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Kaj SchittecatandClaude Opus 5.5
67ed48f4fb
Host tests that compile the production variant files (TLoraPagerBoard.cpp, PagerHaptics.cpp, PagerImu.cpp from #748-#751) against register-level fakes of the BQ25896, BQ27220, DRV2605 and BHI260AP (test/pager_hw_fakes/): - test_pager_power: REG0B decoding (USB host, adapter, power-good alone, OTG not counted as USB, the 1 s cache), the temperature guard with its 3 C band, user limits and implausible readings, battery care 80/75 %, both holds through the one charger switch, charge limits rounded to the chip's 64 mA / 16 mV steps, the gauge capacity written once per target (a sealed gauge is left alone on later boots), and ship mode refused on USB, read afresh, BATFET_DLY cleared and BATFET_DIS set on battery. - test_pager_haptics: the waveform slots of every pattern and strength, all eight slots rewritten, standby only after GO clears, no bus traffic without the chip. - test_pager_imu: one firmware upload per boot at 1 MHz with the bus clock put back, scaling to g, stale samples refused, the 3 s idle stop and restart, no retry storm after a failed upload. Each was checked against a mutated copy of its subject (hysteresis removed, care resume moved, ship mode on USB, OTG as USB, stale waveform tail, standby mid-pattern, capacity written every boot): all eight mutants fail. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
69 lines
2.8 KiB
C++
69 lines
2.8 KiB
C++
// SPDX-License-Identifier: GPL-3.0-or-later
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// The T-LoRa Pager's accelerometer glue (PagerImu.cpp) on a fake BHI260AP: the hub
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// firmware is uploaded once per boot, on the first read, at 1 MHz with the shared
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// bus clock put back afterwards (and once only even when it fails); samples are
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// scaled to g and only handed out while fresh; the accelerometer stops 3 s after
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// the last read and starts again on the next one.
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//
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// Build: g++ -std=c++17 -I test/pager_hw_fakes -I src test/test_pager_imu.cpp
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#include <cassert>
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#include <cstdio>
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#include <cmath>
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#include "pager_hw_fakes/Arduino.h"
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#include "pager_hw_fakes/Wire.h"
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#include "pager_hw_fakes/SensorBHI260AP.hpp"
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#define TLORA_PAGER 1
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#define ESP32 1
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uint32_t testMillis = 1000;
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TestSerial Serial;
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TwoWire Wire;
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FakeBhy g_bhy;
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#include "../variants/lilygo_tlora_pager/PagerImu.cpp"
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static bool near(float a, float b) { return std::fabs(a - b) < 1e-3f; }
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int main() {
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float x, y, z;
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Wire.clock = 400000;
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assert(!pagerImuStarted());
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// First read: the upload happens at 1 MHz, the bus goes back to 400 kHz.
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assert(!pagerImuRead(&x, &y, &z)); // nothing in the FIFO yet
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assert(pagerImuStarted() && g_bhy.begins == 1);
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assert(g_bhy.upload_clock == 1000000 && Wire.clock == 400000);
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assert(g_bhy.configures == 1 && near(g_bhy.rate, 25.0f));
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// A sample: counts / 4096 = g. Face up, lying flat: z = +1 g.
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g_bhy.fifo.push_back({ 0, 0, 4096 });
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testMillis += 40;
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assert(pagerImuRead(&x, &y, &z) && near(x, 0) && near(y, 0) && near(z, 1.0f));
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g_bhy.fifo.push_back({ 2048, -4096, -2048 });
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testMillis += 40;
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assert(pagerImuRead(&x, &y, &z) && near(x, 0.5f) && near(y, -1.0f) && near(z, -0.5f));
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// No new sample for over a second: stale, not handed out.
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testMillis += 1100;
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assert(!pagerImuRead(&x, &y, &z));
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// Idle: still sampling 2.9 s after the last read, stopped at 3 s, no repeat stop.
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testMillis += 2900;
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pagerImuIdleTick();
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assert(near(g_bhy.rate, 25.0f));
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testMillis += 200;
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pagerImuIdleTick();
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assert(near(g_bhy.rate, 0.0f) && g_bhy.configures == 2);
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pagerImuIdleTick();
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assert(g_bhy.configures == 2);
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// The next read restarts it, without a second upload; the stop cleared the old sample.
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assert(!pagerImuRead(&x, &y, &z));
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assert(g_bhy.begins == 1 && g_bhy.configures == 3 && near(g_bhy.rate, 25.0f));
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g_bhy.fifo.push_back({ 0, 4096, 0 });
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testMillis += 40;
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assert(pagerImuRead(&x, &y, &z) && near(y, 1.0f));
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// A failed upload is not retried on every read (it would stall the loop each time).
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s_tried = s_ready = s_sampling = false; s_sample_ms = 0;
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g_bhy = FakeBhy{}; g_bhy.upload_ok = false;
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Wire.clock = 100000;
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for (int i = 0; i < 5; ++i) assert(!pagerImuRead(&x, &y, &z));
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assert(g_bhy.begins == 1 && Wire.clock == 100000 && g_bhy.configures == 0);
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std::printf("test_pager_imu: OK\n");
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return 0;
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}
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