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Merge pull request iNavFlight#1176 from martinbudden/inav_sensorgyro_…
…unittest Added gyro sensor unit test
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| /* | ||
| * This file is part of Cleanflight. | ||
| * | ||
| * Cleanflight is free software: you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation, either version 3 of the License, or | ||
| * (at your option) any later version. | ||
| * | ||
| * Cleanflight is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. | ||
| */ | ||
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| #include <stdint.h> | ||
| #include <stdbool.h> | ||
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| #include <limits.h> | ||
| #include <algorithm> | ||
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| extern "C" { | ||
| #include <platform.h> | ||
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| #include "build/build_config.h" | ||
| #include "build/debug.h" | ||
| #include "common/axis.h" | ||
| #include "common/utils.h" | ||
| #include "drivers/accgyro_fake.h" | ||
| #include "drivers/logging_codes.h" | ||
| #include "io/beeper.h" | ||
| #include "scheduler/scheduler.h" | ||
| #include "sensors/gyro.h" | ||
| #include "sensors/acceleration.h" | ||
| #include "sensors/sensors.h" | ||
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| STATIC_UNIT_TESTED bool gyroDetect(gyroDev_t *dev, const extiConfig_t *extiConfig); | ||
| STATIC_UNIT_TESTED void performGyroCalibration(uint8_t gyroMovementCalibrationThreshold); | ||
| extern int32_t gyroZero[XYZ_AXIS_COUNT]; | ||
| } | ||
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| #include "unittest_macros.h" | ||
| #include "gtest/gtest.h" | ||
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| TEST(SensorGyro, Detect) | ||
| { | ||
| const bool detected = gyroDetect(&gyro.dev, NULL); | ||
| EXPECT_EQ(true, detected); | ||
| EXPECT_EQ(GYRO_FAKE, detectedSensors[SENSOR_INDEX_GYRO]); | ||
| } | ||
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| TEST(SensorGyro, Init) | ||
| { | ||
| gyroInit(); | ||
| EXPECT_EQ(GYRO_FAKE, detectedSensors[SENSOR_INDEX_GYRO]); | ||
| } | ||
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| TEST(SensorGyro, Read) | ||
| { | ||
| gyroInit(); | ||
| fakeGyroSet(5, 6, 7); | ||
| const bool read = gyro.dev.read(&gyro.dev); | ||
| EXPECT_EQ(true, read); | ||
| EXPECT_EQ(5, gyro.dev.gyroADCRaw[X]); | ||
| EXPECT_EQ(6, gyro.dev.gyroADCRaw[Y]); | ||
| EXPECT_EQ(7, gyro.dev.gyroADCRaw[Z]); | ||
| } | ||
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| TEST(SensorGyro, Calibrate) | ||
| { | ||
| gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES); | ||
| gyroInit(); | ||
| fakeGyroSet(5, 6, 7); | ||
| const bool read = gyro.dev.read(&gyro.dev); | ||
| EXPECT_EQ(true, read); | ||
| gyro.gyroADC[X] = gyro.dev.gyroADCRaw[X]; | ||
| gyro.gyroADC[Y] = gyro.dev.gyroADCRaw[Y]; | ||
| gyro.gyroADC[Z] = gyro.dev.gyroADCRaw[Z]; | ||
| EXPECT_EQ(5, gyro.gyroADC[X]); | ||
| EXPECT_EQ(6, gyro.gyroADC[Y]); | ||
| EXPECT_EQ(7, gyro.gyroADC[Z]); | ||
| static const int gyroMovementCalibrationThreshold = 32; | ||
| gyroZero[X] = 8; | ||
| gyroZero[Y] = 9; | ||
| gyroZero[Z] = 10; | ||
| performGyroCalibration(gyroMovementCalibrationThreshold); | ||
| EXPECT_EQ(0, gyroZero[X]); | ||
| EXPECT_EQ(0, gyroZero[Y]); | ||
| EXPECT_EQ(0, gyroZero[Z]); | ||
| EXPECT_EQ(false, gyroIsCalibrationComplete()); | ||
| while (!gyroIsCalibrationComplete()) { | ||
| performGyroCalibration(gyroMovementCalibrationThreshold); | ||
| gyro.gyroADC[X] = gyro.dev.gyroADCRaw[X]; | ||
| gyro.gyroADC[Y] = gyro.dev.gyroADCRaw[Y]; | ||
| gyro.gyroADC[Z] = gyro.dev.gyroADCRaw[Z]; | ||
| } | ||
| EXPECT_EQ(5, gyroZero[X]); | ||
| EXPECT_EQ(6, gyroZero[Y]); | ||
| EXPECT_EQ(7, gyroZero[Z]); | ||
| } | ||
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| // STUBS | ||
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| extern "C" { | ||
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| uint32_t micros(void) {return 0;} | ||
| void beeper(beeperMode_e) {} | ||
| uint8_t detectedSensors[] = { GYRO_NONE, ACC_NONE }; | ||
| void addBootlogEvent6(bootLogEventCode_e eventCode, uint16_t eventFlags, uint16_t param1, uint16_t param2, uint16_t param3, uint16_t param4) | ||
| {UNUSED(eventCode);UNUSED(eventFlags);UNUSED(param1);UNUSED(param2);UNUSED(param3);UNUSED(param4);} | ||
| timeDelta_t getGyroUpdateRate(void) {return gyro.targetLooptime;} | ||
| void sensorsSet(uint32_t) {} | ||
| void schedulerResetTaskStatistics(cfTaskId_e) {} | ||
| } |
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