common: online_calibration: Fire MKBP event on new calibration

Implement online calibration for accelerometers and fire a new
MKBP event when a new calibration value is computed.

TEST=Added new unit tests
BRANCH=None
BUG=b:138303429,chromium:1023858

Change-Id: I31ec7164be0d8c7dac210a1ac4b94ec9ecd6a60a
Signed-off-by: Yuval Peress <peress@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2012847
Reviewed-by: Jack Rosenthal <jrosenth@chromium.org>

1 files changed, 106 insertions, 5 deletions

diff --git a/test/online_calibration.c b/test/online_calibration.c
index f9fe0ee068..f51781f2ac 100644
--- a/test/online_calibration.c
+++ b/test/online_calibration.c
@@ -3,11 +3,18 @@
  * found in the LICENSE file.
  */
 
+#include "accel_cal.h"
+#include "accelgyro.h"
+#include "hwtimer.h"
 #include "online_calibration.h"
 #include "test_util.h"
-#include "hwtimer.h"
 #include "timer.h"
-#include "accelgyro.h"
+#include <stdio.h>
+
+int mkbp_send_event(uint8_t event_type)
+{
+	return 1;
+}
 
 struct mock_read_temp_result {
 	void *s;
@@ -36,15 +43,71 @@ static int mock_read_temp(const struct motion_sensor_t *s, int *temp)
 	return EC_ERROR_UNKNOWN;
 }
 
+struct mock_get_range_result {
+	struct motion_sensor_t *s;
+	int ret;
+	struct mock_get_range_result *next;
+};
+
+static struct mock_get_range_result *mock_get_range_results;
+
+static int mock_get_range(const struct motion_sensor_t *s)
+{
+	struct mock_get_range_result *ptr = mock_get_range_results;
+
+	while (ptr) {
+		if (ptr->s == s)
+			return ptr->ret;
+		ptr = ptr->next;
+	}
+
+	return 4;
+}
+
 static struct accelgyro_drv mock_sensor_driver = {
 	.read_temp = mock_read_temp,
+	.get_range = mock_get_range,
 };
 
 static struct accelgyro_drv empty_sensor_driver = {};
 
+static struct accel_cal_algo base_accel_cal_algos[] = {
+	{
+		.newton_fit = NEWTON_FIT(4, 15, FLOAT_TO_FP(0.01f),
+					 FLOAT_TO_FP(0.25f),
+					 FLOAT_TO_FP(1.0e-8f), 100),
+	}
+};
+
+static struct accel_cal base_accel_cal_data = {
+	.still_det = STILL_DET(FLOAT_TO_FP(0.00025f), 800 * MSEC, 1200 * MSEC,
+			       5),
+	.algos = base_accel_cal_algos,
+	.num_temp_windows = ARRAY_SIZE(base_accel_cal_algos),
+};
+
+static bool next_accel_cal_accumulate_result;
+static fpv3_t next_accel_cal_bias;
+
+bool accel_cal_accumulate(
+	struct accel_cal *cal, uint32_t sample_time, fp_t x, fp_t y, fp_t z,
+	fp_t temp)
+{
+	if (next_accel_cal_accumulate_result) {
+		cal->bias[X] = next_accel_cal_bias[X];
+		cal->bias[Y] = next_accel_cal_bias[Y];
+		cal->bias[Z] = next_accel_cal_bias[Z];
+	}
+	return next_accel_cal_accumulate_result;
+}
+
 struct motion_sensor_t motion_sensors[] = {
 	[BASE] = {
+		.type = MOTIONSENSE_TYPE_ACCEL,
 		.drv = &mock_sensor_driver,
+		.online_calib_data[0] = {
+			.type_specific_data = &base_accel_cal_data,
+		},
 	},
 	[LID] = {
 		.drv = &empty_sensor_driver,
@@ -61,7 +124,7 @@ static int test_read_temp_on_stage(void)
 	int rc;
 
 	mock_read_temp_results = &expected;
-	data.sensor_num = 0;
+	data.sensor_num = BASE;
 	rc = online_calibration_process_data(
 		&data, &motion_sensors[0], __hw_clock_source_read());
 
@@ -79,7 +142,7 @@ static int test_read_temp_from_cache_on_stage(void)
 	int rc;
 
 	mock_read_temp_results = &expected;
-	data.sensor_num = 0;
+	data.sensor_num = BASE;
 	rc = online_calibration_process_data(
 		&data, &motion_sensors[0], __hw_clock_source_read());
 	TEST_EQ(rc, EC_SUCCESS, "%d");
@@ -101,7 +164,7 @@ static int test_read_temp_twice_after_cache_stale(void)
 	int rc;
 
 	mock_read_temp_results = &expected;
-	data.sensor_num = 0;
+	data.sensor_num = BASE;
 	rc = online_calibration_process_data(
 		&data, &motion_sensors[0], __hw_clock_source_read());
 	TEST_EQ(rc, EC_SUCCESS, "%d");
@@ -116,6 +179,43 @@ static int test_read_temp_twice_after_cache_stale(void)
 	return EC_SUCCESS;
 }
 
+static int test_new_calibration_value(void)
+{
+	struct mock_read_temp_result expected = { &motion_sensors[BASE], 200,
+						  EC_SUCCESS, 0, NULL };
+	struct ec_response_motion_sensor_data data;
+	struct ec_response_online_calibration_data cal_data;
+	int rc;
+
+	mock_read_temp_results = &expected;
+	next_accel_cal_accumulate_result = false;
+	data.sensor_num = BASE;
+
+	rc = online_calibration_process_data(
+		&data, &motion_sensors[BASE], __hw_clock_source_read());
+	TEST_EQ(rc, EC_SUCCESS, "%d");
+	TEST_EQ(online_calibration_has_new_values(), false, "%d");
+
+	next_accel_cal_accumulate_result = true;
+	next_accel_cal_bias[X] = 0.01f;		/* expect:  81  */
+	next_accel_cal_bias[Y] = -0.02f;	/* expect: -163 */
+	next_accel_cal_bias[Z] = 0;		/* expect:    0 */
+	rc = online_calibration_process_data(
+		&data, &motion_sensors[BASE], __hw_clock_source_read());
+	TEST_EQ(rc, EC_SUCCESS, "%d");
+	TEST_EQ(online_calibration_has_new_values(), true, "%d");
+
+	rc = online_calibration_read(BASE, cal_data.data);
+	TEST_EQ(rc, true, "%d");
+	TEST_EQ(cal_data.data[X], 81, "%d");
+	TEST_EQ(cal_data.data[Y], -163, "%d");
+	TEST_EQ(cal_data.data[Z], 0, "%d");
+
+	TEST_EQ(online_calibration_has_new_values(), false, "%d");
+
+	return EC_SUCCESS;
+}
+
 void before_test(void)
 {
 	mock_read_temp_results = NULL;
@@ -129,6 +229,7 @@ void run_test(void)
 	RUN_TEST(test_read_temp_on_stage);
 	RUN_TEST(test_read_temp_from_cache_on_stage);
 	RUN_TEST(test_read_temp_twice_after_cache_stale);
+	RUN_TEST(test_new_calibration_value);
 
 	test_print_result();
 }