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