mirror of
https://github.com/hybridgroup/gobot.git
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201 lines
6.6 KiB
Go
201 lines
6.6 KiB
Go
package i2c
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import (
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"bytes"
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"encoding/binary"
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"errors"
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"strings"
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"testing"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/gobottest"
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)
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// this ensures that the implementation is based on i2c.Driver, which implements the gobot.Driver
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// and tests all implementations, so no further tests needed here for gobot.Driver interface
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var _ gobot.Driver = (*BMP388Driver)(nil)
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func initTestBMP388WithStubbedAdaptor() (*BMP388Driver, *i2cTestAdaptor) {
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a := newI2cTestAdaptor()
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readCallCounter := 0
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a.i2cReadImpl = func(b []byte) (int, error) {
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readCallCounter++
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if readCallCounter == 1 {
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buf := new(bytes.Buffer)
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// Simulate returning of 0x50 for the
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// ReadByteData(bmp388RegChipID) call in initialisation()
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binary.Write(buf, binary.LittleEndian, uint8(0x50))
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copy(b, buf.Bytes())
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return buf.Len(), nil
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}
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if readCallCounter == 2 {
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// Simulate returning 24 bytes for the coefficients (register bmp388RegCalib00)
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return 24, nil
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}
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return 0, nil
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}
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return NewBMP388Driver(a), a
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}
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func TestNewBMP388Driver(t *testing.T) {
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var di interface{} = NewBMP388Driver(newI2cTestAdaptor())
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d, ok := di.(*BMP388Driver)
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if !ok {
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t.Errorf("NewBMP388Driver() should have returned a *BMP388Driver")
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}
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gobottest.Refute(t, d.Driver, nil)
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gobottest.Assert(t, strings.HasPrefix(d.Name(), "BMP388"), true)
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gobottest.Assert(t, d.defaultAddress, 0x77)
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gobottest.Assert(t, d.ctrlPwrMode, uint8(0x01)) // forced mode
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gobottest.Assert(t, d.confFilter, BMP388IIRFilter(0x00)) // filter off
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gobottest.Refute(t, d.calCoeffs, nil)
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}
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func TestBMP388Options(t *testing.T) {
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// This is a general test, that options are applied in constructor by using the common WithBus() option and
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// least one of this driver. Further tests for options can also be done by call of "WithOption(val)(d)".
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d := NewBMP388Driver(newI2cTestAdaptor(), WithBus(2), WithBMP388IIRFilter(BMP388IIRFilter(0x03)))
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gobottest.Assert(t, d.GetBusOrDefault(1), 2)
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gobottest.Assert(t, d.confFilter, BMP388IIRFilter(0x03))
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}
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func TestBMP388Measurements(t *testing.T) {
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d, a := initTestBMP388WithStubbedAdaptor()
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a.i2cReadImpl = func(b []byte) (int, error) {
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buf := new(bytes.Buffer)
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lastWritten := a.written[len(a.written)-1]
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switch lastWritten {
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case bmp388RegChipID:
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// Simulate returning of 0x50 for the
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// ReadByteData(bmp388RegChipID) call in initialisation()
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binary.Write(buf, binary.LittleEndian, uint8(0x50))
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case bmp388RegCalib00:
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// Values produced by dumping data from actual sensor
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buf.Write([]byte{36, 107, 156, 73, 246, 104, 255, 189, 245, 35, 0, 151, 101, 184, 122, 243, 246, 211, 64, 14, 196, 0, 0, 0})
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case bmp388RegTempData:
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buf.Write([]byte{0, 28, 127})
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case bmp388RegPressureData:
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buf.Write([]byte{0, 66, 113})
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}
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copy(b, buf.Bytes())
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return buf.Len(), nil
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}
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d.Start()
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temp, err := d.Temperature(2)
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, temp, float32(22.906143))
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pressure, err := d.Pressure(2)
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, pressure, float32(98874.85))
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alt, err := d.Altitude(2)
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, alt, float32(205.89395))
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}
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func TestBMP388TemperatureWriteError(t *testing.T) {
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d, a := initTestBMP388WithStubbedAdaptor()
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d.Start()
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a.i2cWriteImpl = func([]byte) (int, error) {
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return 0, errors.New("write error")
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}
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temp, err := d.Temperature(2)
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gobottest.Assert(t, err, errors.New("write error"))
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gobottest.Assert(t, temp, float32(0.0))
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}
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func TestBMP388TemperatureReadError(t *testing.T) {
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d, a := initTestBMP388WithStubbedAdaptor()
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d.Start()
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a.i2cReadImpl = func([]byte) (int, error) {
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return 0, errors.New("read error")
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}
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temp, err := d.Temperature(2)
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gobottest.Assert(t, err, errors.New("read error"))
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gobottest.Assert(t, temp, float32(0.0))
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}
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func TestBMP388PressureWriteError(t *testing.T) {
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d, a := initTestBMP388WithStubbedAdaptor()
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d.Start()
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a.i2cWriteImpl = func([]byte) (int, error) {
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return 0, errors.New("write error")
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}
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press, err := d.Pressure(2)
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gobottest.Assert(t, err, errors.New("write error"))
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gobottest.Assert(t, press, float32(0.0))
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}
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func TestBMP388PressureReadError(t *testing.T) {
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d, a := initTestBMP388WithStubbedAdaptor()
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d.Start()
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a.i2cReadImpl = func([]byte) (int, error) {
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return 0, errors.New("read error")
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}
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press, err := d.Pressure(2)
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gobottest.Assert(t, err, errors.New("read error"))
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gobottest.Assert(t, press, float32(0.0))
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}
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func TestBMP388_initialization(t *testing.T) {
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// sequence to read and write in initialization():
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// * read chip ID register (0x00) and compare
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// * read 24 bytes (12 x 16 bit calibration data), starting from TC1 register (0x31)
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// * fill calibration struct with data (LSByte read first)
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// * perform a soft reset by command register (0x7E)
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// * prepare the content of config register
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// * write the config register (0x1F)
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// arrange
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d, a := initTestBMP388WithStubbedAdaptor()
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a.written = []byte{} // reset writes of former test
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const (
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wantChipIDReg = uint8(0x00)
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wantCalibReg = uint8(0x31)
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wantCommandReg = uint8(0x7E)
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wantCommandRegVal = uint8(0xB6) // soft reset
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wantConfReg = uint8(0x1F)
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wantConfRegVal = uint8(0x00) // no filter
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)
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// Values produced by dumping data from actual sensor
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returnRead := []byte{36, 107, 156, 73, 246, 104, 255, 189, 245, 35, 0, 151, 101, 184, 122, 243, 246, 211, 64, 14, 196, 0, 0, 0}
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numCallsRead := 0
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a.i2cReadImpl = func(b []byte) (int, error) {
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numCallsRead++
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if numCallsRead == 1 {
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b[0] = 0x50
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} else {
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copy(b, returnRead)
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}
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return len(b), nil
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}
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// act, assert - initialization() must be called on Start()
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err := d.Start()
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// assert
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gobottest.Assert(t, err, nil)
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gobottest.Assert(t, numCallsRead, 2)
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gobottest.Assert(t, len(a.written), 6)
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gobottest.Assert(t, a.written[0], wantChipIDReg)
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gobottest.Assert(t, a.written[1], wantCalibReg)
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gobottest.Assert(t, a.written[2], wantCommandReg)
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gobottest.Assert(t, a.written[3], wantCommandRegVal)
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gobottest.Assert(t, a.written[4], wantConfReg)
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gobottest.Assert(t, a.written[5], wantConfRegVal)
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gobottest.Assert(t, d.calCoeffs.t1, float32(7.021568e+06))
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gobottest.Assert(t, d.calCoeffs.t2, float32(1.7549843e-05))
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gobottest.Assert(t, d.calCoeffs.t3, float32(-3.5527137e-14))
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gobottest.Assert(t, d.calCoeffs.p1, float32(-0.015769958))
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gobottest.Assert(t, d.calCoeffs.p2, float32(-3.5410747e-05))
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gobottest.Assert(t, d.calCoeffs.p3, float32(8.1490725e-09))
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gobottest.Assert(t, d.calCoeffs.p4, float32(0))
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gobottest.Assert(t, d.calCoeffs.p5, float32(208056))
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gobottest.Assert(t, d.calCoeffs.p6, float32(490.875))
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gobottest.Assert(t, d.calCoeffs.p7, float32(-0.05078125))
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gobottest.Assert(t, d.calCoeffs.p8, float32(-0.00030517578))
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gobottest.Assert(t, d.calCoeffs.p9, float32(5.8957283e-11))
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}
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