 0.96593. - * - * Here we're using cos(27.5 deg) = 0.88701. - */ -#define HINGE_ALIGNED_WITH_GRAVITY_THRESHOLD FLOAT_TO_FP(0.88701) +/* Smoothed vectors to increase accurency. */ +static intv3_t smoothed_base, smoothed_lid; + +/* 8.7 m/s^2 is the the maximum acceleration parallel to the hinge */ +#define SCALED_HINGE_VERTICAL_MAXIMUM \ + ((int)((8.7f * MOTION_SCALING_FACTOR) / MOTION_ONE_G)) + +#define SCALED_HINGE_VERTICAL_SMOOTHING_START \ + ((int)((7.0f * MOTION_SCALING_FACTOR) / MOTION_ONE_G)) /* * Constant to debounce lid angle changes around 360 - 0: @@ -67,9 +67,20 @@ static int lid_angle_is_reliable; * under the same acceleration. This constant, which mirrors * kNoisyMagnitudeDeviation used in Chromium, is an integer which defines the * maximum deviation in magnitude between the base and lid vectors. The units - * are in m/s^2. + * are in g. Currently set at 1m/s^2. */ -#define NOISY_MAGNITUDE_DEVIATION 1 +#define NOISY_MAGNITUDE_DEVIATION ((int)(MOTION_SCALING_FACTOR / MOTION_ONE_G)) + +/* + * Even with noise, any measurement greater than 1g on any axis is not suitable + * for lid calculation. It means the device is moving. + * To avoid using 64bits arithmetic, we need to be sure that square of magnitude + * is less than 1<<31, so magnitude is less sqrt(2)*(1<<15), less than ~40% over + * 1g. This is way above any usable noise. Assume noise is less than 10%. + */ +#define MOTION_SCALING_AXIS_MAX (MOTION_SCALING_FACTOR * 110) + +#define MOTION_SCALING_FACTOR2 (MOTION_SCALING_FACTOR * MOTION_SCALING_FACTOR) /* * Define the accelerometer orientation matrices based on the standard @@ -77,43 +88,16 @@ static int lid_angle_is_reliable; * frame before calculating lid angle). */ #ifdef CONFIG_ACCEL_STD_REF_FRAME_OLD -const struct accel_orientation acc_orient = { - /* Hinge aligns with y axis. */ - .rot_hinge_90 = { - { 0, 0, FLOAT_TO_FP(1)}, - { 0, FLOAT_TO_FP(1), 0}, - { FLOAT_TO_FP(-1), 0, 0} - }, - .rot_hinge_180 = { - { FLOAT_TO_FP(-1), 0, 0}, - { 0, FLOAT_TO_FP(1), 0}, - { 0, 0, FLOAT_TO_FP(-1)} - }, - .hinge_axis = {0, 1, 0}, -}; +static const intv3_t hinge_axis = { 0, 1, 0}; +#define HINGE_AXIS Y #else -const struct accel_orientation acc_orient = { - /* Hinge aligns with x axis. */ - .rot_hinge_90 = { - { FLOAT_TO_FP(1), 0, 0}, - { 0, 0, FLOAT_TO_FP(1)}, - { 0, FLOAT_TO_FP(-1), 0} - }, - .rot_hinge_180 = { - { FLOAT_TO_FP(1), 0, 0}, - { 0, FLOAT_TO_FP(-1), 0}, - { 0, 0, FLOAT_TO_FP(-1)} - }, - .hinge_axis = {1, 0, 0}, -}; +static const intv3_t hinge_axis = { 1, 0, 0}; +#define HINGE_AXIS X #endif -/* Pointer to constant acceleration orientation data. */ -const struct accel_orientation * const p_acc_orient = &acc_orient; - -const struct motion_sensor_t * const accel_base = +static const struct motion_sensor_t * const accel_base = &motion_sensors[CONFIG_LID_ANGLE_SENSOR_BASE]; -const struct motion_sensor_t * const accel_lid = +static const struct motion_sensor_t * const accel_lid = &motion_sensors[CONFIG_LID_ANGLE_SENSOR_LID]; #ifdef CONFIG_TABLET_MODE @@ -165,16 +149,6 @@ static fp_t laptop_zone_lid_angle = static int tablet_mode_lid_angle = DEFAULT_TABLET_MODE_ANGLE; static int tablet_mode_hys_degree = DEFAULT_TABLET_MODE_HYS; -/* - * We will change our tablet mode status when we are "convinced" that it has - * changed. This means we will have to consecutively calculate our new tablet - * mode while the angle is stable and come to the same conclusion. The number - * of consecutive calculations is the debounce count with an interval between - * readings set by the motion_sense task. This should avoid spurious forces - * that may trigger false transitions of the tablet mode switch. - */ -#define TABLET_MODE_DEBOUNCE_COUNT 3 - static void motion_lid_set_tablet_mode(int reliable) { static int tablet_mode_debounce_cnt = TABLET_MODE_DEBOUNCE_COUNT; @@ -305,109 +279,41 @@ static void motion_lid_set_dptf_profile(int reliable) static int calculate_lid_angle(const intv3_t base, const intv3_t lid, int *lid_angle) { - intv3_t v; - fp_t lid_to_base_fp, cos_lid_90, cos_lid_270; - fp_t lid_to_base, base_to_hinge; - fp_t denominator; - int reliable = 1; - int base_magnitude2, lid_magnitude2; - int base_range, lid_range, i; - intv3_t scaled_base, scaled_lid; - - /* - * The angle between lid and base is: - * acos((cad(base, lid) - cad(base, hinge)^2) /(1 - cad(base, hinge)^2)) - * where cad() is the cosine_of_angle_diff() function. - * - * Make sure to check for divide by 0. - */ - lid_to_base = cosine_of_angle_diff(base, lid); - base_to_hinge = cosine_of_angle_diff(base, p_acc_orient->hinge_axis); + intv3_t cross, proj_lid, proj_base, scaled_base, scaled_lid; + fp_t lid_to_base_fp, smoothed_ratio; + int base_magnitude2, lid_magnitude2, largest_hinge_accel; + int reliable = 1, i; /* - * If hinge aligns too closely with gravity, then result may be - * unreliable. + * Scale the vectors by their range, to be able to compare them. + * If a single measurement is greated than 1g, we may overflow fixed + * point calculation. However, we can exclude such a measurement, it + * means the device is in movement and lid angle calculation is not + * possible. */ - if (fp_abs(base_to_hinge) > HINGE_ALIGNED_WITH_GRAVITY_THRESHOLD) - reliable = 0; - - base_to_hinge = fp_sq(base_to_hinge); - - /* Check divide by 0. */ - denominator = FLOAT_TO_FP(1.0) - base_to_hinge; - if (fp_abs(denominator) < FLOAT_TO_FP(0.01)) { - *lid_angle = 0; - return 0; + for (i = X; i <= Z; i++) { + scaled_base[i] = base[i] * + accel_base->drv->get_range(accel_base); + scaled_lid[i] = lid[i] * + accel_lid->drv->get_range(accel_lid); + if (ABS(scaled_base[i]) > MOTION_SCALING_AXIS_MAX || + ABS(scaled_lid[i]) > MOTION_SCALING_AXIS_MAX) { + reliable = 0; + goto end_calculate_lid_angle; + } } - lid_to_base_fp = arc_cos(fp_div(lid_to_base - base_to_hinge, - denominator)); - - /* - * The previous calculation actually has two solutions, a positive and - * a negative solution. To figure out the sign of the answer, calculate - * the cosine of the angle between the actual lid angle and the - * estimated vector if the lid were open to 90 deg, cos_lid_90. Also - * calculate the cosine of the angle between the actual lid angle and - * the estimated vector if the lid were open to 270 deg, - * cos_lid_270. The smaller of the two angles represents which one is - * closer. If the lid is closer to the estimated 270 degree vector then - * the result is negative, otherwise it is positive. - */ - rotate(base, p_acc_orient->rot_hinge_90, v); - cos_lid_90 = cosine_of_angle_diff(v, lid); - rotate(v, p_acc_orient->rot_hinge_180, v); - cos_lid_270 = cosine_of_angle_diff(v, lid); - - /* - * Note that cos_lid_90 and cos_lid_270 are not in degrees, because - * the arc_cos() was never performed. But, since arc_cos() is - * monotonically decreasing, we can do this comparison without ever - * taking arc_cos(). But, since the function is monotonically - * decreasing, the logic of this comparison is reversed. - */ - if (cos_lid_270 > cos_lid_90) - lid_to_base_fp = -lid_to_base_fp; - - /* Place lid angle between 0 and 360 degrees. */ - if (lid_to_base_fp < 0) - lid_to_base_fp += FLOAT_TO_FP(360); - /* - * Perform some additional reliability checks. - * - * If the magnitude of the two vectors differ too greatly, then the - * readings are unreliable and we can't use them to calculate the lid - * angle. + * Calculate square of vector magnitude in g. + * Each entry is guaranteed to be up to +/- 1<<15, so the square will be + * less than 1<<30. */ - - /* Scale the vectors by their range. */ - base_range = accel_base->drv->get_range(accel_base); - lid_range = accel_lid->drv->get_range(accel_lid); - - for (i = X; i <= Z; i++) { - /* - * To increase precision, we'll use 8x the sensor data in the - * intermediate calculation. We would normally divide by 2^15. - * - * This is safe because even at a range of 8g, calculating the - * magnitude squared should still be less than the max of a - * 32-bit signed integer. - * - * The max that base[i] could be is 32768, resulting in a max - * value for scaled_base[i] of 640 @ 8g range and force. - * Typically our range is set to 2g. - */ - scaled_base[i] = base[i] * base_range * 10 >> 12; - scaled_lid[i] = lid[i] * lid_range * 10 >> 12; - } - - base_magnitude2 = (scaled_base[X] * scaled_base[X] + - scaled_base[Y] * scaled_base[Y] + - scaled_base[Z] * scaled_base[Z]) >> 6; - lid_magnitude2 = (scaled_lid[X] * scaled_lid[X] + - scaled_lid[Y] * scaled_lid[Y] + - scaled_lid[Z] * scaled_lid[Z]) >> 6; + base_magnitude2 = scaled_base[X] * scaled_base[X] + + scaled_base[Y] * scaled_base[Y] + + scaled_base[Z] * scaled_base[Z]; + lid_magnitude2 = scaled_lid[X] * scaled_lid[X] + + scaled_lid[Y] * scaled_lid[Y] + + scaled_lid[Z] * scaled_lid[Z]; /* * Check to see if they differ than more than NOISY_MAGNITUDE_DEVIATION. @@ -417,27 +323,93 @@ static int calculate_lid_angle(const intv3_t base, const intv3_t lid, * magnitude, but we can work with the magnitudes squared directly as * shown below: * - * If A and B are the base and lid magnitudes, and x is the noisy - * magnitude deviation: + * If A is a magnitudes, and x is the noisy magnitude deviation: * - * A - B < x - * A^2 - B^2 < x * (A + B) - * A^2 - B^2 < 2 * x * avg(A, B) + * 0 < 1g - A < x + * 0 < 1g^2 - A^2 < x * (A + B) + * 0 < 1g^2 - A^2 < 2 * x * avg(A, B) * * If we assume that the average acceleration should be about 1g, then * we have: * - * (A^2 - B^2) < 2 * 1g * NOISY_MAGNITUDE_DEVIATION + * 0 < 1g^2 - A^2 < 2 * 1g * NOISY_MAGNITUDE_DEVIATION */ - if (ABS(base_magnitude2 - lid_magnitude2) > - (2 * 10 * NOISY_MAGNITUDE_DEVIATION)) + if (MOTION_SCALING_FACTOR2 - base_magnitude2 > + 2 * MOTION_SCALING_FACTOR * NOISY_MAGNITUDE_DEVIATION) { + reliable = 0; + goto end_calculate_lid_angle; + } + if (MOTION_SCALING_FACTOR2 - lid_magnitude2 > + 2 * MOTION_SCALING_FACTOR * NOISY_MAGNITUDE_DEVIATION) { + reliable = 0; + goto end_calculate_lid_angle; + } + + largest_hinge_accel = MAX(ABS(scaled_base[HINGE_AXIS]), + ABS(scaled_lid[HINGE_AXIS])); + + smoothed_ratio = MAX(INT_TO_FP(0), MIN(INT_TO_FP(1), + fp_div(INT_TO_FP(largest_hinge_accel - + SCALED_HINGE_VERTICAL_SMOOTHING_START), + INT_TO_FP(SCALED_HINGE_VERTICAL_MAXIMUM - + SCALED_HINGE_VERTICAL_SMOOTHING_START)))); + + /* Check hinge is not too vertical */ + if (largest_hinge_accel > SCALED_HINGE_VERTICAL_MAXIMUM) { reliable = 0; + goto end_calculate_lid_angle; + } + + /* Smooth input to reduce calculation error due to noise. */ + vector_scale(smoothed_base, smoothed_ratio); + vector_scale(smoothed_lid, smoothed_ratio); + vector_scale(scaled_base, INT_TO_FP(1) - smoothed_ratio); + vector_scale(scaled_lid, INT_TO_FP(1) - smoothed_ratio); + for (i = X; i <= Z; i++) { + smoothed_base[i] += scaled_base[i]; + smoothed_lid[i] += scaled_lid[i]; + } + + /* Project vectors on the hinge hyperplan, putting smooth ones aside. */ + memcpy(proj_base, smoothed_base, sizeof(intv3_t)); + memcpy(proj_lid, smoothed_lid, sizeof(intv3_t)); + proj_base[HINGE_AXIS] = 0; + proj_lid[HINGE_AXIS] = 0; + + /* Calculate the clockwise angle */ + lid_to_base_fp = arc_cos(cosine_of_angle_diff(proj_base, proj_lid)); + cross_product(proj_base, proj_lid, cross); + + /* + * If the dot product of this cross product is normal, it means that + * the shortest angle between |base| and |lid| was counterclockwise + * with respect to the surface represented by |hinge_axis| and this + * angle must be reversed. + */ + if (dot_product(cross, hinge_axis) > 0) + lid_to_base_fp = FLOAT_TO_FP(360) - lid_to_base_fp; + +#ifndef CONFIG_ACCEL_STD_REF_FRAME_OLD + /* + * Angle is between the keyboard and the front of screen: we need to + * anlge between keyboard and back of screen: + * 180 instead of 0 when lid and base are flat on surface. + * 0 instead of 180 when lid is closed on keyboard. + */ + lid_to_base_fp = FLOAT_TO_FP(180) - lid_to_base_fp; +#endif + + /* Place lid angle between 0 and 360 degrees. */ + if (lid_to_base_fp < 0) + lid_to_base_fp += FLOAT_TO_FP(360); #ifdef CONFIG_TABLET_MODE /* Ignore large angles when the lid is closed. */ if (!lid_is_open() && - (lid_to_base_fp > FLOAT_TO_FP(SMALL_LID_ANGLE_RANGE))) + (lid_to_base_fp > SMALL_LID_ANGLE_RANGE)) { reliable = 0; + goto end_calculate_lid_angle; + } /* * Ignore small angles when the lid is open. @@ -451,33 +423,31 @@ static int calculate_lid_angle(const intv3_t base, const intv3_t lid, * reliable readings over a threshold to disable key scanning. */ if (lid_is_open() && - (lid_to_base_fp <= FLOAT_TO_FP(SMALL_LID_ANGLE_RANGE))) + (lid_to_base_fp <= SMALL_LID_ANGLE_RANGE)) { reliable = 0; - - if (reliable) { - /* - * Seed the lid angle now that we have a reliable - * measurement. - */ - if (last_lid_angle_fp == FLOAT_TO_FP(-1)) - last_lid_angle_fp = lid_to_base_fp; - - /* - * If the angle was last seen as really large and now it's quite - * small, we may be rotating around from 360->0 so correct it to - * be large. But in case that the lid switch is closed, we can - * prove the small angle we see is correct so we take the angle - * as is. - */ - if ((last_lid_angle_fp >= - FLOAT_TO_FP(360) - DEBOUNCE_ANGLE_DELTA) && - (lid_to_base_fp <= DEBOUNCE_ANGLE_DELTA) && - (lid_is_open())) - last_lid_angle_fp = FLOAT_TO_FP(360) - lid_to_base_fp; - else - last_lid_angle_fp = lid_to_base_fp; + goto end_calculate_lid_angle; } + /* Seed the lid angle now that we have a reliable measurement. */ + if (last_lid_angle_fp == FLOAT_TO_FP(-1)) + last_lid_angle_fp = lid_to_base_fp; + + /* + * If the angle was last seen as really large and now it's quite + * small, we may be rotating around from 360->0 so correct it to + * be large. But in case that the lid switch is closed, we can + * prove the small angle we see is correct so we take the angle + * as is. + */ + if ((last_lid_angle_fp >= + FLOAT_TO_FP(360) - DEBOUNCE_ANGLE_DELTA) && + (lid_to_base_fp <= DEBOUNCE_ANGLE_DELTA) && + (lid_is_open())) + last_lid_angle_fp = FLOAT_TO_FP(360) - lid_to_base_fp; + else + last_lid_angle_fp = lid_to_base_fp; + +end_calculate_lid_angle: /* * Round to nearest int by adding 0.5. Note, only works because lid * angle is known to be positive. @@ -493,7 +463,9 @@ static int calculate_lid_angle(const intv3_t base, const intv3_t lid, #endif /* CONFIG_DPTF_MULTI_PROFILE && CONFIG_DPTF_MOTION_LID_NO_HALL_SENSOR */ #else /* CONFIG_TABLET_MODE */ - *lid_angle = FP_TO_INT(lid_to_base_fp + FLOAT_TO_FP(0.5)); +end_calculate_lid_angle: + if (reliable) + *lid_angle = FP_TO_INT(lid_to_base_fp + FLOAT_TO_FP(0.5)); #endif return reliable; } @@ -511,25 +483,10 @@ int motion_lid_get_angle(void) */ void motion_lid_calc(void) { -#ifndef CONFIG_ACCEL_STD_REF_FRAME_OLD - /* - * rotate lid vector by 180 deg to be in the right coordinate frame - * because calculate_lid_angle assumes when the lid is closed, that - * the lid and base accelerometer data matches - */ - intv3_t lid = { accel_lid->xyz[X], - accel_lid->xyz[Y] * -1, - accel_lid->xyz[Z] * -1}; - /* Calculate angle of lid accel. */ - lid_angle_is_reliable = calculate_lid_angle( - accel_base->xyz, lid, - &lid_angle_deg); -#else /* Calculate angle of lid accel. */ lid_angle_is_reliable = calculate_lid_angle( accel_base->xyz, accel_lid->xyz, &lid_angle_deg); -#endif #ifdef CONFIG_LID_ANGLE_UPDATE lid_angle_update(motion_lid_get_angle()); diff --git a/include/accelgyro.h b/include/accelgyro.h index cc731cf794..2d415621d1 100644 --- a/include/accelgyro.h +++ b/include/accelgyro.h @@ -10,6 +10,14 @@ /* Header file for accelerometer / gyro drivers. */ +/* + * EC reports sensor data on 16 bits. For accel/gyro/mag.. the MSB is the sign. + * For instance, for gravity, + * real_value[in g] = measured_value * range >> 15 + */ +#define MOTION_SCALING_FACTOR (1 << 15) +#define MOTION_ONE_G (9.80665f) + struct accelgyro_drv { /** * Initialize accelerometers. diff --git a/include/motion_lid.h b/include/motion_lid.h index 110d614811..2816a70bdb 100644 --- a/include/motion_lid.h +++ b/include/motion_lid.h @@ -11,27 +11,15 @@ #include "host_command.h" #include "math_util.h" -/** - * This structure defines all of the data needed to specify the orientation - * of the base and lid accelerometers in order to calculate the lid angle. +/* + * We will change our tablet mode status when we are "convinced" that it has + * changed. This means we will have to consecutively calculate our new tablet + * mode while the angle is stable and come to the same conclusion. The number + * of consecutive calculations is the debounce count with an interval between + * readings set by the motion_sense task. This should avoid spurious forces + * that may trigger false transitions of the tablet mode switch. */ -struct accel_orientation { - /* Rotation matrix to rotate positive 90 degrees around the hinge. */ - mat33_fp_t rot_hinge_90; - - /* - * Rotation matrix to rotate 180 degrees around the hinge. The value - * here should be rot_hinge_90 ^ 2. - */ - mat33_fp_t rot_hinge_180; - - /* Vector pointing along hinge axis. */ - intv3_t hinge_axis; -}; - -/* Link global structure for orientation. This must be defined in board.c. */ -extern const struct accel_orientation acc_orient; - +#define TABLET_MODE_DEBOUNCE_COUNT 3 /** * Get last calculated lid angle. Note, the lid angle calculated by the EC diff --git a/test/build.mk b/test/build.mk index 31cec03c9a..362667a17e 100644 --- a/test/build.mk +++ b/test/build.mk @@ -41,6 +41,8 @@ test-list-host += kb_scan test-list-host += lid_sw test-list-host += lightbar test-list-host += math_util +test-list-host += motion_angle +test-list-host += motion_angle_tablet test-list-host += motion_lid test-list-host += mutex test-list-host += nvmem @@ -97,6 +99,8 @@ kb_scan-y=kb_scan.o lid_sw-y=lid_sw.o lightbar-y=lightbar.o math_util-y=math_util.o +motion_angle-y=motion_angle.o motion_angle_data_literals.o motion_common.o +motion_angle_tablet-y=motion_angle_tablet.o motion_angle_data_literals_tablet.o motion_common.o motion_lid-y=motion_lid.o mutex-y=mutex.o nvmem-y=nvmem.o diff --git a/test/motion_angle.c b/test/motion_angle.c new file mode 100644 index 0000000000..c69f1dccc2 --- /dev/null +++ b/test/motion_angle.c @@ -0,0 +1,103 @@ +/* Copyright 2019 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: Check lid angle calculation and tablet mode + * transition. + */ + +#include <math.h> +#include <stdio.h> + +#include "accelgyro.h" +#include "common.h" +#include "gpio.h" +#include "hooks.h" +#include "motion_common.h" +#include "motion_lid.h" +#include "motion_sense.h" +#include "tablet_mode.h" +#include "test_util.h" +#include "util.h" + +/*****************************************************************************/ +/* Test utilities */ + +/* Array units is in m/s^2 - old matrix format. */ +int filler(const struct motion_sensor_t *s, const float v) +{ + return (v * MOTION_SCALING_FACTOR) / s->drv->get_range(s); +} + +static int test_lid_angle_less180(void) +{ + int index = 0, lid_angle; + struct motion_sensor_t *lid = &motion_sensors[ + CONFIG_LID_ANGLE_SENSOR_LID]; + struct motion_sensor_t *base = &motion_sensors[ + CONFIG_LID_ANGLE_SENSOR_BASE]; + + /* We don't have TASK_CHIP so simulate init ourselves */ + hook_notify(HOOK_CHIPSET_SHUTDOWN); + TEST_ASSERT(sensor_active == SENSOR_ACTIVE_S5); + TEST_ASSERT(lid->drv->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(lid->drv->get_data_rate(lid) == TEST_LID_FREQUENCY); + TEST_ASSERT(motion_interval == TEST_LID_EC_RATE); + + /* Open lid, testing close to 180 degree. */ + gpio_set_level(GPIO_LID_OPEN, 1); + msleep(1000); + + cprints(CC_ACCEL, "start loop"); + /* Check we will never enter tablet mode. */ + while (index < kAccelerometerLaptopModeTestDataLength) { + feed_accel_data(kAccelerometerLaptopModeTestData, + &index, filler); + wait_for_valid_sample(); + lid_angle = motion_lid_get_angle(); + cprints(CC_ACCEL, "%d : LID(%d, %d, %d)/BASE(%d, %d, %d): %d", + index / TEST_LID_SAMPLE_SIZE, + lid->xyz[X], lid->xyz[Y], lid->xyz[Z], + base->xyz[X], base->xyz[Y], base->xyz[Z], + lid_angle); + /* We need few sample to debounce and enter laptop mode. */ + TEST_ASSERT(index < TEST_LID_SAMPLE_SIZE * + (TABLET_MODE_DEBOUNCE_COUNT + 2) || + !tablet_get_mode()); + } + + /* Check we will never exit tablet mode. */ + index = 0; + while (index < kAccelerometerFullyOpenTestDataLength) { + feed_accel_data(kAccelerometerFullyOpenTestData, + &index, filler); + wait_for_valid_sample(); + lid_angle = motion_lid_get_angle(); + cprints(CC_ACCEL, "%d : LID(%d, %d, %d)/BASE(%d, %d, %d): %d", + index / TEST_LID_SAMPLE_SIZE, + lid->xyz[X], lid->xyz[Y], lid->xyz[Z], + base->xyz[X], base->xyz[Y], base->xyz[Z], + lid_angle); + TEST_ASSERT(index < TEST_LID_SAMPLE_SIZE * + (TABLET_MODE_DEBOUNCE_COUNT + 2) || + tablet_get_mode()); + } + return EC_SUCCESS; +} + + +void run_test(void) +{ + test_reset(); + + RUN_TEST(test_lid_angle_less180); + + test_print_result(); +} diff --git a/test/motion_angle.tasklist b/test/motion_angle.tasklist new file mode 100644 index 0000000000..60688f9c34 --- /dev/null +++ b/test/motion_angle.tasklist @@ -0,0 +1,18 @@ +/* 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. + */ + +/** + * List of enabled tasks in the priority order + * + * The first one has the lowest priority. + * + * For each task, use the macro TASK_TEST(n, r, d, s) where : + * 'n' in the name of the task + * 'r' in the main routine of the task + * 'd' in an opaque parameter passed to the routine at startup + * 's' is the stack size in bytes; must be a multiple of 8 + */ +#define CONFIG_TEST_TASK_LIST \ + TASK_TEST(MOTIONSENSE, motion_sense_task, NULL, TASK_STACK_SIZE) diff --git a/test/motion_angle_data_literals.c b/test/motion_angle_data_literals.c new file mode 100644 index 0000000000..6c0fcb35c2 --- /dev/null +++ b/test/motion_angle_data_literals.c @@ -0,0 +1,1003 @@ +/* Copyright 2018 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 "util.h" + +/* + * Recopied from + * chromium/src/ash/wm/tablet_mode/accelerometer_test_data_literals.cc + * + * The arrays contain actual accelerator readings. + * [ CONFIG_ACCEL_STD_REF_FRAME_OLD must be defined to used this array. ] + */ +const float kAccelerometerLaptopModeTestData[] = { + -0.166016f, -0.00488281f, 0.924805f, -0.770508f, -0.0488281f, + -0.510742f, -0.199219f, -0.0078125f, 0.953125f, -0.782227f, + -0.0244141f, -0.652344f, -0.177734f, -0.0136719f, 0.936523f, + -0.772461f, -0.0527344f, -0.59375f, -0.176758f, -0.00878906f, + 0.9375f, -0.777344f, -0.0419922f, -0.637695f, -0.165039f, + -0.00878906f, 0.942383f, -0.782227f, -0.046875f, -0.613281f, + -0.180664f, -0.00976562f, 0.943359f, -0.777344f, -0.0419922f, + -0.601562f, -0.189453f, -0.00488281f, 0.943359f, -0.776367f, + -0.0263672f, -0.613281f, -0.166992f, -0.00488281f, 0.935547f, + -0.78125f, -0.0380859f, -0.609375f, -0.176758f, -0.00878906f, + 0.947266f, -0.790039f, -0.0576172f, -0.585938f, -0.173828f, + -0.0126953f, 0.93457f, -0.780273f, -0.0654297f, -0.666016f, + -0.169922f, -0.00195312f, 0.928711f, -0.775391f, -0.0351562f, + -0.561523f, -0.193359f, 0.0f, 0.941406f, -0.795898f, + -0.0478516f, -0.640625f, -0.162109f, -0.00585938f, 0.917969f, + -0.768555f, -0.0146484f, -0.685547f, -0.166992f, -0.0136719f, + 0.921875f, -0.755859f, -0.0166016f, -0.425781f, -0.175781f, + -0.0810547f, 1.00098f, -0.802734f, -0.117188f, -0.585938f, + -0.210938f, 0.0214844f, 0.881836f, -0.750977f, -0.0302734f, + -0.677734f, -0.285156f, 0.00976562f, 0.967773f, -0.763672f, + -0.0283203f, -0.850586f, -0.222656f, -0.0136719f, 0.943359f, + -0.763672f, -0.0507812f, -0.640625f, -0.236328f, 0.0859375f, + 0.892578f, -0.742188f, 0.0302734f, -0.484375f, -0.269531f, + 0.0263672f, 0.913086f, -0.714844f, -0.00585938f, -0.745117f, + -0.275391f, 0.0927734f, 0.977539f, -0.776367f, -0.078125f, + -0.750977f, -0.155273f, -0.0341797f, 1.2334f, -1.06445f, + -0.0478516f, -0.823242f, -0.196289f, 0.046875f, 1.19141f, + -1.00391f, -0.140625f, -0.541016f, 0.0917969f, 0.21582f, + 0.717773f, -0.764648f, -0.0341797f, -0.607422f, -0.0351562f, + 0.0888672f, 0.207031f, -0.214844f, -0.18457f, -0.0664062f, + -0.0898438f, 0.0556641f, 0.418945f, -0.232422f, 0.43457f, + 0.0361328f, 0.143555f, 0.376953f, 1.23633f, -1.09082f, + 0.529297f, 0.0507812f, 0.205078f, 0.438477f, 1.66602f, + -1.59668f, 0.325195f, -1.20996f, -0.0791016f, 0.404297f, + 1.50977f, -1.40918f, 0.31543f, -1.30273f, -0.0654297f, + 0.141602f, 0.699219f, -0.589844f, 0.0732422f, -0.27832f, + 0.00488281f, 0.00683594f, 0.0566406f, -0.0410156f, -0.0292969f, + -0.0234375f, -0.0488281f, -0.00195312f, -0.0292969f, 0.0849609f, + -0.139648f, 0.0585938f, 0.677734f, 0.667969f, 1.36523f, + -1.11816f, 0.412109f, 0.844727f, 0.142578f, 0.790039f, + 1.73145f, -1.68066f, 0.464844f, -1.29492f, -0.0800781f, + 0.803711f, 0.879883f, 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-0.394531f, 0.237305f, -0.0126953f, + 0.800781f, -0.920898f, -0.12207f, -0.391602f, -0.0917969f, + -0.0791016f, 1.08008f, -1.03613f, -0.0654297f, -0.423828f, + 0.0478516f, -0.0253906f, 0.873047f, -0.884766f, -0.0722656f, + -0.579102f, 0.0136719f, -0.0917969f, 0.954102f, -0.922852f, + -0.172852f, -0.244141f, 0.0f, -0.141602f, 0.929688f, + -0.894531f, -0.179688f, -0.291992f, 0.0283203f, -0.0947266f, + 0.961914f, -0.926758f, -0.135742f, -0.329102f, 0.0576172f, + -0.0351562f, 0.999023f, -0.958984f, -0.0498047f, -0.248047f, + 0.0869141f, -0.078125f, 1.01074f, -0.954102f, 0.00976562f, + -0.217773f, 0.0986328f, -0.0556641f, 0.916992f, -0.914062f, + -0.136719f, -0.219727f, 0.0488281f, -0.139648f, 0.985352f, + -0.952148f, -0.152344f, -0.286133f, 0.0166016f, -0.0917969f, + 1.0459f, -0.972656f, -0.0605469f, -0.228516f, 0.0507812f, + -0.0810547f, 0.956055f, -0.9375f, -0.18457f, -0.275391f, + 0.0703125f, -0.0986328f, 0.948242f, -0.928711f, -0.162109f, + -0.333008f}; +const size_t kAccelerometerLaptopModeTestDataLength = + ARRAY_SIZE(kAccelerometerLaptopModeTestData); + +const float kAccelerometerFullyOpenTestData[] = { + 0.892578f, -0.0810547f, 0.0146484f, 0.929688f, -0.0644531f, + -0.0234375f, 0.996094f, -0.0136719f, 0.0185547f, 1.02344f, + -0.0615234f, -0.0449219f, 0.978516f, 0.125977f, 0.0400391f, + 0.996094f, 0.0332031f, -0.0117188f, 0.963867f, 0.107422f, + 0.0214844f, 0.980469f, 0.0185547f, -0.00683594f, 0.952148f, + 0.0361328f, 0.0253906f, 0.976562f, -0.00390625f, -0.0126953f, + 0.97168f, 0.0205078f, 0.0517578f, 1.01074f, 0.015625f, + -0.0234375f, 0.953125f, -0.000976562f, 0.0390625f, 0.977539f, + -0.0224609f, -0.00976562f, 0.954102f, 0.0244141f, 0.0439453f, + 0.986328f, 0.00292969f, -0.000976562f, 0.967773f, 0.0537109f, + 0.046875f, 0.99707f, 0.0175781f, -0.000976562f, 0.951172f, + 0.0390625f, 0.0341797f, 0.974609f, -0.00878906f, -0.000976562f, + 0.948242f, 0.0185547f, 0.0478516f, 0.976562f, -0.000976562f, + -0.00683594f, 0.958984f, 0.0263672f, 0.078125f, 0.982422f, + -0.0205078f, 0.0283203f, 0.930664f, 0.00878906f, 0.0664062f, + 0.970703f, 0.00390625f, -0.0078125f, 0.945312f, 0.0380859f, + -0.00585938f, 0.972656f, 0.0419922f, -0.0478516f, 1.01953f, + 0.240234f, -0.182617f, 1.00977f, 0.18457f, -0.126953f, + 1.05566f, 0.0751953f, -0.0888672f, 1.09766f, 0.0732422f, + -0.0898438f, 1.21484f, 0.119141f, -0.000976562f, 1.23633f, + 0.194336f, -0.447266f, 1.31445f, 0.213867f, -0.118164f, + 1.30762f, 0.0908203f, -0.260742f, 0.860352f, 0.141602f, + -0.166016f, 0.868164f, 0.0429688f, -0.258789f, 0.727539f, + 0.0419922f, -0.21875f, 0.740234f, 0.0126953f, -0.162109f, + 0.652344f, -0.00292969f, -0.185547f, 0.666992f, 0.0800781f, + -0.272461f, 0.852539f, -0.0478516f, -0.228516f, 0.819336f, + -0.0996094f, -0.180664f, 0.959961f, -0.0537109f, -0.240234f, + 0.935547f, -0.0917969f, -0.269531f, 0.988281f, -0.0507812f, + -0.197266f, 0.981445f, -0.0712891f, -0.323242f, 0.964844f, + -0.0683594f, -0.203125f, 0.941406f, -0.0898438f, -0.236328f, + 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0.0f, -0.0488281f, + 0.961914f, -0.177734f, -0.0898438f, 0.859375f, -0.172852f, + 0.0126953f, 1.1084f, -0.158203f, 0.0292969f, 1.0791f, + -0.152344f, 0.154297f, 1.29492f, -0.126953f, 0.134766f, + 1.23145f, -0.0878906f, -0.200195f, 0.667969f, -0.216797f, + -0.0888672f, 0.935547f, -0.143555f, 0.000976562f, 1.13281f, + -0.0498047f, 0.00195312f, 1.05469f, -0.231445f, 0.0927734f, + 0.956055f, -0.292969f, 0.0625f, 0.927734f, -0.112305f, + 0.0585938f, 0.975586f, -0.163086f, 0.0957031f, 1.03418f, + -0.229492f, 0.000976562f, 0.985352f, -0.09375f, -0.00585938f, + 0.945312f, -0.140625f, -0.0302734f, 0.998047f, -0.208008f, + -0.0507812f, 0.916016f, -0.112305f, 0.123047f, 0.981445f, + -0.205078f, 0.129883f, 1.02832f, -0.211914f, 0.105469f, + 1.01367f, -0.142578f, 0.111328f, 1.00098f, -0.110352f, + 0.0986328f, 0.999023f, -0.15918f, 0.0839844f, 0.922852f, + -0.223633f, 0.261719f, 1.06641f, -0.138672f, 0.240234f, + 0.916016f, -0.296875f, 0.00488281f, 1.04199f, -0.128906f, + 0.0341797f, 1.0791f, 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0.0966797f, 0.918945f, 0.329102f, 0.0390625f, + 0.991211f, 0.397461f, -0.124023f, 0.866211f, 0.210938f, + 0.130859f, 1.08789f, 0.317383f, 0.0537109f, 0.858398f, + 0.245117f, 0.0732422f, 0.741211f, 0.419922f, 0.0302734f, + 0.681641f, 0.485352f, -0.0214844f, 0.641602f, 0.520508f, + -0.129883f, 0.839844f, 0.490234f, 0.00390625f, 0.676758f, + 0.581055f, -0.0146484f, 0.692383f, 0.432617f, -0.0371094f, + 0.807617f, 0.664062f, 0.255859f, 0.216797f, 1.22559f, + 0.0195312f, 1.22168f, 1.2793f, -0.405273f, 1.72559f, + 0.708984f, -0.209961f, 0.579102f, 0.821289f, 0.0380859f, + 0.605469f, 0.80957f, 0.147461f, 0.419922f, 0.869141f, + 0.0390625f, 0.5625f, 0.786133f, 0.0654297f, 0.594727f, + 0.879883f, 0.0166016f, 0.480469f, 0.835938f, 0.00195312f, + 0.414062f, 0.899414f, -0.03125f, 0.344727f, 0.889648f, + 0.0185547f, 0.236328f, 0.932617f, -0.00585938f, 0.255859f, + 0.910156f, 0.0898438f, 0.262695f, 0.945312f, 0.0126953f, + 0.279297f, 0.860352f, 0.0507812f, 0.322266f, 0.913086f, + 0.00195312f, 0.296875f, 0.875977f, 0.0078125f, 0.373047f, + 0.922852f, -0.0244141f, 0.267578f, 0.884766f, 0.0117188f, + 0.347656f, 0.926758f, -0.0371094f, 0.266602f, 0.894531f, + -0.00683594f, 0.345703f, 0.926758f, -0.0478516f, 0.269531f, + 0.887695f, 0.0146484f, 0.360352f, 0.927734f, -0.03125f, + 0.272461f}; +const size_t kAccelerometerFullyOpenTestDataLength = + ARRAY_SIZE(kAccelerometerFullyOpenTestData); + diff --git a/test/motion_angle_data_literals_tablet.c b/test/motion_angle_data_literals_tablet.c new file mode 100644 index 0000000000..456779f457 --- /dev/null +++ b/test/motion_angle_data_literals_tablet.c @@ -0,0 +1,1040 @@ +/* Copyright 2018 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 "util.h" + +/* + * Recopied from + * chromium/src/ash/wm/tablet_mode/accelerometer_test_data_literals.cc + * + * The arrays contain actual accelerator readings. + */ +const float kAccelerometerVerticalHingeTestData[] = { + -0.0766145f, 6.02381f, 7.85298f, -0.268151f, -8.84897f, + -1.3216f, -0.402226f, 5.11401f, 8.77236f, -1.10133f, + -10.1706f, 1.24498f, -1.18752f, 6.40688f, 8.0924f, + -2.60489f, -8.99262f, 2.58574f, 0.632069f, 9.05008f, + 3.61046f, 1.50356f, -9.67257f, 1.93451f, 0.411803f, + 8.81066f, 0.268151f, -0.00957681f, -8.7532f, 2.15478f, + -0.0191536f, 9.49062f, -0.68953f, 0.0383072f, -8.94474f, + 2.99754f, -0.871489f, 9.80665f, 1.53229f, -0.92895f, + -9.88326f, 0.957681f, 0.507571f, 9.19373f, 1.71425f, + 0.287304f, -9.03093f, 0.651223f, 0.363919f, 9.71088f, + 1.18752f, 1.10133f, -10.0556f, 2.98796f, 0.23942f, + 9.39485f, 1.0343f, 0.842759f, -9.73961f, -1.12049f, + 0.172383f, 9.50977f, 1.18752f, 0.0383072f, -9.9503f, + 0.957681f, -0.373495f, 9.96946f, 1.01514f, 0.794875f, + -10.1897f, -1.38864f, -9.50977f, -1.04387f, 0.325611f, + -9.76834f, 1.05345f, -0.679953f, -9.76834f, -0.641646f, + 0.488417f, -9.2895f, 0.316035f, 0.258574f, -9.29908f, + -0.890643f, 0.469264f, -9.33739f, 0.823605f, -0.45011f, + -9.69173f, -1.02472f, 0.536301f, -9.52892f, 0.90022f, + -0.411803f, -9.34696f, -0.890643f, 0.430956f, -9.48104f, + 0.823605f, -0.603339f, -9.7875f, -0.565032f, 0.574608f, + -9.96946f, 0.536301f, -0.699107f, -9.57681f, -0.823605f, + 0.641646f, -9.43316f, 0.593762f, -0.775721f, -9.35654f, + -1.04387f, 0.440533f, -9.77792f, 1.01514f, -0.881066f, + -9.32781f, -1.10133f, 0.306458f, -9.414f, 0.995988f, + 0.0287304f, -9.26077f, -1.01514f, 0.268151f, -9.29908f, + 0.881066f, 0.00957681f, -9.42358f, -0.679953f, 0.201113f, + -9.49062f, 0.488417f, -0.00957681f, -9.47146f, -0.363919f, + 0.191536f, -9.32781f, 0.124498f, 0.124498f, 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1.1971f, 4.00311f, + 8.80109f, -3.08373f, 2.27928f, 8.95431f, -1.90578f, -1.10133f, + 8.93516f, -2.03986f, 0.248997f, 9.05008f, 1.53229f, -0.708684f, + -8.78193f, 1.43652f, -2.63362f, -8.66701f, 0.220267f, 2.79643f, + -8.66701f, -2.06859f, 2.42293f, -8.79151f, -2.88262f, -1.16837f, + 8.74362f, -1.9824f, 3.53384f, 9.04051f, 0.0574608f, -1.36948f, + 8.78193f, -4.1276f, 2.58574f, 8.8777f, 0.201113f, -1.80044f, + 8.70532f, -0.296881f, 1.52271f, 9.02135f, -0.871489f, -2.43251f, + -9.09797f, -1.3216f, -3.60088f, -8.97347f, 2.52828f, 2.6432f, + -8.82024f, 1.87705f, 0.354342f, -7.93917f, -4.38618f, 0.258574f, + -8.81066f, 1.91536f, -2.92093f, -8.04452f, -5.4492f, 3.28484f, + -8.86812f, 2.05901f, 0.890643f, -8.01579f, -5.65989f, -2.20267f, + -9.0022f, 2.18351f, -2.9305f, -8.80109f, -4.01268f, 3.055f, + -9.37569f, -1.04387f, 0.277727f, -6.80911f, 2.806f, -6.0717f, + -8.79151f, -8.79151f, -2.11647f, -8.6287f, -1.53229f, 3.58173f, + -8.97347f, -0.335188f, 1.26414f, 8.5042f, 1.51314f, -2.20267f, + -9.19373f, -1.37906f, 1.41737f, -7.67102f, 2.8922f, -5.09486f, + -8.81066f, 0.986411f, 2.30801f, -8.53294f, 3.26569f, -3.11246f, + -9.03093f, 1.06303f, 1.39821f, -8.8777f, -4.47237f, -0.632069f, + -8.74362f, -1.83875f, -0.0957681f, -7.92002f, 1.0343f, -3.84988f, + -8.92558f, 0.440533f, 1.26414f, -8.71489f, -0.153229f, -3.64876f, +}; + +const size_t kAccelerometerVerticalHingeUnstableTestDataLength = + ARRAY_SIZE(kAccelerometerVerticalHingeUnstableTestData); diff --git a/test/motion_angle_tablet.c b/test/motion_angle_tablet.c new file mode 100644 index 0000000000..ee241d3172 --- /dev/null +++ b/test/motion_angle_tablet.c @@ -0,0 +1,111 @@ +/* Copyright 2018 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, when in tablet mode. + */ + +#include <math.h> +#include <stdio.h> + +#include "accelgyro.h" +#include "common.h" +#include "gpio.h" +#include "hooks.h" +#include "motion_common.h" +#include "motion_lid.h" +#include "motion_sense.h" +#include "tablet_mode.h" +#include "test_util.h" +#include "util.h" + + +/*****************************************************************************/ +/* Test utilities */ + +/* convert array value from g to m.s^2. */ +int filler(const struct motion_sensor_t *s, const float v) +{ + return FP_TO_INT( fp_div( + FLOAT_TO_FP(v) * MOTION_SCALING_FACTOR, + fp_mul(INT_TO_FP(s->drv->get_range(s)), MOTION_ONE_G))); +} + +static int test_lid_angle_less180(void) +{ + int index = 0, lid_angle; + struct motion_sensor_t *lid = &motion_sensors[ + CONFIG_LID_ANGLE_SENSOR_LID]; + struct motion_sensor_t *base = &motion_sensors[ + CONFIG_LID_ANGLE_SENSOR_BASE]; + + /* We don't have TASK_CHIP so simulate init ourselves */ + hook_notify(HOOK_CHIPSET_SHUTDOWN); + TEST_ASSERT(sensor_active == SENSOR_ACTIVE_S5); + TEST_ASSERT(lid->drv->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(lid->drv->get_data_rate(lid) == TEST_LID_FREQUENCY); + TEST_ASSERT(motion_interval == TEST_LID_EC_RATE); + + /* Open lid, testing close to 180 degree. */ + gpio_set_level(GPIO_LID_OPEN, 1); + msleep(1000); + + cprints(CC_ACCEL, "start loop"); + /* Force clamshell mode, to be sure we go in tablet mode ASAP. */ + tablet_set_mode(0); + + /* Check we stay in tablet mode, even when hinge is vertical. */ + while (index < kAccelerometerVerticalHingeTestDataLength) { + feed_accel_data(kAccelerometerVerticalHingeTestData, + &index, filler); + wait_for_valid_sample(); + lid_angle = motion_lid_get_angle(); + cprints(CC_ACCEL, "%d : LID(%d, %d, %d)/BASE(%d, %d, %d): %d", + index / TEST_LID_SAMPLE_SIZE, + lid->xyz[X], lid->xyz[Y], lid->xyz[Z], + base->xyz[X], base->xyz[Y], base->xyz[Z], + lid_angle); + /* We need few sample to debounce and enter laptop mode. */ + TEST_ASSERT(index < 2 * TEST_LID_SAMPLE_SIZE * \ + (TABLET_MODE_DEBOUNCE_COUNT + 2) || + tablet_get_mode()); + } + /* + * Check we stay in tablet mode, even when hinge is vertical and + * shaked. + */ + tablet_set_mode(0); + while (index < kAccelerometerVerticalHingeUnstableTestDataLength) { + feed_accel_data(kAccelerometerVerticalHingeUnstableTestData, + &index, filler); + wait_for_valid_sample(); + lid_angle = motion_lid_get_angle(); + cprints(CC_ACCEL, "%d : LID(%d, %d, %d)/BASE(%d, %d, %d): %d", + index / TEST_LID_SAMPLE_SIZE, + lid->xyz[X], lid->xyz[Y], lid->xyz[Z], + base->xyz[X], base->xyz[Y], base->xyz[Z], + lid_angle); + /* We need few sample to debounce and enter laptop mode. */ + TEST_ASSERT(index < TEST_LID_SAMPLE_SIZE * + (TABLET_MODE_DEBOUNCE_COUNT + 2) || + tablet_get_mode()); + } + return EC_SUCCESS; +} + + +void run_test(void) +{ + test_reset(); + + RUN_TEST(test_lid_angle_less180); + + test_print_result(); +} diff --git a/test/motion_angle_tablet.tasklist b/test/motion_angle_tablet.tasklist new file mode 100644 index 0000000000..60688f9c34 --- /dev/null +++ b/test/motion_angle_tablet.tasklist @@ -0,0 +1,18 @@ +/* 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. + */ + +/** + * List of enabled tasks in the priority order + * + * The first one has the lowest priority. + * + * For each task, use the macro TASK_TEST(n, r, d, s) where : + * 'n' in the name of the task + * 'r' in the main routine of the task + * 'd' in an opaque parameter passed to the routine at startup + * 's' is the stack size in bytes; must be a multiple of 8 + */ +#define CONFIG_TEST_TASK_LIST \ + TASK_TEST(MOTIONSENSE, motion_sense_task, NULL, TASK_STACK_SIZE) diff --git a/test/motion_common.c b/test/motion_common.c new file mode 100644 index 0000000000..2e0ebc3d91 --- /dev/null +++ b/test/motion_common.c @@ -0,0 +1,125 @@ +/* Copyright 2018 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. + * + * Common test code to test lid angle calculation. + */ + +#include "accelgyro.h" +#include "host_command.h" +#include "motion_common.h" +#include "motion_sense.h" +#include "task.h" +#include "timer.h" + +/*****************************************************************************/ +/* 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, intv3_t v) +{ + rotate(s->xyz, *s->rot_standard_ref, v); + return EC_SUCCESS; +} + +static int accel_get_range(const struct motion_sensor_t *s) +{ + return s->default_range; +} + +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, + .get_range = accel_get_range, + .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 = { + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S0] = { + .odr = TEST_LID_FREQUENCY, + }, + }, + }, + { + .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 = { + /* EC use accel for angle detection */ + [SENSOR_CONFIG_EC_S0] = { + .odr = TEST_LID_FREQUENCY, + }, + }, + }, +}; +const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); + +/* Read 6 samples from array to sensor vectors, convert units if necessary. */ +void feed_accel_data(const float *array, int *idx, + int (filler)(const struct motion_sensor_t*, const float)) +{ + int i, j; + + for (i = 0; i < motion_sensor_count; i++) { + struct motion_sensor_t *s = &motion_sensors[i]; + + for (j = X; j <= Z; j++) + s->xyz[j] = filler(s, array[*idx + i * 3 + j]); + } + *idx += 6; +} + +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); +} + + diff --git a/test/motion_common.h b/test/motion_common.h new file mode 100644 index 0000000000..3adb9f24e5 --- /dev/null +++ b/test/motion_common.h @@ -0,0 +1,69 @@ +/* Copyright 2018 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. + * + * Common test code to test lid angle calculation. + */ +#ifndef __CROS_EC_MOTION_COMMON_H +#define __CROS_EC_MOTION_COMMON_H + +#include "motion_sense.h" +/* + * Period in us for the motion task period. + * The task will read the vectors at that interval + */ +#define TEST_LID_EC_RATE (1 * MSEC) +#define TEST_LID_FREQUENCY (1e9 / TEST_LID_EC_RATE) /* mHz */ + +/* + * Time in ms to wait for the task to read the vectors. + */ +#define TEST_LID_SLEEP_RATE (TEST_LID_EC_RATE / 5) + +/* We gather 6 elements [2 vectors of 3 axis] per sample. */ +#define TEST_LID_SAMPLE_SIZE (2 * 3) + +extern enum chipset_state_mask sensor_active; +extern unsigned int motion_interval; + +extern struct motion_sensor_t motion_sensors[]; +extern const unsigned int motion_sensor_count; + +void wait_for_valid_sample(void); +void feed_accel_data(const float *array, int *idx, + int (filler)(const struct motion_sensor_t *s, const float f)); + +/* + * External data - from + * chromium/src/ash/wm/tablet_mode/tablet_mode_controller_unittest.cc + * + * Test accelerometer data taken with the lid at less than 180 degrees while + * shaking the device around. The data is to be interpreted in groups of 6 where + * each 6 values corresponds to the base accelerometer (-y / g, -x / g, -z / g) + * followed by the lid accelerometer (-y / g , x / g, z / g). + * [ CONFIG_ACCEL_STD_REF_FRAME_OLD must be defined to used this array. ] + */ +extern const float kAccelerometerLaptopModeTestData[]; +extern const size_t kAccelerometerLaptopModeTestDataLength; + +/* + * Test accelerometer data taken with the lid open 360 degrees while + * shaking the device around. The data is to be interpreted in groups of 6 where + * each 6 values corresponds to the base accelerometer (-y / g, -x / g, -z / g) + * followed by the lid accelerometer (-y / g , x / g, z / g). + * [ CONFIG_ACCEL_STD_REF_FRAME_OLD must be defined to used this array. ] + */ +extern const float kAccelerometerFullyOpenTestData[]; +extern const size_t kAccelerometerFullyOpenTestDataLength; + +/* + * Test accelerometer data taken with the lid open 360 degrees while the device + * hinge was nearly vertical, while shaking the device around. The data is to be + * interpreted in groups of 6 where each 6 values corresponds to the X, Y, and Z + * readings from the base and lid accelerometers in this order. + */ +extern const float kAccelerometerVerticalHingeTestData[]; +extern const size_t kAccelerometerVerticalHingeTestDataLength; +extern const float kAccelerometerVerticalHingeUnstableTestData[]; +extern const size_t kAccelerometerVerticalHingeUnstableTestDataLength; +#endif /* __CROS_EC_MOTION_COMMON_H */ diff --git a/test/motion_lid.c b/test/motion_lid.c index c9c7570232..6dc5f05831 100644 --- a/test/motion_lid.c +++ b/test/motion_lid.c @@ -33,6 +33,7 @@ extern unsigned motion_interval; * Time in ms to wait for the task to read the vectors. */ #define TEST_LID_SLEEP_RATE (TEST_LID_EC_RATE / 5) +#define ONE_G_MEASURED (1 << 14) /*****************************************************************************/ /* Mock functions */ @@ -56,7 +57,7 @@ static int accel_set_range(const struct motion_sensor_t *s, static int accel_get_range(const struct motion_sensor_t *s) { - return 0; + return s->default_range; } static int accel_get_resolution(const struct motion_sensor_t *s) @@ -97,7 +98,7 @@ struct motion_sensor_t motion_sensors[] = { .location = MOTIONSENSE_LOC_BASE, .drv = &test_motion_sense, .rot_standard_ref = NULL, - .default_range = 2, /* g, enough for laptop. */ + .default_range = MOTION_SCALING_FACTOR / ONE_G_MEASURED, .config = { /* AP: by default shutdown all sensors */ [SENSOR_CONFIG_AP] = { @@ -127,7 +128,7 @@ struct motion_sensor_t motion_sensors[] = { .location = MOTIONSENSE_LOC_LID, .drv = &test_motion_sense, .rot_standard_ref = NULL, - .default_range = 2, /* g, enough for laptop. */ + .default_range = MOTION_SCALING_FACTOR / ONE_G_MEASURED, .config = { /* AP: by default shutdown all sensors */ [SENSOR_CONFIG_AP] = { @@ -174,6 +175,7 @@ static int test_lid_angle(void) CONFIG_LID_ANGLE_SENSOR_BASE]; struct motion_sensor_t *lid = &motion_sensors[ CONFIG_LID_ANGLE_SENSOR_LID]; + int lid_angle; /* We don't have TASK_CHIP so simulate init ourselves */ hook_notify(HOOK_CHIPSET_SHUTDOWN); @@ -195,10 +197,10 @@ static int test_lid_angle(void) */ base->xyz[X] = 0; base->xyz[Y] = 0; - base->xyz[Z] = 1000; + base->xyz[Z] = ONE_G_MEASURED; lid->xyz[X] = 0; lid->xyz[Y] = 0; - lid->xyz[Z] = -1000; + lid->xyz[Z] = -ONE_G_MEASURED; gpio_set_level(GPIO_LID_OPEN, 0); /* Initial wake up, like init does */ task_wake(TASK_ID_MOTIONSENSE); @@ -208,11 +210,16 @@ static int test_lid_angle(void) task_wake(TASK_ID_MOTIONSENSE); wait_for_valid_sample(); - TEST_ASSERT(motion_lid_get_angle() == 0); + lid_angle = motion_lid_get_angle(); + cprints(CC_ACCEL, "LID(%d, %d, %d)/BASE(%d, %d, %d): %d", + lid->xyz[X], lid->xyz[Y], lid->xyz[Z], + base->xyz[X], base->xyz[Y], base->xyz[Z], + lid_angle); + TEST_ASSERT(lid_angle == 0); /* Set lid open to 90 degrees. */ lid->xyz[X] = 0; - lid->xyz[Y] = 1000; + lid->xyz[Y] = ONE_G_MEASURED; lid->xyz[Z] = 0; gpio_set_level(GPIO_LID_OPEN, 1); msleep(100); @@ -222,15 +229,15 @@ static int test_lid_angle(void) /* Set lid open to 225. */ lid->xyz[X] = 0; - lid->xyz[Y] = -500; - lid->xyz[Z] = 500; + lid->xyz[Y] = -1 * ONE_G_MEASURED * 0.707106; + lid->xyz[Z] = ONE_G_MEASURED * 0.707106; 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; + lid->xyz[Y] = -1 * ONE_G_MEASURED * 0.1736; + lid->xyz[Z] = -1 * ONE_G_MEASURED * 0.9848; wait_for_valid_sample(); TEST_ASSERT(motion_lid_get_angle() == 350); @@ -239,15 +246,15 @@ static int test_lid_angle(void) * open, we should be getting an unreliable reading. */ lid->xyz[X] = 0; - lid->xyz[Y] = 173; - lid->xyz[Z] = -984; + lid->xyz[Y] = ONE_G_MEASURED * 0.1736; + lid->xyz[Z] = -1 * ONE_G_MEASURED * 0.9848; wait_for_valid_sample(); TEST_ASSERT(motion_lid_get_angle() == LID_ANGLE_UNRELIABLE); /* Rotate back to 180 and then 10 */ lid->xyz[X] = 0; lid->xyz[Y] = 0; - lid->xyz[Z] = 1000; + lid->xyz[Z] = ONE_G_MEASURED; wait_for_valid_sample(); TEST_ASSERT(motion_lid_get_angle() == 180); @@ -256,8 +263,8 @@ static int test_lid_angle(void) * See SMALL_LID_ANGLE_RANGE. */ lid->xyz[X] = 0; - lid->xyz[Y] = 173; - lid->xyz[Z] = -984; + lid->xyz[Y] = ONE_G_MEASURED * 0.1736; + lid->xyz[Z] = -1 * ONE_G_MEASURED * 0.9848; wait_for_valid_sample(); TEST_ASSERT(motion_lid_get_angle() == LID_ANGLE_UNRELIABLE); @@ -265,7 +272,7 @@ static int test_lid_angle(void) * 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[X] = ONE_G_MEASURED; base->xyz[Y] = 0; base->xyz[Z] = 0; wait_for_valid_sample(); @@ -275,12 +282,12 @@ static int test_lid_angle(void) * 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; + base->xyz[X] = 5296; + base->xyz[Y] = 7856; + base->xyz[Z] = 13712; + lid->xyz[X] = 5296; + lid->xyz[Y] = 7856; + lid->xyz[Z] = 13712; wait_for_valid_sample(); TEST_ASSERT(motion_lid_get_angle() == 180); @@ -289,10 +296,10 @@ static int test_lid_angle(void) */ base->xyz[X] = 0; base->xyz[Y] = 0; - base->xyz[Z] = 1000; + base->xyz[Z] = ONE_G_MEASURED; lid->xyz[X] = 0; lid->xyz[Y] = 0; - lid->xyz[Z] = -1000; + lid->xyz[Z] = -1 * ONE_G_MEASURED; gpio_set_level(GPIO_LID_OPEN, 0); msleep(100); wait_for_valid_sample(); @@ -303,8 +310,8 @@ static int test_lid_angle(void) * be regarded as unreliable. */ lid->xyz[X] = 0; - lid->xyz[Y] = -173; - lid->xyz[Z] = -984; + lid->xyz[Y] = -1 * ONE_G_MEASURED * 0.1736; + lid->xyz[Z] = -1 * ONE_G_MEASURED * 0.9848; wait_for_valid_sample(); TEST_ASSERT(motion_lid_get_angle() == LID_ANGLE_UNRELIABLE); @@ -317,8 +324,8 @@ static int test_lid_angle(void) gpio_set_level(GPIO_LID_OPEN, 0); msleep(100); lid->xyz[X] = 0; - lid->xyz[Y] = 173; - lid->xyz[Z] = -984; + lid->xyz[Y] = ONE_G_MEASURED * 0.1736; + lid->xyz[Z] = -1 * ONE_G_MEASURED * 0.9848; wait_for_valid_sample(); TEST_ASSERT(motion_lid_get_angle() == 10); diff --git a/test/test_config.h b/test/test_config.h index 12331461e6..b5f81f4e1e 100644 --- a/test/test_config.h +++ b/test/test_config.h @@ -66,7 +66,8 @@ #define CONFIG_MAG_CALIBRATE #endif -#ifdef TEST_MOTION_LID +#if defined(TEST_MOTION_LID) || defined(TEST_MOTION_ANGLE) || \ + defined(TEST_MOTION_ANGLE_TABLET) #define CONFIG_LID_ANGLE #define CONFIG_LID_ANGLE_SENSOR_BASE 0 #define CONFIG_LID_ANGLE_SENSOR_LID 1 @@ -74,6 +75,19 @@ #define CONFIG_MOTION_FILL_LPC_SENSE_DATA #endif +#if defined(TEST_MOTION_ANGLE) +#define CONFIG_ACCEL_FORCE_MODE_MASK \ + ((1 << CONFIG_LID_ANGLE_SENSOR_BASE) | \ + (1 << CONFIG_LID_ANGLE_SENSOR_LID)) +#define CONFIG_ACCEL_STD_REF_FRAME_OLD +#endif + +#if defined(TEST_MOTION_ANGLE_TABLET) +#define CONFIG_ACCEL_FORCE_MODE_MASK \ + ((1 << CONFIG_LID_ANGLE_SENSOR_BASE) | \ + (1 << CONFIG_LID_ANGLE_SENSOR_LID)) +#endif + #ifdef TEST_RMA_AUTH /* Test server public and private keys */ |