qing
bba7ee3eb4
- parser: FSM 解析器与仓颉版逐语义对齐，修 S01/S02/S04/Q05 - robot/hardvars: 六类硬件变量工厂，修 r.cj:911 重名 FIXME、Q07 倒序释放 - plugin: Python 插件替代 Lua 桥接，修 S07 三级路径查找 - hd: i2c(每fd锁 Q03/S06)/spi/servo/kalman/mpu6050(S05/Q06)/speaker(S03 实声) - modules: PCA9685 与 Lua 版逐字节对齐；ADS1115 重写(experimental)；ADS1256 空桩 - tests: 42 项 pytest 全绿（Mock 总线 journal 断言） - CLI: --dry-run / --test roundtrip / --verbose；运行时零第三方依赖
49 lines
1.8 KiB
Python
49 lines
1.8 KiB
Python
"""MPU6050 测试：14 字节连读解包（含负值符号，回归 S06）与采样滤波"""
|
||
|
||
import struct
|
||
|
||
from pybot.hd import i2c
|
||
from pybot.hd.mpu6050 import (ACCEL_CONFIG, ACCEL_XOUT_H, ADDR_0, ADDR_1,
|
||
GYRO_CONFIG, MPU6050, PWR_MGMT_1)
|
||
|
||
|
||
def test_addr_constants():
|
||
"""修复 S05：ADDR_1 必须是 0x69（仓颉版误写 0x68）"""
|
||
assert ADDR_0 == 0x68
|
||
assert ADDR_1 == 0x69
|
||
|
||
|
||
def test_setup_sequence(mock_i2c):
|
||
fd = i2c.open_dev("/dev/i2c-1")
|
||
m = MPU6050(fd, ADDR_0)
|
||
m.setup()
|
||
writes = [(e[2], e[3]) for e in mock_i2c.journal if e[0] == "write_reg"]
|
||
assert writes == [(PWR_MGMT_1, 0x00), # 解除休眠
|
||
(GYRO_CONFIG, 0x08), # ±500°/s
|
||
(ACCEL_CONFIG, 0x10)] # ±8g
|
||
assert ("set_addr", fd, ADDR_0) in mock_i2c.journal
|
||
|
||
|
||
def test_read_sensor_signed(mock_i2c):
|
||
"""负值（高字节 ≥ 0x80）必须正确解为负数——回归 S06 符号扩展错误"""
|
||
fd = i2c.open_dev("/dev/i2c-1")
|
||
m = MPU6050(fd)
|
||
# ax=-2 ay=3 az=4096 temp=999(跳过) gx=100 gy=-200 gz=300
|
||
mock_i2c.block_values[(fd, ACCEL_XOUT_H)] = struct.pack(
|
||
">7h", -2, 3, 4096, 999, 100, -200, 300)
|
||
assert m.read_sensor() == (-2, 3, 4096, 100, -200, 300)
|
||
|
||
|
||
def test_sample_and_latest(mock_i2c):
|
||
fd = i2c.open_dev("/dev/i2c-1")
|
||
m = MPU6050(fd)
|
||
# 静止平放：az=4096(+1g@±8g)，其余 0 → roll/pitch 趋近 0
|
||
mock_i2c.block_values[(fd, ACCEL_XOUT_H)] = struct.pack(
|
||
">7h", 0, 0, 4096, 0, 0, 0, 0)
|
||
for _ in range(50): # 多次采样让卡尔曼收敛
|
||
m._sample_once()
|
||
latest = m.latest()
|
||
assert abs(latest["roll"]) < 1.0
|
||
assert abs(latest["pitch"]) < 1.0
|
||
assert latest["az"] > 3000.0 # 滤波值向测量值收敛
|