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Add tests for BMP280 barometer

Browse source 
Also get rid of the curved quotes for normal quotes (") and make
compensation computations static.
This commit is contained in:
Sean Vig 2015-09-17 00:27:25 -05:00 • committed by Dominic Clifton
parent 0f87d1ff87
commit e5f3f1794f
3 changed files with 186 additions and 9 deletions
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18
src/main/drivers/barometer_bmp280.c
View file

@ -90,16 +90,16 @@ typedef struct bmp280_calib_param_t {
static uint8_t bmp280_chip_id = 0;
static bool bmp280InitDone = false;
static bmp280_calib_param_t bmp280_cal;
STATIC_UNIT_TESTED bmp280_calib_param_t bmp280_cal;
// uncompensated pressure and temperature
static int32_t bmp280_up = 0;
static int32_t bmp280_ut = 0;
STATIC_UNIT_TESTED int32_t bmp280_up = 0;
STATIC_UNIT_TESTED int32_t bmp280_ut = 0;
static void bmp280_start_ut(void);
static void bmp280_get_ut(void);
static void bmp280_start_up(void);
static void bmp280_get_up(void);
static void bmp280_calculate(int32_t *pressure, int32_t *temperature);
STATIC_UNIT_TESTED void bmp280_calculate(int32_t *pressure, int32_t *temperature);
bool bmp280Detect(baro_t *baro)
{
@ -160,9 +160,9 @@ static void bmp280_get_up(void)
bmp280_ut = (int32_t)((((uint32_t)(data[3])) << 12) | (((uint32_t)(data[4])) << 4) | ((uint32_t)data[5] >> 4));
}
// Returns temperature in DegC, float precision. Output value of “51.23” equals 51.23 DegC.
// Returns temperature in DegC, float precision. Output value of "51.23" equals 51.23 DegC.
// t_fine carries fine temperature as global value
float bmp280_compensate_T(int32_t adc_T)
static float bmp280_compensate_T(int32_t adc_T)
{
float var1, var2, T;
@ -174,8 +174,8 @@ float bmp280_compensate_T(int32_t adc_T)
return T;
}
// Returns pressure in Pa as float. Output value of “96386.2” equals 96386.2 Pa = 963.862 hPa
float bmp280_compensate_P(int32_t adc_P)
// Returns pressure in Pa as float. Output value of "96386.2" equals 96386.2 Pa = 963.862 hPa
static float bmp280_compensate_P(int32_t adc_P)
{
float var1, var2, p;
var1 = ((float)bmp280_cal.t_fine / 2.0f) - 64000.0f;
@ -196,7 +196,7 @@ float bmp280_compensate_P(int32_t adc_P)
return p;
}
static void bmp280_calculate(int32_t *pressure, int32_t *temperature)
STATIC_UNIT_TESTED void bmp280_calculate(int32_t *pressure, int32_t *temperature)
{
// calculate
float t, p;

23
src/test/Makefile
View file

@ -512,6 +512,29 @@ $(OBJECT_DIR)/baro_bmp085_unittest : \
$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/drivers/barometer_bmp280.o : \
$(USER_DIR)/drivers/barometer_bmp280.c \
$(USER_DIR)/drivers/barometer_bmp280.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/barometer_bmp280.c -o $@
$(OBJECT_DIR)/baro_bmp280_unittest.o : \
$(TEST_DIR)/baro_bmp280_unittest.cc \
$(USER_DIR)/drivers/barometer_bmp280.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/baro_bmp280_unittest.cc -o $@
$(OBJECT_DIR)/baro_bmp280_unittest : \
$(OBJECT_DIR)/drivers/barometer_bmp280.o \
$(OBJECT_DIR)/baro_bmp280_unittest.o \
$(OBJECT_DIR)/gtest_main.a
$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/sensors/boardalignment.o : \
$(USER_DIR)/sensors/boardalignment.c \
$(USER_DIR)/sensors/boardalignment.h \

154
src/test/unit/baro_bmp280_unittest.cc Normal file
View file

@ -0,0 +1,154 @@
/*
* 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(2500, temperature); // 25.00 degC (data sheet says 25.08)
}
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(2500, temperature); // 25.00 degC (data sheet says 25.08)
}
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(2500, temperature); // 25.00 degC (data sheet says 25.08)
}
// 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;
}
}