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Merge branch 'master' into betaflight

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Conflicts:
	Makefile
	docs/Cli.md
	src/main/config/config.c
	src/main/drivers/accgyro_mpu3050.c
	src/main/drivers/accgyro_mpu6050.c
	src/main/drivers/accgyro_mpu6050.h
	src/main/drivers/accgyro_spi_mpu6000.c
	src/main/drivers/accgyro_spi_mpu6000.h
	src/main/drivers/accgyro_spi_mpu6500.c
	src/main/drivers/accgyro_spi_mpu6500.h
	src/main/drivers/barometer_bmp280.c
	src/main/drivers/sensor.h
	src/main/flight/pid.c
	src/main/mw.c
	src/main/rx/rx.c
	src/main/sensors/initialisation.c
	src/main/target/CC3D/target.h
This commit is contained in:
borisbstyle 2015-10-07 17:12:54 +02:00
commit 12c9f65f43
82 changed files with 2309 additions and 1771 deletions
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154
src/test/unit/baro_bmp280_unittest.cc Normal file
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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/>.
*/
#include <stdint.h>
extern "C" {
void bmp280_calculate(int32_t *pressure, int32_t *temperature);
extern uint32_t bmp280_up;
extern uint32_t bmp280_ut;
typedef struct bmp280_calib_param_t {
uint16_t dig_T1; /* calibration T1 data */
int16_t dig_T2; /* calibration T2 data */
int16_t dig_T3; /* calibration T3 data */
uint16_t dig_P1; /* calibration P1 data */
int16_t dig_P2; /* calibration P2 data */
int16_t dig_P3; /* calibration P3 data */
int16_t dig_P4; /* calibration P4 data */
int16_t dig_P5; /* calibration P5 data */
int16_t dig_P6; /* calibration P6 data */
int16_t dig_P7; /* calibration P7 data */
int16_t dig_P8; /* calibration P8 data */
int16_t dig_P9; /* calibration P9 data */
int32_t t_fine; /* calibration t_fine data */
} bmp280_calib_param_t;
bmp280_calib_param_t bmp280_cal;
}
#include "unittest_macros.h"
#include "gtest/gtest.h"
TEST(baroBmp280Test, TestBmp280Calculate)
{
// given
int32_t pressure, temperature;
bmp280_up = 415148; // Digital pressure value
bmp280_ut = 519888; // Digital temperature value
// and
bmp280_cal.dig_T1 = 27504;
bmp280_cal.dig_T2 = 26435;
bmp280_cal.dig_T3 = -1000;
bmp280_cal.dig_P1 = 36477;
bmp280_cal.dig_P2 = -10685;
bmp280_cal.dig_P3 = 3024;
bmp280_cal.dig_P4 = 2855;
bmp280_cal.dig_P5 = 140;
bmp280_cal.dig_P6 = -7;
bmp280_cal.dig_P7 = 15500;
bmp280_cal.dig_P8 = -14600;
bmp280_cal.dig_P9 = 6000;
// when
bmp280_calculate(&pressure, &temperature);
// then
EXPECT_EQ(100653, pressure); // 100653 Pa
EXPECT_EQ(2508, temperature); // 25.08 degC
}
TEST(baroBmp280Test, TestBmp280CalculateHighP)
{
// given
int32_t pressure, temperature;
bmp280_up = 215148; // Digital pressure value
bmp280_ut = 519888; // Digital temperature value
// and
bmp280_cal.dig_T1 = 27504;
bmp280_cal.dig_T2 = 26435;
bmp280_cal.dig_T3 = -1000;
bmp280_cal.dig_P1 = 36477;
bmp280_cal.dig_P2 = -10685;
bmp280_cal.dig_P3 = 3024;
bmp280_cal.dig_P4 = 2855;
bmp280_cal.dig_P5 = 140;
bmp280_cal.dig_P6 = -7;
bmp280_cal.dig_P7 = 15500;
bmp280_cal.dig_P8 = -14600;
bmp280_cal.dig_P9 = 6000;
// when
bmp280_calculate(&pressure, &temperature);
// then
EXPECT_EQ(135382, pressure); // 135385 Pa
EXPECT_EQ(2508, temperature); // 25.08 degC
}
TEST(baroBmp280Test, TestBmp280CalculateZeroP)
{
// given
int32_t pressure, temperature;
bmp280_up = 415148; // Digital pressure value
bmp280_ut = 519888; // Digital temperature value
// and
bmp280_cal.dig_T1 = 27504;
bmp280_cal.dig_T2 = 26435;
bmp280_cal.dig_T3 = -1000;
bmp280_cal.dig_P1 = 0;
bmp280_cal.dig_P2 = -10685;
bmp280_cal.dig_P3 = 3024;
bmp280_cal.dig_P4 = 2855;
bmp280_cal.dig_P5 = 140;
bmp280_cal.dig_P6 = -7;
bmp280_cal.dig_P7 = 15500;
bmp280_cal.dig_P8 = -14600;
bmp280_cal.dig_P9 = 6000;
// when
bmp280_calculate(&pressure, &temperature);
// then
EXPECT_EQ(0, pressure); // P1=0 trips pressure to 0 Pa, avoiding division by zero
EXPECT_EQ(2508, temperature); // 25.08 degC
}
// STUBS
extern "C" {
void delay(uint32_t) {}
bool i2cWrite(uint8_t, uint8_t, uint8_t) {
return 1;
}
bool i2cRead(uint8_t, uint8_t, uint8_t, uint8_t) {
return 1;
}
}