DEV-793 Address round-3 review: tick-wrap fix, self-conflict ids, gap window + round-2 leftovers

CRITICAL (review #1, empirically confirmed - 22 minute-boundary drops in the Test_061 recording alone): the slow-sensor rate refinement wrapped inter-block tick deltas at 2^24, but per-block ticks are a SUB-MINUTE counter (reset at TICKS_PER_MINUTE - the same semantics the minute-rollover backfill depends on), so every minute crossing inflated the period ~8.5x. Negative deltas are now re-based by one minute.

MAJOR (review #2): SensorVD6283/SensorMLX90632 - and the SensorLSM6DSV refs they were copied from - passed their OWN SENSOR_ID as listOfSensorIdsConflicting (5th ctor arg), so setSensorEnabledState() would self-disable them; now empty per the gen-1 convention (e.g. SENSOR_GSR_VERISENSE). Latent only - the SD-parse path is bitmap-driven; all references bit-identical.

MAJOR (review #3): the CSV gap-split window is now seeded from the OBSERVED per-sample period spread [min,max] with the standard tolerance rather than a single-rate +/-10 percent band - the slow sensors' cadence is bimodal (exposure vs exposure+dead-time, ~100/110 ms for the light), so any single-centre band can clip real spacing and fragment the CSV (a band centred on the achieved median rate demonstrably split Test_062). A dropped block (2x period) still splits.

MINORs: McCamy CCT guarded against a zero denominator and clamped to >=0 (review #6); pre-v13 files carrying gen-2 block ids now fail with the informative IOException instead of an NPE - their sensor classes are only registered for v13+ (review #7); Lux/CCT marked CHANNEL_SOURCE.API per the SensorGSR convention (review #5); DEFAULT_EXPO_US=100800 vs table[0]=100000 documented as firmware-faithful, verified against App_vd6283tx.c - review #4 refuted; guard comment rewritten (review #9); refinement variable renamed (review #10).

Round-2 leftovers: the LSM6DSV data-parse now uses the mag as the reference stream when neither accel nor gyro is enabled (split halves of a mag-only block get exact ranges; mirrors countLsm6dsvAlignedSamples - defensive, not firmware-producible); stale 'mag bytes left zero' javadoc corrected; API_00008 gains CAL assertions locking the accel (835.3517 LSB/(m/s^2)) and corrected gyro (57.142857 LSB/dps) constants as literals.

Full ASM_PC_00005 suite green (139 tests incl. suite wrapper), API_00008 green.

Co-Authored-By: Claude Opus 4.8 <[email protected]>

Author: marknolan

ShimmerDriver/src/main/java/com/shimmerresearch/verisense/VerisenseDevice.java

@@ -1945,15 +1945,20 @@ public DataBlockDetails parseDataBlockMetaData(byte[] byteBuffer, int dataBlockS
 
 		DataBlockDetails dataBlockDetails = null;
 		DATABLOCK_SENSOR_ID[] payloadSensorIdValues = DATABLOCK_SENSOR_ID.values();
-		// Only IDs with a parse implementation are accepted. The enum intentionally
-		// declares the remaining second-generation block IDs (LIGHT, ALGO_HUB,
-		// SKIN_TEMP, FLICKER) ahead of their parser support - accepting them here
-		// without a getSensorKeysForDatablockId()/calculateFifoBlockSize() handler
-		// would corrupt the parse, so they are rejected with the informative
-		// exception below until their decoders are implemented.
-		// Parse-supported block ids: everything up to LIGHT (7), plus SKIN_TEMP (9).
-		// ALGO_HUB (8) and FLICKER (10) still fail loudly below until their decoders land.
-		if(sensorId>0 && (sensorId<=DATABLOCK_SENSOR_ID.LIGHT.ordinal() || sensorId==DATABLOCK_SENSOR_ID.SKIN_TEMP.ordinal())) {
+		// Only IDs with a parse implementation are accepted; anything else is
+		// rejected with the informative exception below (accepting an unhandled ID
+		// would corrupt the parse). Parse-supported: the gen-1 ids (1-5) on any
+		// payload design, and the second-generation ids LSM6DSV (6), LIGHT (7) and
+		// SKIN_TEMP (9) on payload design v13+ only - their sensor classes are only
+		// registered for v13+ devices, so a (corrupt) pre-v13 file carrying one of
+		// those ids must fail loudly here rather than NPE further down. ALGO_HUB (8)
+		// and FLICKER (10) still fail loudly until their decoders land.
+		boolean isGen2DataBlockSensorId = sensorId==DATABLOCK_SENSOR_ID.LSM6DSV.ordinal()
+				|| sensorId==DATABLOCK_SENSOR_ID.LIGHT.ordinal()
+				|| sensorId==DATABLOCK_SENSOR_ID.SKIN_TEMP.ordinal();
+		boolean isParseSupported = (sensorId>0 && sensorId<DATABLOCK_SENSOR_ID.LSM6DSV.ordinal())
+				|| (isGen2DataBlockSensorId && isPayloadDesignV13orAbove());
+		if(isParseSupported) {
 			DATABLOCK_SENSOR_ID datablockSensorId = payloadSensorIdValues[sensorId];
 
 			List<SENSORS> listOfSensorClassKeys = getOrCreateListOfSensorClassKeysForDataBlockId(datablockSensorId);
@@ -2086,9 +2091,9 @@ private int countLsm6dsvAlignedSamples(byte[] byteBuffer, int entriesStart, int
 	 * entries (0x04) are skipped.
 	 * <p>
 	 * Accel and gyro share the LSM6DSV ODR and are interleaved 1:1, so they are
-	 * emitted as aligned samples through {@link #buildMsgForSensorList}. (Mag is read
-	 * via the sensor hub at a different rate; full per-stream mag timestamping is TODO
-	 * - mag bytes are currently left zero so accel/gyro stay byte-aligned.)
+	 * emitted as aligned samples through {@link #buildMsgForSensorList}. Mag is read
+	 * via the sensor hub at its own (lower) cadence and is emitted as a separate OJC
+	 * stream (pass 2 below), its samples spread evenly across the block duration.
 	 */
 	private void parseDataBlockDataLsm6dsv(DataBlockDetails dataBlockDetails, byte[] byteBuffer, int currentByteIndex, COMMUNICATION_TYPE commType) {
 		int numEntries = (byteBuffer[currentByteIndex] & 0xFF) | ((byteBuffer[currentByteIndex+1] & 0xFF) << 8);
@@ -2101,8 +2106,11 @@ private void parseDataBlockDataLsm6dsv(DataBlockDetails dataBlockDetails, byte[]
 		// The aligned (accel/gyro) reference stream drives per-sample timing and, for
 		// midday/midnight-split blocks, defines each half's share of the FIFO. Each mag
 		// entry records how many reference entries preceded it in the FIFO so it can be
-		// assigned to the correct half by arrival order.
-		int refTag = accelEn ? LSM6DSV_TAG_ACCEL : LSM6DSV_TAG_GYRO;
+		// assigned to the correct half by arrival order. When neither accel nor gyro is
+		// enabled the mag itself acts as the reference (mirrors
+		// countLsm6dsvAlignedSamples; not firmware-producible today but expressible).
+		boolean magIsReference = !accelEn && !gyroEn;
+		int refTag = accelEn ? LSM6DSV_TAG_ACCEL : (gyroEn ? LSM6DSV_TAG_GYRO : LSM6DSV_TAG_MAG);
 		List<byte[]> accelSamples = new ArrayList<byte[]>();
 		List<byte[]> gyroSamples = new ArrayList<byte[]>();
 		List<byte[]> magSamples = new ArrayList<byte[]>();
@@ -2126,28 +2134,41 @@ private void parseDataBlockDataLsm6dsv(DataBlockDetails dataBlockDetails, byte[]
 		}
 
 		int alignedCountFull = accelEn ? accelSamples.size() : (gyroEn ? gyroSamples.size() : 0);
+		int referenceCountFull = magIsReference ? magSamples.size() : alignedCountFull;
 
 		// Midday/midnight-split support: both halves of a split block are handed the SAME
 		// raw block bytes (see the byte-offset walk in PayloadContentsDetailsV8orAbove);
-		// each half parses only its own aligned-sample range. The metadata-time split set
-		// each part's sampleCount in the aligned-sample domain.
-		int alignedFrom = 0;
-		int alignedTo = alignedCountFull;
+		// each half parses only its own reference-sample range. The metadata-time split
+		// set each part's sampleCount in the reference-stream domain (aligned accel/gyro,
+		// or mag when it is the reference).
+		int refFrom = 0;
+		int refTo = referenceCountFull;
 		if(dataBlockDetails.isFirstPartOfSplitDataBlock()) {
-			alignedTo = Math.min(dataBlockDetails.getSampleCount(), alignedCountFull);
+			refTo = Math.min(dataBlockDetails.getSampleCount(), referenceCountFull);
 		} else if(dataBlockDetails.isSecondPartOfSplitDataBlock()) {
-			alignedFrom = Math.max(0, alignedCountFull - dataBlockDetails.getSampleCount());
+			refFrom = Math.max(0, referenceCountFull - dataBlockDetails.getSampleCount());
 		}
+		// The aligned (pass 1) emission range: equal to the reference range normally,
+		// empty when the mag is the reference stream (no accel/gyro to emit).
+		int alignedFrom = magIsReference ? 0 : refFrom;
+		int alignedTo = magIsReference ? 0 : refTo;
 		int alignedCount = alignedTo - alignedFrom;
 
-		// Mag entries are assigned to a split half by FIFO arrival order relative to the
-		// aligned boundary: an entry that arrived before the first aligned sample of the
-		// second half belongs to the first half.
+		// Mag selection per split half. With an aligned reference, mag entries are
+		// assigned by FIFO arrival order relative to the aligned boundary (an entry
+		// that arrived before the first aligned sample of the second half belongs to
+		// the first half). When the mag IS the reference, each mag entry's recorded
+		// position is its own index, so the range check is direct.
 		List<byte[]> magSamplesPart = new ArrayList<byte[]>();
 		if(magEn) {
 			for(int i=0;i<magSamples.size();i++) {
 				int pos = magAlignedPos.get(i);
-				boolean inPart = dataBlockDetails.isSecondPartOfSplitDataBlock() ? (pos > alignedFrom) : (pos <= alignedTo);
+				boolean inPart;
+				if(magIsReference) {
+					inPart = (pos >= refFrom && pos < refTo);
+				} else {
+					inPart = dataBlockDetails.isSecondPartOfSplitDataBlock() ? (pos > refFrom) : (pos <= refTo);
+				}
 				if(inPart) { magSamplesPart.add(magSamples.get(i)); }
 			}
 		}

ShimmerDriver/src/main/java/com/shimmerresearch/verisense/payloaddesign/PayloadContentsDetailsV8orAbove.java

@@ -327,27 +327,33 @@ private boolean isParserAtEndOfBuffer(int bufferLength, int currentByteIndex) {
 	 * blocks were created with is left in place.
 	 */
 	private void refineSlowSensorSamplingRateFromBlockTicks(DATABLOCK_SENSOR_ID slowSensorId) {
-		List<DataBlockDetails> lightBlocks = new ArrayList<DataBlockDetails>();
+		List<DataBlockDetails> slowSensorBlocks = new ArrayList<DataBlockDetails>();
 		for(DataBlockDetails dataBlockDetails:listOfDataBlocksInOrder) {
 			if(dataBlockDetails.datablockSensorId==slowSensorId) {
-				lightBlocks.add(dataBlockDetails);
+				slowSensorBlocks.add(dataBlockDetails);
 			}
 		}
-		if(lightBlocks.size()<2) {
+		if(slowSensorBlocks.size()<2) {
 			return;
 		}
 
 		// v11+ payloads store microcontroller-clock ticks per block, earlier designs
 		// store real-world-clock ticks; either works as only deltas are used.
 		boolean useUcClockTicks = verisenseDevice.isPayloadDesignV11orAbove();
 		List<Double> perSamplePeriodsS = new ArrayList<Double>();
-		for(int i=1;i<lightBlocks.size();i++) {
-			VerisenseTimeDetails prev = useUcClockTicks? lightBlocks.get(i-1).getTimeDetailsUcClock():lightBlocks.get(i-1).getTimeDetailsRwc();
-			VerisenseTimeDetails curr = useUcClockTicks? lightBlocks.get(i).getTimeDetailsUcClock():lightBlocks.get(i).getTimeDetailsRwc();
-			// 3-byte tick counter at 32768 Hz; handle wrap (every ~512 s, far above the
-			// ~1 s light-block cadence).
-			long deltaTicks = (curr.getEndTimeTicks() - prev.getEndTimeTicks()) & 0xFFFFFF;
-			int sampleCount = lightBlocks.get(i).getSampleCount();
+		for(int i=1;i<slowSensorBlocks.size();i++) {
+			VerisenseTimeDetails prev = useUcClockTicks? slowSensorBlocks.get(i-1).getTimeDetailsUcClock():slowSensorBlocks.get(i-1).getTimeDetailsRwc();
+			VerisenseTimeDetails curr = useUcClockTicks? slowSensorBlocks.get(i).getTimeDetailsUcClock():slowSensorBlocks.get(i).getTimeDetailsRwc();
+			// The per-block ticks are a SUB-MINUTE counter (resets at
+			// TICKS_PER_MINUTE, 32768 Hz x 60 s - the same semantics the
+			// minute-rollover logic in backfillDataBlockUcClockOrRwcTimestamps
+			// depends on), so a minute-boundary crossing shows as a negative
+			// delta that must be re-based by one minute - NOT wrapped at 2^24.
+			long deltaTicks = curr.getEndTimeTicks() - prev.getEndTimeTicks();
+			if(deltaTicks<0) {
+				deltaTicks += (long) AsmBinaryFileConstants.TICKS_PER_MINUTE;
+			}
+			int sampleCount = slowSensorBlocks.get(i).getSampleCount();
 			if(deltaTicks>0 && sampleCount>0) {
 				perSamplePeriodsS.add((deltaTicks/32768.0)/sampleCount);
 			}
@@ -363,10 +369,31 @@ private void refineSlowSensorSamplingRateFromBlockTicks(DATABLOCK_SENSOR_ID slow
 		}
 
 		double achievedRateHz = 1.0/medianPeriodS;
-		for(DataBlockDetails dataBlockDetails:lightBlocks) {
+		for(DataBlockDetails dataBlockDetails:slowSensorBlocks) {
 			dataBlockDetails.setSamplingRate(achievedRateHz);
 			dataBlockDetails.calculateTimestampDiffInS();
 		}
+
+		// Seed the CSV gap-splitting window from the OBSERVED period spread rather
+		// than a single-rate +/-10% band. The header-derived estimate can sit within
+		// ~1% of the band edge (VD6283: 10 Hz estimated vs ~9.09 Hz achieved), and
+		// the slow sensors' cadence is inherently bimodal (exposure vs exposure +
+		// dead time: ~100 vs ~110 ms for the light at the default exposure), so a
+		// band centred on ANY single rate can clip real spacing and fragment the
+		// CSV. Spanning [min, max] observed period with the standard tolerance keeps
+		// everything seen continuous while a dropped block (2x period) still splits.
+		// populateExpectedPayloadTsDiffLimitMapIfNeeded runs after this and is
+		// containsKey-guarded, so this seeding wins.
+		double minPeriodS = perSamplePeriodsS.get(0);
+		double maxPeriodS = perSamplePeriodsS.get(perSamplePeriodsS.size()-1);
+		double[] samplingRateLimits = new double[] {
+				(1.0/maxPeriodS)*UtilCsvSplitting.FILE_GAP_TOLERANCE_MULTIPLIER.LOWER,
+				(1.0/minPeriodS)*UtilCsvSplitting.FILE_GAP_TOLERANCE_MULTIPLIER.UPPER};
+		for(SENSORS sensorClassKey:verisenseDevice.getOrCreateListOfSensorClassKeysForDataBlockId(slowSensorId)) {
+			if(sensorClassKey!=SENSORS.CLOCK && !UtilCsvSplitting.SAMPLING_RATE_LIMITS_PER_SENSOR.containsKey(sensorClassKey)) {
+				UtilCsvSplitting.SAMPLING_RATE_LIMITS_PER_SENSOR.put(sensorClassKey, samplingRateLimits);
+			}
+		}
 	}
 
 	private void backfillDataBlockRwcTimestamps() {

ShimmerDriver/src/main/java/com/shimmerresearch/verisense/sensors/SensorLSM6DSV.java

@@ -297,7 +297,8 @@ public static final class DatabaseConfigHandle {
 			Configuration.Verisense.SensorBitmap.LSM6DSV_ACCEL,
 			GuiLabelSensors.ACCEL2,
 			CompatibilityInfoForMaps.listOfCompatibleVersionInfoLSM6DSV,
-			Arrays.asList(Configuration.Verisense.SENSOR_ID.LSM6DSV_ACCEL),
+			// listOfSensorIdsConflicting - none (gen-1 convention, e.g. SENSOR_GSR_VERISENSE)
+			new java.util.ArrayList<Integer>(),
 			Arrays.asList(GuiLabelConfig.LSM6DSV_ACCEL_RANGE, GuiLabelConfig.LSM6DSV_GYRO_RANGE, GuiLabelConfig.LSM6DSV_RATE),
 			Arrays.asList(ObjectClusterSensorName.LSM6DSV_ACC_X, ObjectClusterSensorName.LSM6DSV_ACC_Y, ObjectClusterSensorName.LSM6DSV_ACC_Z),
 			false);
@@ -307,7 +308,8 @@ public static final class DatabaseConfigHandle {
 			Configuration.Verisense.SensorBitmap.LSM6DSV_GYRO,
 			GuiLabelSensors.GYRO,
 			CompatibilityInfoForMaps.listOfCompatibleVersionInfoLSM6DSV,
-			Arrays.asList(Configuration.Verisense.SENSOR_ID.LSM6DSV_GYRO),
+			// listOfSensorIdsConflicting - none (gen-1 convention, e.g. SENSOR_GSR_VERISENSE)
+			new java.util.ArrayList<Integer>(),
 			Arrays.asList(GuiLabelConfig.LSM6DSV_ACCEL_RANGE, GuiLabelConfig.LSM6DSV_GYRO_RANGE, GuiLabelConfig.LSM6DSV_RATE),
 			Arrays.asList(ObjectClusterSensorName.LSM6DSV_GYRO_X, ObjectClusterSensorName.LSM6DSV_GYRO_Y, ObjectClusterSensorName.LSM6DSV_GYRO_Z),
 			false);
@@ -317,7 +319,8 @@ public static final class DatabaseConfigHandle {
 			Configuration.Verisense.SensorBitmap.LSM6DSV_MAG,
 			GuiLabelSensors.MAG,
 			CompatibilityInfoForMaps.listOfCompatibleVersionInfoLSM6DSV,
-			Arrays.asList(Configuration.Verisense.SENSOR_ID.LSM6DSV_MAG),
+			// listOfSensorIdsConflicting - none (gen-1 convention, e.g. SENSOR_GSR_VERISENSE)
+			new java.util.ArrayList<Integer>(),
 			Arrays.asList(GuiLabelConfig.LIS2MDL_RATE),
 			Arrays.asList(ObjectClusterSensorName.LIS2MDL_MAG_X, ObjectClusterSensorName.LIS2MDL_MAG_Y, ObjectClusterSensorName.LIS2MDL_MAG_Z),
 			false);

ShimmerDriver/src/main/java/com/shimmerresearch/verisense/sensors/SensorMLX90632.java

@@ -78,7 +78,8 @@ public static class DatabaseChannelHandles {
 			Configuration.Verisense.SensorBitmap.MLX90632,
 			GuiLabelSensors.SKIN_TEMP,
 			CompatibilityInfoForMaps.listOfCompatibleVersionInfoLSM6DSV,
-			Arrays.asList(Configuration.Verisense.SENSOR_ID.MLX90632),
+			// listOfSensorIdsConflicting - none (gen-1 convention, e.g. SENSOR_GSR_VERISENSE)
+			new java.util.ArrayList<Integer>(),
 			Arrays.asList(),
 			Arrays.asList(ObjectClusterSensorName.SKIN_TEMP_OBJECT,
 					ObjectClusterSensorName.SKIN_TEMP_AMBIENT),

ShimmerDriver/src/main/java/com/shimmerresearch/verisense/sensors/SensorVD6283.java

@@ -68,7 +68,12 @@ public class SensorVD6283 extends AbstractSensor {
 	public static final int[] EXPOSURE_US_TABLE = {100000, 1600, 6400, 12800, 25600, 51200, 102400, 204800};
 	/** Op-config index -> 8.8 fixed-point gain (firmware vd6283_gainIndexToValue). */
 	public static final int[] GAIN_8P8_TABLE = {0x0100, 0x01AB, 0x0280, 0x0500, 0x0A00, 0x1900, 0x3200, 0x42AB};
-	/** Reference exposure the normalisation is relative to (firmware VD6283TX_DEFAULT_EXPO). */
+	/** Reference exposure the normalisation is relative to (firmware
+	 * VD6283TX_DEFAULT_EXPO = 100800). NOTE this deliberately differs from
+	 * EXPOSURE_US_TABLE[0] (100000): the firmware normalises against 100800
+	 * regardless of the configured exposure, so a 1.008 scale factor at the
+	 * default exposure is firmware-faithful (verified against App_vd6283tx.c;
+	 * the web SDK uses the same pair). */
 	public static final double DEFAULT_EXPO_US = 100800;
 	/** ALS-counts -> XYZ matrix (firmware App_vd6283tx.c). Rows are X, Y, Z. */
 	private static final double[][] XYZ_MATRIX = {
@@ -118,7 +123,8 @@ public static class DatabaseChannelHandles {
 			Configuration.Verisense.SensorBitmap.VD6283,
 			GuiLabelSensors.LIGHT,
 			CompatibilityInfoForMaps.listOfCompatibleVersionInfoLSM6DSV,
-			Arrays.asList(Configuration.Verisense.SENSOR_ID.VD6283),
+			// listOfSensorIdsConflicting - none (gen-1 convention, e.g. SENSOR_GSR_VERISENSE)
+			new java.util.ArrayList<Integer>(),
 			Arrays.asList(),
 			Arrays.asList(ObjectClusterSensorName.LIGHT_RED,
 					ObjectClusterSensorName.LIGHT_VISIBLE,
@@ -173,6 +179,11 @@ private static ChannelDetails createRawChannel(String objectClusterName, String
 		aMap.put(ObjectClusterSensorName.LIGHT_LUX, CHANNEL_LIGHT_LUX);
 		aMap.put(ObjectClusterSensorName.LIGHT_CCT, CHANNEL_LIGHT_CCT);
 		CHANNEL_MAP_REF = Collections.unmodifiableMap(aMap);
+
+		// Computed (API-side) channels, not part of the on-disk packet - repo
+		// convention per SensorGSR.
+		CHANNEL_LIGHT_LUX.mChannelSource = ChannelDetails.CHANNEL_SOURCE.API;
+		CHANNEL_LIGHT_CCT.mChannelSource = ChannelDetails.CHANNEL_SOURCE.API;
 	}
 	//--------- Channel info end --------------
 
@@ -253,8 +264,17 @@ public double[] computeLuxCct(double red, double green, double blue) {
 		if (norm != 0) {
 			double x = X / norm;
 			double y = Y / norm;
-			double n = (x - 0.3320) / (0.1858 - y);
-			cct = 449*n*n*n + 3525*n*n + 6823.3*n + 5520.33;
+			double denominator = 0.1858 - y;
+			if (denominator != 0) {
+				double n = (x - 0.3320) / denominator;
+				cct = 449*n*n*n + 3525*n*n + 6823.3*n + 5520.33;
+			}
+			// McCamy's polynomial is only meaningful for positive colour
+			// temperatures; clamp the out-of-gamut cases (like lux above) so
+			// no negative/undefined CCT reaches the CSV.
+			if (!(cct > 0) || Double.isInfinite(cct)) {
+				cct = 0;
+			}
 		}
 		return new double[] {lux, cct};
 	}

ShimmerDriver/src/test/java/com/shimmerresearch/verisense/API_00008_VerisenseLsm6dsvTaggedFifoParsing.java

@@ -98,6 +98,10 @@ private static double uncal(ObjectCluster ojc, String channelName) {
 		return ojc.getFormatClusterValue(channelName, CHANNEL_TYPE.UNCAL.toString());
 	}
 
+	private static double cal(ObjectCluster ojc, String channelName) {
+		return ojc.getFormatClusterValue(channelName, CHANNEL_TYPE.CAL.toString());
+	}
+
 	/** Accel + gyro interleaved 1:1 with a mag sample and a timestamp entry mixed in. */
 	@Test
 	public void test001_accelGyroMagInterleaved() throws Exception {
@@ -134,6 +138,16 @@ public void test001_accelGyroMagInterleaved() throws Exception {
 		assertEquals(150, uncal(magOjc, SensorLSM6DSV.ObjectClusterSensorName.LIS2MDL_MAG_Z), 0.001);
 		assertTrue(Double.isNaN(uncal(magOjc, SensorLSM6DSV.ObjectClusterSensorName.LSM6DSV_ACC_X)));
 		assertTrue(Double.isNaN(uncal(magOjc, SensorLSM6DSV.ObjectClusterSensorName.LSM6DSV_GYRO_X)));
+
+		// CAL assertions - regression-locks the calibration constants against
+		// LITERAL expected values (the gyro sensitivity was ~12.8% wrong before the
+		// DEV-793 round-2 review fix; deriving the expectation from the class
+		// constants would defeat the lock). Defaults: accel +/-4 g = 835.3517
+		// LSB/(m/s^2); gyro +/-500 dps = 57.142857 LSB/dps (ST 17.50 mdps/LSB).
+		assertEquals(100 / 835.3517, cal(aligned0, SensorLSM6DSV.ObjectClusterSensorName.LSM6DSV_ACC_X), 0.0001);
+		assertEquals(-200 / 835.3517, cal(aligned0, SensorLSM6DSV.ObjectClusterSensorName.LSM6DSV_ACC_Y), 0.0001);
+		assertEquals(10 / 57.142857143, cal(aligned0, SensorLSM6DSV.ObjectClusterSensorName.LSM6DSV_GYRO_X), 0.0001);
+		assertEquals(-20 / 57.142857143, cal(aligned0, SensorLSM6DSV.ObjectClusterSensorName.LSM6DSV_GYRO_Y), 0.0001);
 	}
 
 	/** Gyro-only: gyro acts as the aligned reference stream. */