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autotest: fix testing and simulated register scaling

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* make test actually test something

* fix scaling to match datasheet values
This commit is contained in:
Thomas Watson 2024-12-01 12:30:04 -06:00 committed by Thomas Watson
parent adfc415cff
commit da4fee5a9a
1 changed files with 14 additions and 11 deletions
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25
Tools/autotest/ardusub.py
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@ -956,7 +956,7 @@ class AutoTestSub(vehicle_test_suite.TestSuite):
}) })
self.reboot_sitl() self.reboot_sitl()
self.set_parameters({ self.set_parameters({
"BATT2_I2C_ADDR": 0x42, "BATT2_I2C_ADDR": 0x42, # address defined in libraries/SITL/SIM_I2C.cpp
"BATT2_I2C_BUS": 1, "BATT2_I2C_BUS": 1,
"BATT2_CHANNEL": 1, "BATT2_CHANNEL": 1,
@ -975,21 +975,24 @@ class AutoTestSub(vehicle_test_suite.TestSuite):
tstart = self.get_sim_time() tstart = self.get_sim_time()
while not (seen_1 and seen_3): while not (seen_1 and seen_3):
m = self.assert_receive_message('BATTERY_STATUS') m = self.assert_receive_message('BATTERY_STATUS')
print(self.dump_message_verbose(m)) if self.get_sim_time() - tstart > 10:
if self.get_sim_time() - tstart > 1: # expected to take under 1 simulated second, but don't hang if
break # e.g. the driver gets stuck
continue raise NotAchievedException("INA3221 status timeout")
if m.id == 1: if m.id == 1:
self.assert_message_field_values(m, { self.assert_message_field_values(m, {
"current_battery": 7.28 * 100, # values close to chip limits
}) "voltages[0]": int(25 * 1000), # millivolts
# "voltages[0]": 12 * 1000, "current_battery": int(160 * 100), # centi-amps
}, epsilon=10) # allow rounding
seen_1 = True seen_1 = True
# id 2 is the first simulated battery current/voltage
if m.id == 3: if m.id == 3:
self.assert_message_field_values(m, { self.assert_message_field_values(m, {
"current_battery": 2.24 * 100, # values different from above to test channel switching
}) "voltages[0]": int(3.14159 * 1000), # millivolts
# "voltages[0]": 3.14159 * 1000, "current_battery": int(2.71828 * 100), # centi-amps
}, epsilon=10) # allow rounding
seen_3 = True seen_3 = True
def tests(self): def tests(self):