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chrome-ec/test/motion_sense_fifo.c

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/* 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_fifo.
*/
#include "stdio.h"
#include "motion_sense_fifo.h"
#include "test_util.h"
#include "util.h"
#include "hwtimer.h"
#include "timer.h"
#include "accelgyro.h"
#include <sys/types.h>
struct motion_sensor_t motion_sensors[] = {
[BASE] = {},
[LID] = {},
};
const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
uint32_t mkbp_last_event_time;
static struct ec_response_motion_sensor_data data[CONFIG_ACCEL_FIFO_SIZE];
static uint16_t data_bytes_read;
static int test_insert_async_event(void)
{
int read_count;
motion_sense_fifo_insert_async_event(motion_sensors, ASYNC_EVENT_FLUSH);
motion_sense_fifo_insert_async_event(motion_sensors + 1,
ASYNC_EVENT_ODR);
read_count = motion_sense_fifo_read(
sizeof(data), CONFIG_ACCEL_FIFO_SIZE, data, &data_bytes_read);
TEST_EQ(read_count, 2, "%d");
TEST_EQ(data_bytes_read,
(int)(2 * sizeof(struct ec_response_motion_sensor_data)), "%d");
TEST_BITS_SET(data[0].flags, ASYNC_EVENT_FLUSH);
TEST_BITS_CLEARED(data[0].flags, MOTIONSENSE_SENSOR_FLAG_ODR);
TEST_EQ(data[0].sensor_num, 0, "%d");
TEST_BITS_SET(data[1].flags, ASYNC_EVENT_ODR);
TEST_BITS_CLEARED(data[1].flags, MOTIONSENSE_SENSOR_FLAG_FLUSH);
TEST_EQ(data[1].sensor_num, 1, "%d");
return EC_SUCCESS;
}
static int test_wake_up_needed(void)
{
data[0].flags = MOTIONSENSE_SENSOR_FLAG_WAKEUP;
motion_sense_fifo_stage_data(data, motion_sensors, 0, 100);
TEST_EQ(motion_sense_fifo_wake_up_needed(), 0, "%d");
motion_sense_fifo_commit_data();
TEST_EQ(motion_sense_fifo_wake_up_needed(), 1, "%d");
return EC_SUCCESS;
}
static int test_wake_up_needed_overflow(void)
{
int i;
data[0].flags = MOTIONSENSE_SENSOR_FLAG_WAKEUP;
motion_sense_fifo_stage_data(data, motion_sensors, 0, 100);
data[0].flags = 0;
/*
* Using CONFIG_ACCEL_FIFO_SIZE / 2 since 2 entries are inserted per
* 'data':
* - a timestamp
* - the data
*/
for (i = 0; i < (CONFIG_ACCEL_FIFO_SIZE / 2); i++)
motion_sense_fifo_stage_data(data, motion_sensors, 0, 101 + i);
TEST_EQ(motion_sense_fifo_wake_up_needed(), 1, "%d");
return EC_SUCCESS;
}
static int test_adding_timestamp(void)
{
int read_count;
motion_sense_fifo_add_timestamp(100);
read_count = motion_sense_fifo_read(
sizeof(data), CONFIG_ACCEL_FIFO_SIZE, data, &data_bytes_read);
TEST_EQ(read_count, 1, "%d");
TEST_BITS_SET(data[0].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data[0].timestamp, 100, "%u");
return EC_SUCCESS;
}
static int test_stage_data_sets_xyz(void)
{
motion_sensors->oversampling_ratio = 1;
motion_sensors->oversampling = 0;
data->data[0] = 1;
data->data[1] = 2;
data->data[2] = 3;
motion_sense_fifo_stage_data(data, motion_sensors, 3, 100);
TEST_EQ(motion_sensors->xyz[0], 1, "%d");
TEST_EQ(motion_sensors->xyz[1], 2, "%d");
TEST_EQ(motion_sensors->xyz[2], 3, "%d");
return EC_SUCCESS;
}
static int test_stage_data_removed_oversample(void)
{
int read_count;
motion_sensors->oversampling_ratio = 2;
motion_sensors->oversampling = 0;
data->data[0] = 1;
data->data[1] = 2;
data->data[2] = 3;
motion_sense_fifo_stage_data(data, motion_sensors, 3, 100);
data->data[0] = 4;
data->data[1] = 5;
data->data[2] = 6;
motion_sense_fifo_stage_data(data, motion_sensors, 3, 110);
motion_sense_fifo_commit_data();
read_count = motion_sense_fifo_read(
sizeof(data), CONFIG_ACCEL_FIFO_SIZE, data, &data_bytes_read);
TEST_EQ(read_count, 3, "%d");
TEST_BITS_SET(data[0].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data[0].timestamp, 100, "%u");
TEST_BITS_CLEARED(data[1].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data[1].data[0], 1, "%d");
TEST_EQ(data[1].data[1], 2, "%d");
TEST_EQ(data[1].data[2], 3, "%d");
TEST_BITS_SET(data[2].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data[2].timestamp, 110, "%u");
return EC_SUCCESS;
}
static int test_stage_data_remove_all_oversampling(void)
{
int read_count;
motion_sensors->oversampling_ratio = 0;
motion_sensors->oversampling = 0;
data->data[0] = 1;
data->data[1] = 2;
data->data[2] = 3;
motion_sense_fifo_stage_data(data, motion_sensors, 3, 100);
data->data[0] = 4;
data->data[1] = 5;
data->data[2] = 6;
motion_sense_fifo_stage_data(data, motion_sensors, 3, 110);
motion_sense_fifo_commit_data();
read_count = motion_sense_fifo_read(
sizeof(data), CONFIG_ACCEL_FIFO_SIZE, data, &data_bytes_read);
TEST_EQ(read_count, 2, "%d");
TEST_BITS_SET(data[0].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data[0].timestamp, 100, "%u");
TEST_BITS_SET(data[1].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data[1].timestamp, 110, "%u");
return EC_SUCCESS;
}
static int test_stage_data_evicts_data_with_timestamp(void)
{
int i, read_count;
/* Fill the fifo */
motion_sensors->oversampling_ratio = 1;
for (i = 0; i < CONFIG_ACCEL_FIFO_SIZE / 2; i++)
motion_sense_fifo_stage_data(data, motion_sensors, 3, i * 100);
/* Add a single entry (should evict 2) */
motion_sense_fifo_add_timestamp(CONFIG_ACCEL_FIFO_SIZE * 100);
read_count = motion_sense_fifo_read(
sizeof(data), CONFIG_ACCEL_FIFO_SIZE, data, &data_bytes_read);
TEST_EQ(read_count, CONFIG_ACCEL_FIFO_SIZE - 1, "%d");
TEST_BITS_SET(data->flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data->timestamp, 100, "%u");
TEST_BITS_SET(data[CONFIG_ACCEL_FIFO_SIZE - 2].flags,
MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data[CONFIG_ACCEL_FIFO_SIZE - 2].timestamp,
CONFIG_ACCEL_FIFO_SIZE * 100, "%u");
return EC_SUCCESS;
}
static int test_add_data_no_spreading_when_different_sensors(void)
{
int read_count;
uint32_t now = __hw_clock_source_read();
motion_sensors[0].oversampling_ratio = 1;
motion_sensors[1].oversampling_ratio = 1;
motion_sense_fifo_stage_data(data, motion_sensors, 3, now);
motion_sense_fifo_stage_data(data, motion_sensors + 1, 3, now);
motion_sense_fifo_commit_data();
read_count = motion_sense_fifo_read(
sizeof(data), CONFIG_ACCEL_FIFO_SIZE, data, &data_bytes_read);
TEST_EQ(read_count, 4, "%d");
TEST_BITS_SET(data[0].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data[0].timestamp, now, "%u");
TEST_BITS_SET(data[2].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data[2].timestamp, now, "%u");
return EC_SUCCESS;
}
static int test_add_data_no_spreading_different_timestamps(void)
{
int read_count;
motion_sensors[0].oversampling_ratio = 1;
motion_sense_fifo_stage_data(data, motion_sensors, 3, 100);
motion_sense_fifo_stage_data(data, motion_sensors, 3, 120);
motion_sense_fifo_commit_data();
read_count = motion_sense_fifo_read(
sizeof(data), CONFIG_ACCEL_FIFO_SIZE, data, &data_bytes_read);
TEST_EQ(read_count, 4, "%d");
TEST_BITS_SET(data[0].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data[0].timestamp, 100, "%u");
TEST_BITS_SET(data[2].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data[2].timestamp, 120, "%u");
return EC_SUCCESS;
}
static int test_spread_data_in_window(void)
{
uint32_t now;
int read_count;
motion_sensors[0].oversampling_ratio = 1;
motion_sensors[0].collection_rate = 20000; /* ns */
now = __hw_clock_source_read();
motion_sense_fifo_stage_data(data, motion_sensors, 3, now - 18000);
motion_sense_fifo_stage_data(data, motion_sensors, 3, now - 18000);
motion_sense_fifo_commit_data();
read_count = motion_sense_fifo_read(
sizeof(data), CONFIG_ACCEL_FIFO_SIZE, data, &data_bytes_read);
TEST_EQ(read_count, 4, "%d");
TEST_BITS_SET(data[0].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data[0].timestamp, now - 18000, "%u");
TEST_BITS_SET(data[2].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
/* TODO(b/142892004): mock __hw_clock_source_read so we can check for
* exact TS.
*/
TEST_NEAR(data[2].timestamp, now, 2, "%u");
return EC_SUCCESS;
}
static int test_spread_data_by_collection_rate(void)
{
const uint32_t now = __hw_clock_source_read();
int read_count;
motion_sensors[0].oversampling_ratio = 1;
motion_sensors[0].collection_rate = 20000; /* ns */
motion_sense_fifo_stage_data(data, motion_sensors, 3, now - 20500);
motion_sense_fifo_stage_data(data, motion_sensors, 3, now - 20500);
motion_sense_fifo_commit_data();
read_count = motion_sense_fifo_read(
sizeof(data), CONFIG_ACCEL_FIFO_SIZE, data, &data_bytes_read);
TEST_EQ(read_count, 4, "%d");
TEST_BITS_SET(data[0].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data[0].timestamp, now - 20500, "%u");
TEST_BITS_SET(data[2].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data[2].timestamp, now - 500, "%u");
return EC_SUCCESS;
}
static int test_spread_double_commit_same_timestamp(void)
{
const uint32_t now = __hw_clock_source_read();
int read_count;
motion_sensors[0].oversampling_ratio = 1;
motion_sensors[0].collection_rate = 20000; /* ns */
motion_sense_fifo_stage_data(data, motion_sensors, 3, now - 20500);
motion_sense_fifo_commit_data();
motion_sense_fifo_stage_data(data, motion_sensors, 3, now - 20500);
motion_sense_fifo_commit_data();
read_count = motion_sense_fifo_read(
sizeof(data), CONFIG_ACCEL_FIFO_SIZE, data, &data_bytes_read);
TEST_EQ(read_count, 4, "%d");
TEST_BITS_SET(data[0].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data[0].timestamp, now - 20500, "%u");
TEST_BITS_SET(data[2].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_GT(time_until(now - 20500, data[2].timestamp), 10000, "%u");
TEST_LE(time_until(now - 20500, data[2].timestamp), 20000, "%u");
return EC_SUCCESS;
}
static int test_commit_non_data_or_timestamp_entries(void)
{
const uint32_t now = __hw_clock_source_read();
int read_count;
motion_sensors[0].oversampling_ratio = 1;
motion_sensors[0].collection_rate = 20000; /* ns */
/* Insert non-data entry */
data[0].flags = MOTIONSENSE_SENSOR_FLAG_ODR;
motion_sense_fifo_stage_data(data, motion_sensors, 3, now - 20500);
/* Insert data entry */
data[0].flags = 0;
motion_sense_fifo_stage_data(data, motion_sensors, 3, now - 20500);
motion_sense_fifo_commit_data();
read_count = motion_sense_fifo_read(
sizeof(data), CONFIG_ACCEL_FIFO_SIZE, data, &data_bytes_read);
TEST_EQ(read_count, 4, "%d");
TEST_BITS_SET(data[0].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data[0].timestamp, now - 20500, "%u");
TEST_BITS_SET(data[1].flags, MOTIONSENSE_SENSOR_FLAG_ODR);
TEST_BITS_SET(data[2].flags, MOTIONSENSE_SENSOR_FLAG_TIMESTAMP);
TEST_EQ(data[2].timestamp, now - 20500, "%u");
return EC_SUCCESS;
}
void before_test(void)
{
motion_sense_fifo_commit_data();
motion_sense_fifo_read(sizeof(data), CONFIG_ACCEL_FIFO_SIZE, &data,
&data_bytes_read);
motion_sense_fifo_reset_wake_up_needed();
memset(data, 0, sizeof(data));
motion_sense_fifo_reset();
}
void run_test(int argc, char **argv)
{
test_reset();
motion_sense_fifo_init();
RUN_TEST(test_insert_async_event);
RUN_TEST(test_wake_up_needed);
RUN_TEST(test_wake_up_needed_overflow);
RUN_TEST(test_adding_timestamp);
RUN_TEST(test_stage_data_sets_xyz);
RUN_TEST(test_stage_data_removed_oversample);
RUN_TEST(test_stage_data_remove_all_oversampling);
RUN_TEST(test_stage_data_evicts_data_with_timestamp);
RUN_TEST(test_add_data_no_spreading_when_different_sensors);
RUN_TEST(test_add_data_no_spreading_different_timestamps);
RUN_TEST(test_spread_data_in_window);
RUN_TEST(test_spread_data_by_collection_rate);
RUN_TEST(test_spread_double_commit_same_timestamp);
RUN_TEST(test_commit_non_data_or_timestamp_entries);
test_print_result();
}
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