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add some code

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苏雨洛
2025-09-05 13:25:11 +08:00
parent 9ff0a99e7a
commit 3cf1229a85
8911 changed files with 2535396 additions and 0 deletions
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managed_components/espressif__esp-dsp/modules/kalman/ekf_imu13states/test/test_ekf_imu13states.cpp Normal file
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// Copyright 2018-2019 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <string.h>
#include "unity.h"
#include "dsp_platform.h"
#include "esp_log.h"
#include "dsp_tests.h"
#include "ekf_imu13states.h"
#include "esp_attr.h"
static const char *TAG = "ekf_imu13states";
TEST_CASE("ekf_imu13states functionality gyro only", "[dspm]")
{
ekf_imu13states *ekf13 = new ekf_imu13states();
ekf13->Init();
ekf13->Test();
unsigned int start_b = dsp_get_cpu_cycle_count();
ekf13->TestFull(false);
unsigned int end_b = dsp_get_cpu_cycle_count();
ESP_LOGI(TAG, "Total time %i (K cycles)", (end_b - start_b) / 1000);
TEST_ASSERT_LESS_THAN(100, (int)(1000 * abs(ekf13->X.data[4] - 0.1)));
TEST_ASSERT_LESS_THAN(100, (int)(1000 * abs(ekf13->X.data[5] - 0.2)));
TEST_ASSERT_LESS_THAN(100, (int)(1000 * abs(ekf13->X.data[6] - 0.3)));
printf("Expected result = %i, calculated result = %i\n", 100, (int)(1000 * ekf13->X.data[4] + 0.5));
printf("Expected result = %i, calculated result = %i\n", 200, (int)(1000 * ekf13->X.data[5] + 0.5));
printf("Expected result = %i, calculated result = %i\n", 300, (int)(1000 * ekf13->X.data[6] + 0.5));
}
TEST_CASE("ekf_imu13states functionality gyro and magn", "[dspm]")
{
ekf_imu13states *ekf13 = new ekf_imu13states();
ekf13->Init();
ekf13->Test();
unsigned int start_b = dsp_get_cpu_cycle_count();
ekf13->TestFull(true);
unsigned int end_b = dsp_get_cpu_cycle_count();
ESP_LOGI(TAG, "Total time %i (K cycles)", (end_b - start_b) / 1000);
TEST_ASSERT_LESS_THAN(600, (int)(1000 * abs(ekf13->X.data[4] - 0.1)));
TEST_ASSERT_LESS_THAN(600, (int)(1000 * abs(ekf13->X.data[5] - 0.2)));
TEST_ASSERT_LESS_THAN(600, (int)(1000 * abs(ekf13->X.data[6] - 0.3)));
printf("Expected result = %i, calculated result = %i\n", 100, (int)(1000 * ekf13->X.data[4] + 0.5));
printf("Expected result = %i, calculated result = %i\n", 200, (int)(1000 * ekf13->X.data[5] + 0.5));
printf("Expected result = %i, calculated result = %i\n", 300, (int)(1000 * ekf13->X.data[6] + 0.5));
}