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Add gravity compensated acceleration and quaternion tests #304
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bjornhbengtsson
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Submodule mod
updated
4 files
| +57 −1 | math_sdr/math_sdr.c | |
| +29 −1 | math_sdr/math_sdr.h | |
| +53 −9 | sensor/sensor.c | |
| +9 −0 | sensor/sensor.h |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,104 @@ | ||
| ################################################################ | ||
| # | ||
| # math_sdr unit tests (based on gcc) | ||
| # | ||
| ################################################################ | ||
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| ################################################################ | ||
| # target | ||
| ################################################################ | ||
| TARGET = math_sdr | ||
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| ################################################################ | ||
| # build variables | ||
| ################################################################ | ||
| DEBUG ?= 0 | ||
| OPT = -Og | ||
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| ################################################################ | ||
| # paths | ||
| ################################################################ | ||
| BUILD_DIR = build | ||
| ROOT_DIR = ../../../.. | ||
| MOD_DIR = $(ROOT_DIR)/mod | ||
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| ################################################################ | ||
| # source | ||
| ################################################################ | ||
| TEST_SOURCES = \ | ||
| test_math_sdr.c | ||
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| COV_C_SOURCES = \ | ||
| $(MOD_DIR)/math_sdr/math_sdr.c | ||
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| FRAMEWORK_SOURCES = \ | ||
| $(ROOT_DIR)/test/framework/src/test_assert.c \ | ||
| $(ROOT_DIR)/test/framework/src/test_runner.c | ||
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| C_SOURCES = $(TEST_SOURCES) $(COV_C_SOURCES) $(FRAMEWORK_SOURCES) | ||
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| ################################################################ | ||
| # compiler | ||
| ################################################################ | ||
| CC = gcc | ||
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| ################################################################ | ||
| # C flags | ||
| ################################################################ | ||
| C_INCLUDES = \ | ||
| -I. \ | ||
| -I$(MOD_DIR)/math_sdr \ | ||
| -I$(ROOT_DIR)/test/framework/src | ||
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| C_DEFS = \ | ||
| -DUNIT_TEST | ||
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| CFLAGS = $(C_INCLUDES) $(C_DEFS) $(OPT) -Wall -g | ||
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| CFLAGS += -Wno-unused-function | ||
| CFLAGS += -Wno-unused-variable | ||
| CFLAGS += -ftest-coverage | ||
| CFLAGS += -fprofile-arcs | ||
| ifeq ($(DEBUG), 1) | ||
| CFLAGS += -DDEBUG | ||
| else | ||
| CFLAGS += -DRELBLD | ||
| endif | ||
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| ################################################################ | ||
| # build | ||
| ################################################################ | ||
| all: clean $(BUILD_DIR)/$(TARGET) | ||
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| OBJECTS = $(addprefix $(BUILD_DIR)/,$(notdir $(C_SOURCES:.c=.o))) | ||
| vpath %.c $(sort $(dir $(C_SOURCES))) | ||
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| $(BUILD_DIR)/%.o: %.c $(BUILD_DIR) | ||
| $(CC) -c $(CFLAGS) $< -o $@ | ||
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| $(BUILD_DIR)/$(TARGET): $(OBJECTS) | ||
| $(CC) $(OBJECTS) -o $@ -lgcov -lm | ||
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| $(BUILD_DIR): | ||
| mkdir $@ | ||
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| ################################################################ | ||
| # test | ||
| ################################################################ | ||
| test: | ||
| @echo THIS TEST MUST BE EXECUTED IN A BASH TERMINAL. CMD/PS do not work. | ||
| -rm -fR $(BUILD_DIR) | ||
| $(MAKE) all | ||
| $(BUILD_DIR)/$(TARGET) | ||
| tail -n 7 "results.txt" | ||
| mkdir -p coverage | ||
| gcovr $(BUILD_DIR) \ | ||
| --filter $(COV_C_SOURCES) \ | ||
| --html-details coverage/coverage.html \ | ||
| --json coverage/coverage.json | ||
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| ################################################################ | ||
| # clean | ||
| ################################################################ | ||
| clean: | ||
| -rm -fR $(BUILD_DIR) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,8 @@ | ||
| #ifndef TEST_MATH_SDR_MAIN_H | ||
| #define TEST_MATH_SDR_MAIN_H | ||
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| #include <math.h> | ||
| #include <stddef.h> | ||
| #include <stdint.h> | ||
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| #endif /* TEST_MATH_SDR_MAIN_H */ |
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cr: If this file lives in mod, its test should too. I can help get the submodule set up if you'd like.
That means this PR may not be needed. We can close it out unmerged once we get that ready.
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Moved the math_sdr unit tests into the mod repository and added the SDR test framework as a submodule. The migrated tests pass locally with 26 passes and 0 failures. We can close this PR unmerged as suggested once the mod PR is ready.