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MS5611 unit test for pressure calculations

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This commit is contained in:
Steveis 2015-06-26 22:19:31 +01:00
parent 815de608d3
commit f2833f9dac
2 changed files with 73 additions and 6 deletions
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14
src/main/drivers/barometer_ms5611.c
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@ -52,11 +52,11 @@ static void ms5611_start_ut(void);
static void ms5611_get_ut(void);
static void ms5611_start_up(void);
static void ms5611_get_up(void);
static void ms5611_calculate(int32_t *pressure, int32_t *temperature);
STATIC_UNIT_TESTED void ms5611_calculate(int32_t *pressure, int32_t *temperature);
static uint32_t ms5611_ut; // static result of temperature measurement
static uint32_t ms5611_up; // static result of pressure measurement
static uint16_t ms5611_c[PROM_NB]; // on-chip ROM
STATIC_UNIT_TESTED uint32_t ms5611_ut; // static result of temperature measurement
STATIC_UNIT_TESTED uint32_t ms5611_up; // static result of pressure measurement
STATIC_UNIT_TESTED uint16_t ms5611_c[PROM_NB]; // on-chip ROM
static uint8_t ms5611_osr = CMD_ADC_4096;
bool ms5611Detect(baro_t *baro)
@ -161,12 +161,12 @@ static void ms5611_get_up(void)
ms5611_up = ms5611_read_adc();
}
static void ms5611_calculate(int32_t *pressure, int32_t *temperature)
STATIC_UNIT_TESTED void ms5611_calculate(int32_t *pressure, int32_t *temperature)
{
uint32_t press;
int64_t temp;
int64_t delt;
int32_t dT = (int64_t)ms5611_ut - ((uint64_t)ms5611_c[5] * 256);
int64_t dT = (int64_t)ms5611_ut - ((uint64_t)ms5611_c[5] * 256);
int64_t off = ((int64_t)ms5611_c[2] << 16) + (((int64_t)ms5611_c[4] * dT) >> 7);
int64_t sens = ((int64_t)ms5611_c[1] << 15) + (((int64_t)ms5611_c[3] * dT) >> 8);
temp = 2000 + ((dT * (int64_t)ms5611_c[6]) >> 23);
@ -182,9 +182,11 @@ static void ms5611_calculate(int32_t *pressure, int32_t *temperature)
off -= 7 * delt;
sens -= (11 * delt) >> 1;
}
temp -= ((dT * dT) >> 31);
}
press = ((((int64_t)ms5611_up * sens) >> 21) - off) >> 15;
if (pressure)
*pressure = press;
if (temperature)

65
src/test/unit/baro_unittest.cc
View file

@ -19,6 +19,11 @@
extern "C" {
int8_t ms5611_crc(uint16_t *prom);
void ms5611_calculate(int32_t *pressure, int32_t *temperature);
extern uint16_t ms5611_c[8];
extern uint32_t ms5611_up;
extern uint32_t ms5611_ut;
}
@ -83,6 +88,66 @@ TEST(baroTest, TestMs5611AllOnesProm)
}
TEST(baroTest, TestMs5611CalculatePressureGT20Deg)
{
// given
int32_t pressure, temperature;
uint16_t ms5611_c_test[] = {0x0000, 40127, 36924, 23317, 23282, 33464, 28312, 0x0000}; // calibration data from MS5611 datasheet
memcpy(&ms5611_c, &ms5611_c_test, sizeof(ms5611_c_test));
ms5611_up = 9085466; // Digital pressure value from MS5611 datasheet
ms5611_ut = 8569150; // Digital temperature value from MS5611 datasheet
// when
ms5611_calculate(&pressure, &temperature);
// then
EXPECT_EQ(2007, temperature); // 20.07 deg C
EXPECT_EQ(100009, pressure); // 1000.09 mbar
}
TEST(baroTest, TestMs5611CalculatePressureLT20Deg)
{
// given
int32_t pressure, temperature;
uint16_t ms5611_c_test[] = {0x0000, 40127, 36924, 23317, 23282, 33464, 28312, 0x0000}; // calibration data from MS5611 datasheet
memcpy(&ms5611_c, &ms5611_c_test, sizeof(ms5611_c_test));
ms5611_up = 9085466; // Digital pressure value from MS5611 datasheet
ms5611_ut = 8069150; // Digital temperature value
// when
ms5611_calculate(&pressure, &temperature);
// then
EXPECT_EQ(205, temperature); // 2.05 deg C
EXPECT_EQ(96512, pressure); // 965.12 mbar
}
TEST(baroTest, TestMs5611CalculatePressureLTMinus15Deg)
{
// given
int32_t pressure, temperature;
uint16_t ms5611_c_test[] = {0x0000, 40127, 36924, 23317, 23282, 33464, 28312, 0x0000}; // calibration data from MS5611 datasheet
memcpy(&ms5611_c, &ms5611_c_test, sizeof(ms5611_c_test));
ms5611_up = 9085466; // Digital pressure value from MS5611 datasheet
ms5611_ut = 7369150; // Digital temperature value
// when
ms5611_calculate(&pressure, &temperature);
// then
EXPECT_EQ(-2710, temperature); // -27.10 deg C
EXPECT_EQ(90613, pressure); // 906.13 mbar
}
// STUBS
extern "C" {