mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-25 17:25:20 +03:00
60b8e0f05e
Eliminate static variables in mag drivers AK8975 and HMC5883l driver cleanup replace magic numbers with definitions Switched AK8963/Ak8975 to 16 bit mode Update Mag gain calculations to use integer varables (ledvinap recomendation) Update interrupt handling for HMC5883L Reschedule compass task only if slave mode is realy active Change bustye definitions to an enumeration set Fix dispatch functions and remove redundant dispatch functions from Baro and Mag drivers Fix unittest
167 lines
4.2 KiB
C++
167 lines
4.2 KiB
C++
/*
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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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int8_t ms5611_crc(uint16_t *prom);
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void ms5611_calculate(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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extern uint32_t ms5611_ut;
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}
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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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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// when
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int8_t result = ms5611_crc(ms5611_prom);
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// then
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EXPECT_EQ(0, result);
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}
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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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// when
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int8_t result = ms5611_crc(ms5611_prom);
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// then
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EXPECT_EQ(-1, result);
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}
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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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// when
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int8_t result = ms5611_crc(ms5611_prom);
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// then
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EXPECT_EQ(-1, result);
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}
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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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// when
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int8_t result = ms5611_crc(ms5611_prom);
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// then
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EXPECT_EQ(-1, result);
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}
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TEST(baroMS5611Test, TestMs5611CalculatePressureGT20Deg)
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{
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// given
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int32_t pressure, temperature;
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uint16_t ms5611_c_test[] = {0x0000, 40127, 36924, 23317, 23282, 33464, 28312, 0x0000}; // calibration data from MS5611 datasheet
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memcpy(&ms5611_c, &ms5611_c_test, sizeof(ms5611_c_test));
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ms5611_up = 9085466; // Digital pressure value from MS5611 datasheet
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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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// then
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EXPECT_EQ(2007, temperature); // 20.07 deg C
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EXPECT_EQ(100009, pressure); // 1000.09 mbar
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}
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TEST(baroMS5611Test, TestMs5611CalculatePressureLT20Deg)
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{
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// given
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int32_t pressure, temperature;
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uint16_t ms5611_c_test[] = {0x0000, 40127, 36924, 23317, 23282, 33464, 28312, 0x0000}; // calibration data from MS5611 datasheet
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memcpy(&ms5611_c, &ms5611_c_test, sizeof(ms5611_c_test));
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ms5611_up = 9085466; // Digital pressure value from MS5611 datasheet
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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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// then
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EXPECT_EQ(205, temperature); // 2.05 deg C
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EXPECT_EQ(96512, pressure); // 965.12 mbar
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}
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TEST(baroMS5611Test, TestMs5611CalculatePressureLTMinus15Deg)
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{
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// given
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int32_t pressure, temperature;
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uint16_t ms5611_c_test[] = {0x0000, 40127, 36924, 23317, 23282, 33464, 28312, 0x0000}; // calibration data from MS5611 datasheet
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memcpy(&ms5611_c, &ms5611_c_test, sizeof(ms5611_c_test));
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ms5611_up = 9085466; // Digital pressure value from MS5611 datasheet
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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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// then
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EXPECT_EQ(-2710, temperature); // -27.10 deg C
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EXPECT_EQ(90613, pressure); // 906.13 mbar
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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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void delayMicroseconds(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 spiSetDivisor() {
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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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void IOInit() {
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}
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void IORelease() {
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}
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}
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