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common:online_calibration: Spoof sensor data 

This change allows the `accelspoof` ec command to also
override the calibration data (bypassing the calibration
module). This config flag should be used when testing
layers above the EC (kernel and up)'s handling of the
calibration values.

BRANCH=none
BUG=none
TEST=Built on eve and added unit tests.
TEST=make run-online_calibration_spoof -j

Signed-off-by: Yuval Peress <peress@chromium.org>
Change-Id: I4735b9613c152af5559661a91565b05635d6495e
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2494986
This commit is contained in:
Yuval Peress 2020-10-23 12:05:48 -06:00 committed by Commit Bot
parent 9760abbefe
commit 6f0894886e
9 changed files with 472 additions and 142 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

128
common/online_calibration.c
View File

@ -83,11 +83,10 @@ static void data_fp_to_int16(const struct motion_sensor_t *s, const fpv3_t data,
int32_t iv;
fp_t v = fp_div(data[i], range);
v = fp_mul(v, INT_TO_FP((data[i] >= INT_TO_FP(0)) ? 0x7fff :
0x8000));
v = fp_mul(v, INT_TO_FP(0x7fff));
iv = FP_TO_INT(v);
/* Check for overflow */
out[i] = CLAMP(iv, (int32_t)0xffff8000, (int32_t)0x00007fff);
out[i] = ec_motion_sensor_clamp_i16(iv);
}
}
@ -98,28 +97,36 @@ static void data_fp_to_int16(const struct motion_sensor_t *s, const fpv3_t data,
*
* @param sensor Pointer to the gyroscope sensor to check.
*/
static void check_gyro_cal_new_bias(struct motion_sensor_t *sensor)
static bool check_gyro_cal_new_bias(struct motion_sensor_t *sensor,
fpv3_t bias_out)
{
struct online_calib_data *calib_data =
(struct online_calib_data *)sensor->online_calib_data;
struct gyro_cal_data *data =
(struct gyro_cal_data *)calib_data->type_specific_data;
int sensor_num = sensor - motion_sensors;
int temp_out;
fpv3_t bias_out;
uint32_t timestamp_out;
/* Check that we have a new bias. */
if (data == NULL || calib_data == NULL ||
!gyro_cal_new_bias_available(&data->gyro_cal))
return;
return false;
/* Read the calibration values. */
gyro_cal_get_bias(&data->gyro_cal, bias_out, &temp_out, &timestamp_out);
return true;
}
static void set_gyro_cal_cache_values(struct motion_sensor_t *sensor,
fpv3_t bias)
{
size_t sensor_num = sensor - motion_sensors;
struct online_calib_data *calib_data =
(struct online_calib_data *)sensor->online_calib_data;
mutex_lock(&g_calib_cache_mutex);
/* Convert result to the right scale. */
data_fp_to_int16(sensor, bias_out, calib_data->cache);
/* Convert result to the right scale and save to cache. */
data_fp_to_int16(sensor, bias, calib_data->cache);
/* Set valid and dirty. */
sensor_calib_cache_valid_map |= BIT(sensor_num);
sensor_calib_cache_dirty_map |= BIT(sensor_num);
@ -140,6 +147,7 @@ static void update_gyro_cal(struct motion_sensor_t *sensor, fpv3_t data,
uint32_t timestamp)
{
int i;
fpv3_t gyro_cal_data_out;
/*
* Find gyroscopes, while we don't currently have instance where more
@ -151,6 +159,7 @@ static void update_gyro_cal(struct motion_sensor_t *sensor, fpv3_t data,
struct gyro_cal_data *gyro_cal_data =
(struct gyro_cal_data *)
s->online_calib_data->type_specific_data;
bool has_new_gyro_cal_bias = false;
/*
* If we're not looking at a gyroscope OR if the calibration
@ -168,14 +177,19 @@ static void update_gyro_cal(struct motion_sensor_t *sensor, fpv3_t data,
gyro_cal_update_accel(&gyro_cal_data->gyro_cal,
timestamp, data[X], data[Y],
data[Z]);
check_gyro_cal_new_bias(s);
has_new_gyro_cal_bias =
check_gyro_cal_new_bias(s, gyro_cal_data_out);
} else if (sensor->type == MOTIONSENSE_TYPE_MAG &&
gyro_cal_data->mag_sensor_id ==
sensor - motion_sensors) {
gyro_cal_update_mag(&gyro_cal_data->gyro_cal, timestamp,
data[X], data[Y], data[Z]);
check_gyro_cal_new_bias(s);
has_new_gyro_cal_bias =
check_gyro_cal_new_bias(s, gyro_cal_data_out);
}
if (has_new_gyro_cal_bias)
set_gyro_cal_cache_values(s, gyro_cal_data_out);
}
}
@ -256,27 +270,44 @@ int online_calibration_process_data(struct ec_response_motion_sensor_data *data,
int rc;
int temperature;
struct online_calib_data *calib_data;
fpv3_t fdata;
bool is_spoofed = IS_ENABLED(CONFIG_ONLINE_CALIB_SPOOF_MODE) &&
(sensor->flags & MOTIONSENSE_FLAG_IN_SPOOF_MODE);
bool has_new_calibration_values = false;
/* Convert data to fp. */
data_int16_to_fp(sensor, data->data, fdata);
calib_data = sensor->online_calib_data;
switch (sensor->type) {
case MOTIONSENSE_TYPE_ACCEL: {
struct accel_cal *cal =
(struct accel_cal *)(calib_data->type_specific_data);
fpv3_t fdata;
/* Convert data to fp. */
data_int16_to_fp(sensor, data->data, fdata);
if (is_spoofed) {
/* Copy the data to the calibration result. */
cal->bias[X] = fdata[X];
cal->bias[Y] = fdata[Y];
cal->bias[Z] = fdata[Z];
has_new_calibration_values = true;
} else {
/* Possibly update the gyroscope calibration. */
update_gyro_cal(sensor, fdata, timestamp);
/* Possibly update the gyroscope calibration. */
update_gyro_cal(sensor, fdata, timestamp);
/*
* Temperature is required for accelerometer
* calibration.
*/
rc = get_temperature(sensor, &temperature);
if (rc != EC_SUCCESS)
return rc;
/* Temperature is required for accelerometer calibration. */
rc = get_temperature(sensor, &temperature);
if (rc != EC_SUCCESS)
return rc;
has_new_calibration_values = accel_cal_accumulate(
cal, timestamp, fdata[X], fdata[Y], fdata[Z],
temperature);
}
if (accel_cal_accumulate(cal, timestamp, fdata[X], fdata[Y],
fdata[Z], temperature)) {
if (has_new_calibration_values) {
mutex_lock(&g_calib_cache_mutex);
/* Convert result to the right scale. */
data_fp_to_int16(sensor, cal->bias, calib_data->cache);
@ -297,15 +328,21 @@ int online_calibration_process_data(struct ec_response_motion_sensor_data *data,
(int)data->data[Y],
(int)data->data[Z],
};
fpv3_t fdata;
/* Convert data to fp. */
data_int16_to_fp(sensor, data->data, fdata);
if (is_spoofed) {
/* Copy the data to the calibration result. */
cal->bias[X] = INT_TO_FP(idata[X]);
cal->bias[Y] = INT_TO_FP(idata[Y]);
cal->bias[Z] = INT_TO_FP(idata[Z]);
has_new_calibration_values = true;
} else {
/* Possibly update the gyroscope calibration. */
update_gyro_cal(sensor, fdata, timestamp);
/* Possibly update the gyroscope calibration. */
update_gyro_cal(sensor, fdata, timestamp);
has_new_calibration_values = mag_cal_update(cal, idata);
}
if (mag_cal_update(cal, idata)) {
if (has_new_calibration_values) {
mutex_lock(&g_calib_cache_mutex);
/* Copy the values */
calib_data->cache[X] = cal->bias[X];
@ -321,21 +358,32 @@ int online_calibration_process_data(struct ec_response_motion_sensor_data *data,
break;
}
case MOTIONSENSE_TYPE_GYRO: {
fpv3_t fdata;
if (is_spoofed) {
/*
* Gyroscope uses fdata to store the calibration
* result, so there's no need to copy anything.
*/
has_new_calibration_values = true;
} else {
struct gyro_cal_data *gyro_cal_data =
(struct gyro_cal_data *)
calib_data->type_specific_data;
struct gyro_cal *gyro_cal = &gyro_cal_data->gyro_cal;
/* Temperature is required for gyro calibration. */
rc = get_temperature(sensor, &temperature);
if (rc != EC_SUCCESS)
return rc;
/* Temperature is required for gyro calibration. */
rc = get_temperature(sensor, &temperature);
if (rc != EC_SUCCESS)
return rc;
/* Convert data to fp. */
data_int16_to_fp(sensor, data->data, fdata);
/* Update gyroscope calibration. */
gyro_cal_update_gyro(gyro_cal, timestamp, fdata[X],
fdata[Y], fdata[Z], temperature);
has_new_calibration_values =
check_gyro_cal_new_bias(sensor, fdata);
}
/* Update gyroscope calibration. */
gyro_cal_update_gyro(
&((struct gyro_cal_data *)calib_data->type_specific_data)->gyro_cal,
timestamp, fdata[X], fdata[Y], fdata[Z], temperature);
check_gyro_cal_new_bias(sensor);
if (has_new_calibration_values)
set_gyro_cal_cache_values(sensor, fdata);
break;
}
default:

13
include/config.h
View File

@ -2909,6 +2909,19 @@
/* Include sensor online calibration (requires CONFIG_FPU) */
#undef CONFIG_ONLINE_CALIB
/*
* Spoof the data for online calibration. When this flag is enabled, every
* reading with the flag MOTIONSENSE_FLAG_IN_SPOOF_MODE will be treated as a
* new calibration point. This should be used in conjunction with
* CONFIG_ACCEL_SPOOF_MODE. To trigger an accelerometer calibration for
* example, enable both config flags, connect to the cr50 terminal and run:
* $ accelspoof id on X Y Z
* This will spoof a reading of (X, Y, Z) from the sensor and treat those
* values as the calibration result (bypassing the calibration for the given
* sensor ID).
*/
#undef CONFIG_ONLINE_CALIB_SPOOF_MODE
/*
* Duration after which an entry in the temperature cache is considered stale.
* Defaults to 5 minutes if not set.

4
test/build.mk
View File

@ -60,6 +60,7 @@ test-list-host += motion_sense_fifo
test-list-host += mutex
test-list-host += newton_fit
test-list-host += online_calibration
test-list-host += online_calibration_spoof
test-list-host += pingpong
test-list-host += power_button
test-list-host += printf
@ -145,7 +146,7 @@ flash_write_protect-y=flash_write_protect.o
fpsensor-y=fpsensor.o
fpsensor_crypto-y=fpsensor_crypto.o
fpsensor_state-y=fpsensor_state.o
gyro_cal-y=gyro_cal.o
gyro_cal-y=gyro_cal.o gyro_cal_init_for_test.o
hooks-y=hooks.o
host_command-y=host_command.o
i2c_bitbang-y=i2c_bitbang.o
@ -165,6 +166,7 @@ motion_angle_tablet-y=motion_angle_tablet.o motion_angle_data_literals_tablet.o
motion_lid-y=motion_lid.o
motion_sense_fifo-y=motion_sense_fifo.o
online_calibration-y=online_calibration.o
online_calibration_spoof-y=online_calibration_spoof.o gyro_cal_init_for_test.o
kasa-y=kasa.o
mpu-y=mpu.o
mutex-y=mutex.o

102
test/gyro_cal.c
View File

@ -6,6 +6,7 @@
#include "common.h"
#include "gyro_cal.h"
#include "gyro_still_det.h"
#include "gyro_cal_init_for_test.h"
#include "motion_sense.h"
#include "test_util.h"
#include <string.h>
@ -69,107 +70,6 @@ static float normal_random2(float mean, float stddev)
return normal_random() * stddev + mean;
}
/**
*
* @param det Pointer to the stillness detector
* @param var_threshold The variance threshold in units^2
* @param confidence_delta The confidence delta in units^2
*/
static void gyro_still_det_initialization_for_test(struct gyro_still_det *det,
float var_threshold,
float confidence_delta)
{
/* Clear all data structure variables to 0. */
memset(det, 0, sizeof(struct gyro_still_det));
/*
* Set the delta about the variance threshold for calculation
* of the stillness confidence score.
*/
if (confidence_delta < var_threshold)
det->confidence_delta = confidence_delta;
else
det->confidence_delta = var_threshold;
/*
* Set the variance threshold parameter for the stillness
* confidence score.
*/
det->var_threshold = var_threshold;
/* Signal to start capture of next stillness data window. */
det->start_new_window = true;
}
static void gyro_cal_initialization_for_test(struct gyro_cal *gyro_cal)
{
/* GyroCal initialization. */
memset(gyro_cal, 0, sizeof(struct gyro_cal));
/*
* Initialize the stillness detectors.
* Gyro parameter input units are [rad/sec].
* Accel parameter input units are [m/sec^2].
* Magnetometer parameter input units are [uT].
*/
gyro_still_det_initialization_for_test(&gyro_cal->gyro_stillness_detect,
/* var_threshold */ 5e-5f,
/* confidence_delta */ 1e-5f);
gyro_still_det_initialization_for_test(
&gyro_cal->accel_stillness_detect,
/* var_threshold */ 8e-3f,
/* confidence_delta */ 1.6e-3f);
gyro_still_det_initialization_for_test(&gyro_cal->mag_stillness_detect,
/* var_threshold */ 1.4f,
/* confidence_delta */ 0.25f);
/* Reset stillness flag and start timestamp. */
gyro_cal->prev_still = false;
gyro_cal->start_still_time_us = 0;
/* Set the min and max window stillness duration. */
gyro_cal->min_still_duration_us = 5 * SECOND;
gyro_cal->max_still_duration_us = 6 * SECOND;
/* Sets the duration of the stillness processing windows. */
gyro_cal->window_time_duration_us = 1500000;
/* Set the window timeout duration. */
gyro_cal->gyro_window_timeout_duration_us = 5 * SECOND;
/* Load the last valid cal from system memory. */
gyro_cal->bias_x = 0.0f; /* [rad/sec] */
gyro_cal->bias_y = 0.0f; /* [rad/sec] */
gyro_cal->bias_z = 0.0f; /* [rad/sec] */
gyro_cal->calibration_time_us = 0;
/* Set the stillness threshold required for gyro bias calibration. */
gyro_cal->stillness_threshold = 0.95f;
/*
* Current window end-time used to assist in keeping sensor data
* collection in sync. Setting this to zero signals that sensor data
* will be dropped until a valid end-time is set from the first gyro
* timestamp received.
*/
gyro_cal->stillness_win_endtime_us = 0;
/* Gyro calibrations will be applied (see, gyro_cal_remove_bias()). */
gyro_cal->gyro_calibration_enable = true;
/*
* Sets the stability limit for the stillness window mean acceptable
* delta.
*/
gyro_cal->stillness_mean_delta_limit = 50.0f * MDEG_TO_RAD;
/* Sets the min/max temperature delta limit for the stillness period. */
gyro_cal->temperature_delta_limit_kelvin = 1.5f;
/* Ensures that the data tracking functionality is reset. */
init_gyro_cal(gyro_cal);
}
/**
* Tests that a calibration is updated after a period where the IMU device is
* stationary. Accelerometer and gyroscope measurements are simulated with data

114
test/gyro_cal_init_for_test.c Normal file
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@ -0,0 +1,114 @@
/* Copyright 2020 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 "common.h"
#include "timer.h"
#include "gyro_cal_init_for_test.h"
#include <string.h>
#define NANO_PI (3.14159265359f)
/** Unit conversion: milli-degrees to radians. */
#define MDEG_TO_RAD (NANO_PI / 180.0e3f)
/**
*
* @param det Pointer to the stillness detector
* @param var_threshold The variance threshold in units^2
* @param confidence_delta The confidence delta in units^2
*/
static void gyro_still_det_initialization_for_test(struct gyro_still_det *det,
float var_threshold,
float confidence_delta)
{
/* Clear all data structure variables to 0. */
memset(det, 0, sizeof(struct gyro_still_det));
/*
* Set the delta about the variance threshold for calculation
* of the stillness confidence score.
*/
if (confidence_delta < var_threshold)
det->confidence_delta = confidence_delta;
else
det->confidence_delta = var_threshold;
/*
* Set the variance threshold parameter for the stillness
* confidence score.
*/
det->var_threshold = var_threshold;
/* Signal to start capture of next stillness data window. */
det->start_new_window = true;
}
void gyro_cal_initialization_for_test(struct gyro_cal *gyro_cal)
{
/* GyroCal initialization. */
memset(gyro_cal, 0, sizeof(struct gyro_cal));
/*
* Initialize the stillness detectors.
* Gyro parameter input units are [rad/sec].
* Accel parameter input units are [m/sec^2].
* Magnetometer parameter input units are [uT].
*/
gyro_still_det_initialization_for_test(&gyro_cal->gyro_stillness_detect,
/* var_threshold */ 5e-5f,
/* confidence_delta */ 1e-5f);
gyro_still_det_initialization_for_test(
&gyro_cal->accel_stillness_detect,
/* var_threshold */ 8e-3f,
/* confidence_delta */ 1.6e-3f);
gyro_still_det_initialization_for_test(&gyro_cal->mag_stillness_detect,
/* var_threshold */ 1.4f,
/* confidence_delta */ 0.25f);
/* Reset stillness flag and start timestamp. */
gyro_cal->prev_still = false;
gyro_cal->start_still_time_us = 0;
/* Set the min and max window stillness duration. */
gyro_cal->min_still_duration_us = 5 * SECOND;
gyro_cal->max_still_duration_us = 6 * SECOND;
/* Sets the duration of the stillness processing windows. */
gyro_cal->window_time_duration_us = 1500000;
/* Set the window timeout duration. */
gyro_cal->gyro_window_timeout_duration_us = 5 * SECOND;
/* Load the last valid cal from system memory. */
gyro_cal->bias_x = 0.0f; /* [rad/sec] */
gyro_cal->bias_y = 0.0f; /* [rad/sec] */
gyro_cal->bias_z = 0.0f; /* [rad/sec] */
gyro_cal->calibration_time_us = 0;
/* Set the stillness threshold required for gyro bias calibration. */
gyro_cal->stillness_threshold = 0.95f;
/*
* Current window end-time used to assist in keeping sensor data
* collection in sync. Setting this to zero signals that sensor data
* will be dropped until a valid end-time is set from the first gyro
* timestamp received.
*/
gyro_cal->stillness_win_endtime_us = 0;
/* Gyro calibrations will be applied (see, gyro_cal_remove_bias()). */
gyro_cal->gyro_calibration_enable = true;
/*
* Sets the stability limit for the stillness window mean acceptable
* delta.
*/
gyro_cal->stillness_mean_delta_limit = 50.0f * MDEG_TO_RAD;
/* Sets the min/max temperature delta limit for the stillness period. */
gyro_cal->temperature_delta_limit_kelvin = 1.5f;
/* Ensures that the data tracking functionality is reset. */
init_gyro_cal(gyro_cal);
}

39
test/gyro_cal_init_for_test.h Normal file
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@ -0,0 +1,39 @@
/* Copyright 2020 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.
*/
#ifndef __CROS_EC_GYRO_CAL_INIT_FOR_TEST
#define __CROS_EC_GYRO_CAL_INIT_FOR_TEST
#include "gyro_cal.h"
#include "gyro_still_det.h"
/**
* Initialization function used for testing the gyroscope calibration.
* This function will initialize to the following values:
* - Gyrscope stillness detector
* - variance threshold: 5e-5
* - confidence delta: 1e-5
* - Accelerometer stillness detector
* - variance threshold: 8e-3
* - confidence delta: 1.6e-3
* - Magnetometer stillness detector
* - variance threshold: 1.4
* - confidence delta: 2.5e-1
* - Minimum stillness duration: 5 seconds
* - Maximum stillness duration: 6 seconds
* - Window duration: 1.5 seconds
* - Window timeout duration: 5 seconds
* - Stillness threshold: 0.95
* - Stillness mean delta limit: 50 millidegrees
* - Temperature delta limit: 1.5K
*
* Once all the values are set, this function will call init_gyro_cal()
* to finish initializing/resetting the struct data.
*
* @param gyro_cal Pointer to the calibration data structure to initialize.
*/
void gyro_cal_initialization_for_test(struct gyro_cal *gyro_cal);
#endif /* __CROS_EC_GYRO_CAL_INIT_FOR_TEST */

196
test/online_calibration_spoof.c Normal file
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@ -0,0 +1,196 @@
/* Copyright 2020 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 "accel_cal.h"
#include "accelgyro.h"
#include "hwtimer.h"
#include "mag_cal.h"
#include "online_calibration.h"
#include "test_util.h"
#include "gyro_cal_init_for_test.h"
#include "gyro_cal.h"
#include "timer.h"
#include <stdio.h>
int mkbp_send_event(uint8_t event_type)
{
return 1;
}
/*
* Mocked driver (can be re-used for all sensors).
*/
static int mock_read_temp(const struct motion_sensor_t *s, int *temp)
{
if (temp)
*temp = 200;
return EC_SUCCESS;
}
static struct accelgyro_drv mock_sensor_driver = {
.read_temp = mock_read_temp,
};
/*
* Accelerometer, magnetometer, and gyroscope data structs.
*/
static struct accel_cal_algo 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 accel_cal_data = {
.still_det =
STILL_DET(FLOAT_TO_FP(0.00025f), 800 * MSEC, 1200 * MSEC, 5),
.algos = accel_cal_algos,
.num_temp_windows = ARRAY_SIZE(accel_cal_algos),
};
static struct mag_cal_t mag_cal_data;
static struct gyro_cal gyro_cal_data;
/*
* Motion sensor array and count.
*/
struct motion_sensor_t motion_sensors[] = {
{
.type = MOTIONSENSE_TYPE_ACCEL,
.default_range = 4,
.drv = &mock_sensor_driver,
.online_calib_data[0] = {
.type_specific_data = &accel_cal_data,
},
},
{
.type = MOTIONSENSE_TYPE_MAG,
.default_range = 4,
.drv = &mock_sensor_driver,
.online_calib_data[0] = {
.type_specific_data = &mag_cal_data,
},
},
{
.type = MOTIONSENSE_TYPE_GYRO,
.default_range = 4,
.drv = &mock_sensor_driver,
.online_calib_data[0] = {
.type_specific_data = &gyro_cal_data,
},
},
};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
static void spoof_sensor_data(struct motion_sensor_t *s, int x, int y, int z)
{
struct ec_response_motion_sensor_data data;
uint32_t timestamp = 0;
/* Set the data and flags. */
data.data[X] = x;
data.data[Y] = y;
data.data[Z] = z;
s->flags |= MOTIONSENSE_FLAG_IN_SPOOF_MODE;
/* Pass the data to online_calibdation. */
online_calibration_process_data(&data, s, timestamp);
}
/*
* Begin testing.
*/
static int test_accel_calibration_on_spoof(void)
{
struct ec_response_online_calibration_data out;
/* Send spoof data (1, 2, 3). */
spoof_sensor_data(&motion_sensors[0], 1, 2, 3);
/* Check that we have new values. */
TEST_ASSERT(online_calibration_has_new_values());
/* Get the new values for sensor 0. */
TEST_ASSERT(online_calibration_read(&motion_sensors[0], &out));
/* Validate the new values. */
TEST_EQ(out.data[X], 1, "%d");
TEST_EQ(out.data[Y], 2, "%d");
TEST_EQ(out.data[Z], 3, "%d");
/* Validate that no other sensors have data. */
TEST_ASSERT(!online_calibration_has_new_values());
return EC_SUCCESS;
}
static int test_mag_calibration_on_spoof(void)
{
struct ec_response_online_calibration_data out;
/* Send spoof data (4, 5, 6). */
spoof_sensor_data(&motion_sensors[1], 4, 5, 6);
/* Check that we have new values. */
TEST_ASSERT(online_calibration_has_new_values());
/* Get the new values for sensor 0. */
TEST_ASSERT(online_calibration_read(&motion_sensors[1], &out));
/* Validate the new values. */
TEST_EQ(out.data[X], 4, "%d");
TEST_EQ(out.data[Y], 5, "%d");
TEST_EQ(out.data[Z], 6, "%d");
/* Validate that no other sensors have data. */
TEST_ASSERT(!online_calibration_has_new_values());
return EC_SUCCESS;
}
static int test_gyro_calibration_on_spoof(void)
{
struct ec_response_online_calibration_data out;
/* Send spoof data (7, 8, 9). */
spoof_sensor_data(&motion_sensors[2], 7, 8, 9);
/* Check that we have new values. */
TEST_ASSERT(online_calibration_has_new_values());
/* Get the new values for sensor 0. */
TEST_ASSERT(online_calibration_read(&motion_sensors[2], &out));
/* Validate the new values. */
TEST_EQ(out.data[X], 7, "%d");
TEST_EQ(out.data[Y], 8, "%d");
TEST_EQ(out.data[Z], 9, "%d");
/* Validate that no other sensors have data. */
TEST_ASSERT(!online_calibration_has_new_values());
return EC_SUCCESS;
}
void before_test(void)
{
online_calibration_init();
gyro_cal_initialization_for_test(&gyro_cal_data);
}
void run_test(int argc, char **argv)
{
test_reset();
RUN_TEST(test_accel_calibration_on_spoof);
RUN_TEST(test_mag_calibration_on_spoof);
RUN_TEST(test_gyro_calibration_on_spoof);
test_print_result();
}

10
test/online_calibration_spoof.tasklist Normal file
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@ -0,0 +1,10 @@
/* Copyright 2020 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.
*/
/**
* See CONFIG_TASK_LIST in config.h for details.
*/
#define CONFIG_TEST_TASK_LIST \
TASK_TEST(MOTIONSENSE, motion_sense_task, NULL, TASK_STACK_SIZE)

8
test/test_config.h
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@ -142,6 +142,14 @@
#define CONFIG_MKBP_USE_GPIO
#endif
#ifdef TEST_ONLINE_CALIBRATION_SPOOF
#define CONFIG_FPU
#define CONFIG_ONLINE_CALIB
#define CONFIG_MKBP_EVENT
#define CONFIG_MKBP_USE_GPIO
#define CONFIG_ONLINE_CALIB_SPOOF_MODE
#endif /* TEST_ONLINE_CALIBRATION_SPOOF */
#ifdef TEST_GYRO_CAL
#define CONFIG_FPU
#define CONFIG_ONLINE_CALIB