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+#include "gtest/gtest.h"
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+#include <gtest/gtest.h>
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+#include <stdint.h>
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+#include <tuple>
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+#include "scope.h"
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+#include "test_user.h"
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+
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+class CurSampleCalibTest : public testing::Test
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+{
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+protected:
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+ static void SetUpTestSuite()
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+ {
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+ CodeParaInit();
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+ adc_voSampleInit();
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+ pwm_voInit();
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+ scm_uwSpdFbkLpfAbsPu = 0;
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+ }
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+ virtual void SetUp() override
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+ {}
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+ virtual void TearDown() override
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+ {
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+ adc_voSampleInit();
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+ pwm_voInit();
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+ scm_uwSpdFbkLpfAbsPu = 0;
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+ }
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+};
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+
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+class CurSampleCalibTest1 : public CurSampleCalibTest, public testing::WithParamInterface<::std::tuple<double, double, double>>
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+{};
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+
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+TEST_P(CurSampleCalibTest1, SingResCalib)
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+{
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+ int timerPrd = HW_PWM_PERIOD;
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+ int timerCnt = 0, timerCntDir = 0, prdCnt = 0;
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+ double phase, ia, ib, ic, iaRdson, ibRdson, icRdson;
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+ double currentFreqHz = 100; // unit: Hz
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+ double currentMod = get<0>(GetParam()); // unit: A
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+ double rdsonCoef = get<1>(GetParam());
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+ double voltageMod = get<2>(GetParam()); // unit: V
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+ double loopNum = 100000000;
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+ double spdAbsTarget = voltageMod * 32768 * 1000 / M_FLUX_WB / 2 / 3.14 * 1000 / FBASE; // 2600
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+
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+ /* Coef Cal */
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+ adc_voSampleCoef(&adc_stCof);
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+ adc_stCof.uwIaOffset = 2048;
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+ adc_stCof.uwIbOffset = 2048;
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+ adc_stCof.uwIcOffset = 2048;
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+ adc_stCof.uwIdcOffset = 0;
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+
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+ pwm_stGenCoefIn.uwPWMDutyMax = cp_stControlPara.swPWMMaxDuty;
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+ pwm_stGenCoefIn.uwPWM7To5Duty = cp_stControlPara.swPWM7to5Duty;
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+ pwm_stGenCoefIn.uwPWMMinSample1Pu = cp_stControlPara.swPWMMinSampleDuty1;
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+ pwm_stGenCoefIn.uwPWMMinSample2Pu = cp_stControlPara.swPWMMinSampleDuty2;
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+ pwm_stGenCoefIn.uwPWMMinSample3Pu = cp_stControlPara.swPWMMinSampleDuty3;
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+ pwm_stGenCoefIn.uwSampleSteadyPu = cp_stControlPara.swPWMSampleToSteady;
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+ pwm_stGenCoefIn.uwSingelResisSamplePu = cp_stControlPara.swPWMSampleSigR;
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+ pwm_stGenCoefIn.uwOvmNo = cp_stControlPara.swPWMOverMdlMode;
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+ pwm_stGenCoefIn.uwPWMPd = HW_PWM_PERIOD;
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+ pwm_voGenCoef(&pwm_stGenCoefIn, &pwm_stGenCoef);
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+
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+ for (int i = 0; i < loopNum; i++)
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+ {
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+ /* Current */
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+ phase = currentFreqHz * 2 * 3.14 * i / (TIM0CLK_KHZ * 1000);
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+ ia = currentMod * sin(phase);
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+ ib = currentMod * sin(phase + (double)2 / 3 * 3.14);
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+ ic = currentMod * sin(phase + (double)4 / 3 * 3.14);
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+
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+ iaRdson = ia * rdsonCoef;
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+ ibRdson = ib * rdsonCoef;
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+ icRdson = ic * rdsonCoef;
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+
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+ /* Timer: centre-aligned */
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+ if (timerCntDir == 0)
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+ {
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+ timerCnt++;
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+ if (timerCnt == (timerPrd / 2))
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+ {
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+ testTimerIntFlg[TIMER0][TIMER_INT_FLAG_UP] = 1;
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+ timerCntDir = 1;
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+ }
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+ }
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+ else
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+ {
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+ timerCnt--;
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+ if (timerCnt == 0)
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+ {
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+ testTimerIntFlg[TIMER0][TIMER_INT_FLAG_UP] = 1;
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+ timerCntDir = 0;
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+ prdCnt++;
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+ }
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+ }
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+
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+ /* ADC Trigger */
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+ if (timerCntDir == 0)
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+ {
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+ if (prdCnt % 2 == 1)
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+ {
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+ if (timerCnt == pwm_stGenOut.uwRdsonTrig)
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+ {
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+ double iaReg = (double)adc_stCof.uwIaOffset - iaRdson * 100 * 2048 / ADC_IPHASE_CUR_MAX_AP; // Negative direction current
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+ if (iaReg < 0)
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+ {
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+ iaReg = 0;
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+ }
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+ if (iaReg > 4096)
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+ {
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+ iaReg = 4096;
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+ }
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+
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+ double ibReg = (double)adc_stCof.uwIbOffset - ibRdson * 100 * 2048 / ADC_IPHASE_CUR_MAX_AP; // Negative direction current
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+ if (ibReg < 0)
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+ {
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+ ibReg = 0;
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+ }
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+ if (ibReg > 4096)
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+ {
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+ ibReg = 4096;
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+ }
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+
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+ double icReg = (double)adc_stCof.uwIcOffset - icRdson * 100 * 2048 / ADC_IPHASE_CUR_MAX_AP; // Negative direction current
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+ if (icReg < 0)
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+ {
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+ icReg = 0;
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+ }
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+ if (icReg > 4096)
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+ {
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+ icReg = 4096;
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+ }
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+
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+ ADC_IDATA0(ADC0) = iaReg;
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+ ADC_IDATA1(ADC0) = ibReg;
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+ ADC_IDATA2(ADC0) = icReg;
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+
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+ testAdcIntFlg[ADC0][ADC_INT_FLAG_EOIC] = 1;
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+ }
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+ }
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+ else
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+ {
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+ if (timerCnt == pwm_stGenOut.uwSigRTrig)
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+ {
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+ switch (pwm_stGenOut.uwSingelRSampleArea)
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+ {
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+ case SampleA:
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+ ADC_IDATA0(ADC1) = (UWORD)(adc_stCof.uwIdcOffset + abs(ia) * 100 * 4096 / ADC_IDC_CUR_MAX_AP);
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+ if (ADC_IDATA0(ADC1) > 4096)
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+ {
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+ ADC_IDATA0(ADC1) = 4096;
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+ }
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+
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+ break;
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+ case SampleB:
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+ ADC_IDATA0(ADC1) = (UWORD)(adc_stCof.uwIdcOffset + abs(ib) * 100 * 4096 / ADC_IDC_CUR_MAX_AP);
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+ if (ADC_IDATA0(ADC1) > 4096)
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+ {
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+ ADC_IDATA0(ADC1) = 4096;
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+ }
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+
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+ break;
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+ case SampleC:
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+ ADC_IDATA0(ADC1) = (UWORD)(adc_stCof.uwIdcOffset + abs(ic) * 100 * 4096 / ADC_IDC_CUR_MAX_AP);
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+ if (ADC_IDATA0(ADC1) > 4096)
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+ {
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+ ADC_IDATA0(ADC1) = 4096;
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+ }
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+
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+ break;
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+ default:
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+ break;
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+ }
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+
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+ testAdcIntFlg[ADC1][ADC_INT_FLAG_EOIC] = 1;
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+ }
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+ }
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+ }
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+
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+ /* ADC Interrupt */
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+ if (testAdcIntFlg[ADC0][ADC_INT_FLAG_EOIC] == 1)
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+ {
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+ adc_uwRdsonUReg = ADC_IDATA0(ADC0);
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+ adc_uwRdsonVReg = ADC_IDATA1(ADC0);
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+ adc_uwRdsonWReg = ADC_IDATA2(ADC0);
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+
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+ testAdcIntFlg[ADC0][ADC_INT_FLAG_EOIC] = 0;
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+ }
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+
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+ if (testAdcIntFlg[ADC1][ADC_INT_FLAG_EOIC] == 1)
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+ {
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+ adc_uwADDMAPhase1 = ADC_IDATA0(ADC1);
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+
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+ testAdcIntFlg[ADC1][ADC_INT_FLAG_EOIC] = 0;
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+ }
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+
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+ /* Timer Interrupt */
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+ if (testTimerIntFlg[TIMER0][TIMER_INT_FLAG_UP] == 1)
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+ {
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+ if ((timerCntDir == 1) && (prdCnt % 2 == 1))
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+ {
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+ /* Speed Mock */
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+ if(scm_uwSpdFbkLpfAbsPu < spdAbsTarget)
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+ {
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+ scm_uwSpdFbkLpfAbsPu += 20; ///< 转速需模拟实际从0上升，否则采样校准系数会计算为0
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+ }
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+ else
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+ {
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+ scm_uwSpdFbkLpfAbsPu = spdAbsTarget;
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+ }
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+
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+ /* Sample and Calibration */
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+ adc_voSampleUp(&adc_stCof, &adc_stUpOut);
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+ adc_voSampleDown(&adc_stCof, &adc_stDownOut);
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+ adc_voSRCalibration(&adc_stCof, &adc_stUpOut, &adc_stDownOut);
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+
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+ /* ADC Trigger Cal */
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+ pwm_stGenIn.swUalphaPu = (SWORD)(voltageMod * 10 * sin(phase + (double)3.14 / 36) * 16384 / VBASE); // Q14
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+ pwm_stGenIn.swUbetaPu = (SWORD)(voltageMod * 10 * cos(phase + (double)3.14 / 36) * 16384 / VBASE); // Q14
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+ pwm_stGenIn.uwVdcPu = (UWORD)(36 * 10 * 16384 / VBASE); // Q14
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+ pwm_voGen(&pwm_stGenIn, &pwm_stGenCoef, &pwm_stGenOut);
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+
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+ /* Scope */
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+ //UdpScope::Send(0, adc_stDownOut.slSampIcPu, adc_stUpOut.swCalibIcPu, adc_stDownOut.swIcPu);
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+ //UdpScope::Send(0, scm_uwSpdFbkLpfAbsPu, pwm_stGenOut.blSampleCalibFlag);
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+
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+ /* Determine whether the unit test pass */
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+ if (prdCnt > (loopNum / HW_PWM_PERIOD - 5))
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+ {
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+ if (!adc_stCof.blCalibCalFlag)
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+ {
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+ if(adc_stDownOut.ulISamplePeakPu > 32767)
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+ {
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+ EXPECT_NEAR((double)adc_stDownOut.slSampIaPu * 780 / 1024, adc_stDownOut.swIaPu, 10); ///< 系数为立即数，程序中更改后测试用例需要随之更改
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+ EXPECT_NEAR((double)adc_stDownOut.slSampIbPu * 780 / 1024, adc_stDownOut.swIbPu, 10);
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+ EXPECT_NEAR((double)adc_stDownOut.slSampIcPu * 780 / 1024, adc_stDownOut.swIcPu, 10);
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+ }
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+ // else if(adc_stDownOut.ulISamplePeakPu > 25800)
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+ // {
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+ // EXPECT_NEAR((double)adc_stDownOut.slSampIaPu * 1024 / 1024, adc_stDownOut.swIaPu, 10); ///< 系数为立即数，程序中更改后测试用例需要随之更改
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+ // EXPECT_NEAR((double)adc_stDownOut.slSampIbPu * 1024 / 1024, adc_stDownOut.swIbPu, 10);
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+ // EXPECT_NEAR((double)adc_stDownOut.slSampIcPu * 1024 / 1024, adc_stDownOut.swIcPu, 10);
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+ // }
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+ else
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+ {
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+ EXPECT_NEAR((double)adc_stDownOut.slSampIaPu * 1024 / 1024, adc_stDownOut.swIaPu, 10); ///< 系数为立即数，程序中更改后测试用例需要随之更改
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+ EXPECT_NEAR((double)adc_stDownOut.slSampIbPu * 1024 / 1024, adc_stDownOut.swIbPu, 10);
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+ EXPECT_NEAR((double)adc_stDownOut.slSampIcPu * 1024 / 1024, adc_stDownOut.swIcPu, 10);
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+ }
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+ }
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+ else
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+ {
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+ if (1024 / rdsonCoef < adc_stCof.uwCalibcoefMin)
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+ {
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+ if (currentMod * rdsonCoef * 100 >= ADC_IPHASE_CUR_MAX_AP)
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+ {
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+ EXPECT_NEAR((double)adc_stDownOut.slSampIaPu * 780 / 1024, adc_stDownOut.swIaPu, 50);
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+ EXPECT_NEAR((double)adc_stDownOut.slSampIbPu * 780 / 1024, adc_stDownOut.swIbPu, 50);
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+ EXPECT_NEAR((double)adc_stDownOut.slSampIcPu * 780 / 1024, adc_stDownOut.swIcPu, 50);
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+ }
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+ else
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+ {
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+ EXPECT_NEAR((double)adc_stDownOut.slSampIaPu * adc_stCof.uwCalibcoefMin / 1024, adc_stDownOut.swIaPu, 10);
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+ EXPECT_NEAR((double)adc_stDownOut.slSampIbPu * adc_stCof.uwCalibcoefMin / 1024, adc_stDownOut.swIbPu, 10);
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+ EXPECT_NEAR((double)adc_stDownOut.slSampIcPu * adc_stCof.uwCalibcoefMin / 1024, adc_stDownOut.swIcPu, 10);
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+ }
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+ }
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+ else if (1024 / rdsonCoef > adc_stCof.uwCalibcoefMax)
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+ {
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+ EXPECT_NEAR((double)adc_stDownOut.slSampIaPu * adc_stCof.uwCalibcoefMax / 1024, adc_stDownOut.swIaPu, 10);
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+ EXPECT_NEAR((double)adc_stDownOut.slSampIbPu * adc_stCof.uwCalibcoefMax / 1024, adc_stDownOut.swIbPu, 10);
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+ EXPECT_NEAR((double)adc_stDownOut.slSampIcPu * adc_stCof.uwCalibcoefMax / 1024, adc_stDownOut.swIcPu, 10);
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+ }
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+ else
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+ {
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+ if (currentMod < 20)
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+ {
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+ EXPECT_NEAR(ia * 100 * 16384 / IBASE, adc_stDownOut.swIaPu, 0.5 * 100 * 16384 / IBASE);
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+ EXPECT_NEAR(ib * 100 * 16384 / IBASE, adc_stDownOut.swIbPu, 0.5 * 100 * 16384 / IBASE);
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+ EXPECT_NEAR(ic * 100 * 16384 / IBASE, adc_stDownOut.swIcPu, 0.5 * 100 * 16384 / IBASE);
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+ }
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+ else
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+ {
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+ EXPECT_NEAR(ia * 100 * 16384 / IBASE, adc_stDownOut.swIaPu, 1.1 * 100 * 16384 / IBASE);
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+ EXPECT_NEAR(ib * 100 * 16384 / IBASE, adc_stDownOut.swIbPu, 1.1 * 100 * 16384 / IBASE);
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+ EXPECT_NEAR(ic * 100 * 16384 / IBASE, adc_stDownOut.swIcPu, 1.1 * 100 * 16384 / IBASE);
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+ }
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+ }
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+ }
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+ }
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+ }
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+
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+ testTimerIntFlg[TIMER0][TIMER_INT_FLAG_UP] = 0;
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+ }
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+ }
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+}
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+
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+INSTANTIATE_TEST_SUITE_P(DiffCurMod, CurSampleCalibTest1,
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+ ::testing::Combine(::testing::Values(5, 19, 39, 55), ::testing::Values(0.4, 0.8, 2.1, 6), ::testing::Values(1, 2, 10)));
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CN\guohui27