Add back and refactor some unit tests.

Re-enabled:
 - BMP280
 - MS5166
 - Maths test cases
 - Serial IO

Refactored:
 - Scheduler

Tried to decouple the test from the actual tasks (in fc_tashs.h/c) in
the majority of logical tests.

src/test/unit/baro_ms5611_unittest.cc

@@ -0,0 +1,152 @@
+/*
+ * 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" {
+
+int8_t ms5611_crc(uint16_t *prom);
+void ms5611_calculate(int32_t *pressure, int32_t *temperature);
+
+extern uint16_t ms5611_c[8];
+extern uint32_t ms5611_up;
+extern uint32_t ms5611_ut;
+
+}
+
+
+#include "unittest_macros.h"
+#include "gtest/gtest.h"
+
+
+TEST(baroMS5611Test, TestValidMs5611Crc)
+{
+    // given
+    uint16_t ms5611_prom[] = {0x3132,0x3334,0x3536,0x3738,0x3940,0x4142,0x4344,0x450B};
+
+    // when
+    int8_t result = ms5611_crc(ms5611_prom);
+
+    // then
+    EXPECT_EQ(0, result);
+}
+
+TEST(baroMS5611Test, TestInvalidMs5611Crc)
+{
+    // given
+    uint16_t ms5611_prom[] = {0x3132,0x3334,0x3536,0x3738,0x3940,0x4142,0x4344,0x4500};
+
+    // when
+    int8_t result = ms5611_crc(ms5611_prom);
+
+    // then
+    EXPECT_EQ(-1, result);
+}
+
+TEST(baroMS5611Test, TestMs5611AllZeroProm)
+{
+    // given
+    uint16_t ms5611_prom[] = {0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000};
+
+    // when
+    int8_t result = ms5611_crc(ms5611_prom);
+
+    // then
+    EXPECT_EQ(-1, result);
+}
+
+TEST(baroMS5611Test, TestMs5611AllOnesProm)
+{
+    // given
+    uint16_t ms5611_prom[] = {0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF};
+
+    // when
+    int8_t result = ms5611_crc(ms5611_prom);
+
+    // then
+    EXPECT_EQ(-1, result);
+}
+
+TEST(baroMS5611Test, TestMs5611CalculatePressureGT20Deg)
+{
+    // given
+    int32_t pressure, temperature;
+    uint16_t ms5611_c_test[] = {0x0000, 40127, 36924, 23317, 23282, 33464, 28312, 0x0000}; // calibration data from MS5611 datasheet
+    memcpy(&ms5611_c, &ms5611_c_test, sizeof(ms5611_c_test));
+
+    ms5611_up = 9085466; // Digital pressure value from MS5611 datasheet
+    ms5611_ut = 8569150; // Digital temperature value from MS5611 datasheet
+
+    // when
+    ms5611_calculate(&pressure, &temperature);
+
+    // then
+    EXPECT_EQ(2007, temperature); // 20.07 deg C
+    EXPECT_EQ(100009, pressure);  // 1000.09 mbar
+}
+
+TEST(baroMS5611Test, TestMs5611CalculatePressureLT20Deg)
+{
+    // given
+    int32_t pressure, temperature;
+    uint16_t ms5611_c_test[] = {0x0000, 40127, 36924, 23317, 23282, 33464, 28312, 0x0000}; // calibration data from MS5611 datasheet
+    memcpy(&ms5611_c, &ms5611_c_test, sizeof(ms5611_c_test));
+
+    ms5611_up = 9085466; // Digital pressure value from MS5611 datasheet
+    ms5611_ut = 8069150; // Digital temperature value
+
+    // when
+    ms5611_calculate(&pressure, &temperature);
+
+    // then
+    EXPECT_EQ(205, temperature); // 2.05 deg C
+    EXPECT_EQ(96512, pressure);  // 965.12 mbar
+}
+
+TEST(baroMS5611Test, TestMs5611CalculatePressureLTMinus15Deg)
+{
+    // given
+    int32_t pressure, temperature;
+    uint16_t ms5611_c_test[] = {0x0000, 40127, 36924, 23317, 23282, 33464, 28312, 0x0000}; // calibration data from MS5611 datasheet
+    memcpy(&ms5611_c, &ms5611_c_test, sizeof(ms5611_c_test));
+
+    ms5611_up = 9085466; // Digital pressure value from MS5611 datasheet
+    ms5611_ut = 7369150; // Digital temperature value
+
+    // when
+    ms5611_calculate(&pressure, &temperature);
+
+    // then
+    EXPECT_EQ(-2710, temperature); // -27.10 deg C
+    EXPECT_EQ(90613, pressure);  // 906.13 mbar
+}
+
+// STUBS
+
+extern "C" {
+
+void delay(uint32_t) {}
+void delayMicroseconds(uint32_t) {}
+
+bool i2cWrite(uint8_t, uint8_t, uint8_t) {
+    return true;
+}
+
+bool i2cRead(uint8_t, uint8_t, uint8_t, uint8_t) {
+    return true;
+}
+
+}