Mercurial > public > hwos_code

annotate src/Tests/compass_trigo_test.cpp @ 573:cf4395595d9b

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
docu update
author heinrichsweikamp
date Tue, 13 Feb 2018 14:55:43 +0100
parents 7d9edd3b8c86
children
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
282
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
1 //////////////////////////////////////////////////////////////////////////////
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
2 /// compass_trigo_test.cpp
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
3 /// Unit test for compass various operations.
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
4 /// Copyright (c) 2012-2015, JD Gascuel, HeinrichsWeikamp, all right reserved.
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
5 //////////////////////////////////////////////////////////////////////////////
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
6 // HISTORY
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
7 // 2015-05-23 jDG: Rewrite compass testing, to allow reducing code size.
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
8
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
9 extern "C" {
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
10 # include "compass.h"
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
11 }
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
12
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
13 #include <gtest/gtest.h>
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
14
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
15 //////////////////////////////////////////////////////////////////////////////
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
16 // Fake assembleur fixed point multiplies.
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
17 extern "C" Int16 compass_umul(void);
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
18 extern "C" Int16 compass_imul(void);
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
19 extern "C" Int16 compass_a, compass_b;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
20
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
21 // The (filtered) components of the magnetometer sensor:
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
22 Int16 compass_DX_f;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
23 Int16 compass_DY_f;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
24 Int16 compass_DZ_f;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
25
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
26 // Found soft-iron calibration values, deduced from already filtered values.
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
27 Int16 compass_CX_f;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
28 Int16 compass_CY_f;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
29 Int16 compass_CZ_f;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
30
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
31 // The (filtered) components of the accelerometer sensor:
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
32 Int16 accel_DX_f;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
33 Int16 accel_DY_f;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
34 Int16 accel_DZ_f;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
35
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
36 // The compass result value.
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
37 Int16 compass_heading;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
38 Int16 compass_roll;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
39 Int16 compass_pitch;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
40
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
41 Int16 compass_a, compass_b;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
42 Int16 compass_umul()
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
43 {
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
44 unsigned int a = compass_a;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
45 unsigned int b = compass_b;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
46 a *= b;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
47 a >>= 15;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
48 return (Int16)a;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
49 }
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
50
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
51 Int16 compass_imul()
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
52 {
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
53 int a = compass_a;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
54 int b = compass_b;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
55 a *= b;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
56 a >>= 15;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
57 return (Int16)a;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
58 }
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
59
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
60 //////////////////////////////////////////////////////////////////////////////
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
61
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
62 TEST(ops, multiply) {
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
63 // Check basic sign handling:
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
64 EXPECT_EQ(umul( 8000, 4000), (Int16)0x03D0); // 8000/2**15 * 4000/2**15 = 0x3D0
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
65 EXPECT_EQ(imul(-8000, 4000), (Int16)0xFC2F); // -976 = 0xFC2F
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
66 EXPECT_EQ(imul( 8000, -4000), (Int16)0xFC2F); // -976 = 0xFC2F
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
67 EXPECT_EQ(imul(-8000, -4000), (Int16)0x03D0); // +976 = 0x3D0
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
68 }
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
69
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
70 TEST(ops, divide) {
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
71 // Check basic divides:
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
72 EXPECT_EQ(udiv(32000, 32001), (Int16)32766); // 0.99997 ~ 32766
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
73 EXPECT_EQ(udiv( 4000, 8000), (Int16)16384);
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
74 EXPECT_EQ(udiv( 2000, 8000), (Int16) 8192);
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
75 EXPECT_EQ(udiv( 1000, 8000), (Int16) 4096);
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
76 EXPECT_EQ(udiv( 500, 8000), (Int16) 2048);
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
77 }
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
78
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
79 TEST(trigo, atan) {
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
80 // Check angles returned by the SINGLE QUADRANT atan() function:
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
81 EXPECT_EQ(utan(100, 100), (Int16)4501); // +1
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
82 EXPECT_EQ(utan( 90, 100), (Int16)4195); // -4
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
83 EXPECT_EQ(utan( 80, 100), (Int16)3864); // -2
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
84 EXPECT_EQ(utan( 70, 100), (Int16)3500); // +1
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
85 EXPECT_EQ(utan( 60, 100), (Int16)3099); // +3
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
86 EXPECT_EQ(utan( 50, 100), (Int16)2658); // +1
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
87 EXPECT_EQ(utan( 40, 100), (Int16)2179); // -1
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
88 EXPECT_EQ(utan( 30, 100), (Int16)1667); // -3
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
89 EXPECT_EQ(utan( 20, 100), (Int16)1127); // -4
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
90 EXPECT_EQ(utan( 10, 100), (Int16) 569); // -2
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
91 EXPECT_EQ(utan( 0, 100), (Int16) 0);
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
92 }
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
93
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
94 TEST(trigo, cosx2h2) {
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
95 // Check ONE-OCTANT pseudo-cosinus function
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
96 // Note: cosxh(x**2, x**2+y**2) is computing cos(atan(y/x))
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
97 EXPECT_EQ(cosxh(12769, 13169), (Int16)32268); // 113, 20 --> 10.0369° --> 32267 +1
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
98 EXPECT_EQ(cosxh(10000, 12500), (Int16)29310); // 100, 50 --> 26.5650° --> 29309 +1
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
99 EXPECT_EQ(cosxh(10000, 20000), (Int16)23171); // 100, 100 --> 45.0000° --> 23170 +1
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
100 EXPECT_EQ(cosxh( 2500, 12500), (Int16)14658); // 50, 100 --> 63.4349° --> 14654 +4
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
101 EXPECT_EQ(cosxh( 400, 13169), (Int16) 5718); // 20, 113 --> 79.9631° --> 5711 +7
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
102 }
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
103
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
104 TEST(trigo, sinCos) {
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
105 Int16 sin, cos;
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
106
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
107 //---- Check sincos() FIRST QUADRANT ---------------------------------
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
108 sincos( 20, 113, &sin, &cos); // 80°
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
109 EXPECT_EQ(sin, (Int16)32269); // +2
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
110 EXPECT_EQ(cos, (Int16) 5727); // +16
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
111
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
112 sincos( 50, 100, &sin, &cos); // 63°
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
113 EXPECT_EQ(sin, (Int16)29311); // +2
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
114 EXPECT_EQ(cos, (Int16)14660); // +6
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
115
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
116 sincos(100, 100, &sin, &cos); // 45°
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
117 EXPECT_EQ(sin, (Int16)23173); // +3
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
118 EXPECT_EQ(cos, (Int16)23173); // +3
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
119
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
120 sincos(100, 50, &sin, &cos); // 27°
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
121 EXPECT_EQ(sin, (Int16)14660); // +6
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
122 EXPECT_EQ(cos, (Int16)29311); // +2
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
123
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
124 sincos(113, 20, &sin, &cos); // 10°
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
125 EXPECT_EQ(sin, (Int16) 5727); // +16
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
126 EXPECT_EQ(cos, (Int16)32269); // +2
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
127
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
128 //---- Check sincos() OTHER QUADRANTS --------------------------------
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
129 sincos(-20, 113, &sin, &cos); // 90+80°
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
130 EXPECT_EQ(sin, (Int16) 32269); // +2
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
131 EXPECT_EQ(cos, (Int16) -5727); // +16
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
132
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
133 sincos(-20,-113, &sin, &cos); // 180+80°
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
134 EXPECT_EQ(sin, (Int16)-32269); // +2
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
135 EXPECT_EQ(cos, (Int16) -5727); // +16
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
136
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
137 sincos( 20,-113, &sin, &cos); // 270+80°
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
138 EXPECT_EQ(sin, (Int16)-32269); // +2
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
139 EXPECT_EQ(cos, (Int16) 5727); // +16
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents:
diff changeset
140 }