gy-521/tests/gy521_driver/test_gy521_driver.c

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#include <stdio.h>
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#include <stdarg.h>
#include <stddef.h>
#include <stdint.h>
#include <setjmp.h>
#include <stdlib.h>
#include <cmocka.h>
#include "gy521_driver.h"
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#define WRITE_BIT (1<<7)
#define REG_SIZE 32
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typedef struct reg_addr{
uint8_t dev_addr;
uint8_t addr;
uint8_t value;
}reg_addr;
reg_addr reg_addr_arr[REG_SIZE] = {{0x0, 0x0, 0x0}};
uint8_t idx = 0;
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/* Fake Object for TWI_TX*/
void fake_twi_tx(uint8_t slave_addr, uint8_t *data, uint8_t size)
{
/*read the device address.*/
reg_addr_arr[idx].dev_addr = slave_addr;
/*Save the register it's trying to access.*/
reg_addr_arr[idx].addr = *data;
/*Save the data it's sending to that address.*/
reg_addr_arr[idx].value = *(data + 1);
/*Post increment the global index*/
idx++;
if(idx > REG_SIZE){
idx = 0;
}
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/*Make use of recursion if there is still more data*/
if((size - 2) > 0) {
fake_twi_tx(slave_addr, data + 2, size - 2);
}
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}
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/* Fake Object for TWI_RX*/
void fake_twi_rx(uint8_t slave_addr, uint8_t *data, uint8_t size)
{
/*Read the device address*/
reg_addr_arr[idx].dev_addr = slave_addr;
/*Put down the register address it's trying to read.*/
reg_addr_arr[idx].addr = *data;
/*Fill it with the data from the register*/
*data = reg_addr_arr[idx].value;
/*Post increment the global index*/
idx++;
if(idx > REG_SIZE){
idx = 0;
}
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}
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/*Setup the fake twi*/
void (*gy521_twi_tx)(uint8_t, uint8_t*, uint8_t) = &fake_twi_tx;
void (*gy521_twi_rx)(uint8_t, uint8_t*, uint8_t) = &fake_twi_rx;
/*
* ############################
* Helper functions
* ############################
*/
void print_reg_arr(void)
{
printf("FAKE REGISTERS::\n");
for(uint8_t i = 0; i < REG_SIZE; i++){
print_error("%d:: val: %d, addr: %d, dev_addr: %d\n",
i,
reg_addr_arr[i].value,
reg_addr_arr[i].addr,
reg_addr_arr[i].dev_addr);
}
}
void clear_twi(void)
{
idx = 0;
for(int i = 0; i < REG_SIZE; i++){
reg_addr_arr[i].value = 0;
reg_addr_arr[i].addr = 0;
reg_addr_arr[i].dev_addr = 0;
}
}
/*
* ############################
* TESTS
* ############################
*/
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/* Tests the donothing function */
static void test_gy521_init(void **state) {
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gy521_module *m = gy521_new();
assert_false(gy521_init(m, 0x0));
assert_false(gy521_init(m, 0x67));
assert_false(gy521_init(m, 0x6A));
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/*Check for it's confirmation of the right twi device*/
assert_false(gy521_init(m, TWI_GY521_ADDR1));
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/*Fill the address and the value registers with correct response value*/
/*The zero element get's read on init of the module*/
reg_addr_arr[0].addr = TWI_GY521_ADDR1;
reg_addr_arr[0].value = TWI_GY521_ADDR1;
idx = 0;
/*Check that it worked*/
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assert_true(gy521_init(m, TWI_GY521_ADDR1));
assert_true(TWI_GY521_ADDR1 == reg_addr_arr[0].dev_addr);
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reg_addr_arr[0].addr = TWI_GY521_ADDR2;
reg_addr_arr[0].value = TWI_GY521_ADDR2;
idx = 0;
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assert_true(gy521_init(m, TWI_GY521_ADDR2));
assert_true(TWI_GY521_ADDR2 == reg_addr_arr[0].dev_addr);
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gy521_free(m);
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}
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static void test_gy521_update_accel(void **sate)
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{
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/*check it reads the accel registers*/
gy521_module *m = gy521_new();
reg_addr_arr[0].addr = TWI_GY521_ADDR1;
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gy521_init(m, TWI_GY521_ADDR1);
/*Setup the fake accel values.*/
for(uint8_t i = 0; i < 6; i++) {
reg_addr_arr[i].value = i * 8;
}
/*Zero the global index for the TWI*/
idx = 0;
gy521_update_accel(m);
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/*Ensure the correct registers are read*/
_Bool is_correct = 1;
assert_true(is_correct);
for(uint8_t i = 0; i < 6; i++){
/*The starting address of the registers is 59 and goes to 64*/
if((59 + i) != reg_addr_arr[i].addr) {
is_correct = 0;
}
}
assert_true(is_correct);
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/*Check that the values are assembled correctly*/
struct accel_values accel = gy521_get_accel(m);
/*Make sure to bitshift by 8 and recomine the two u8 into a single u16*/
assert_true(accel.x == ((reg_addr_arr[0].value<<8) | reg_addr_arr[1].value));
assert_true(accel.y == ((reg_addr_arr[2].value<<8) | reg_addr_arr[3].value));
assert_true(accel.z == ((reg_addr_arr[4].value<<8) | reg_addr_arr[5].value));
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gy521_free(m);
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}
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static void test_gy521_update_gyro(void **sate)
{
/*check it reads the gyro registers*/
gy521_module *m = gy521_new();
reg_addr_arr[0].addr = TWI_GY521_ADDR1;
gy521_init(m, TWI_GY521_ADDR1);
/*Setup the fake gyro values.*/
for(uint8_t i = 1; i < 7; i++) {
reg_addr_arr[i].value = i * 8;
}
/*Zero the global index for the TWI*/
idx = 0;
gy521_update_gyro(m);
/*Ensure the correct registers are read*/
_Bool is_correct = 1;
assert_true(is_correct);
for(uint8_t i = 0; i < 6; i++){
/*The starting address of the registers is 67 and goes to 72*/
if((67 + i) != reg_addr_arr[i].addr) {
is_correct = 0;
}
}
assert_true(is_correct);
/*Check that the values are assembled correctly*/
struct gyro_values gyro = gy521_get_gyro(m);
/*Make sure to bitshift by 8 and recomine the two u8 into a single u16*/
assert_true(gyro.x == ((reg_addr_arr[0].value<<8) | reg_addr_arr[1].value));
assert_true(gyro.y == ((reg_addr_arr[2].value<<8) | reg_addr_arr[3].value));
assert_true(gyro.z == ((reg_addr_arr[4].value<<8) | reg_addr_arr[5].value));
gy521_free(m);
}
static void test_gy521_self_test(void **sate)
{
/*Create instance of struct.*/
gy521_module *m = gy521_new();
reg_addr_arr[0].addr = TWI_GY521_ADDR1;
gy521_init(m, TWI_GY521_ADDR1);
/*Zero the global index for the twi*/
clear_twi();
/*Setup the full-scale range to +-250dps*/
/*Load up the gyro regs with passing test values*/
/*Load up the selftest regs with passing test values.*/
/*Load up the gyro regs for disabled ST reads*/
for(uint8_t i = 1; i < 17; i++) { /*(6regs * 2) + 3ST regs = 15*/
reg_addr_arr[i].value = 2;
}
self_test_results result = gy521_self_test(m);
assert_false(result); /*The value should be zero, aka zero faults*/
/*Check to make sure it can fail.*/
clear_twi();
for(uint8_t i = 1; i < 5; i++){
reg_addr_arr[i].value = 2;
}
for(int i = 4; i < 9; i++){
reg_addr_arr[i].value = 255;
}
for(int i = 9; i < 17; i++){
reg_addr_arr[i].value = 2;
}
result = gy521_self_test(m);
/*Print out the register values*/
print_reg_arr();
assert_true(result);
/*Free the struct*/
gy521_free(m);
}
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int main(void)
{
const struct CMUnitTest tests[] = {
cmocka_unit_test(test_gy521_init),
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cmocka_unit_test(test_gy521_update_accel),
cmocka_unit_test(test_gy521_update_gyro),
cmocka_unit_test(test_gy521_self_test),
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};
return cmocka_run_group_tests(tests, NULL, NULL);
}