mirror of
https://github.com/RobTillaart/Arduino.git
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285 lines
6.8 KiB
C++
285 lines
6.8 KiB
C++
//
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// FILE: unit_test_001.cpp
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// AUTHOR: Rob Tillaart
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// DATE: 2022-05-28
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// PURPOSE: unit tests for the AS5600 library
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// https://github.com/RobTillaart/AS5600
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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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// ----------------------------
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// assertEqual(expected, actual); // a == b
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// assertNotEqual(unwanted, actual); // a != b
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// assertComparativeEquivalent(expected, actual); // abs(a - b) == 0 or (!(a > b) && !(a < b))
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// assertComparativeNotEquivalent(unwanted, actual); // abs(a - b) > 0 or ((a > b) || (a < b))
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// assertLess(upperBound, actual); // a < b
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// assertMore(lowerBound, actual); // a > b
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// assertLessOrEqual(upperBound, actual); // a <= b
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// assertMoreOrEqual(lowerBound, actual); // a >= b
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// assertTrue(actual);
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// assertFalse(actual);
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// assertNull(actual);
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// // special cases for floats
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// assertEqualFloat(expected, actual, epsilon); // fabs(a - b) <= epsilon
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// assertNotEqualFloat(unwanted, actual, epsilon); // fabs(a - b) >= epsilon
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// assertInfinity(actual); // isinf(a)
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// assertNotInfinity(actual); // !isinf(a)
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// assertNAN(arg); // isnan(a)
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// assertNotNAN(arg); // !isnan(a)
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#include <ArduinoUnitTests.h>
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#include "AS5600.h"
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#include "Wire.h"
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unittest_setup()
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{
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fprintf(stderr, "AS5600_LIB_VERSION: %s\n", (char *) AS5600_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_constants_base)
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{
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assertEqual(0, AS5600_CLOCK_WISE);
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assertEqual(1, AS5600_COUNTERCLOCK_WISE);
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assertEqual(0, AS5600_MODE_DEGREES);
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assertEqual(1, AS5600_MODE_RADIANS);
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assertEqual(2, AS5600_MODE_RPM);
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assertEqualFloat(360.0/4096, AS5600_RAW_TO_DEGREES, 0.0001);
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assertEqualFloat(4096/360.0, AS5600_DEGREES_TO_RAW, 0.0001);
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assertEqualFloat((PI*2.0)/4096, AS5600_RAW_TO_RADIANS, 0.0001);
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assertEqualFloat(60.0/4096, AS5600_RAW_TO_RPM, 0.0001);
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assertEqual(0x36, AS5600_DEFAULT_ADDRESS);
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assertEqual(0x40, AS5600L_DEFAULT_ADDRESS);
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assertEqual(255, AS5600_SW_DIRECTION_PIN);
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}
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unittest(test_constants_configuration)
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{
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assertEqual(0, AS5600_OUTMODE_ANALOG_100);
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assertEqual(1, AS5600_OUTMODE_ANALOG_90);
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assertEqual(2, AS5600_OUTMODE_PWM);
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assertEqual(0, AS5600_POWERMODE_NOMINAL);
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assertEqual(1, AS5600_POWERMODE_LOW1);
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assertEqual(2, AS5600_POWERMODE_LOW2);
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assertEqual(3, AS5600_POWERMODE_LOW3);
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assertEqual(0, AS5600_PWM_115);
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assertEqual(1, AS5600_PWM_230);
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assertEqual(2, AS5600_PWM_460);
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assertEqual(3, AS5600_PWM_920);
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assertEqual(0, AS5600_HYST_OFF);
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assertEqual(1, AS5600_HYST_LSB1);
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assertEqual(2, AS5600_HYST_LSB2);
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assertEqual(3, AS5600_HYST_LSB3);
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assertEqual(0, AS5600_SLOW_FILT_16X);
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assertEqual(1, AS5600_SLOW_FILT_8X);
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assertEqual(2, AS5600_SLOW_FILT_4X);
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assertEqual(3, AS5600_SLOW_FILT_2X);
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assertEqual(0, AS5600_FAST_FILT_NONE);
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assertEqual(1, AS5600_FAST_FILT_LSB6);
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assertEqual(2, AS5600_FAST_FILT_LSB7);
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assertEqual(3, AS5600_FAST_FILT_LSB9);
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assertEqual(4, AS5600_FAST_FILT_LSB18);
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assertEqual(5, AS5600_FAST_FILT_LSB21);
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assertEqual(6, AS5600_FAST_FILT_LSB24);
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assertEqual(7, AS5600_FAST_FILT_LSB10);
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assertEqual(0, AS5600_WATCHDOG_OFF);
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assertEqual(1, AS5600_WATCHDOG_ON);
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}
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unittest(test_constructor)
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{
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AS5600 as5600;
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Wire.begin();
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as5600.begin(4);
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assertTrue(as5600.isConnected()); // keep CI happy
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AS5600L asl(0x40);
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asl.begin(5);
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assertTrue(asl.isConnected()); // keep CI happy
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}
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unittest(test_address)
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{
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AS5600 as5600;
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Wire.begin();
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as5600.begin(4);
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assertEqual(0x36, as5600.getAddress());
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AS5600L asl;
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as5600.begin(5);
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assertEqual(0x40, asl.getAddress());
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AS5600L asl2(0x41);
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asl2.begin(6);
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assertEqual(0x41, asl2.getAddress());
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}
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unittest(test_hardware_direction)
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{
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AS5600 as5600;
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Wire.begin();
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as5600.begin(4);
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assertEqual(AS5600_CLOCK_WISE, as5600.getDirection());
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as5600.setDirection();
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assertEqual(AS5600_CLOCK_WISE, as5600.getDirection());
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as5600.setDirection(AS5600_COUNTERCLOCK_WISE);
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assertEqual(AS5600_COUNTERCLOCK_WISE, as5600.getDirection());
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as5600.setDirection(AS5600_CLOCK_WISE);
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assertEqual(AS5600_CLOCK_WISE, as5600.getDirection());
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}
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unittest(test_software_direction)
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{
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AS5600 as5600;
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Wire.begin();
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as5600.begin(255);
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assertEqual(AS5600_CLOCK_WISE, as5600.getDirection());
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as5600.setDirection();
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assertEqual(AS5600_CLOCK_WISE, as5600.getDirection());
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as5600.setDirection(AS5600_COUNTERCLOCK_WISE);
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assertEqual(AS5600_COUNTERCLOCK_WISE, as5600.getDirection());
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as5600.setDirection(AS5600_CLOCK_WISE);
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assertEqual(AS5600_CLOCK_WISE, as5600.getDirection());
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}
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unittest(test_offset_I)
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{
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AS5600 as5600;
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Wire.begin();
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as5600.begin();
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for (int of = 0; of < 360; of += 40)
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{
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as5600.setOffset(of);
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assertEqualFloat(of, as5600.getOffset(), 0.05);
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}
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assertTrue(as5600.setOffset(-40.25));
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assertEqualFloat(319.75, as5600.getOffset(), 0.05);
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assertTrue(as5600.setOffset(-400.25));
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assertEqualFloat(319.75, as5600.getOffset(), 0.05);
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assertTrue(as5600.setOffset(753.15));
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assertEqualFloat(33.15, as5600.getOffset(), 0.05);
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assertFalse(as5600.setOffset(36000.1));
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assertFalse(as5600.setOffset(-36000.1));
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}
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unittest(test_offset_II)
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{
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AS5600 as5600;
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Wire.begin();
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as5600.begin();
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as5600.setOffset(200);
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assertEqualFloat(200, as5600.getOffset(), 0.05);
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as5600.setOffset(30);
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assertEqualFloat(30, as5600.getOffset(), 0.05);
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as5600.setOffset(200);
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assertEqualFloat(200, as5600.getOffset(), 0.05);
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as5600.setOffset(-30);
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assertEqualFloat(330, as5600.getOffset(), 0.05);
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// as cummulative error can be larger ==> 0.1
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as5600.setOffset(200);
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assertEqualFloat(200, as5600.getOffset(), 0.1);
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as5600.increaseOffset(30);
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assertEqualFloat(230, as5600.getOffset(), 0.1);
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as5600.setOffset(200);
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assertEqualFloat(200, as5600.getOffset(), 0.1);
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as5600.increaseOffset(-30);
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assertEqualFloat(170, as5600.getOffset(), 0.1);
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as5600.setOffset(200);
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assertEqualFloat(200, as5600.getOffset(), 0.1);
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as5600.increaseOffset(-300);
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assertEqualFloat(260, as5600.getOffset(), 0.1);
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}
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unittest(test_failing_set_commands)
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{
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AS5600 as5600;
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Wire.begin();
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as5600.begin();
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assertFalse(as5600.setZPosition(4096));
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assertFalse(as5600.setMPosition(4096));
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assertFalse(as5600.setMaxAngle(4096));
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assertFalse(as5600.setConfigure(0x4000));
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assertFalse(as5600.setPowerMode(4));
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assertFalse(as5600.setHysteresis(4));
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assertFalse(as5600.setOutputMode(3));
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assertFalse(as5600.setPWMFrequency(4));
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assertFalse(as5600.setSlowFilter(4));
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assertFalse(as5600.setFastFilter(8));
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assertFalse(as5600.setWatchDog(2));
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}
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// FOR REMAINING ONE NEED A STUB
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unittest_main()
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// -- END OF FILE --
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