spatial_sensor_calibration¶

Source code: 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.

Issue a command to calibrate them:

echo 1 > /sys/bus/iio/devices/iio:deviceX/calibrate

X being the ids of the accel and gyro.

Retrieve the calibration offsets

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

Save them in VPD.

Dependency¶

A spatial sensor whose driver implements perform_calib of accelgyro_drv in accelgyro.h.

Examples¶

To run this test, add this into test list:

{
  "pytest_name": "spatial_sensor_calibration",
  "label": "Gyroscope Calibration By EC",
  "related_components": [
    "test_tags.TestCategory.ACCELEROMETER",
    "test_tags.TestCategory.VPD"
  ],
  "args": {
    "device_name": "cros-ec-gyro",
    "device_location": "base",
    "raw_entry_template": "in_anglvel_%s_raw",
    "calibbias_entry_template": "in_anglvel_%s_calibbias",
    "vpd_entry_template": "in_anglvel_%s_base_calibbias"
  }
}

{
  "pytest_name": "spatial_sensor_calibration",
  "label": "Base Accelerometers Calibration By EC",
  "related_components": [
    "test_tags.TestCategory.ACCELEROMETER",
    "test_tags.TestCategory.VPD"
  ],
  "args": {
    "device_name": "cros-ec-accel",
    "device_location": "base",
    "raw_entry_template": "in_accel_%s_raw",
    "calibbias_entry_template": "in_accel_%s_calibbias",
    "vpd_entry_template": "in_accel_%s_base_calibbias"
  }
}

{
  "pytest_name": "spatial_sensor_calibration",
  "label": "Lid Accelerometers Calibration By EC",
  "related_components": [
    "test_tags.TestCategory.ACCELEROMETER",
    "test_tags.TestCategory.VPD"
  ],
  "args": {
    "device_name": "cros-ec-accel",
    "device_location": "lid",
    "raw_entry_template": "in_accel_%s_raw",
    "calibbias_entry_template": "in_accel_%s_calibbias",
    "vpd_entry_template": "in_accel_%s_lid_calibbias"
  }
}

Test Arguments¶

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.