mirror of
https://github.com/RobTillaart/Arduino.git
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170 lines
3.8 KiB
C++
170 lines
3.8 KiB
C++
//
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// FILE: unit_test_001.cpp
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// AUTHOR: Rob Tillaart
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// DATE: 2020-12-24
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// PURPOSE: unit tests for the GY521
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// https://github.com/RobTillaart/GY521
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// https://github.com/Arduino-CI/arduino_ci/blob/master/REFERENCE.md
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//
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// supported assertions
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// https://github.com/Arduino-CI/arduino_ci/blob/master/cpp/unittest/Assertion.h#L33-L42
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// ----------------------------
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// assertEqual(expected, actual)
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// assertNotEqual(expected, actual)
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// assertLess(expected, actual)
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// assertMore(expected, actual)
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// assertLessOrEqual(expected, actual)
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// assertMoreOrEqual(expected, actual)
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// assertTrue(actual)
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// assertFalse(actual)
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// assertNull(actual)
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// assertNotNull(actual)
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#include <ArduinoUnitTests.h>
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#include "Arduino.h"
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#include "GY521.h"
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unittest_setup()
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{
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fprintf(stderr, "GY521_LIB_VERSION: %s\n", (char *) GY521_LIB_VERSION);
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}
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unittest_teardown()
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{
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}
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unittest(test_constructor)
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{
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GY521 sensor(0x69);
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Wire.begin();
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sensor.begin();
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assertEqual(GY521_OK, sensor.getError());
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assertTrue(sensor.isConnected()); // incorrect but OK
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}
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unittest(test_get_set_throttle)
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{
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GY521 sensor(0x69);
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Wire.begin();
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sensor.begin();
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assertEqual(GY521_OK, sensor.getError());
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sensor.setThrottle(true);
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assertTrue(sensor.getThrottle());
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sensor.setThrottle(false);
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assertFalse(sensor.getThrottle());
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fprintf(stderr, "setThrottleTime()\n");
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for (uint16_t ti = 1; ti != 0; ti <<= 1)
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{
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sensor.setThrottleTime(ti);
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fprintf(stderr, "%d\t", sensor.getThrottleTime());
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assertEqual(ti, sensor.getThrottleTime());
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}
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}
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unittest(test_get_set_sensitivity)
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{
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GY521 sensor(0x69);
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Wire.begin();
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sensor.begin();
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fprintf(stderr, "setAccelSensitivity() - fails \n");
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for (int as = 0; as < 4; as++)
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{
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sensor.setAccelSensitivity(as);
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// fprintf(stderr, "%d\n", sensor.getAccelSensitivity());
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assertEqual(255, sensor.getAccelSensitivity());
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}
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fprintf(stderr, "setGyroSensitivity() - fails \n");
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for (int gs = 0; gs < 4; gs++)
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{
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sensor.setGyroSensitivity(gs);
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// fprintf(stderr, "%d\n", sensor.getAccelSensitivity());
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assertEqual(255, sensor.getAccelSensitivity());
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}
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}
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unittest(test_constants)
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{
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assertEqual(GY521_OK, 0);
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assertEqual(GY521_THROTTLED, 1);
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assertEqual(GY521_ERROR_READ, -1);
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assertEqual(GY521_ERROR_WRITE, -2);
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assertEqual(GY521_ERROR_NOT_CONNECTED, -3);
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assertEqual(GY521_THROTTLE_TIME, 10);
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assertEqualFloat(GY521_RAD2DEGREES, 180.0 / PI, 0.001);
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assertEqualFloat(GY521_RAW2DPS, 1.0 / 131.0, 0.001);
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assertEqualFloat(GY521_RAW2G, 1.0 / 16384.0, 0.000001);
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}
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unittest(test_initial_values)
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{
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GY521 sensor(0x69);
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Wire.begin();
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assertEqualFloat(0, sensor.getAccelX(), 0.0001);
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assertEqualFloat(0, sensor.getAccelY(), 0.0001);
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assertEqualFloat(0, sensor.getAccelZ(), 0.0001);
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assertEqualFloat(0, sensor.getAngleX(), 0.0001);
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assertEqualFloat(0, sensor.getAngleY(), 0.0001);
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assertEqualFloat(0, sensor.getAngleZ(), 0.0001);
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assertEqualFloat(0, sensor.getGyroX(), 0.0001);
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assertEqualFloat(0, sensor.getGyroY(), 0.0001);
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assertEqualFloat(0, sensor.getGyroZ(), 0.0001);
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assertEqualFloat(0, sensor.getPitch(), 0.0001);
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assertEqualFloat(0, sensor.getRoll(), 0.0001);
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assertEqualFloat(0, sensor.getYaw(), 0.0001);
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fprintf(stderr, "\nother values()\n");
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assertEqualFloat(0, sensor.getTemperature(), 0.0001);
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assertEqual(0, sensor.lastTime() );
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assertEqual(0, sensor.getError() );
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}
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unittest(test_initial_calibration_errors)
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{
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GY521 sensor(0x69);
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Wire.begin();
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assertEqualFloat(0, sensor.axe, 0.0001);
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assertEqualFloat(0, sensor.aye, 0.0001);
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assertEqualFloat(0, sensor.aze, 0.0001);
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assertEqualFloat(0, sensor.gxe, 0.0001);
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assertEqualFloat(0, sensor.gye, 0.0001);
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assertEqualFloat(0, sensor.gze, 0.0001);
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}
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unittest_main()
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// -- END OF FILE --
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