92 lines
2.1 KiB
C
92 lines
2.1 KiB
C
/* Copyright 2020 The Chromium OS Authors. All rights reserved.
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* Use of this source code is governed by a BSD-style license that can be
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* found in the LICENSE file.
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*/
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#include "common.h"
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#include "mag_cal.h"
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#include "test_util.h"
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#include <stdio.h>
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/**
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* Various samples that might be seen in the wild. Normal range for magnetic
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* fields is around 80 uT. This translates to roughly +/-525 units for the
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* lis2mdl sensor.
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*
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* Random numbers were generated using the range of [518,532] (+- 2.14 uT) for
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* the high values and [-5,5] (+- 1.53 uT) for the low values.
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*/
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static intv3_t samples[] = {
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{ -522, 5, -5 },
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{ -528, -3, 1 },
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{ -531, -2, 0 },
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{ -525, -1, 3 },
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{ 527, 3, -2 },
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{ 523, -5, 1 },
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{ 520, -3, 2 },
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{ 522, 0, -4 },
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{ -3, -519, -2 },
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{ 1, -521, 5 },
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{ 2, -526, 4 },
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{ 0, -532, -5 },
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{ -5, 528, 4 },
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{ -2, 531, -4 },
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{ 1, 522, 2 },
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{ 5, 532, 3 },
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{ -5, 0, -524 },
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{ -1, -2, -527 },
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{ -3, 4, -532 },
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{ 5, 3, -531 },
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{ 4, -2, 524 },
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{ 1, 3, 520 },
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{ 5, -5, 528 },
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{ 0, 2, 521 },
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};
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static int test_mag_cal_computes_bias(void)
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{
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struct mag_cal_t cal;
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int i;
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init_mag_cal(&cal);
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cal.batch_size = ARRAY_SIZE(samples);
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/* Test that we don't calibrate until we added the final sample. */
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for (i = 0; i < cal.batch_size - 1; ++i)
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TEST_EQ(0, mag_cal_update(&cal, samples[i]), "%d");
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/* Add the final sample and check calibration. */
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TEST_EQ(1, mag_cal_update(&cal, samples[cal.batch_size - 1]), "%d");
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TEST_EQ(525, FP_TO_INT(cal.radius), "%d");
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TEST_EQ(1, cal.bias[0], "%d");
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TEST_EQ(-1, cal.bias[1], "%d");
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TEST_EQ(2, cal.bias[2], "%d");
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/*
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* State should have reset, run the same code again to verify that
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* we get the same calibration.
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*/
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for (i = 0; i < cal.batch_size - 1; ++i)
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TEST_EQ(0, mag_cal_update(&cal, samples[i]), "%d");
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TEST_EQ(1, mag_cal_update(&cal, samples[cal.batch_size - 1]), "%d");
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TEST_EQ(525, FP_TO_INT(cal.radius), "%d");
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TEST_EQ(1, cal.bias[0], "%d");
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TEST_EQ(-1, cal.bias[1], "%d");
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TEST_EQ(2, cal.bias[2], "%d");
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return EC_SUCCESS;
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}
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void run_test(int argc, char **argv)
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{
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test_reset();
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RUN_TEST(test_mag_cal_computes_bias);
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test_print_result();
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}
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