Unit tests for BMP085

src/main/drivers/barometer_bmp085.c

@@ -106,10 +106,10 @@ typedef struct {
 #define SMD500_PARAM_MH     -7357        //calibration parameter
 #define SMD500_PARAM_MI      3791        //calibration parameter
 
-static bmp085_t bmp085;
+STATIC_UNIT_TESTED bmp085_t bmp085;
 static bool bmp085InitDone = false;
-static uint16_t bmp085_ut;  // static result of temperature measurement
+STATIC_UNIT_TESTED uint16_t bmp085_ut;  // static result of temperature measurement
-static uint32_t bmp085_up;  // static result of pressure measurement
+STATIC_UNIT_TESTED uint32_t bmp085_up;  // static result of pressure measurement
 
 static void bmp085_get_cal_param(void);
 static void bmp085_start_ut(void);
@@ -118,7 +118,7 @@ static void bmp085_start_up(void);
 static void bmp085_get_up(void);
 static int32_t bmp085_get_temperature(uint32_t ut);
 static int32_t bmp085_get_pressure(uint32_t up);
-static void bmp085_calculate(int32_t *pressure, int32_t *temperature);
+STATIC_UNIT_TESTED void bmp085_calculate(int32_t *pressure, int32_t *temperature);
 
 #ifdef BARO_XCLR_PIN
 #define BMP085_OFF                  digitalLo(BARO_XCLR_GPIO, BARO_XCLR_PIN);
@@ -337,9 +337,10 @@ static void bmp085_get_up(void)
             >> (8 - bmp085.oversampling_setting);
 }
 
-static void bmp085_calculate(int32_t *pressure, int32_t *temperature)
+STATIC_UNIT_TESTED void bmp085_calculate(int32_t *pressure, int32_t *temperature)
 {
     int32_t temp, press;
+
     temp = bmp085_get_temperature(bmp085_ut);
     press = bmp085_get_pressure(bmp085_up);
     if (pressure)

src/main/drivers/barometer_bmp085.h

@@ -27,3 +27,7 @@ typedef struct bmp085Config_s {
 
 bool bmp085Detect(const bmp085Config_t *config, baro_t *baro);
 void bmp085Disable(const bmp085Config_t *config);
+
+#ifdef UNIT_TEST
+void RCC_APB2PeriphClockCmd(uint32_t RCC_APB2Periph, FunctionalState NewState);
+#endif

src/test/Makefile

@@ -59,7 +59,8 @@ TESTS = \
 	encoding_unittest \
 	io_serial_unittest \
 	lowpass_unittest \
-    baro_unittest
+    baro_unittest \
+    baro_bmp085_unittest
 
 # All Google Test headers.  Usually you shouldn't change this
 # definition.
@@ -487,6 +488,29 @@ baro_unittest : \
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
+$(OBJECT_DIR)/drivers/barometer_bmp085.o : \
+    $(USER_DIR)/drivers/barometer_bmp085.c \
+    $(USER_DIR)/drivers/barometer_bmp085.h \
+    $(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/barometer_bmp085.c -o $@
+
+$(OBJECT_DIR)/baro_bmp085_unittest.o : \
+	$(TEST_DIR)/baro_bmp085_unittest.cc \
+	$(USER_DIR)/drivers/barometer_bmp085.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/baro_bmp085_unittest.cc -o $@
+
+baro_bmp085_unittest : \
+	$(OBJECT_DIR)/drivers/barometer_bmp085.o \
+	$(OBJECT_DIR)/baro_bmp085_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
 test: $(TESTS)
 	set -e && for test in $(TESTS) ; do \
 		$(OBJECT_DIR)/$$test; \

src/test/unit/baro_bmp085_unittest.cc

@@ -0,0 +1,196 @@
+/*
+ * 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>
+
+extern "C" {
+
+    void bmp085_calculate(int32_t *pressure, int32_t *temperature);
+    extern uint32_t bmp085_up;
+    extern uint16_t bmp085_ut;
+
+typedef struct {
+    int16_t ac1;
+    int16_t ac2;
+    int16_t ac3;
+    uint16_t ac4;
+    uint16_t ac5;
+    uint16_t ac6;
+    int16_t b1;
+    int16_t b2;
+    int16_t mb;
+    int16_t mc;
+    int16_t md;
+} bmp085_smd500_calibration_param_t;
+
+typedef struct {
+    bmp085_smd500_calibration_param_t cal_param;
+    uint8_t mode;
+    uint8_t chip_id, ml_version, al_version;
+    uint8_t dev_addr;
+    int32_t param_b5;
+    int16_t oversampling_setting;
+} bmp085_t;
+
+    bmp085_t bmp085;
+
+}
+
+
+#include "unittest_macros.h"
+#include "gtest/gtest.h"
+
+
+TEST(baroBmp085Test, TestBmp085CalculateOss0)
+{
+
+    // given
+    int32_t pressure, temperature;
+    bmp085_up = 23843; // Digital pressure value
+    bmp085_ut = 27898; // Digital temperature value
+
+    // and
+    bmp085.cal_param.ac1 = 408;
+    bmp085.cal_param.ac2 = -72;
+    bmp085.cal_param.ac3 = -14383;
+    bmp085.cal_param.ac4 = 32741;
+    bmp085.cal_param.ac5 = 32757;
+    bmp085.cal_param.ac6 = 23153;
+    bmp085.cal_param.b1 = 6190;
+    bmp085.cal_param.b2 = 4;
+    bmp085.cal_param.mb = -32767;
+    bmp085.cal_param.mc = -8711;
+    bmp085.cal_param.md = 2868;
+    bmp085.oversampling_setting = 0;
+
+    // when
+    bmp085_calculate(&pressure, &temperature);
+
+    // then
+    EXPECT_EQ(69964, pressure); // Datasheet says 69965
+    EXPECT_EQ(1500, temperature);
+
+}
+
+TEST(baroBmp085Test, TestBmp085CalculateOss3)
+{
+
+    // given
+    int32_t pressure, temperature;
+    bmp085_up = 271097; // Digital pressure value
+    bmp085_ut = 27898; // Digital temperature value
+
+    // and
+    bmp085.cal_param.ac1 = 408;
+    bmp085.cal_param.ac2 = -72;
+    bmp085.cal_param.ac3 = -14383;
+    bmp085.cal_param.ac4 = 32741;
+    bmp085.cal_param.ac5 = 32757;
+    bmp085.cal_param.ac6 = 23153;
+    bmp085.cal_param.b1 = 6190;
+    bmp085.cal_param.b2 = 4;
+    bmp085.cal_param.mb = -32767;
+    bmp085.cal_param.mc = -8711;
+    bmp085.cal_param.md = 2868;
+    bmp085.oversampling_setting = 3;
+
+    // when
+    bmp085_calculate(&pressure, &temperature);
+
+    // then
+    EXPECT_EQ(99998, pressure);
+    EXPECT_EQ(1500, temperature);
+
+}
+
+TEST(baroBmp085Test, TestBmp085CalculateOss3Cold)
+{
+
+    // given
+    int32_t pressure, temperature;
+    bmp085_up = 271097; // Digital pressure value
+    bmp085_ut = 24342; // Digital temperature value  24342 = -20degC    27898 = 15degC
+
+    // and
+    bmp085.cal_param.ac1 = 408;
+    bmp085.cal_param.ac2 = -72;
+    bmp085.cal_param.ac3 = -14383;
+    bmp085.cal_param.ac4 = 32741;
+    bmp085.cal_param.ac5 = 32757;
+    bmp085.cal_param.ac6 = 23153;
+    bmp085.cal_param.b1 = 6190;
+    bmp085.cal_param.b2 = 4;
+    bmp085.cal_param.mb = -32767;
+    bmp085.cal_param.mc = -8711;
+    bmp085.cal_param.md = 2868;
+    bmp085.oversampling_setting = 3;
+
+    // when
+    bmp085_calculate(&pressure, &temperature);
+
+    // then
+    EXPECT_EQ(92251, pressure);
+    EXPECT_EQ(-2006, temperature); // -20.06 degC
+
+}
+
+TEST(baroBmp085Test, TestBmp085CalculateOss3Hot)
+{
+
+    // given
+    int32_t pressure, temperature;
+    bmp085_up = 271097; // Digital pressure value
+    bmp085_ut = 33315; // Digital temperature value
+
+    // and
+    bmp085.cal_param.ac1 = 408;
+    bmp085.cal_param.ac2 = -72;
+    bmp085.cal_param.ac3 = -14383;
+    bmp085.cal_param.ac4 = 32741;
+    bmp085.cal_param.ac5 = 32757;
+    bmp085.cal_param.ac6 = 23153;
+    bmp085.cal_param.b1 = 6190;
+    bmp085.cal_param.b2 = 4;
+    bmp085.cal_param.mb = -32767;
+    bmp085.cal_param.mc = -8711;
+    bmp085.cal_param.md = 2868;
+    bmp085.oversampling_setting = 3;
+
+    // when
+    bmp085_calculate(&pressure, &temperature);
+
+    // then
+    EXPECT_EQ(108922, pressure);
+    EXPECT_EQ(5493, temperature); // 54.93 degC
+
+}
+
+// STUBS
+
+extern "C" {
+
+    void gpioInit(){}
+    void RCC_APB2PeriphClockCmd(){}
+    void delay(uint32_t) {}
+    void delayMicroseconds(uint32_t) {}
+    bool i2cWrite(uint8_t, uint8_t, uint8_t) {
+        return 1;
+    }
+    bool i2cRead(uint8_t, uint8_t, uint8_t, uint8_t) {
+        return 1;
+    }
+
+}

src/test/unit/platform.h

@@ -31,6 +31,7 @@
 typedef enum
 {
     Mode_TEST = 0x0,
+    Mode_Out_PP = 0x10,
 } GPIO_Mode;
 
 typedef struct