src/test/unit/baro_ms5611_unittest.cc

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17 #include <stdint.h>
  18
  19 extern "C" {
  20
  21 #include "platform.h"
  22 #include "target.h"
  23 #include "drivers/barometer/barometer.h"
  24 #include "drivers/bus.h"
  25
  26 int8_t ms5611CRC(uint16_t *prom);
  27 void ms5611Calculate(int32_t *pressure, int32_t *temperature);
  28
  29 extern uint16_t ms5611_c[8];
  30 extern uint32_t ms5611_up;
  31 extern uint32_t ms5611_ut;
  32
  33 }
  34
  35
  36 #include "unittest_macros.h"
  37 #include "gtest/gtest.h"
  38
  39
  40 TEST(baroMS5611Test, TestValidMs5611Crc)
  41 {
  42     // given
  43     uint16_t ms5611Prom[] = {0x3132,0x3334,0x3536,0x3738,0x3940,0x4142,0x4344,0x450B};
  44
  45     // when
  46     int8_t result = ms5611CRC(ms5611Prom);
  47
  48     // then
  49     EXPECT_EQ(0, result);
  50 }
  51
  52 TEST(baroMS5611Test, TestInvalidMs5611Crc)
  53 {
  54     // given
  55     uint16_t ms5611Prom[] = {0x3132,0x3334,0x3536,0x3738,0x3940,0x4142,0x4344,0x4500};
  56
  57     // when
  58     int8_t result = ms5611CRC(ms5611Prom);
  59
  60     // then
  61     EXPECT_EQ(-1, result);
  62 }
  63
  64 TEST(baroMS5611Test, TestMs5611AllZeroProm)
  65 {
  66     // given
  67     uint16_t ms5611Prom[] = {0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000};
  68
  69     // when
  70     int8_t result = ms5611CRC(ms5611Prom);
  71
  72     // then
  73     EXPECT_EQ(-1, result);
  74 }
  75
  76 TEST(baroMS5611Test, TestMs5611AllOnesProm)
  77 {
  78     // given
  79     uint16_t ms5611Prom[] = {0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF};
  80
  81     // when
  82     int8_t result = ms5611CRC(ms5611Prom);
  83
  84     // then
  85     EXPECT_EQ(-1, result);
  86 }
  87
  88 TEST(baroMS5611Test, TestMs5611CalculatePressureGT20Deg)
  89 {
  90     // given
  91     int32_t pressure, temperature;
  92     uint16_t ms5611_c_test[] = {0x0000, 40127, 36924, 23317, 23282, 33464, 28312, 0x0000}; // calibration data from MS5611 datasheet
  93     memcpy(&ms5611_c, &ms5611_c_test, sizeof(ms5611_c_test));
  94
  95     ms5611_up = 9085466; // Digital pressure value from MS5611 datasheet
  96     ms5611_ut = 8569150; // Digital temperature value from MS5611 datasheet
  97
  98     // when
  99     ms5611Calculate(&pressure, &temperature);
 100
 101     // then
 102     EXPECT_EQ(2007, temperature); // 20.07 deg C
 103     EXPECT_EQ(100009, pressure);  // 1000.09 mbar
 104 }
 105
 106 TEST(baroMS5611Test, TestMs5611CalculatePressureLT20Deg)
 107 {
 108     // given
 109     int32_t pressure, temperature;
 110     uint16_t ms5611_c_test[] = {0x0000, 40127, 36924, 23317, 23282, 33464, 28312, 0x0000}; // calibration data from MS5611 datasheet
 111     memcpy(&ms5611_c, &ms5611_c_test, sizeof(ms5611_c_test));
 112
 113     ms5611_up = 9085466; // Digital pressure value from MS5611 datasheet
 114     ms5611_ut = 8069150; // Digital temperature value
 115
 116     // when
 117     ms5611Calculate(&pressure, &temperature);
 118
 119     // then
 120     EXPECT_EQ(205, temperature); // 2.05 deg C
 121     EXPECT_EQ(96512, pressure);  // 965.12 mbar
 122 }
 123
 124 TEST(baroMS5611Test, TestMs5611CalculatePressureLTMinus15Deg)
 125 {
 126     // given
 127     int32_t pressure, temperature;
 128     uint16_t ms5611_c_test[] = {0x0000, 40127, 36924, 23317, 23282, 33464, 28312, 0x0000}; // calibration data from MS5611 datasheet
 129     memcpy(&ms5611_c, &ms5611_c_test, sizeof(ms5611_c_test));
 130
 131     ms5611_up = 9085466; // Digital pressure value from MS5611 datasheet
 132     ms5611_ut = 7369150; // Digital temperature value
 133
 134     // when
 135     ms5611Calculate(&pressure, &temperature);
 136
 137     // then
 138     EXPECT_EQ(-2710, temperature); // -27.10 deg C
 139     EXPECT_EQ(90613, pressure);  // 906.13 mbar
 140 }
 141
 142 // STUBS
 143
 144 extern "C" {
 145
 146 void delay(uint32_t) {}
 147 void delayMicroseconds(uint32_t) {}
 148
 149 bool busBusy(const extDevice_t*, bool*) {return false;}
 150 bool busRawReadRegisterBuffer(const extDevice_t*, uint8_t, uint8_t*, uint8_t) {return true;}
 151 bool busRawReadRegisterBufferStart(const extDevice_t*, uint8_t, uint8_t*, uint8_t) {return true;}
 152 bool busRawWriteRegister(const extDevice_t*, uint8_t, uint8_t) {return true;}
 153 bool busRawWriteRegisterStart(const extDevice_t*, uint8_t, uint8_t) {return true;}
 154 void busDeviceRegister(const extDevice_t*) {}
 155
 156 uint16_t spiCalculateDivider()
 157 {
 158     return 2;
 159 }
 160
 161 void spiSetClkDivisor()
 162 {
 163 }
 164
 165 void spiPreinitByIO()
 166 {
 167 }
 168
 169 void IOConfigGPIO()
 170 {
 171 }
 172
 173 void IOHi()
 174 {
 175 }
 176
 177 void IOInit()
 178 {
 179 }
 180
 181 void IORelease()
 182 {
 183 }
 184
 185 }