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BMP388 - Add support for BMP388 barometer.
BMP388 - Move the static assert. BMP388 - Build faster when the baro driver is not enabled. BMP388 - Fix spi init due to changes in master. BMP388 - Add missing bmp388 unit test files. BMP388 - Remove debug code. BMP388 - Prepare EXTI/EOC handling for unified targets. BMP388 - enable on unified targets. BMP388 - Add support to NUCLEOF722. BMP388 - Add support to NUCLEOH743. BMP388 - Add BMP388 (via SPI) support to NUCLEOF7 * For some CI visibility on the conditional baro SPI code. NUCLEOH743 - Add LPS baro for more CI visibility. Remove whitespace, as requested. Move barometer `#defines` into the implementations. Cleanup style of method names in baro drivers.
This commit is contained in:
Dominic Clifton
Michael Keller
parent
aba49b39ae
commit
53167b161f
25 changed files with 842 additions and 169 deletions
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@ -65,6 +65,15 @@ baro_bmp280_unittest_DEFINES := \
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USE_BARO_BMP280= \
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USE_BARO_SPI_BMP280=
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baro_bmp388_unittest_SRC := \
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$(USER_DIR)/common/maths.c \
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$(USER_DIR)/drivers/barometer/barometer_bmp388.c
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baro_bmp388_unittest_DEFINES := \
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USE_EXTI= \
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USE_BARO_BMP388= \
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USE_BARO_SPI_BMP388=
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baro_ms5611_unittest_SRC := \
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$(USER_DIR)/drivers/barometer/barometer_ms5611.c
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@ -23,7 +23,7 @@ extern "C" {
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#include "drivers/barometer/barometer.h"
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#include "drivers/bus.h"
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void bmp280_calculate(int32_t *pressure, int32_t *temperature);
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void bmp280Calculate(int32_t *pressure, int32_t *temperature);
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extern uint32_t bmp280_up;
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extern uint32_t bmp280_ut;
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@ -75,7 +75,7 @@ TEST(baroBmp280Test, TestBmp280Calculate)
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bmp280_cal.dig_P9 = 6000;
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// when
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bmp280_calculate(&pressure, &temperature);
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bmp280Calculate(&pressure, &temperature);
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// then
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EXPECT_EQ(100653, pressure); // 100653 Pa
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@ -105,7 +105,7 @@ TEST(baroBmp280Test, TestBmp280CalculateHighP)
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bmp280_cal.dig_P9 = 6000;
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// when
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bmp280_calculate(&pressure, &temperature);
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bmp280Calculate(&pressure, &temperature);
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// then
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EXPECT_EQ(135382, pressure); // 135385 Pa
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@ -135,7 +135,7 @@ TEST(baroBmp280Test, TestBmp280CalculateZeroP)
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bmp280_cal.dig_P9 = 6000;
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// when
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bmp280_calculate(&pressure, &temperature);
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bmp280Calculate(&pressure, &temperature);
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// then
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EXPECT_EQ(0, pressure); // P1=0 trips pressure to 0 Pa, avoiding division by zero
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181
src/test/unit/baro_bmp388_unittest.cc
Normal file
181
src/test/unit/baro_bmp388_unittest.cc
Normal file
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@ -0,0 +1,181 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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extern "C" {
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#include "platform.h"
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#include "target.h"
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#include "drivers/barometer/barometer.h"
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#include "drivers/bus.h"
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void bmp388Calculate(int32_t *pressure, int32_t *temperature);
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extern uint32_t bmp388_up;
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extern uint32_t bmp388_ut;
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extern int64_t t_lin; // when temperature is calculated this is updated, the result is used in the pressure calculations
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typedef struct bmp388_calib_param_s {
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uint16_t T1;
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uint16_t T2;
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int8_t T3;
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int16_t P1;
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int16_t P2;
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int8_t P3;
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int8_t P4;
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uint16_t P5;
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uint16_t P6;
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int8_t P7;
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int8_t P8;
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int16_t P9;
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int8_t P10;
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int8_t P11;
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} __attribute__((packed)) bmp388_calib_param_t; // packed as we read directly from the device into this structure.
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bmp388_calib_param_t bmp388_cal;
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} // extern "C"
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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void baroBmp388ConfigureZeroCalibration(void)
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{
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bmp388_cal = {
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.T1 = 0,
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.T2 = 0,
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.T3 = 0,
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.P1 = 0,
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.P2 = 0,
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.P3 = 0,
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.P4 = 0,
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.P5 = 0,
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.P6 = 0,
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.P7 = 0,
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.P8 = 0,
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.P9 = 0,
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.P10 = 0,
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.P11 = 0
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};
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}
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void baroBmp388ConfigureSampleCalibration(void)
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{
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bmp388_cal = {
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.T1 = 27772,
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.T2 = 18638,
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.T3 = -10,
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.P1 = 878,
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.P2 = -2023,
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.P3 = 35,
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.P4 = 0,
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.P5 = 24476,
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.P6 = 30501,
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.P7 = -13,
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.P8 = -10,
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.P9 = 16545,
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.P10 = 21,
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.P11 = -60
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};
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}
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TEST(baroBmp388Test, TestBmp388CalculateWithZeroCalibration)
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{
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// given
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int32_t pressure, temperature;
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bmp388_up = 0; // uncompensated pressure value
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bmp388_ut = 0; // uncompensated temperature value
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t_lin = 0;
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// and
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baroBmp388ConfigureZeroCalibration();
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// when
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bmp388Calculate(&pressure, &temperature);
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// then
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EXPECT_EQ(0, temperature);
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EXPECT_EQ(0, t_lin);
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// and
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EXPECT_EQ(0, pressure);
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}
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TEST(baroBmp388Test, TestBmp388CalculateWithSampleCalibration)
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{
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// given
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int32_t pressure, temperature;
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bmp388_up = 7323488; // uncompensated pressure value
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bmp388_ut = 9937920; // uncompensated temperature value
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t_lin = 0;
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// and
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baroBmp388ConfigureSampleCalibration();
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// when
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bmp388Calculate(&pressure, &temperature);
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// then
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EXPECT_EQ(4880, temperature); // 48.80 degrees C
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EXPECT_NE(0, t_lin);
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// and
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EXPECT_EQ(39535, pressure); // 39535 Pa
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}
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// STUBS
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extern "C" {
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void delay(uint32_t) {}
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bool busReadRegisterBuffer(const busDevice_t*, uint8_t, uint8_t*, uint8_t) {return true;}
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bool busWriteRegister(const busDevice_t*, uint8_t, uint8_t) {return true;}
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void spiBusSetDivisor() {
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}
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void spiBusTransactionInit() {
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}
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void spiPreinitByIO(IO_t) {
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}
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void IOConfigGPIO() {
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}
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void IOHi() {
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}
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IO_t IOGetByTag(ioTag_t) {
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return IO_NONE;
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}
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void IOInit() {
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}
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void EXTIHandlerInit(extiCallbackRec_t *, extiHandlerCallback *) {
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}
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void EXTIConfig(IO_t, extiCallbackRec_t *, int, ioConfig_t, extiTrigger_t) {
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}
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void EXTIEnable(IO_t, bool) {
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}
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} // extern "C"
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@ -23,8 +23,8 @@ extern "C" {
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#include "drivers/barometer/barometer.h"
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#include "drivers/bus.h"
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int8_t ms5611_crc(uint16_t *prom);
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void ms5611_calculate(int32_t *pressure, int32_t *temperature);
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int8_t ms5611CRC(uint16_t *prom);
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void ms5611Calculate(int32_t *pressure, int32_t *temperature);
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extern uint16_t ms5611_c[8];
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extern uint32_t ms5611_up;
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@ -40,10 +40,10 @@ extern uint32_t ms5611_ut;
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TEST(baroMS5611Test, TestValidMs5611Crc)
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{
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// given
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uint16_t ms5611_prom[] = {0x3132,0x3334,0x3536,0x3738,0x3940,0x4142,0x4344,0x450B};
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uint16_t ms5611Prom[] = {0x3132,0x3334,0x3536,0x3738,0x3940,0x4142,0x4344,0x450B};
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// when
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int8_t result = ms5611_crc(ms5611_prom);
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int8_t result = ms5611CRC(ms5611Prom);
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// then
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EXPECT_EQ(0, result);
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@ -52,10 +52,10 @@ TEST(baroMS5611Test, TestValidMs5611Crc)
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TEST(baroMS5611Test, TestInvalidMs5611Crc)
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{
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// given
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uint16_t ms5611_prom[] = {0x3132,0x3334,0x3536,0x3738,0x3940,0x4142,0x4344,0x4500};
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uint16_t ms5611Prom[] = {0x3132,0x3334,0x3536,0x3738,0x3940,0x4142,0x4344,0x4500};
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// when
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int8_t result = ms5611_crc(ms5611_prom);
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int8_t result = ms5611CRC(ms5611Prom);
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// then
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EXPECT_EQ(-1, result);
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@ -64,10 +64,10 @@ TEST(baroMS5611Test, TestInvalidMs5611Crc)
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TEST(baroMS5611Test, TestMs5611AllZeroProm)
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{
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// given
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uint16_t ms5611_prom[] = {0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000};
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uint16_t ms5611Prom[] = {0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000};
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// when
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int8_t result = ms5611_crc(ms5611_prom);
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int8_t result = ms5611CRC(ms5611Prom);
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// then
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EXPECT_EQ(-1, result);
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@ -76,10 +76,10 @@ TEST(baroMS5611Test, TestMs5611AllZeroProm)
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TEST(baroMS5611Test, TestMs5611AllOnesProm)
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{
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// given
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uint16_t ms5611_prom[] = {0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF};
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uint16_t ms5611Prom[] = {0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF};
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// when
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int8_t result = ms5611_crc(ms5611_prom);
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int8_t result = ms5611CRC(ms5611Prom);
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// then
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EXPECT_EQ(-1, result);
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@ -96,7 +96,7 @@ TEST(baroMS5611Test, TestMs5611CalculatePressureGT20Deg)
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ms5611_ut = 8569150; // Digital temperature value from MS5611 datasheet
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// when
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ms5611_calculate(&pressure, &temperature);
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ms5611Calculate(&pressure, &temperature);
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// then
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EXPECT_EQ(2007, temperature); // 20.07 deg C
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@ -114,7 +114,7 @@ TEST(baroMS5611Test, TestMs5611CalculatePressureLT20Deg)
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ms5611_ut = 8069150; // Digital temperature value
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// when
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ms5611_calculate(&pressure, &temperature);
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ms5611Calculate(&pressure, &temperature);
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// then
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EXPECT_EQ(205, temperature); // 2.05 deg C
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@ -132,7 +132,7 @@ TEST(baroMS5611Test, TestMs5611CalculatePressureLTMinus15Deg)
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ms5611_ut = 7369150; // Digital temperature value
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// when
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ms5611_calculate(&pressure, &temperature);
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ms5611Calculate(&pressure, &temperature);
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// then
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EXPECT_EQ(-2710, temperature); // -27.10 deg C
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