motor_ctl-4/tests/unit_test/test_cadence.cpp

#include "gtest/gtest.h"
#include <gtest/gtest.h>
#include <tuple>
#include "scope.h"
#include "test_user.h"

class CadenceTest : public testing::Test
{
protected:
    static void SetUpTestSuite()
    {

    }
    virtual void SetUp() override
    {
        iRt_Init();
        iCap_BindDeviceInterrupt(0,IC_CountMaxISR);
        iCap_EnableDeviceInterrupt(0);
        iCap_BindChannelInterrupt(0,CAP_CH(2),IC_CadenceISR);
        iCap_EnableChannelInterrupt(0,CAP_CH(2));

        cadence_voCadenceInit();
    }
    virtual void TearDown() override
    {

    }
};

/* 踏频不同频率计算测试 */
class CadenceTest1 : public CadenceTest, public testing::WithParamInterface<::std::tuple<int,int>>
{};

TEST_P(CadenceTest1, FreCal)
{
    /* Coef Cal */
    cadence_voCadenceCof();
    cadence_stFreGetCof.uwNumbersPulses = CADENCE_NUMBERS_PULSES;

    int timerPrd = TIM1CLK_KHZ * 1000 / (1000 / 25);  // cnt = 18000, same as STM32
    int timerCnt = 0;
    int cadenceSignal = 0, cadCnt = 0, cadenceSignalLast = 0;
    int cadencePrd = get<0>(GetParam());
    int capValue = 0; 
    int capOverflowCnt = 0, capOverflowCnt2 = 0;

    testGpioBValue[GPIOB] = get<1>(GetParam());

    /* Cadence Cal */
    for(int i = 0; i < 100000000; i++)
    {  
        /* Input Cadence Signal */
        cadCnt++;
        if(cadCnt <= (cadencePrd/2))   // 50% duty
        {
            cadenceSignal = 0;
        }
        else 
        {
            cadenceSignal = 1;
            if(cadCnt >= cadencePrd)
            {
                cadCnt = 0;
            }
        }
        
        /* Timer */
        timerCnt ++ ;
        if(timerCnt >= timerPrd - 1)
        {
            timerCnt = 0;
            testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP] = 1;
        }

        /* Capture: rising and falling edge trigger*/
        if(cadenceSignal - cadenceSignalLast != 0)    
        {
            testCh2CapValue[TIMER1] = timerCnt;
            testTimerIntFlg[TIMER1][TIMER_INT_FLAG_CH2] = 1;
        }
        cadenceSignalLast = cadenceSignal;

        /* Interrupt: update and capture */       
        if(testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP])  
        {
            capOverflowCnt ++;
            cadence_voCadenceCal(1);
            testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP] = 0;
        }
        else if(testTimerIntFlg[TIMER1][TIMER_INT_FLAG_CH2])
        {
            capOverflowCnt2 = capOverflowCnt;
            capOverflowCnt = 0;
            cadence_voCadenceCal(2);
            testTimerIntFlg[TIMER1][TIMER_INT_FLAG_CH2] = 0;
        }      
        //UdpScope::Send(0, cadence_stFreGetOut.uwFrequencyPu);       
    }

    double cadFreqPu = (double)TIM1CLK_KHZ * 1000 * 2 * 1048576 / cadencePrd / FBASE / cadence_stFreGetCof.uwNumbersPulses;  // Q20

    if(cadFreqPu > cadence_stFreGetCof.uwMaxCadenceFre || capOverflowCnt2 > cadence_stFreGetCof.uwHfMaxTimeCnt || cadence_stFreGetOut.cadence_dir == 1)
    {
        EXPECT_EQ(cadence_stFreGetOut.uwFrequencyPu, 0);
    }
    else 
    {
        EXPECT_NEAR(cadence_stFreGetOut.uwFrequencyPu, cadFreqPu, 2);
    }
}

INSTANTIATE_TEST_SUITE_P(DiffCadencePeriod, CadenceTest1,
                         ::testing::Combine(::testing::Values(0, 500, 3000, 18002, 100000,1000000), ::testing::Values(0,0x0004)));


/* 踏频更新中断与捕获中断同时到达测试 */
class CadenceTest2 : public CadenceTest, public testing::WithParamInterface<int>
{};

TEST_P(CadenceTest2, IntSimultFreCal)
{
    /* Coef Cal */
    cadence_voCadenceCof();
    cadence_stFreGetCof.uwNumbersPulses = CADENCE_NUMBERS_PULSES;
    switch_flg.SysCoef_Flag = TRUE;
    bikespeed_voBikeSpeedCof(); ///< timer更新中断函数中有bikespeed函数，防止运行时除0

    /* Test conditions */
    cadence_stFreGetOut.cadence_fsm = CADENCE_HFreWork;
    cadence_stFreGetOut.uwCaputureNumCnt = 1;
    cadence_stFreGetOut.uwCaputure1Cnt = 100;
    cadence_stFreGetOut.uwCaputureOverflowCnt = 1;  ///< OverflowCnt cant be 0
    testGpioBValue[GPIOB] = 0;

    double overflowCnt = cadence_stFreGetOut.uwCaputureOverflowCnt;
    double cap1Cnt = cadence_stFreGetOut.uwCaputure1Cnt;

    testCh2CapValue[TIMER1] = GetParam();

    /* Interrupt flag */ 
    testTimerIntFlag2[TIMER1] = 0x0009;

    /* Interrupt: update and capture */ 
    if(testTimerIntFlag2[TIMER1] != 0)  
    {
        iRtCap_Isr(0);
    }

    if(testCh2CapValue[TIMER1] < (iCap_GetPeriod(0) >> 1))
    {
        overflowCnt++;
    }

    double capValErrLast = 0, capValErr = 0, cadFreqPu = 0;
    capValErrLast = capValErr;
    capValErr =  overflowCnt * 18000 + cadence_stFreGetOut.uwCaputure2Cnt - cap1Cnt;
    cadFreqPu = (double)TIM1CLK_KHZ * 1000 * 1048576 / ((capValErr + capValErrLast) / 2)/ FBASE / cadence_stFreGetCof.uwNumbersPulses;  // Q20

    if(cadFreqPu > cadence_stFreGetCof.uwMaxCadenceFre || cadence_stFreGetOut.uwCaputureOverflowCnt > cadence_stFreGetCof.uwHfMaxTimeCnt || cadence_stFreGetOut.cadence_dir == 1)
    {
        EXPECT_NEAR(cadence_stFreGetOut.uwFrequencyPu, 0, 0.1);
    }
    else 
    {
        EXPECT_NEAR(cadence_stFreGetOut.uwFrequencyPu, cadFreqPu, 2);
        if(testCh2CapValue[TIMER1] < (iCap_GetPeriod(0) >> 1))
        {
            EXPECT_EQ(cadence_stFreGetOut.uwCaputureOverflowCnt, 0);
        }
        else 
        {
            EXPECT_EQ(cadence_stFreGetOut.uwCaputureOverflowCnt, 1);
        }
    }
}

INSTANTIATE_TEST_SUITE_P(DiffCadencePeriod, CadenceTest2,
                         ::testing::Values(200, 17900));

/* 踏频模块状态机切换测试 */
class CadenceTest3 : public CadenceTest, public testing::WithParamInterface<int>
{};

TEST_P(CadenceTest3, FsmSwitch)
{
    /* Coef Cal */
    cadence_voCadenceCof();
    cadence_stFreGetCof.uwNumbersPulses = CADENCE_NUMBERS_PULSES;

    int timerPrd = TIM1CLK_KHZ * 1000 / (1000 / 25);  ///< period=25ms, cnt=18000, same as actual timer
    int timerCnt = 0;
    int cadenceSignal = 0, cadCnt = 0, cadenceSignalLast = 0;
    int cadencePrd = 5000;
    int capValue = 0; 
    int capOverflowCnt = 0, capOverflowCnt2 = 0;

    testGpioBValue[GPIOB] = GetParam();

    for(int i = 0; i < cadencePrd; i++) 
    {  
        /* Input Cadence Signal: only one rising edge */
        cadCnt++;
        if(cadCnt <= (cadencePrd/2))   ///< 50% duty cycle squre wave, same as actual sensor
        {
            cadenceSignal = 0;
        }
        else 
        {
            cadenceSignal = 1;
            if(cadCnt >= cadencePrd)
            {
                cadCnt = 0;
            }
        }
        
        /* Timer */
        timerCnt ++ ;
        if(timerCnt >= timerPrd - 1)
        {
            timerCnt = 0;
            testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP] = 1;
        }

        /* Capture: rising and falling edge trigger*/
        if(cadenceSignal - cadenceSignalLast != 0)    
        {
            testCh2CapValue[TIMER1] = timerCnt;
            testTimerIntFlg[TIMER1][TIMER_INT_FLAG_CH2] = 1;
        }
        cadenceSignalLast = cadenceSignal;

        /* Interrupt: update and capture */       
        if(testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP])  
        {
            capOverflowCnt ++;
            cadence_voCadenceCal(1);
            testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP] = 0;
        }
        else if(testTimerIntFlg[TIMER1][TIMER_INT_FLAG_CH2])
        {
            capOverflowCnt2 = capOverflowCnt;
            capOverflowCnt = 0;
            cadence_voCadenceCal(2);
            testTimerIntFlg[TIMER1][TIMER_INT_FLAG_CH2] = 0;
        }     
        else
        {
            // do nothing
        } 
    }

    if (iGpio_Read(HW_GPIO_CADDIR_PIN) != 0)
    {
        /* 一个正向脉冲到来，后踏频反向则切换至反向状态 */
        EXPECT_EQ(cadence_stFreGetOut.cadence_fsm, CADENCE_BACKWOR);
        EXPECT_EQ(cadence_stFreGetOut.uwFrequencyPu, 0);
    }  
    else 
    {
        /* 一个正向脉冲到来，且踏频未反向切换至正常工作状态 */
        EXPECT_EQ(cadence_stFreGetOut.cadence_fsm, CADENCE_HFreWork);
        EXPECT_EQ(cadence_stFreGetOut.uwFrequencyPu, 0);
    }  

    for(int i = cadencePrd; i < 500000; i++) 
    {          
        if(i > 200000)
        {
            /* 踏频方向改为正 */
            testGpioBValue[GPIOB] = 0;
        }

        /* Timer */
        timerCnt ++ ;
        if(timerCnt >= timerPrd - 1)
        {
            timerCnt = 0;
            testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP] = 1;
        }

        /* Interrupt: update */       
        if(testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP])  
        {
            capOverflowCnt ++;
            cadence_voCadenceCal(1);
            testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP] = 0;
        }
    }
    
    if (iGpio_Read(HW_GPIO_CADDIR_PIN) != 0)
    {
        /* 一直反踏则维持反向状态 */
        EXPECT_EQ(cadence_stFreGetOut.cadence_fsm, CADENCE_BACKWOR);
        EXPECT_EQ(cadence_stFreGetOut.uwFrequencyPu, 0);
    }  
    else 
    {
        /* 后续一段时间没有正向脉冲，且未反踏则进入空闲状态 */
        EXPECT_EQ(cadence_stFreGetOut.cadence_fsm, CADENCE_IDLE);
        EXPECT_EQ(cadence_stFreGetOut.uwFrequencyPu, 0);
    }  

    cadencePrd = 500;

    for(int i = 0; i < (cadencePrd * 5); i++) 
    {  
        /* Input Cadence Signal: only one rising edge */
        cadCnt++;
        if(cadCnt <= (cadencePrd/2))   ///< 50% duty cycle squre wave, same as actual sensor
        {
            cadenceSignal = 0;
        }
        else 
        {
            cadenceSignal = 1;
            if(cadCnt >= cadencePrd)
            {
                cadCnt = 0;
            }
        }
        
        /* Timer */
        timerCnt ++ ;
        if(timerCnt >= timerPrd - 1)
        {
            timerCnt = 0;
            testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP] = 1;
        }

        /* Capture: rising and falling edge trigger*/
        if(cadenceSignal - cadenceSignalLast != 0)    
        {
            testCh2CapValue[TIMER1] = timerCnt;
            testTimerIntFlg[TIMER1][TIMER_INT_FLAG_CH2] = 1;
        }
        cadenceSignalLast = cadenceSignal;

        /* Interrupt: update and capture */       
        if(testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP])  
        {
            capOverflowCnt ++;
            cadence_voCadenceCal(1);
            testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP] = 0;
        }
        else if(testTimerIntFlg[TIMER1][TIMER_INT_FLAG_CH2])
        {
            capOverflowCnt2 = capOverflowCnt;
            capOverflowCnt = 0;
            cadence_voCadenceCal(2);
            testTimerIntFlg[TIMER1][TIMER_INT_FLAG_CH2] = 0;
        }     
        else
        {
            // do nothing
        } 
    }

    if (iGpio_Read(HW_GPIO_CADDIR_PIN) != 0)
    {
        /* 一个正向脉冲到来，后踏频反向则切换至反向状态 */
        EXPECT_EQ(cadence_stFreGetOut.cadence_fsm, CADENCE_BACKWOR);
        EXPECT_EQ(cadence_stFreGetOut.uwFrequencyPu, 0);
    }  
    else 
    {
        /* 踏频过高，则进入error状态 */
        EXPECT_EQ(cadence_stFreGetOut.cadence_fsm, CADENCE_ERROR);
        EXPECT_EQ(cadence_stFreGetOut.uwFrequencyPu, 0);
    }  

    for(int i = cadencePrd; i < 5000000; i++) 
    {          
        /* Timer */
        timerCnt ++ ;
        if(timerCnt >= timerPrd - 1)
        {
            timerCnt = 0;
            testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP] = 1;
        }

        /* Interrupt: update */       
        if(testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP])  
        {
            capOverflowCnt ++;
            cadence_voCadenceCal(1);
            testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP] = 0;
        }
    }

    /* error状态5s后，则重新进入idle状态 */
    EXPECT_EQ(cadence_stFreGetOut.cadence_fsm, CADENCE_IDLE);
    EXPECT_EQ(cadence_stFreGetOut.uwFrequencyPu, 0);
}
INSTANTIATE_TEST_SUITE_P(DiffCadenceDir, CadenceTest3,::testing::Values(0,0x0004));