mirror of
https://github.com/hybridgroup/gobot.git
synced 2025-05-01 13:48:57 +08:00
543a246916
Signed-off-by: Erik Agsjö <erik.agsjo@gmail.com> Fixed I2C interface bugs Signed-off-by: Erik Agsjö <erik.agsjo@gmail.com>
84 lines
2.0 KiB
Go
84 lines
2.0 KiB
Go
package i2c
|
|
|
|
import (
|
|
"bytes"
|
|
"encoding/binary"
|
|
"testing"
|
|
|
|
"gobot.io/x/gobot"
|
|
"gobot.io/x/gobot/gobottest"
|
|
)
|
|
|
|
var _ gobot.Driver = (*HMC6352Driver)(nil)
|
|
|
|
// --------- HELPERS
|
|
func initTestL3GD20HDriver() (driver *L3GD20HDriver) {
|
|
driver, _ = initTestL3GD20HDriverWithStubbedAdaptor()
|
|
return
|
|
}
|
|
|
|
func initTestL3GD20HDriverWithStubbedAdaptor() (*L3GD20HDriver, *i2cTestAdaptor) {
|
|
adaptor := newI2cTestAdaptor()
|
|
return NewL3GD20HDriver(adaptor), adaptor
|
|
}
|
|
|
|
// --------- TESTS
|
|
|
|
func TestNewL3GD20HDriver(t *testing.T) {
|
|
// Does it return a pointer to an instance of HMC6352Driver?
|
|
var d interface{} = NewL3GD20HDriver(newI2cTestAdaptor())
|
|
_, ok := d.(*L3GD20HDriver)
|
|
if !ok {
|
|
t.Errorf("NewL3GD20HDriver() should have returned a *L3GD20HDriver")
|
|
}
|
|
}
|
|
|
|
func TestL3GD20HDriver(t *testing.T) {
|
|
d := initTestL3GD20HDriver()
|
|
gobottest.Refute(t, d.Connection(), nil)
|
|
}
|
|
|
|
// Methods
|
|
func TestL3GD20HDriverStart(t *testing.T) {
|
|
d, _ := initTestL3GD20HDriverWithStubbedAdaptor()
|
|
|
|
gobottest.Assert(t, d.Start(), nil)
|
|
}
|
|
|
|
func TestL3GD20HDriverHalt(t *testing.T) {
|
|
d := initTestL3GD20HDriver()
|
|
|
|
gobottest.Assert(t, d.Halt(), nil)
|
|
}
|
|
|
|
func TestL3GD20HDriverScale(t *testing.T) {
|
|
d := initTestL3GD20HDriver()
|
|
gobottest.Assert(t, d.Scale(), L3GD20HScale250dps)
|
|
|
|
d.SetScale(L3GD20HScale500dps)
|
|
gobottest.Assert(t, d.Scale(), L3GD20HScale500dps)
|
|
}
|
|
|
|
func TestL3GD20HDriverMeasurement(t *testing.T) {
|
|
d, adaptor := initTestL3GD20HDriverWithStubbedAdaptor()
|
|
rawX := 5
|
|
rawY := 8
|
|
rawZ := -3
|
|
adaptor.i2cReadImpl = func(b []byte) (int, error) {
|
|
buf := new(bytes.Buffer)
|
|
binary.Write(buf, binary.LittleEndian, int16(rawX))
|
|
binary.Write(buf, binary.LittleEndian, int16(rawY))
|
|
binary.Write(buf, binary.LittleEndian, int16(rawZ))
|
|
copy(b, buf.Bytes())
|
|
return buf.Len(), nil
|
|
}
|
|
|
|
d.Start()
|
|
x, y, z, err := d.XYZ()
|
|
gobottest.Assert(t, err, nil)
|
|
var sensitivity float32 = 0.00875
|
|
gobottest.Assert(t, x, float32(rawX)*sensitivity)
|
|
gobottest.Assert(t, y, float32(rawY)*sensitivity)
|
|
gobottest.Assert(t, z, float32(rawZ)*sensitivity)
|
|
}
|