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Code Issues Wiki Activity

Improved tests.

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This commit is contained in:
mikeller 2019-11-20 00:29:07 +13:00
parent c1b9e927a6
commit 5808bfd6f3
11 changed files with 158 additions and 154 deletions
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12
src/test/unit/sensor_gyro_unittest.cc
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@ -65,7 +65,7 @@ TEST(SensorGyro, Init)
{
pgResetAll();
const bool initialised = gyroInit();
EXPECT_EQ(true, initialised);
EXPECT_TRUE(initialised);
EXPECT_EQ(GYRO_FAKE, detectedSensors[SENSOR_INDEX_GYRO]);
}
@ -75,7 +75,7 @@ TEST(SensorGyro, Read)
gyroInit();
fakeGyroSet(gyroDevPtr, 5, 6, 7);
const bool read = gyroDevPtr->readFn(gyroDevPtr);
EXPECT_EQ(true, read);
EXPECT_TRUE(read);
EXPECT_EQ(5, gyroDevPtr->gyroADCRaw[X]);
EXPECT_EQ(6, gyroDevPtr->gyroADCRaw[Y]);
EXPECT_EQ(7, gyroDevPtr->gyroADCRaw[Z]);
@ -87,7 +87,7 @@ TEST(SensorGyro, Calibrate)
gyroInit();
fakeGyroSet(gyroDevPtr, 5, 6, 7);
const bool read = gyroDevPtr->readFn(gyroDevPtr);
EXPECT_EQ(true, read);
EXPECT_TRUE(read);
EXPECT_EQ(5, gyroDevPtr->gyroADCRaw[X]);
EXPECT_EQ(6, gyroDevPtr->gyroADCRaw[Y]);
EXPECT_EQ(7, gyroDevPtr->gyroADCRaw[Z]);
@ -100,7 +100,7 @@ TEST(SensorGyro, Calibrate)
EXPECT_EQ(9, gyroDevPtr->gyroZero[Y]);
EXPECT_EQ(10, gyroDevPtr->gyroZero[Z]);
gyroStartCalibration(false);
EXPECT_EQ(false, gyroIsCalibrationComplete());
EXPECT_FALSE(gyroIsCalibrationComplete());
while (!gyroIsCalibrationComplete()) {
gyroDevPtr->readFn(gyroDevPtr);
performGyroCalibration(gyroSensorPtr, gyroMovementCalibrationThreshold);
@ -121,7 +121,7 @@ TEST(SensorGyro, Update)
gyroInit();
gyroDevPtr->readFn = fakeGyroRead;
gyroStartCalibration(false);
EXPECT_EQ(false, gyroIsCalibrationComplete());
EXPECT_FALSE(gyroIsCalibrationComplete());
timeUs_t currentTimeUs = 0;
fakeGyroSet(gyroDevPtr, 5, 6, 7);
@ -130,7 +130,7 @@ TEST(SensorGyro, Update)
fakeGyroSet(gyroDevPtr, 5, 6, 7);
gyroUpdate(currentTimeUs);
}
EXPECT_EQ(true, gyroIsCalibrationComplete());
EXPECT_TRUE(gyroIsCalibrationComplete());
EXPECT_EQ(5, gyroDevPtr->gyroZero[X]);
EXPECT_EQ(6, gyroDevPtr->gyroZero[Y]);
EXPECT_EQ(7, gyroDevPtr->gyroZero[Z]);