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()
    {
        cadence_voCadenceInit();
        iRt_Init();
    }
    virtual void SetUp() override
    {

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

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; 

    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])  
        {
            cadence_voCadenceCal(1);
            testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP] = 0;
        }
        else if(testTimerIntFlg[TIMER1][TIMER_INT_FLAG_CH2])
        {
            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 || 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);
    }
}

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

TEST_F(CadenceTest, FreCal2)
{
    /* Coef Cal */
    cadence_voCadenceCof();
    cadence_stFreGetCof.uwNumbersPulses = CADENCE_NUMBERS_PULSES;

    /* Test conditions */
    cadence_stFreGetOut.cadence_fsm = CADENCE_HFreWork;
    cadence_stFreGetOut.uwCaputureNumCnt = 1;
    cadence_stFreGetOut.uwCaputure1Cnt = 0;
    cadence_stFreGetOut.uwCaputureOverflowCnt = 0;
    testGpioBValue[GPIOB] = 0;

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

    testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP] = 1;
    testCh2CapValue[TIMER1] = 17900;
    testTimerIntFlg[TIMER1][TIMER_INT_FLAG_CH2] = 1;

    /* Interrupt: update and capture */       
    if(testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP])  
    {
        cadence_voCadenceCal(1);
        testTimerIntFlg[TIMER1][TIMER_INT_FLAG_UP] = 0;
    }
    else if(testTimerIntFlg[TIMER1][TIMER_INT_FLAG_CH2])
    {
        cadence_voCadenceCal(2);
        testTimerIntFlg[TIMER1][TIMER_INT_FLAG_CH2] = 0;
    }        

    double cadFreqPu =  overflowCnt * 18000 + cadence_stFreGetOut.uwCaputure2Cnt - cap1Cnt;
    cadFreqPu = (double)TIM1CLK_KHZ * 1000 * 2 * 1048576 / cadFreqPu / 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);
    }
}