angleToTime tests (speeduino#790)

* angleToTime tests * Change calculation to work around integer rounding
bendvc · Feb 13, 2022 · 323c938 · 323c938
1 parent c1db691
commit 323c938
Show file tree

Hide file tree

Showing 5 changed files with 131 additions and 9 deletions.
diff --git a/speeduino/crankMaths.h b/speeduino/crankMaths.h
@@ -19,13 +19,8 @@ unsigned long angleToTime(int16_t, byte);
 uint16_t timeToAngle(unsigned long, byte);
 void doCrankSpeedCalcs();
 
-volatile uint16_t timePerDegree;
-volatile uint16_t timePerDegreex16;
-volatile uint16_t degreesPeruSx2048;
-volatile unsigned long degreesPeruSx32768;
-
-//These are only part of the experimental 2nd deriv calcs
-byte deltaToothCount = 0; //The last tooth that was used with the deltaV calc
-int rpmDelta;
+extern volatile uint16_t timePerDegree;
+extern volatile uint16_t timePerDegreex16;
+extern volatile unsigned long degreesPeruSx32768;
 
 #endif
diff --git a/speeduino/crankMaths.ino b/speeduino/crankMaths.ino
@@ -3,6 +3,15 @@
 #include "decoders.h"
 #include "timers.h"
 
+volatile uint16_t timePerDegree;
+volatile uint16_t timePerDegreex16;
+volatile uint16_t degreesPeruSx2048;
+volatile unsigned long degreesPeruSx32768;
+
+//These are only part of the experimental 2nd deriv calcs
+byte deltaToothCount = 0; //The last tooth that was used with the deltaV calc
+int rpmDelta;
+
 /*
 * Converts a crank angle into a time from or since that angle occurred.
 * Positive angles are assumed to be in the future, negative angles in the past:
@@ -33,7 +42,7 @@ unsigned long angleToTime(int16_t angle, byte method)
           unsigned long toothTime = (toothLastToothTime - toothLastMinusOneToothTime);
           interrupts();
 
-          returnTime = ( (toothTime / triggerToothAngle) * angle );
+          returnTime = ( (toothTime * angle) / triggerToothAngle );
         }
         else { returnTime = angleToTime(angle, CRANKMATH_METHOD_INTERVAL_REV); } //Safety check. This can occur if the last tooth seen was outside the normal pattern etc
     }

diff --git a/test/test_misc2/test_misc2.cpp b/test/test_misc2/test_misc2.cpp
@@ -0,0 +1,30 @@
+#include <Arduino.h>
+#include <unity.h>
+
+#include "tests_crankmaths.h"
+
+#define UNITY_EXCLUDE_DETAILS
+
+void setup()
+{
+    pinMode(LED_BUILTIN, OUTPUT);
+
+    // NOTE!!! Wait for >2 secs
+    // if board doesn't support software reset via Serial.DTR/RTS
+    delay(2000);
+
+    UNITY_BEGIN();    // IMPORTANT LINE!
+
+    testCrankMaths();
+
+    UNITY_END(); // stop unit testing
+}
+
+void loop()
+{
+    // Blink to indicate end of test
+    digitalWrite(LED_BUILTIN, HIGH);
+    delay(250);
+    digitalWrite(LED_BUILTIN, LOW);
+    delay(250);
+}
diff --git a/test/test_misc2/tests_crankmaths.cpp b/test/test_misc2/tests_crankmaths.cpp
@@ -0,0 +1,87 @@
+#include "globals.h"
+#include "crankMaths.h"
+#include "unity.h"
+#include "decoders.h"
+
+struct crankmaths_rev_testdata {
+  uint16_t rpm;
+  unsigned long revolutionTime;
+  uint16_t angle;
+  unsigned long expected;
+} *crankmaths_rev_testdata_current;
+
+struct crankmaths_tooth_testdata {
+  uint16_t rpm;
+  uint16_t triggerToothAngle;
+  unsigned long toothTime;
+  uint16_t angle;
+  unsigned long expected;
+} *crankmaths_tooth_testdata_current;
+
+void test_crankmaths_angletotime_revolution_execute() {
+  crankmaths_rev_testdata *testdata = crankmaths_rev_testdata_current;
+  revolutionTime = testdata->revolutionTime;
+  TEST_ASSERT_EQUAL(testdata->expected, angleToTime(testdata->angle, CRANKMATH_METHOD_INTERVAL_REV));
+}
+
+void test_crankmaths_angletotime_tooth_execute() {
+  crankmaths_tooth_testdata *testdata = crankmaths_tooth_testdata_current;
+  triggerToothAngle = testdata->triggerToothAngle;
+  toothLastToothTime = toothLastMinusOneToothTime + testdata->toothTime;
+  TEST_ASSERT_EQUAL(testdata->expected, angleToTime(testdata->angle, CRANKMATH_METHOD_INTERVAL_TOOTH));
+}
+
+void testCrankMaths()
+{
+  const byte testNameLength = 200;
+  char testName[testNameLength];
+
+  const crankmaths_rev_testdata crankmaths_rev_testdatas[] = {
+    { .rpm = 50,    .revolutionTime = 1200000, .angle = 0,   .expected = 0 },
+    { .rpm = 50,    .revolutionTime = 1200000, .angle = 25,  .expected = 83333 }, // 83333,3333
+    { .rpm = 50,    .revolutionTime = 1200000, .angle = 720, .expected = 2400000 },
+    { .rpm = 2500,  .revolutionTime = 24000,   .angle = 0,   .expected = 0 },
+    { .rpm = 2500,  .revolutionTime = 24000,   .angle = 25,  .expected = 1666 }, // 1666,6666
+    { .rpm = 2500,  .revolutionTime = 24000,   .angle = 720, .expected = 48000 },
+    { .rpm = 20000, .revolutionTime = 3000,    .angle = 0,   .expected = 0 },
+    { .rpm = 20000, .revolutionTime = 3000,    .angle = 25,  .expected = 208 }, // 208,3333
+    { .rpm = 20000, .revolutionTime = 3000,    .angle = 720, .expected = 6000 }
+  };
+
+  for (auto testdata : crankmaths_rev_testdatas) {
+    crankmaths_rev_testdata_current = &testdata;
+    snprintf(testName, testNameLength, "crankmaths/angletotime/revolution/%urpm/%uangle", testdata.rpm, testdata.angle);
+    UnityDefaultTestRun(test_crankmaths_angletotime_revolution_execute, testName, __LINE__);
+  }
+
+  const crankmaths_tooth_testdata crankmaths_tooth_testdatas[] = {
+    { .rpm = 50,    .triggerToothAngle = 3,   .toothTime = 10000,  .angle = 0,   .expected = 0 },
+    { .rpm = 50,    .triggerToothAngle = 3,   .toothTime = 10000,  .angle = 25,  .expected = 83333 }, // 83333,3333
+    { .rpm = 50,    .triggerToothAngle = 3,   .toothTime = 10000,  .angle = 720, .expected = 2400000 },
+    { .rpm = 2500,  .triggerToothAngle = 3,   .toothTime = 200,    .angle = 0,   .expected = 0 },
+    { .rpm = 2500,  .triggerToothAngle = 3,   .toothTime = 200,    .angle = 25,  .expected = 1666 }, // 1666,6666
+    { .rpm = 2500,  .triggerToothAngle = 3,   .toothTime = 200,    .angle = 720, .expected = 48000 },
+    { .rpm = 20000, .triggerToothAngle = 3,   .toothTime = 25,     .angle = 0,   .expected = 0 },
+    { .rpm = 20000, .triggerToothAngle = 3,   .toothTime = 25,     .angle = 25,  .expected = 208 }, // 208,3333
+    { .rpm = 20000, .triggerToothAngle = 3,   .toothTime = 25,     .angle = 720, .expected = 6000 },
+    { .rpm = 50,    .triggerToothAngle = 180, .toothTime = 600000, .angle = 0,   .expected = 0 },
+    { .rpm = 50,    .triggerToothAngle = 180, .toothTime = 600000, .angle = 25,  .expected = 83333 }, // 83333,3333
+    { .rpm = 50,    .triggerToothAngle = 180, .toothTime = 600000, .angle = 720, .expected = 2400000 },
+    { .rpm = 2500,  .triggerToothAngle = 180, .toothTime = 12000,  .angle = 0,   .expected = 0 },
+    { .rpm = 2500,  .triggerToothAngle = 180, .toothTime = 12000,  .angle = 25,  .expected = 1666 }, // 1666,6666
+    { .rpm = 2500,  .triggerToothAngle = 180, .toothTime = 12000,  .angle = 720, .expected = 48000 },
+    { .rpm = 20000, .triggerToothAngle = 180, .toothTime = 1500,   .angle = 0,   .expected = 0 },
+    { .rpm = 20000, .triggerToothAngle = 180, .toothTime = 1500,   .angle = 25,  .expected = 208 }, // 208,3333
+    { .rpm = 20000, .triggerToothAngle = 180, .toothTime = 1500,   .angle = 720, .expected = 6000 },
+  };
+  // The same for all tests
+  triggerToothAngleIsCorrect = true;
+  toothLastMinusOneToothTime = 200000;
+
+  for (auto testdata : crankmaths_tooth_testdatas) {
+    crankmaths_tooth_testdata_current = &testdata;
+    snprintf(testName, testNameLength, "crankmaths/angletotime/tooth/%urpm/%uangle/%utoothangle", testdata.rpm, testdata.angle, testdata.triggerToothAngle);
+    UnityDefaultTestRun(test_crankmaths_angletotime_tooth_execute, testName, __LINE__);
+  }
+
+}
diff --git a/test/test_misc2/tests_crankmaths.h b/test/test_misc2/tests_crankmaths.h
@@ -0,0 +1 @@
+void testCrankMaths();