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/* 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"
/* For vector_3_t, define which coordinates are in which location. */
enum {
X, Y, Z
};
/*****************************************************************************/
/* 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)
{
v[X] = s->xyz[X];
v[Y] = s->xyz[Y];
v[Z] = s->xyz[Z];
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,
int * const range)
{
return EC_SUCCESS;
}
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,
int * const res)
{
return EC_SUCCESS;
}
static int accel_set_data_rate(const struct motion_sensor_t *s,
const int rate,
const int rnd)
{
return EC_SUCCESS;
}
static int accel_get_data_rate(const struct motion_sensor_t *s,
int * const rate)
{
return EC_SUCCESS;
}
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,
};
const matrix_3x3_t base_standard_ref = {
{ FLOAT_TO_FP(1), 0, 0},
{ 0, FLOAT_TO_FP(1), 0},
{ 0, 0, FLOAT_TO_FP(1)}
};
const matrix_3x3_t lid_standard_ref = {
{ FLOAT_TO_FP(1), 0, 0},
{ FLOAT_TO_FP(1), 0, 0},
{ 0, 0, FLOAT_TO_FP(1)}
};
struct motion_sensor_t motion_sensors[] = {
{SENSOR_ACTIVE_S0_S3_S5, "base", MOTIONSENSE_CHIP_LSM6DS0,
MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_BASE,
&test_motion_sense, NULL, NULL,
0, &base_standard_ref, 119000, 2},
{SENSOR_ACTIVE_S0, "lid", MOTIONSENSE_CHIP_KXCJ9,
MOTIONSENSE_TYPE_ACCEL, MOTIONSENSE_LOC_LID,
&test_motion_sense, NULL, NULL,
0, &lid_standard_ref, 100000, 2},
};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
/*****************************************************************************/
/* Test utilities */
static int test_lid_angle(void)
{
uint8_t *lpc_status = host_get_memmap(EC_MEMMAP_ACC_STATUS);
uint8_t sample;
struct motion_sensor_t *base = &motion_sensors[0];
struct motion_sensor_t *lid = &motion_sensors[1];
/* Go to S3 state */
hook_notify(HOOK_CHIPSET_STARTUP);
/* Go to S0 state */
hook_notify(HOOK_CHIPSET_RESUME);
/*
* 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;
sample = *lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK;
task_wake(TASK_ID_MOTIONSENSE);
while ((*lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK) == sample)
msleep(5);
TEST_ASSERT(motion_lid_get_angle() == 0);
/* Set lid open to 90 degrees. */
lid->xyz[X] = -1000;
lid->xyz[Y] = 0;
lid->xyz[Z] = 0;
sample = *lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK;
task_wake(TASK_ID_MOTIONSENSE);
while ((*lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK) == sample)
msleep(5);
TEST_ASSERT(motion_lid_get_angle() == 90);
/* Set lid open to 225. */
lid->xyz[X] = 500;
lid->xyz[Y] = 0;
lid->xyz[Z] = -500;
sample = *lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK;
task_wake(TASK_ID_MOTIONSENSE);
while ((*lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK) == sample)
msleep(5);
TEST_ASSERT(motion_lid_get_angle() == 225);
/*
* 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] = 0;
base->xyz[Y] = 1000;
base->xyz[Z] = 0;
sample = *lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK;
task_wake(TASK_ID_MOTIONSENSE);
while ((*lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK) == sample)
msleep(5);
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;
sample = *lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK;
task_wake(TASK_ID_MOTIONSENSE);
while ((*lpc_status & EC_MEMMAP_ACC_STATUS_SAMPLE_ID_MASK) == sample)
msleep(5);
TEST_ASSERT(motion_lid_get_angle() == 180);
return EC_SUCCESS;
}
void run_test(void)
{
test_reset();
RUN_TEST(test_lid_angle);
test_print_result();
}
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