src/test/unit/sensor_gyro_unittest.cc

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdint.h>
  19 #include <stdbool.h>
  20
  21 #include <limits.h>
  22 #include <algorithm>
  23
  24 extern "C" {
  25     #include <platform.h>
  26
  27     #include "build/build_config.h"
  28     #include "build/debug.h"
  29     #include "common/axis.h"
  30     #include "common/maths.h"
  31     #include "common/utils.h"
  32     #include "drivers/accgyro/accgyro_fake.h"
  33     #include "drivers/accgyro/accgyro_mpu.h"
  34     #include "drivers/sensor.h"
  35     #include "io/beeper.h"
  36     #include "pg/pg.h"
  37     #include "pg/pg_ids.h"
  38     #include "scheduler/scheduler.h"
  39     #include "sensors/gyro.h"
  40     #include "sensors/gyro_init.h"
  41     #include "sensors/acceleration.h"
  42     #include "sensors/sensors.h"
  43
  44     STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev);
  45     struct gyroSensor_s;
  46     STATIC_UNIT_TESTED void performGyroCalibration(struct gyroSensor_s *gyroSensor, uint8_t gyroMovementCalibrationThreshold);
  47     STATIC_UNIT_TESTED bool fakeGyroRead(gyroDev_t *gyro);
  48
  49     uint8_t debugMode;
  50     int16_t debug[DEBUG16_VALUE_COUNT];
  51 }
  52
  53 #include "unittest_macros.h"
  54 #include "gtest/gtest.h"
  55 extern gyroSensor_s * const gyroSensorPtr;
  56 extern gyroDev_t * const gyroDevPtr;
  57
  58
  59 TEST(SensorGyro, Detect)
  60 {
  61     const gyroHardware_e detected = gyroDetect(gyroDevPtr);
  62     EXPECT_EQ(GYRO_FAKE, detected);
  63 }
  64
  65 TEST(SensorGyro, Init)
  66 {
  67     pgResetAll();
  68     const bool initialised = gyroInit();
  69     EXPECT_TRUE(initialised);
  70     EXPECT_EQ(GYRO_FAKE, detectedSensors[SENSOR_INDEX_GYRO]);
  71 }
  72
  73 TEST(SensorGyro, Read)
  74 {
  75     pgResetAll();
  76     gyroInit();
  77     fakeGyroSet(gyroDevPtr, 5, 6, 7);
  78     const bool read = gyroDevPtr->readFn(gyroDevPtr);
  79     EXPECT_TRUE(read);
  80     EXPECT_EQ(5, gyroDevPtr->gyroADCRaw[X]);
  81     EXPECT_EQ(6, gyroDevPtr->gyroADCRaw[Y]);
  82     EXPECT_EQ(7, gyroDevPtr->gyroADCRaw[Z]);
  83 }
  84
  85 TEST(SensorGyro, Calibrate)
  86 {
  87     pgResetAll();
  88     gyroInit();
  89     gyroSetTargetLooptime(1);
  90     fakeGyroSet(gyroDevPtr, 5, 6, 7);
  91     const bool read = gyroDevPtr->readFn(gyroDevPtr);
  92     EXPECT_TRUE(read);
  93     EXPECT_EQ(5, gyroDevPtr->gyroADCRaw[X]);
  94     EXPECT_EQ(6, gyroDevPtr->gyroADCRaw[Y]);
  95     EXPECT_EQ(7, gyroDevPtr->gyroADCRaw[Z]);
  96     static const int gyroMovementCalibrationThreshold = 32;
  97     gyroDevPtr->gyroZero[X] = 8;
  98     gyroDevPtr->gyroZero[Y] = 9;
  99     gyroDevPtr->gyroZero[Z] = 10;
 100     performGyroCalibration(gyroSensorPtr, gyroMovementCalibrationThreshold);
 101     EXPECT_EQ(8, gyroDevPtr->gyroZero[X]);
 102     EXPECT_EQ(9, gyroDevPtr->gyroZero[Y]);
 103     EXPECT_EQ(10, gyroDevPtr->gyroZero[Z]);
 104     gyroStartCalibration(false);
 105     EXPECT_FALSE(gyroIsCalibrationComplete());
 106     while (!gyroIsCalibrationComplete()) {
 107         gyroDevPtr->readFn(gyroDevPtr);
 108         performGyroCalibration(gyroSensorPtr, gyroMovementCalibrationThreshold);
 109     }
 110     EXPECT_EQ(5, gyroDevPtr->gyroZero[X]);
 111     EXPECT_EQ(6, gyroDevPtr->gyroZero[Y]);
 112     EXPECT_EQ(7, gyroDevPtr->gyroZero[Z]);
 113 }
 114
 115 TEST(SensorGyro, Update)
 116 {
 117     pgResetAll();
 118     // turn off filters
 119     gyroConfigMutable()->gyro_lpf1_static_hz = 0;
 120     gyroConfigMutable()->gyro_lpf2_static_hz = 0;
 121     gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
 122     gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
 123     gyroInit();
 124     gyroSetTargetLooptime(1);
 125     gyroDevPtr->readFn = fakeGyroRead;
 126     gyroStartCalibration(false);
 127     EXPECT_FALSE(gyroIsCalibrationComplete());
 128
 129     fakeGyroSet(gyroDevPtr, 5, 6, 7);
 130     gyroUpdate();
 131     while (!gyroIsCalibrationComplete()) {
 132         fakeGyroSet(gyroDevPtr, 5, 6, 7);
 133         gyroUpdate();
 134     }
 135     EXPECT_TRUE(gyroIsCalibrationComplete());
 136     EXPECT_EQ(5, gyroDevPtr->gyroZero[X]);
 137     EXPECT_EQ(6, gyroDevPtr->gyroZero[Y]);
 138     EXPECT_EQ(7, gyroDevPtr->gyroZero[Z]);
 139     EXPECT_FLOAT_EQ(0, gyro.gyroADCf[X]);
 140     EXPECT_FLOAT_EQ(0, gyro.gyroADCf[Y]);
 141     EXPECT_FLOAT_EQ(0, gyro.gyroADCf[Z]);
 142     gyroUpdate();
 143     // expect zero values since gyro is calibrated
 144     EXPECT_FLOAT_EQ(0, gyro.gyroADCf[X]);
 145     EXPECT_FLOAT_EQ(0, gyro.gyroADCf[Y]);
 146     EXPECT_FLOAT_EQ(0, gyro.gyroADCf[Z]);
 147     fakeGyroSet(gyroDevPtr, 15, 26, 97);
 148     gyroUpdate();
 149     EXPECT_NEAR(10 * gyroDevPtr->scale, gyro.gyroADC[X], 1e-3); // gyro.gyroADC values are scaled
 150     EXPECT_NEAR(20 * gyroDevPtr->scale, gyro.gyroADC[Y], 1e-3);
 151     EXPECT_NEAR(90 * gyroDevPtr->scale, gyro.gyroADC[Z], 1e-3);
 152 }
 153
 154 // STUBS
 155
 156 extern "C" {
 157
 158 uint32_t micros(void) {return 0;}
 159 void beeper(beeperMode_e) {}
 160 uint8_t detectedSensors[] = { GYRO_NONE, ACC_NONE };
 161 timeDelta_t getGyroUpdateRate(void) {return gyro.targetLooptime;}
 162 void sensorsSet(uint32_t) {}
 163 void schedulerResetTaskStatistics(taskId_e) {}
 164 int getArmingDisableFlags(void) {return 0;}
 165 void writeEEPROM(void) {}
 166 }