spatial_sensor_calibration
==========================
**Source code:** `spatial_sensor_calibration.py <https://chromium.googlesource.com/chromiumos/platform/factory/+/refs/heads/main/py/test/pytests/spatial_sensor_calibration.py>`_

Perform calibration on spatial sensors

Description
-----------
Spatial sensors are sensors with X, Y, Z values such as accelerometer or
gyroscope.

Test Procedure
--------------
The step for calibration is as follows:
1) Put the device on a flat table, facing up.

2) Issue a command to calibrate them:

  - echo 1 > /sys/bus/iio/devices/iio:deviceX/calibrate
  - X being the ids of the accel and gyro.

3) Retrieve the calibration offsets

  - cat /sys/bus/iio/devices/iio:deviceX/in_(accel|anglvel)_(x|y|z)_calibbias

4) Save them in VPD.

Dependency
----------
- A spatial sensor whose driver implements `perform_calib`_ of accelgyro_drv in
  `accelgyro.h <https://source.chromium.org/search?q=accelgyro.h>`_.

.. _perform_calib:   https://source.chromium.org/search?q=perform_calib%20f:platform%2Fec%2Fdriver

Examples
--------
To run this test, add this into test list:

.. test_list::

  generic_ec_component_accel_examples:AccelerometerIMUTests.
  GyroscopeCalibrationByEC

.. test_list::

  generic_ec_component_accel_examples:AccelerometerIMUTests.
  BaseAccelerometersCalibrationByEC

.. test_list::

  generic_ec_component_accel_examples:AccelerometerIMUTests.
  LidAccelerometersCalibrationByEC



Test Arguments
--------------
.. list-table::
   :widths: 20 10 60
   :header-rows: 1
   :align: left

   * - Name
     - Type
     - Description

   * - timeout_secs
     - int
     - (optional; default: ``60``) Timeout in seconds when waiting for device.

   * - sensor_name
     - str, dict
     - (optional; default: ``{'en-US': 'Accelerometer'}``) name of the sensor to calibrate.

   * - device_name
     - str
     - The "name" atribute of the sensor

   * - device_location
     - str
     - The "location" atribute of the sensor

   * - raw_entry_template
     - str
     - (optional; default: ``'in_accel_%s_raw'``) Template for the sysfs raw value entry.

   * - calibbias_entry_template
     - str
     - (optional; default: ``'in_accel_%s_calibbias'``) Template for the sysfs calibbias value entry.

   * - vpd_entry_template
     - str
     - (optional; default: ``'in_accel_%s_base_calibbias'``) Template for the sysfs calibbias value entry.

   * - stabilize_time
     - int
     - (optional; default: ``1``) Time to wait until calibbias stabilize.

   * - prompt
     - bool
     - (optional; default: ``True``) Prompt user to put the device in correct facing

   * - placement_range
     - list
     - (optional; default: ``[None, None, None]``) A list of sequences asserting the range of X, Y, Z. Each element is [min, max] or None if it's a don't care.