test_sensors_core.c File Reference

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "fake_baro.h"
#include "fake_regs.h"
#include "sensors_core.h"

Include dependency graph for test_sensors_core.c:

Go to the source code of this file.

Classes
struct	sink_t
struct	rig_t

Macros
#define	CHECK(c)
#define	kWakeLatencyUs   37U /* a real task runs a little after its IRQ */

Functions
static void	record (void *ctx, uint8_t type, const void *data, uint8_t len)
static void	rig_init (rig_t *r, uint32_t start_us)
static int32_t	diff (uint32_t a, uint32_t b)
static void	run (rig_t *r, uint32_t until)
static void	test_nominal_rates_values_and_timestamps (void)
static void	test_highg_without_edges_is_read_on_timeout (void)
static void	test_failing_imu_is_dropped_and_recovered (void)
static void	test_wrong_chip_never_produces_and_keeps_retrying (void)
static void	test_dead_baro_bus_is_reported (void)
static void	test_stop_powers_down_and_init_restarts (void)
static void	test_wait_never_overshoots_a_deadline (void)
static void	test_clock_wrap_is_harmless (void)
int	main (void)

Macro Definition Documentation

CHECK

#define CHECK

(

c

)

Value:

    do {                                                            \
        if (!(c)) {                                                 \
            fprintf(stderr, "%s:%d: %s\n", __FILE__, __LINE__, #c); \
            exit(1);                                                \
        }                                                           \
    } while (0)

Definition at line 13 of file test_sensors_core.c.

Referenced by test_clock_wrap_is_harmless(), test_dead_baro_bus_is_reported(), test_failing_imu_is_dropped_and_recovered(), test_highg_without_edges_is_read_on_timeout(), test_nominal_rates_values_and_timestamps(), test_stop_powers_down_and_init_restarts(), test_wait_never_overshoots_a_deadline(), and test_wrong_chip_never_produces_and_keeps_retrying().

kWakeLatencyUs

#define kWakeLatencyUs   37U /* a real task runs a little after its IRQ */

Definition at line 91 of file test_sensors_core.c.

Referenced by run().

Function Documentation

diff()

int32_t diff ( uint32_t a, uint32_t b )

static

Definition at line 93 of file test_sensors_core.c.

References a, and b.

Referenced by fsw::calibration::IMUCalibration::calibrateGyroZeroVelocity(), ADS126X::check_checksum(), fsw::calibration::IMUCalibration::detectDrift(), fsw::script::anonymous_namespace{Validate.cpp}::nearest(), run(), and SensorSelfTest::run_adc_self_test().

main()

int main

(

void

)

Definition at line 246 of file test_sensors_core.c.

References test_clock_wrap_is_harmless(), test_dead_baro_bus_is_reported(), test_failing_imu_is_dropped_and_recovered(), test_highg_without_edges_is_read_on_timeout(), test_nominal_rates_values_and_timestamps(), test_stop_powers_down_and_init_restarts(), test_wait_never_overshoots_a_deadline(), and test_wrong_chip_never_produces_and_keeps_retrying().

record()

void record ( void * ctx, uint8_t type, const void * data, uint8_t len )

static

Definition at line 30 of file test_sensors_core.c.

References sink_t::baro, sink_t::highg, sink_t::imu, sink_t::last_t, sink_t::n, sink_t::non_monotonic, REC_BARO, rec_baro_t, REC_HIGHG, rec_highg_t, REC_IMU, and rec_imu_t.

rig_init()

void rig_init ( rig_t * r, uint32_t start_us )

static

Definition at line 60 of file test_sensors_core.c.

References fake_baro_bus(), fake_baro_datasheet_prom, fake_regs_bus(), fake_regs_init(), r, record(), sensors_core_init(), SENSORS_HIGHG_PERIOD_US, and SENSORS_IMU_PERIOD_US.

Referenced by test_clock_wrap_is_harmless(), test_dead_baro_bus_is_reported(), test_failing_imu_is_dropped_and_recovered(), test_highg_without_edges_is_read_on_timeout(), test_nominal_rates_values_and_timestamps(), test_stop_powers_down_and_init_restarts(), test_wait_never_overshoots_a_deadline(), and test_wrong_chip_never_produces_and_keeps_retrying().

run()

void run ( rig_t * r, uint32_t until )

static

Definition at line 101 of file test_sensors_core.c.

References diff(), kWakeLatencyUs, r, sensors_core_step(), sensors_core_wait_us(), SENSORS_EV_HIGHG, SENSORS_EV_IMU, SENSORS_HIGHG_PERIOD_US, SENSORS_IMU_PERIOD_US, and until().

test_clock_wrap_is_harmless()

void test_clock_wrap_is_harmless ( void )

static

Definition at line 237 of file test_sensors_core.c.

References CHECK, r, and rig_init().

Referenced by main().

test_dead_baro_bus_is_reported()

void test_dead_baro_bus_is_reported ( void )

static

Definition at line 198 of file test_sensors_core.c.

References CHECK, DEV_ERR_BUS, r, and rig_init().

Referenced by main().

test_failing_imu_is_dropped_and_recovered()

void test_failing_imu_is_dropped_and_recovered ( void )

static

Definition at line 164 of file test_sensors_core.c.

References CHECK, DEV_ERR_BUS, r, rig_init(), SENSORS_MAX_ERRORS, and SENSORS_RETRY_US.

Referenced by main().

test_highg_without_edges_is_read_on_timeout()

void test_highg_without_edges_is_read_on_timeout ( void )

static

Definition at line 153 of file test_sensors_core.c.

References CHECK, r, and rig_init().

Referenced by main().

test_nominal_rates_values_and_timestamps()

void test_nominal_rates_values_and_timestamps ( void )

static

Definition at line 131 of file test_sensors_core.c.

References CHECK, r, and rig_init().

Referenced by main().

test_stop_powers_down_and_init_restarts()

void test_stop_powers_down_and_init_restarts ( void )

static

Definition at line 209 of file test_sensors_core.c.

References CHECK, r, rig_init(), sensors_core_init(), sensors_core_stop(), SENSORS_HIGHG_PERIOD_US, and SENSORS_IMU_PERIOD_US.

Referenced by main().

test_wait_never_overshoots_a_deadline()

void test_wait_never_overshoots_a_deadline ( void )

static

Definition at line 229 of file test_sensors_core.c.

References CHECK, r, rig_init(), SENSORS_BARO_STEP_US, sensors_core_wait_us(), and SENSORS_IMU_PERIOD_US.

Referenced by main().

test_wrong_chip_never_produces_and_keeps_retrying()

void test_wrong_chip_never_produces_and_keeps_retrying ( void )

static

Definition at line 185 of file test_sensors_core.c.

References CHECK, DEV_ERR_ID, r, rig_init(), and SENSORS_RETRY_US.

Referenced by main().