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Normalize all the line endings

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This commit is contained in:
Dominic Clifton 2014-09-15 23:40:17 +01:00
parent 4237370b60
commit d60183d91d
396 changed files with 158300 additions and 158300 deletions
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348
src/test/Makefile
View file

@ -1,174 +1,174 @@
# A sample Makefile for building Google Test and using it in user
# tests. Please tweak it to suit your environment and project. You
# may want to move it to your project's root directory.
#
# SYNOPSIS:
#
# make [all] - makes everything.
# make TARGET - makes the given target.
# make clean - removes all files generated by make.
# Please tweak the following variable definitions as needed by your
# project, except GTEST_HEADERS, which you can use in your own targets
# but shouldn't modify.
# Points to the root of Google Test, relative to where this file is.
# Remember to tweak this if you move this file.
GTEST_DIR = ../../lib/test/gtest
# Where to find user code.
USER_DIR = ../main
TEST_DIR = unit
USER_INCLUDE_DIR = $(USER_DIR)
OBJECT_DIR = ../../obj/test
# Flags passed to the preprocessor.
# Set Google Test's header directory as a system directory, such that
# the compiler doesn't generate warnings in Google Test headers.
CPPFLAGS += -isystem $(GTEST_DIR)/inc
# Flags passed to the C++ compiler.
CXXFLAGS += -g -Wall -Wextra -pthread -ggdb -O0
# All tests produced by this Makefile. Remember to add new tests you
# created to the list.
TESTS = \
battery_unittest \
flight_imu_unittest \
gps_conversion_unittest \
telemetry_hott_unittest \
rc_controls_unittest \
ledstrip_unittest
# All Google Test headers. Usually you shouldn't change this
# definition.
GTEST_HEADERS = $(GTEST_DIR)/inc/gtest/*.h
# House-keeping build targets.
all : $(TESTS)
clean :
rm -rf $(TESTS) $(OBJECT_DIR)
# Builds gtest.a and gtest_main.a.
# Usually you shouldn't tweak such internal variables, indicated by a
# trailing _.
GTEST_SRCS_ = $(GTEST_DIR)/src/*.cc $(GTEST_DIR)/inc/gtest/*.h $(GTEST_HEADERS)
# For simplicity and to avoid depending on Google Test's
# implementation details, the dependencies specified below are
# conservative and not optimized. This is fine as Google Test
# compiles fast and for ordinary users its source rarely changes.
$(OBJECT_DIR)/gtest-all.o : $(GTEST_SRCS_)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) -I$(GTEST_DIR) $(CXXFLAGS) -c \
$(GTEST_DIR)/src/gtest-all.cc -o $@
$(OBJECT_DIR)/gtest_main.o : $(GTEST_SRCS_)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) -I$(GTEST_DIR) $(CXXFLAGS) -c \
$(GTEST_DIR)/src/gtest_main.cc -o $@
$(OBJECT_DIR)/gtest.a : $(OBJECT_DIR)/gtest-all.o
$(AR) $(ARFLAGS) $@ $^
$(OBJECT_DIR)/gtest_main.a : $(OBJECT_DIR)/gtest-all.o $(OBJECT_DIR)/gtest_main.o
$(AR) $(ARFLAGS) $@ $^
# Builds a sample test. A test should link with either gtest.a or
# gtest_main.a, depending on whether it defines its own main()
# function.
# includes in test dir must override includes in user dir
TEST_INCLUDE_DIRS := $(TEST_DIR) \
$(USER_INCLUDE_DIR)
TEST_CFLAGS = $(addprefix -I,$(TEST_INCLUDE_DIRS))
$(OBJECT_DIR)/sensors/battery.o : $(USER_DIR)/sensors/battery.c $(USER_DIR)/sensors/battery.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/battery.c -o $@
$(OBJECT_DIR)/battery_unittest.o : $(TEST_DIR)/battery_unittest.cc \
$(USER_DIR)/sensors/battery.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/battery_unittest.cc -o $@
battery_unittest : $(OBJECT_DIR)/sensors/battery.o $(OBJECT_DIR)/battery_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/flight/imu.o : $(USER_DIR)/flight/imu.c $(USER_DIR)/flight/imu.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/imu.c -o $@
$(OBJECT_DIR)/flight_imu_unittest.o : $(TEST_DIR)/flight_imu_unittest.cc \
$(USER_DIR)/flight/imu.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_imu_unittest.cc -o $@
flight_imu_unittest : $(OBJECT_DIR)/flight/imu.o $(OBJECT_DIR)/flight_imu_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/flight/gps_conversion.o : $(USER_DIR)/flight/gps_conversion.c $(USER_DIR)/flight/gps_conversion.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/gps_conversion.c -o $@
$(OBJECT_DIR)/gps_conversion_unittest.o : $(TEST_DIR)/gps_conversion_unittest.cc \
$(USER_DIR)/flight/gps_conversion.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/gps_conversion_unittest.cc -o $@
gps_conversion_unittest : $(OBJECT_DIR)/flight/gps_conversion.o $(OBJECT_DIR)/gps_conversion_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/telemetry/hott.o : $(USER_DIR)/telemetry/hott.c $(USER_DIR)/telemetry/hott.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/telemetry/hott.c -o $@
$(OBJECT_DIR)/telemetry_hott_unittest.o : $(TEST_DIR)/telemetry_hott_unittest.cc \
$(USER_DIR)/telemetry/hott.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_hott_unittest.cc -o $@
telemetry_hott_unittest :$(OBJECT_DIR)/telemetry/hott.o $(OBJECT_DIR)/telemetry_hott_unittest.o $(OBJECT_DIR)/flight/gps_conversion.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/io/rc_controls.o : $(USER_DIR)/io/rc_controls.c $(USER_DIR)/io/rc_controls.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rc_controls.c -o $@
$(OBJECT_DIR)/rc_controls_unittest.o : $(TEST_DIR)/rc_controls_unittest.cc \
$(USER_DIR)/io/rc_controls.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rc_controls_unittest.cc -o $@
rc_controls_unittest :$(OBJECT_DIR)/io/rc_controls.o $(OBJECT_DIR)/rc_controls_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/io/ledstrip.o : $(USER_DIR)/io/ledstrip.c $(USER_DIR)/io/ledstrip.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/ledstrip.c -o $@
$(OBJECT_DIR)/ledstrip_unittest.o : $(TEST_DIR)/ledstrip_unittest.cc \
$(USER_DIR)/io/ledstrip.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ledstrip_unittest.cc -o $@
ledstrip_unittest :$(OBJECT_DIR)/io/ledstrip.o $(OBJECT_DIR)/ledstrip_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
# A sample Makefile for building Google Test and using it in user
# tests. Please tweak it to suit your environment and project. You
# may want to move it to your project's root directory.
#
# SYNOPSIS:
#
# make [all] - makes everything.
# make TARGET - makes the given target.
# make clean - removes all files generated by make.
# Please tweak the following variable definitions as needed by your
# project, except GTEST_HEADERS, which you can use in your own targets
# but shouldn't modify.
# Points to the root of Google Test, relative to where this file is.
# Remember to tweak this if you move this file.
GTEST_DIR = ../../lib/test/gtest
# Where to find user code.
USER_DIR = ../main
TEST_DIR = unit
USER_INCLUDE_DIR = $(USER_DIR)
OBJECT_DIR = ../../obj/test
# Flags passed to the preprocessor.
# Set Google Test's header directory as a system directory, such that
# the compiler doesn't generate warnings in Google Test headers.
CPPFLAGS += -isystem $(GTEST_DIR)/inc
# Flags passed to the C++ compiler.
CXXFLAGS += -g -Wall -Wextra -pthread -ggdb -O0
# All tests produced by this Makefile. Remember to add new tests you
# created to the list.
TESTS = \
battery_unittest \
flight_imu_unittest \
gps_conversion_unittest \
telemetry_hott_unittest \
rc_controls_unittest \
ledstrip_unittest
# All Google Test headers. Usually you shouldn't change this
# definition.
GTEST_HEADERS = $(GTEST_DIR)/inc/gtest/*.h
# House-keeping build targets.
all : $(TESTS)
clean :
rm -rf $(TESTS) $(OBJECT_DIR)
# Builds gtest.a and gtest_main.a.
# Usually you shouldn't tweak such internal variables, indicated by a
# trailing _.
GTEST_SRCS_ = $(GTEST_DIR)/src/*.cc $(GTEST_DIR)/inc/gtest/*.h $(GTEST_HEADERS)
# For simplicity and to avoid depending on Google Test's
# implementation details, the dependencies specified below are
# conservative and not optimized. This is fine as Google Test
# compiles fast and for ordinary users its source rarely changes.
$(OBJECT_DIR)/gtest-all.o : $(GTEST_SRCS_)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) -I$(GTEST_DIR) $(CXXFLAGS) -c \
$(GTEST_DIR)/src/gtest-all.cc -o $@
$(OBJECT_DIR)/gtest_main.o : $(GTEST_SRCS_)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) -I$(GTEST_DIR) $(CXXFLAGS) -c \
$(GTEST_DIR)/src/gtest_main.cc -o $@
$(OBJECT_DIR)/gtest.a : $(OBJECT_DIR)/gtest-all.o
$(AR) $(ARFLAGS) $@ $^
$(OBJECT_DIR)/gtest_main.a : $(OBJECT_DIR)/gtest-all.o $(OBJECT_DIR)/gtest_main.o
$(AR) $(ARFLAGS) $@ $^
# Builds a sample test. A test should link with either gtest.a or
# gtest_main.a, depending on whether it defines its own main()
# function.
# includes in test dir must override includes in user dir
TEST_INCLUDE_DIRS := $(TEST_DIR) \
$(USER_INCLUDE_DIR)
TEST_CFLAGS = $(addprefix -I,$(TEST_INCLUDE_DIRS))
$(OBJECT_DIR)/sensors/battery.o : $(USER_DIR)/sensors/battery.c $(USER_DIR)/sensors/battery.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/battery.c -o $@
$(OBJECT_DIR)/battery_unittest.o : $(TEST_DIR)/battery_unittest.cc \
$(USER_DIR)/sensors/battery.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/battery_unittest.cc -o $@
battery_unittest : $(OBJECT_DIR)/sensors/battery.o $(OBJECT_DIR)/battery_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/flight/imu.o : $(USER_DIR)/flight/imu.c $(USER_DIR)/flight/imu.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/imu.c -o $@
$(OBJECT_DIR)/flight_imu_unittest.o : $(TEST_DIR)/flight_imu_unittest.cc \
$(USER_DIR)/flight/imu.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_imu_unittest.cc -o $@
flight_imu_unittest : $(OBJECT_DIR)/flight/imu.o $(OBJECT_DIR)/flight_imu_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/flight/gps_conversion.o : $(USER_DIR)/flight/gps_conversion.c $(USER_DIR)/flight/gps_conversion.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/gps_conversion.c -o $@
$(OBJECT_DIR)/gps_conversion_unittest.o : $(TEST_DIR)/gps_conversion_unittest.cc \
$(USER_DIR)/flight/gps_conversion.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/gps_conversion_unittest.cc -o $@
gps_conversion_unittest : $(OBJECT_DIR)/flight/gps_conversion.o $(OBJECT_DIR)/gps_conversion_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/telemetry/hott.o : $(USER_DIR)/telemetry/hott.c $(USER_DIR)/telemetry/hott.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/telemetry/hott.c -o $@
$(OBJECT_DIR)/telemetry_hott_unittest.o : $(TEST_DIR)/telemetry_hott_unittest.cc \
$(USER_DIR)/telemetry/hott.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_hott_unittest.cc -o $@
telemetry_hott_unittest :$(OBJECT_DIR)/telemetry/hott.o $(OBJECT_DIR)/telemetry_hott_unittest.o $(OBJECT_DIR)/flight/gps_conversion.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/io/rc_controls.o : $(USER_DIR)/io/rc_controls.c $(USER_DIR)/io/rc_controls.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rc_controls.c -o $@
$(OBJECT_DIR)/rc_controls_unittest.o : $(TEST_DIR)/rc_controls_unittest.cc \
$(USER_DIR)/io/rc_controls.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rc_controls_unittest.cc -o $@
rc_controls_unittest :$(OBJECT_DIR)/io/rc_controls.o $(OBJECT_DIR)/rc_controls_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/io/ledstrip.o : $(USER_DIR)/io/ledstrip.c $(USER_DIR)/io/ledstrip.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/ledstrip.c -o $@
$(OBJECT_DIR)/ledstrip_unittest.o : $(TEST_DIR)/ledstrip_unittest.cc \
$(USER_DIR)/io/ledstrip.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ledstrip_unittest.cc -o $@
ledstrip_unittest :$(OBJECT_DIR)/io/ledstrip.o $(OBJECT_DIR)/ledstrip_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@

150
src/test/unit/battery_unittest.cc
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@ -1,75 +1,75 @@
/*
* 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>
#include <limits.h>
#include "sensors/battery.h"
#include "unittest_macros.h"
#include "gtest/gtest.h"
typedef struct batteryAdcToVoltageExpectation_s {
uint16_t adcReading;
uint16_t expectedVoltageInDeciVoltSteps;
} batteryAdcToVoltageExpectation_t;
#define ELEVEN_TO_ONE_VOLTAGE_DIVIDER 110 // (10k:1k) * 10 for 0.1V
TEST(BatteryTest, BatteryADCToVoltage)
{
// given
batteryConfig_t batteryConfig;
batteryConfig.vbatscale = ELEVEN_TO_ONE_VOLTAGE_DIVIDER;
batteryInit(&batteryConfig);
batteryAdcToVoltageExpectation_t batteryAdcToVoltageExpectations[] = {
{1420, 125},
{1430, 126},
{1440, 127},
{1890, 167},
{1900, 168},
{1910, 169}
};
uint8_t testIterationCount = sizeof(batteryAdcToVoltageExpectations) / sizeof(batteryAdcToVoltageExpectation_t);
// expect
for (uint8_t index = 0; index < testIterationCount; index ++) {
batteryAdcToVoltageExpectation_t *batteryAdcToVoltageExpectation = &batteryAdcToVoltageExpectations[index];
printf("adcReading: %d\n", batteryAdcToVoltageExpectation->adcReading);
uint16_t pointOneVoltSteps = batteryAdcToVoltage(batteryAdcToVoltageExpectation->adcReading);
EXPECT_EQ(pointOneVoltSteps, batteryAdcToVoltageExpectation->expectedVoltageInDeciVoltSteps);
}
}
// STUBS
uint16_t adcGetChannel(uint8_t channel)
{
UNUSED(channel);
return 0;
}
void delay(uint32_t ms)
{
UNUSED(ms);
return;
}
/*
* 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>
#include <limits.h>
#include "sensors/battery.h"
#include "unittest_macros.h"
#include "gtest/gtest.h"
typedef struct batteryAdcToVoltageExpectation_s {
uint16_t adcReading;
uint16_t expectedVoltageInDeciVoltSteps;
} batteryAdcToVoltageExpectation_t;
#define ELEVEN_TO_ONE_VOLTAGE_DIVIDER 110 // (10k:1k) * 10 for 0.1V
TEST(BatteryTest, BatteryADCToVoltage)
{
// given
batteryConfig_t batteryConfig;
batteryConfig.vbatscale = ELEVEN_TO_ONE_VOLTAGE_DIVIDER;
batteryInit(&batteryConfig);
batteryAdcToVoltageExpectation_t batteryAdcToVoltageExpectations[] = {
{1420, 125},
{1430, 126},
{1440, 127},
{1890, 167},
{1900, 168},
{1910, 169}
};
uint8_t testIterationCount = sizeof(batteryAdcToVoltageExpectations) / sizeof(batteryAdcToVoltageExpectation_t);
// expect
for (uint8_t index = 0; index < testIterationCount; index ++) {
batteryAdcToVoltageExpectation_t *batteryAdcToVoltageExpectation = &batteryAdcToVoltageExpectations[index];
printf("adcReading: %d\n", batteryAdcToVoltageExpectation->adcReading);
uint16_t pointOneVoltSteps = batteryAdcToVoltage(batteryAdcToVoltageExpectation->adcReading);
EXPECT_EQ(pointOneVoltSteps, batteryAdcToVoltageExpectation->expectedVoltageInDeciVoltSteps);
}
}
// STUBS
uint16_t adcGetChannel(uint8_t channel)
{
UNUSED(channel);
return 0;
}
void delay(uint32_t ms)
{
UNUSED(ms);
return;
}

240
src/test/unit/flight_imu_unittest.cc
View file

@ -1,120 +1,120 @@
/*
* 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>
#include <stdbool.h>
#include <limits.h>
#define BARO
#include "common/axis.h"
#include "flight/flight.h"
#include "sensors/sensors.h"
#include "drivers/accgyro.h"
#include "sensors/gyro.h"
#include "sensors/compass.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "config/runtime_config.h"
#include "flight/mixer.h"
#include "flight/imu.h"
#include "unittest_macros.h"
#include "gtest/gtest.h"
#define DOWNWARDS_THRUST true
#define UPWARDS_THRUST false
bool isThrustFacingDownwards(rollAndPitchInclination_t *inclinations);
typedef struct inclinationExpectation_s {
rollAndPitchInclination_t inclination;
bool expectDownwardsThrust;
} inclinationExpectation_t;
TEST(FlightImuTest, IsThrustFacingDownwards)
{
// given
inclinationExpectation_t inclinationExpectations[] = {
{ { 0, 0 }, DOWNWARDS_THRUST },
{ { 799, 799 }, DOWNWARDS_THRUST },
{ { 800, 799 }, UPWARDS_THRUST },
{ { 799, 800 }, UPWARDS_THRUST },
{ { 800, 800 }, UPWARDS_THRUST },
{ { 801, 801 }, UPWARDS_THRUST },
{ { -799, -799 }, DOWNWARDS_THRUST },
{ { -800, -799 }, UPWARDS_THRUST },
{ { -799, -800 }, UPWARDS_THRUST },
{ { -800, -800 }, UPWARDS_THRUST },
{ { -801, -801 }, UPWARDS_THRUST }
};
uint8_t testIterationCount = sizeof(inclinationExpectations) / sizeof(inclinationExpectation_t);
// expect
for (uint8_t index = 0; index < testIterationCount; index ++) {
inclinationExpectation_t *angleInclinationExpectation = &inclinationExpectations[index];
printf("iteration: %d\n", index);
bool result = isThrustFacingDownwards(&angleInclinationExpectation->inclination);
EXPECT_EQ(angleInclinationExpectation->expectDownwardsThrust, result);
}
}
// STUBS
uint16_t acc_1G;
int16_t heading;
gyro_t gyro;
int16_t magADC[XYZ_AXIS_COUNT];
int32_t BaroAlt;
int16_t debug[4];
uint8_t stateFlags;
uint16_t flightModeFlags;
uint8_t armingFlags;
int32_t sonarAlt;
void gyroGetADC(void) {};
bool sensors(uint32_t mask)
{
UNUSED(mask);
return false;
};
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
{
UNUSED(rollAndPitchTrims);
}
uint32_t micros(void) { return 0; }
bool isBaroCalibrationComplete(void) { return true; }
void performBaroCalibrationCycle(void) {}
int32_t baroCalculateAltitude(void) { return 0; }
int constrain(int amt, int low, int high)
{
UNUSED(amt);
UNUSED(low);
UNUSED(high);
return 0;
}
/*
* 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>
#include <stdbool.h>
#include <limits.h>
#define BARO
#include "common/axis.h"
#include "flight/flight.h"
#include "sensors/sensors.h"
#include "drivers/accgyro.h"
#include "sensors/gyro.h"
#include "sensors/compass.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "config/runtime_config.h"
#include "flight/mixer.h"
#include "flight/imu.h"
#include "unittest_macros.h"
#include "gtest/gtest.h"
#define DOWNWARDS_THRUST true
#define UPWARDS_THRUST false
bool isThrustFacingDownwards(rollAndPitchInclination_t *inclinations);
typedef struct inclinationExpectation_s {
rollAndPitchInclination_t inclination;
bool expectDownwardsThrust;
} inclinationExpectation_t;
TEST(FlightImuTest, IsThrustFacingDownwards)
{
// given
inclinationExpectation_t inclinationExpectations[] = {
{ { 0, 0 }, DOWNWARDS_THRUST },
{ { 799, 799 }, DOWNWARDS_THRUST },
{ { 800, 799 }, UPWARDS_THRUST },
{ { 799, 800 }, UPWARDS_THRUST },
{ { 800, 800 }, UPWARDS_THRUST },
{ { 801, 801 }, UPWARDS_THRUST },
{ { -799, -799 }, DOWNWARDS_THRUST },
{ { -800, -799 }, UPWARDS_THRUST },
{ { -799, -800 }, UPWARDS_THRUST },
{ { -800, -800 }, UPWARDS_THRUST },
{ { -801, -801 }, UPWARDS_THRUST }
};
uint8_t testIterationCount = sizeof(inclinationExpectations) / sizeof(inclinationExpectation_t);
// expect
for (uint8_t index = 0; index < testIterationCount; index ++) {
inclinationExpectation_t *angleInclinationExpectation = &inclinationExpectations[index];
printf("iteration: %d\n", index);
bool result = isThrustFacingDownwards(&angleInclinationExpectation->inclination);
EXPECT_EQ(angleInclinationExpectation->expectDownwardsThrust, result);
}
}
// STUBS
uint16_t acc_1G;
int16_t heading;
gyro_t gyro;
int16_t magADC[XYZ_AXIS_COUNT];
int32_t BaroAlt;
int16_t debug[4];
uint8_t stateFlags;
uint16_t flightModeFlags;
uint8_t armingFlags;
int32_t sonarAlt;
void gyroGetADC(void) {};
bool sensors(uint32_t mask)
{
UNUSED(mask);
return false;
};
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
{
UNUSED(rollAndPitchTrims);
}
uint32_t micros(void) { return 0; }
bool isBaroCalibrationComplete(void) { return true; }
void performBaroCalibrationCycle(void) {}
int32_t baroCalculateAltitude(void) { return 0; }
int constrain(int amt, int low, int high)
{
UNUSED(amt);
UNUSED(low);
UNUSED(high);
return 0;
}

138
src/test/unit/gps_conversion_unittest.cc
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@ -1,69 +1,69 @@
/*
* 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>
#include <limits.h>
#include "flight/gps_conversion.h"
#include "unittest_macros.h"
#include "gtest/gtest.h"
// See http://en.wikipedia.org/wiki/Geographic_coordinate_conversion
TEST(GpsConversionTest, GPSCoordToDegrees_BadString)
{
// expect
uint32_t result = GPS_coord_to_degrees("diediedie");
EXPECT_EQ(result, 0);
}
typedef struct gpsConversionExpectation_s {
char *coord;
uint32_t degrees;
} gpsConversionExpectation_t;
TEST(GpsConversionTest, GPSCoordToDegrees_NMEA_Values)
{
const gpsConversionExpectation_t gpsConversionExpectations[] = {
{"0.0", 0},
{"000.0", 0},
{"00000.0000", 0},
{"0.0001", 16}, // smallest value
{"25599.9999", 2566666650UL}, // largest value
{"25599.99999", 2566666650UL}, // too many fractional digits
{"25699.9999", 16666650UL}, // overflowed without detection
{"5128.3727", 514728783UL},
{"5321.6802", 533613366UL},
{"00630.3372", 65056200UL},
};
// expect
uint8_t testIterationCount = sizeof(gpsConversionExpectations) / sizeof(gpsConversionExpectation_t);
// expect
for (uint8_t index = 0; index < testIterationCount; index ++) {
const gpsConversionExpectation_t *expectation = &gpsConversionExpectations[index];
printf("iteration: %d\n", index);
uint32_t result = GPS_coord_to_degrees(expectation->coord);
EXPECT_EQ(result, expectation->degrees);
}
}
/*
* 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>
#include <limits.h>
#include "flight/gps_conversion.h"
#include "unittest_macros.h"
#include "gtest/gtest.h"
// See http://en.wikipedia.org/wiki/Geographic_coordinate_conversion
TEST(GpsConversionTest, GPSCoordToDegrees_BadString)
{
// expect
uint32_t result = GPS_coord_to_degrees("diediedie");
EXPECT_EQ(result, 0);
}
typedef struct gpsConversionExpectation_s {
char *coord;
uint32_t degrees;
} gpsConversionExpectation_t;
TEST(GpsConversionTest, GPSCoordToDegrees_NMEA_Values)
{
const gpsConversionExpectation_t gpsConversionExpectations[] = {
{"0.0", 0},
{"000.0", 0},
{"00000.0000", 0},
{"0.0001", 16}, // smallest value
{"25599.9999", 2566666650UL}, // largest value
{"25599.99999", 2566666650UL}, // too many fractional digits
{"25699.9999", 16666650UL}, // overflowed without detection
{"5128.3727", 514728783UL},
{"5321.6802", 533613366UL},
{"00630.3372", 65056200UL},
};
// expect
uint8_t testIterationCount = sizeof(gpsConversionExpectations) / sizeof(gpsConversionExpectation_t);
// expect
for (uint8_t index = 0; index < testIterationCount; index ++) {
const gpsConversionExpectation_t *expectation = &gpsConversionExpectations[index];
printf("iteration: %d\n", index);
uint32_t result = GPS_coord_to_degrees(expectation->coord);
EXPECT_EQ(result, expectation->degrees);
}
}

52
src/test/unit/platform.h
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@ -1,26 +1,26 @@
/*
* 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/>.
*/
#pragma once
#define BARO
#define GPS
#define TELEMETRY
#define LED_STRIP
#define SERIAL_PORT_COUNT 4
/*
* 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/>.
*/
#pragma once
#define BARO
#define GPS
#define TELEMETRY
#define LED_STRIP
#define SERIAL_PORT_COUNT 4

444
src/test/unit/telemetry_hott_unittest.cc
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@ -1,222 +1,222 @@
/*
* 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 <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <limits.h>
#include "platform.h"
#include "common/axis.h"
#include "drivers/system.h"
#include "drivers/serial.h"
#include "io/serial.h"
#include "config/runtime_config.h"
#include "sensors/sensors.h"
#include "flight/flight.h"
#include "io/gps.h"
#include "sensors/battery.h"
#include "telemetry/telemetry.h"
#include "telemetry/hott.h"
#include "flight/gps_conversion.h"
#include "unittest_macros.h"
#include "gtest/gtest.h"
void addGPSCoordinates(HOTT_GPS_MSG_t *hottGPSMessage, int32_t latitude, int32_t longitude);
// See http://en.wikipedia.org/wiki/Geographic_coordinate_conversion
HOTT_GPS_MSG_t hottGPSMessage;
HOTT_GPS_MSG_t *getGPSMessageForTest(void)
{
memset(&hottGPSMessage, 0, sizeof(hottGPSMessage));
return &hottGPSMessage;
}
TEST(TelemetryHottTest, UpdateGPSCoordinates1)
{
// given
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
// Mayrhofen, Austria
uint32_t longitude = GPS_coord_to_degrees("4710.5186");
uint32_t latitude = GPS_coord_to_degrees("1151.4252");
// when
addGPSCoordinates(hottGPSMessage, latitude, longitude);
// then
EXPECT_EQ(hottGPSMessage->pos_NS, 0);
EXPECT_EQ(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L, 1151);
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L), 4251);
EXPECT_EQ(hottGPSMessage->pos_EW, 0);
EXPECT_EQ(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L, 4710);
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), 5186);
}
TEST(TelemetryHottTest, UpdateGPSCoordinates2)
{
// given
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
// Hampstead Heath, London
// 51.563886, -0.159960
uint32_t longitude = GPS_coord_to_degrees("5156.3886");
uint32_t latitude = -GPS_coord_to_degrees("015.9960");
// when
addGPSCoordinates(hottGPSMessage, longitude, latitude);
// then
EXPECT_EQ(hottGPSMessage->pos_NS, 0);
EXPECT_EQ(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L, 5156);
EXPECT_EQ(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L, 3886);
EXPECT_EQ(hottGPSMessage->pos_EW, 1);
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L), -15);
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), -9960);
}
TEST(TelemetryHottTest, UpdateGPSCoordinates3)
{
// given
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
int32_t longitude = -GPS_coord_to_degrees("17999.9999");
int32_t latitude = GPS_coord_to_degrees("8999.9999");
// when
addGPSCoordinates(hottGPSMessage, longitude, latitude);
// then
EXPECT_EQ(hottGPSMessage->pos_NS, 1);
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L), -18039);
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L), -9999);
EXPECT_EQ(hottGPSMessage->pos_EW, 0);
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L), 9039);
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), 9999);
}
TEST(TelemetryHottTest, PrepareGPSMessage_Altitude1m)
{
// given
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
stateFlags = GPS_FIX;
uint16_t altitudeInMeters = 1;
GPS_altitude = altitudeInMeters * (1 / 0.1f); // 1 = 0.1m
// when
hottPrepareGPSResponse(hottGPSMessage);
// then
EXPECT_EQ((int16_t)(hottGPSMessage->altitude_H << 8 | hottGPSMessage->altitude_L), 1 + HOTT_GPS_ALTITUDE_OFFSET);
}
// STUBS
int16_t debug[4];
uint8_t stateFlags;
uint8_t GPS_numSat;
int32_t GPS_coord[2];
uint16_t GPS_speed; // speed in 0.1m/s
uint16_t GPS_distanceToHome; // distance to home point in meters
uint16_t GPS_altitude; // altitude in 0.1m
uint8_t vbat;
int16_t GPS_directionToHome; // direction to home or hol point in degrees
uint32_t micros(void) { return 0; }
uint8_t serialTotalBytesWaiting(serialPort_t *instance) {
UNUSED(instance);
return 0;
}
uint8_t serialRead(serialPort_t *instance) {
UNUSED(instance);
return 0;
}
void serialWrite(serialPort_t *instance, uint8_t ch) {
UNUSED(instance);
UNUSED(ch);
}
void serialSetMode(serialPort_t *instance, portMode_t mode) {
UNUSED(instance);
UNUSED(mode);
}
void serialSetBaudRate(serialPort_t *instance, uint32_t baudRate) {
UNUSED(instance);
UNUSED(baudRate);
}
void beginSerialPortFunction(serialPort_t *port, serialPortFunction_e function) {
UNUSED(port);
UNUSED(function);
}
void endSerialPortFunction(serialPort_t *port, serialPortFunction_e function) {
UNUSED(port);
UNUSED(function);
}
serialPort_t *openSerialPort(serialPortFunction_e functionMask, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, serialInversion_e inversion) {
UNUSED(functionMask);
UNUSED(baudRate);
UNUSED(callback);
UNUSED(mode);
UNUSED(inversion);
return NULL;
}
serialPort_t *findOpenSerialPort(uint16_t functionMask) {
UNUSED(functionMask);
return NULL;
}
bool sensors(uint32_t mask) {
UNUSED(mask);
return false;
}
/*
* 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 <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <limits.h>
#include "platform.h"
#include "common/axis.h"
#include "drivers/system.h"
#include "drivers/serial.h"
#include "io/serial.h"
#include "config/runtime_config.h"
#include "sensors/sensors.h"
#include "flight/flight.h"
#include "io/gps.h"
#include "sensors/battery.h"
#include "telemetry/telemetry.h"
#include "telemetry/hott.h"
#include "flight/gps_conversion.h"
#include "unittest_macros.h"
#include "gtest/gtest.h"
void addGPSCoordinates(HOTT_GPS_MSG_t *hottGPSMessage, int32_t latitude, int32_t longitude);
// See http://en.wikipedia.org/wiki/Geographic_coordinate_conversion
HOTT_GPS_MSG_t hottGPSMessage;
HOTT_GPS_MSG_t *getGPSMessageForTest(void)
{
memset(&hottGPSMessage, 0, sizeof(hottGPSMessage));
return &hottGPSMessage;
}
TEST(TelemetryHottTest, UpdateGPSCoordinates1)
{
// given
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
// Mayrhofen, Austria
uint32_t longitude = GPS_coord_to_degrees("4710.5186");
uint32_t latitude = GPS_coord_to_degrees("1151.4252");
// when
addGPSCoordinates(hottGPSMessage, latitude, longitude);
// then
EXPECT_EQ(hottGPSMessage->pos_NS, 0);
EXPECT_EQ(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L, 1151);
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L), 4251);
EXPECT_EQ(hottGPSMessage->pos_EW, 0);
EXPECT_EQ(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L, 4710);
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), 5186);
}
TEST(TelemetryHottTest, UpdateGPSCoordinates2)
{
// given
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
// Hampstead Heath, London
// 51.563886, -0.159960
uint32_t longitude = GPS_coord_to_degrees("5156.3886");
uint32_t latitude = -GPS_coord_to_degrees("015.9960");
// when
addGPSCoordinates(hottGPSMessage, longitude, latitude);
// then
EXPECT_EQ(hottGPSMessage->pos_NS, 0);
EXPECT_EQ(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L, 5156);
EXPECT_EQ(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L, 3886);
EXPECT_EQ(hottGPSMessage->pos_EW, 1);
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L), -15);
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), -9960);
}
TEST(TelemetryHottTest, UpdateGPSCoordinates3)
{
// given
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
int32_t longitude = -GPS_coord_to_degrees("17999.9999");
int32_t latitude = GPS_coord_to_degrees("8999.9999");
// when
addGPSCoordinates(hottGPSMessage, longitude, latitude);
// then
EXPECT_EQ(hottGPSMessage->pos_NS, 1);
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L), -18039);
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L), -9999);
EXPECT_EQ(hottGPSMessage->pos_EW, 0);
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L), 9039);
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), 9999);
}
TEST(TelemetryHottTest, PrepareGPSMessage_Altitude1m)
{
// given
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
stateFlags = GPS_FIX;
uint16_t altitudeInMeters = 1;
GPS_altitude = altitudeInMeters * (1 / 0.1f); // 1 = 0.1m
// when
hottPrepareGPSResponse(hottGPSMessage);
// then
EXPECT_EQ((int16_t)(hottGPSMessage->altitude_H << 8 | hottGPSMessage->altitude_L), 1 + HOTT_GPS_ALTITUDE_OFFSET);
}
// STUBS
int16_t debug[4];
uint8_t stateFlags;
uint8_t GPS_numSat;
int32_t GPS_coord[2];
uint16_t GPS_speed; // speed in 0.1m/s
uint16_t GPS_distanceToHome; // distance to home point in meters
uint16_t GPS_altitude; // altitude in 0.1m
uint8_t vbat;
int16_t GPS_directionToHome; // direction to home or hol point in degrees
uint32_t micros(void) { return 0; }
uint8_t serialTotalBytesWaiting(serialPort_t *instance) {
UNUSED(instance);
return 0;
}
uint8_t serialRead(serialPort_t *instance) {
UNUSED(instance);
return 0;
}
void serialWrite(serialPort_t *instance, uint8_t ch) {
UNUSED(instance);
UNUSED(ch);
}
void serialSetMode(serialPort_t *instance, portMode_t mode) {
UNUSED(instance);
UNUSED(mode);
}
void serialSetBaudRate(serialPort_t *instance, uint32_t baudRate) {
UNUSED(instance);
UNUSED(baudRate);
}
void beginSerialPortFunction(serialPort_t *port, serialPortFunction_e function) {
UNUSED(port);
UNUSED(function);
}
void endSerialPortFunction(serialPort_t *port, serialPortFunction_e function) {
UNUSED(port);
UNUSED(function);
}
serialPort_t *openSerialPort(serialPortFunction_e functionMask, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, serialInversion_e inversion) {
UNUSED(functionMask);
UNUSED(baudRate);
UNUSED(callback);
UNUSED(mode);
UNUSED(inversion);
return NULL;
}
serialPort_t *findOpenSerialPort(uint16_t functionMask) {
UNUSED(functionMask);
return NULL;
}
bool sensors(uint32_t mask) {
UNUSED(mask);
return false;
}

42
src/test/unit/unittest_macros.h
View file

@ -1,21 +1,21 @@
/*
* 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/>.
*/
#pragma once
#define UNUSED(x) (void)(x)
/*
* 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/>.
*/
#pragma once
#define UNUSED(x) (void)(x)