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Diffstat (limited to 'test/accel_cal.c')
| -rw-r--r-- | test/accel_cal.c | 143 |
1 files changed, 0 insertions, 143 deletions
diff --git a/test/accel_cal.c b/test/accel_cal.c deleted file mode 100644 index de46822711..0000000000 --- a/test/accel_cal.c +++ /dev/null @@ -1,143 +0,0 @@ -/* 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 "accel_cal.h" -#include "test_util.h" -#include "motion_sense.h" -#include <math.h> - -struct motion_sensor_t motion_sensors[] = {}; -const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); - -struct accel_cal_algo algos[2] = { - { - .newton_fit = NEWTON_FIT(8, 1, 0.01f, 0.25f, 1.0e-8f, 100), - }, - { - .newton_fit = NEWTON_FIT(8, 1, 0.01f, 0.25f, 1.0e-8f, 100), - } -}; - -struct accel_cal cal = { - .still_det = STILL_DET(0.00025f, 800 * MSEC, 1200 * MSEC, 5), - .algos = algos, - .num_temp_windows = ARRAY_SIZE(algos), -}; - -static bool accumulate(float x, float y, float z, float temperature) -{ - return accel_cal_accumulate(&cal, 0, x, y, z, temperature) - | accel_cal_accumulate(&cal, 200 * MSEC, x, y, z, temperature) - | accel_cal_accumulate(&cal, 400 * MSEC, x, y, z, temperature) - | accel_cal_accumulate(&cal, 600 * MSEC, x, y, z, temperature) - | accel_cal_accumulate(&cal, 800 * MSEC, x, y, z, temperature) - | accel_cal_accumulate(&cal, 1000 * MSEC, x, y, z, temperature); -} - -DECLARE_EC_TEST(test_calibrated_correctly_with_kasa) -{ - bool has_bias; - - accumulate(1.01f, 0.01f, 0.01f, 21.0f); - accumulate(-0.99f, 0.01f, 0.01f, 21.0f); - accumulate(0.01f, 1.01f, 0.01f, 21.0f); - accumulate(0.01f, -0.99f, 0.01f, 21.0f); - accumulate(0.01f, 0.01f, 1.01f, 21.0f); - accumulate(0.01f, 0.01f, -0.99f, 21.0f); - accumulate(0.7171f, 0.7171f, 0.7171f, 21.0f); - has_bias = accumulate(-0.6971f, -0.6971f, -0.6971f, 21.0f); - - zassert_true(has_bias, NULL); - zassert_within(cal.bias[X], 0.01f, 0.0001f, "%f", cal.bias[X]); - zassert_within(cal.bias[Y], 0.01f, 0.0001f, "%f", cal.bias[Y]); - zassert_within(cal.bias[Z], 0.01f, 0.0001f, "%f", cal.bias[Z]); - - return EC_SUCCESS; -} - -DECLARE_EC_TEST(test_calibrated_correctly_with_newton) -{ - bool has_bias = false; - struct kasa_fit kasa; - fpv3_t kasa_bias; - float kasa_radius; - int i; - float data[] = { - 1.00290f, 0.09170f, 0.09649f, - 0.95183f, 0.23626f, 0.25853f, - 0.95023f, 0.15387f, 0.31865f, - 0.97374f, 0.01639f, 0.27675f, - 0.88521f, 0.30212f, 0.39558f, - 0.92787f, 0.35157f, 0.21209f, - 0.95162f, 0.33173f, 0.10924f, - 0.98397f, 0.22644f, 0.07737f, - }; - - kasa_reset(&kasa); - for (i = 0; i < ARRAY_SIZE(data); i += 3) { - zassert_false(has_bias, NULL); - kasa_accumulate(&kasa, data[i], data[i + 1], data[i + 2]); - has_bias = accumulate(data[i], data[i + 1], data[i + 2], 21.0f); - } - - kasa_compute(&kasa, kasa_bias, &kasa_radius); - zassert_true(has_bias, NULL); - /* Check that the bias is right */ - zassert_within(cal.bias[X], 0.01f, 0.001f, "%f", cal.bias[X]); - zassert_within(cal.bias[Y], 0.01f, 0.001f, "%f", cal.bias[Y]); - zassert_within(cal.bias[Z], 0.01f, 0.001f, "%f", cal.bias[Z]); - /* Demonstrate that we got a better bias compared to kasa */ - zassert_true(sqrtf(powf(cal.bias[X] - 0.01f, 2.0f) + - powf(cal.bias[Y] - 0.01f, 2.0f) + - powf(cal.bias[Z] - 0.01f, 2.0f)) < - sqrtf(powf(kasa_bias[X] - 0.01f, 2.0f) + - powf(kasa_bias[Y] - 0.01f, 2.0f) + - powf(kasa_bias[Z] - 0.01f, 2.0f)), - NULL); - - return EC_SUCCESS; -} - -DECLARE_EC_TEST(test_temperature_gates) -{ - bool has_bias; - - accumulate(1.01f, 0.01f, 0.01f, 21.0f); - accumulate(-0.99f, 0.01f, 0.01f, 21.0f); - accumulate(0.01f, 1.01f, 0.01f, 21.0f); - accumulate(0.01f, -0.99f, 0.01f, 21.0f); - accumulate(0.01f, 0.01f, 1.01f, 21.0f); - accumulate(0.01f, 0.01f, -0.99f, 21.0f); - accumulate(0.7171f, 0.7171f, 0.7171f, 21.0f); - has_bias = accumulate(-0.6971f, -0.6971f, -0.6971f, 31.0f); - - zassert_false(has_bias, NULL); - - return EC_SUCCESS; -} - -void before_test(void) -{ - cal.still_det = STILL_DET(0.00025f, 800 * MSEC, 1200 * MSEC, 5); - accel_cal_reset(&cal); -} - -void after_test(void) {} - -TEST_MAIN() -{ - ztest_test_suite(test_accel_cal, - ztest_unit_test_setup_teardown( - test_calibrated_correctly_with_kasa, - before_test, after_test), - ztest_unit_test_setup_teardown( - test_calibrated_correctly_with_newton, - before_test, after_test), - ztest_unit_test_setup_teardown(test_temperature_gates, - before_test, - after_test)); - ztest_run_test_suite(test_accel_cal); -} |