Samus: Split motion sense and lid angle

Split motion_sense.c.
Translate the accel data in the Android coordinate right away.

BUG=chrome-os-partner:32002
BRANCH=ToT
TEST=On samus, check lid angle are still correct.

Change-Id: If743e25245dc1ce4cdacb8a4d5af22616c4a79e4
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/225486
Reviewed-by: Sheng-liang Song <ssl@chromium.org>
Reviewed-by: Alec Berg <alecaberg@chromium.org>

4 files changed, 28 insertions, 9 deletions

diff --git a/test/build.mk b/test/build.mk
index 8995c41fb9..593142b58d 100644
--- a/test/build.mk
+++ b/test/build.mk
@@ -30,7 +30,7 @@ test-list-host=mutex pingpong utils kb_scan kb_mkbp lid_sw power_button hooks
 test-list-host+=thermal flash queue kb_8042 extpwr_gpio console_edit system
 test-list-host+=sbs_charging adapter host_command thermal_falco led_spring
 test-list-host+=bklight_lid bklight_passthru interrupt timer_dos button
-test-list-host+=motion_sense math_util sbs_charging_v2 battery_get_params_smart
+test-list-host+=motion_lid math_util sbs_charging_v2 battery_get_params_smart
 test-list-host+=lightbar inductive_charging usb_pd
 
 adapter-y=adapter.o
@@ -52,7 +52,7 @@ kb_scan-y=kb_scan.o
 led_spring-y=led_spring.o led_spring_impl.o
 lid_sw-y=lid_sw.o
 math_util-y=math_util.o
-motion_sense-y=motion_sense.o
+motion_lid-y=motion_lid.o
 mutex-y=mutex.o
 pingpong-y=pingpong.o
 power_button-y=power_button.o
diff --git a/test/motion_sense.c b/test/motion_lid.c
index 5148935533..e8880e85a8 100644
--- a/test/motion_sense.c
+++ b/test/motion_lid.c
@@ -11,6 +11,7 @@
 #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"
@@ -88,15 +89,27 @@ const struct accelgyro_drv test_motion_sense = {
 	.get_data_rate = accel_get_data_rate,
 };
 
+const matrix_3x3_t base_standard_ref = {
+	{ 1, 0, 0},
+	{ 0, 1, 0},
+	{ 0, 0, 1}
+};
+
+const matrix_3x3_t lid_standard_ref = {
+	{ 1, 0, 0},
+	{ 1, 0, 0},
+	{ 0, 0, 1}
+};
+
 struct motion_sensor_t motion_sensors[] = {
 	{SENSOR_ACTIVE_S0_S3_S5, "base", SENSOR_CHIP_LSM6DS0,
 		SENSOR_ACCELEROMETER, LOCATION_BASE,
 		&test_motion_sense, NULL, NULL,
-		0, 119000, 2},
+		0, &base_standard_ref, 119000, 2},
 	{SENSOR_ACTIVE_S0, "lid", SENSOR_CHIP_KXCJ9,
 		SENSOR_ACCELEROMETER, LOCATION_LID,
 		&test_motion_sense, NULL, NULL,
-		0, 100000, 2},
+		0, &lid_standard_ref, 100000, 2},
 };
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
@@ -130,7 +143,7 @@ static int test_lid_angle(void)
 	task_wake(TASK_ID_MOTIONSENSE);
 	while ((*lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK) == sample)
 		msleep(5);
-	TEST_ASSERT(motion_get_lid_angle() == 0);
+	TEST_ASSERT(motion_lid_get_angle() == 0);
 
 	/* Set lid open to 90 degrees. */
 	lid->xyz[X] = -1000;
@@ -140,7 +153,7 @@ static int test_lid_angle(void)
 	task_wake(TASK_ID_MOTIONSENSE);
 	while ((*lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK) == sample)
 		msleep(5);
-	TEST_ASSERT(motion_get_lid_angle() == 90);
+	TEST_ASSERT(motion_lid_get_angle() == 90);
 
 	/* Set lid open to 225. */
 	lid->xyz[X] = 500;
@@ -150,7 +163,7 @@ static int test_lid_angle(void)
 	task_wake(TASK_ID_MOTIONSENSE);
 	while ((*lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK) == sample)
 		msleep(5);
-	TEST_ASSERT(motion_get_lid_angle() == 225);
+	TEST_ASSERT(motion_lid_get_angle() == 225);
 
 	/*
 	 * Align base with hinge and make sure it returns unreliable for angle.
@@ -163,7 +176,7 @@ static int test_lid_angle(void)
 	task_wake(TASK_ID_MOTIONSENSE);
 	while ((*lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK) == sample)
 		msleep(5);
-	TEST_ASSERT(motion_get_lid_angle() == LID_ANGLE_UNRELIABLE);
+	TEST_ASSERT(motion_lid_get_angle() == LID_ANGLE_UNRELIABLE);
 
 	/*
 	 * Use all three axes and set lid to negative base and make sure
@@ -179,7 +192,7 @@ static int test_lid_angle(void)
 	task_wake(TASK_ID_MOTIONSENSE);
 	while ((*lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK) == sample)
 		msleep(5);
-	TEST_ASSERT(motion_get_lid_angle() == 180);
+	TEST_ASSERT(motion_lid_get_angle() == 180);
 
 	return EC_SUCCESS;
 }
diff --git a/test/motion_sense.tasklist b/test/motion_lid.tasklist
index 60688f9c34..60688f9c34 100644
--- a/test/motion_sense.tasklist
+++ b/test/motion_lid.tasklist
diff --git a/test/test_config.h b/test/test_config.h
index 24ccb19024..9a06858834 100644
--- a/test/test_config.h
+++ b/test/test_config.h
@@ -50,6 +50,12 @@
 #define I2C_PORT_CHARGER 1
 #endif
 
+#ifdef TEST_MOTION_LID
+#define CONFIG_LID_ANGLE
+#define CONFIG_SENSOR_BASE 0
+#define CONFIG_SENSOR_LID 1
+#endif
+
 #ifdef TEST_SBS_CHARGING
 #define CONFIG_BATTERY_MOCK
 #define CONFIG_BATTERY_SMART