Enable Teensy 3.5 unit testing (#1038)

* Add missing forward declarations
Found while compiling teensy35 unit tests

* Unit test should not rely on EEPROM

* Fix bad lib_dep
Teensy35 #includes FlexCAN_4 headers

* Fix circular include
logger.h needs FPU_MAX_SIZE which is defined
in globals.h. Globals.h includes logger.h!

* Ambguity in integer typedefs

platformio.ini

@@ -28,20 +28,25 @@ build_unflags = -Os
 build_flags = -DUSE_LIBDIVIDE -O3 -ffast-math -Wall -Wextra -std=c99
 lib_deps = EEPROM, Time
 test_build_src = yes
+test_ignore = test_table3d_native
 
 [env:teensy35]
 ;platform=teensy
 platform=https://github.com/platformio/platform-teensy.git
 board=teensy35
 framework=arduino
-lib_deps = EEPROM, FlexCAN, Time 
+lib_deps = EEPROM, FlexCAN_T4, Time 
+test_build_src = yes
+test_ignore = test_table3d_native
 
 [env:teensy36]
 ;platform=teensy
 platform=https://github.com/platformio/platform-teensy.git
 board=teensy36
 framework=arduino
-lib_deps = EEPROM, FlexCAN, Time
+lib_deps = EEPROM, FlexCAN_T4, Time
+test_build_src = yes
+test_ignore = test_table3d_native
 
 [env:teensy41]
 ;platform=teensy
@@ -49,6 +54,8 @@ platform=https://github.com/platformio/platform-teensy.git
 board=teensy41
 framework=arduino
 lib_deps = EEPROM, FlexCAN_T4, Time
+test_build_src = yes
+test_ignore = test_table3d_native
 
 ;Not currently working
 ;[env:LaunchPad_tm4c1294ncpdt]

speeduino/SD_logger.h

@@ -8,6 +8,7 @@
 #else
   #include "SdFat.h"
 #endif
+#include "logger.h"
 //#include <SdSpiCard.h>
 #include "RingBuf.h"
 

speeduino/SD_logger.ino

@@ -173,6 +173,9 @@ void readSDSectors(uint8_t* buffer, uint32_t sectorNumber, uint16_t sectorCount)
   sd.card()->readSectors(sectorNumber, buffer, sectorCount);
 }
 
+// Forward declare
+void writeSDLogHeader();
+
 void beginSDLogging()
 {
   if(SD_status == SD_STATUS_READY)
@@ -217,6 +220,10 @@ void endSDLogging()
   }
 }
 
+// Forward declare
+void checkForSDStart();
+void checkForSDStop();
+
 void writeSDLogEntry()
 {
   //Check if we're already running a log

speeduino/canBroadcast.ino

@@ -10,6 +10,9 @@ This is for handling the data broadcasted to various CAN dashes and instrument c
 #if defined(NATIVE_CAN_AVAILABLE)
 #include "globals.h"
 
+// Forward declare
+void DashMessage(uint16_t DashMessageID);
+
 void sendBMWCluster()
 {
   DashMessage(CAN_BMW_DME1);

speeduino/globals.h

@@ -28,7 +28,6 @@
 #include "table2d.h"
 #include "table3d.h"
 #include <assert.h>
-#include "logger.h"
 #include "src/FastCRC/FastCRC.h"
 
 #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__)

speeduino/init.ino

@@ -94,9 +94,13 @@ void initialiseAll(void)
       } 
     }
     #endif
-    
+  
+    // Unit tests should be independent of any stored configuration on the board!
+#if !defined(UNIT_TEST)
     loadConfig();
     doUpdates(); //Check if any data items need updating (Occurs with firmware updates)
+#endif
+
 
     //Always start with a clean slate on the bootloader capabilities level
     //This should be 0 until we hear otherwise from the 16u2

speeduino/logger.h

@@ -10,6 +10,7 @@
 #define LOGGER_H
 
 #include <assert.h>
+#include "globals.h" // Needed for FPU_MAX_SIZE
 
 #ifndef UNIT_TEST // Scope guard for unit testing
   #define LOG_ENTRY_SIZE      125 /**< The size of the live data packet. This MUST match ochBlockSize setting in the ini file */

test/test_misc/tests_init.cpp

@@ -1,7 +1,6 @@
-#include <globals.h>
-#include <init.h>
 #include <unity.h>
-#include <storage.h>
+#include "globals.h"
+#include "init.h"
 #include "tests_init.h"
 
 
@@ -121,7 +120,6 @@ void test_initialisation_outputs_PWM_idle(void)
   configPage6.iacChannels = 1;
   configPage6.iacAlgorithm = 2;
 
-  writeAllConfig(); //Have to save config here to prevent initialiseAll() from overwriting it
   initialiseAll(); //Run the main initialise function
 
   bool isIdlePWM = (configPage6.iacAlgorithm > 0) && ((configPage6.iacAlgorithm <= 3) || (configPage6.iacAlgorithm == 6));
@@ -152,6 +150,10 @@ void test_initialisation_outputs_VVT(void)
   TEST_ASSERT_EQUAL_MESSAGE(OUTPUT, getPinMode(pinVVT_2), "VVT2");
 }
 
+#if !defined(NOT_A_PIN)
+#define NOT_A_PIN 0
+#endif
+
 uint8_t getPinMode(uint8_t pin)
 {
   uint8_t bit = digitalPinToBitMask(pin);

test/test_misc2/tests_maths.cpp

@@ -131,6 +131,15 @@ void test_maths_div100_S16(void)
 void test_maths_div100_S32(void)
 {
   //Check both the signed and unsigned results
+#if defined(__arm__)
+  TEST_ASSERT_EQUAL_INT32(1000000L, div100((int)100000000L));
+  TEST_ASSERT_EQUAL_INT32(0, div100((int)0));
+  TEST_ASSERT_EQUAL_INT32(0, div100((int)50));
+
+  TEST_ASSERT_EQUAL_INT32(-1000000L, div100((int)-100000000L));
+  TEST_ASSERT_EQUAL_INT32(0, div100((int)-50));
+  TEST_ASSERT_EQUAL_INT32(-1, div100((int)-120));
+#else
   TEST_ASSERT_EQUAL_INT32(1000000L, div100((int32_t)100000000L));
   TEST_ASSERT_EQUAL_INT32(0, div100((int32_t)0));
   TEST_ASSERT_EQUAL_INT32(0, div100((int32_t)50));
@@ -138,4 +147,5 @@ void test_maths_div100_S32(void)
   TEST_ASSERT_EQUAL_INT32(-1000000L, div100((int32_t)-100000000L));
   TEST_ASSERT_EQUAL_INT32(0, div100((int32_t)-50));
   TEST_ASSERT_EQUAL_INT32(-1, div100((int32_t)-120));
+#endif
 }