278 lines
8.9 KiB
C++
278 lines
8.9 KiB
C++
#include "qmi8658a_test.h"
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#include "qmi8658a.h"
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#include <cstring>
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#include <inttypes.h>
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// ESP-IDF 头文件
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#include "esp_log.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "driver/i2c_master.h"
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#define TAG "QMI8658A_TEST"
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// 模拟I2C错误的测试类
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class QMI8658A_TestHarness : public QMI8658A {
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public:
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QMI8658A_TestHarness(i2c_master_bus_handle_t i2c_bus, uint8_t addr)
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: QMI8658A(i2c_bus, addr),
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simulate_i2c_error_(false),
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simulate_chip_id_error_(false),
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simulate_timeout_error_(false),
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error_injection_count_(0),
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max_error_injections_(0) {}
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// 错误注入控制
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void SetI2CErrorSimulation(bool enable, uint32_t max_errors = 1) {
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simulate_i2c_error_ = enable;
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max_error_injections_ = max_errors;
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error_injection_count_ = 0;
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}
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void SetChipIdErrorSimulation(bool enable) {
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simulate_chip_id_error_ = enable;
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}
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void SetTimeoutErrorSimulation(bool enable) {
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simulate_timeout_error_ = enable;
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}
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// 重写I2C方法以模拟错误
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esp_err_t WriteRegWithError(uint8_t reg, uint8_t value) {
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if (simulate_i2c_error_ && error_injection_count_ < max_error_injections_) {
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error_injection_count_++;
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ESP_LOGW(TAG, "Simulating I2C write error for reg 0x%02X (injection %u/%u)",
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reg, (unsigned)error_injection_count_, (unsigned)max_error_injections_);
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return ESP_FAIL;
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}
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return QMI8658A::WriteRegWithError(reg, value);
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}
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uint8_t ReadReg(uint8_t reg) {
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if (simulate_chip_id_error_ && reg == QMI8658A_WHO_AM_I) {
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ESP_LOGW(TAG, "Simulating chip ID error");
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return 0xFF; // 错误的芯片ID
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}
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if (simulate_timeout_error_ && reg == QMI8658A_STATUS0) {
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ESP_LOGW(TAG, "Simulating timeout (data not ready)");
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return 0x00; // 数据未准备好
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}
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return QMI8658A::ReadReg(reg);
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}
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// 获取错误注入统计
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uint32_t GetErrorInjectionCount() const {
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return error_injection_count_;
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}
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private:
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bool simulate_i2c_error_;
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bool simulate_chip_id_error_;
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bool simulate_timeout_error_;
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uint32_t error_injection_count_;
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uint32_t max_error_injections_;
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};
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// 测试用例结构
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struct TestCase {
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const char* name;
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bool (*test_func)(QMI8658A_TestHarness& sensor);
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};
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// 测试正常初始化
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bool test_normal_initialization(QMI8658A_TestHarness& sensor) {
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ESP_LOGI(TAG, "Testing normal initialization...");
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qmi8658a_config_t config = {
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.acc_range = QMI8658A_ACC_RANGE_4G,
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.gyro_range = QMI8658A_GYRO_RANGE_512DPS,
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.acc_odr = QMI8658A_ODR_125HZ,
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.gyro_odr = QMI8658A_ODR_125HZ,
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.mode = QMI8658A_MODE_DUAL,
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.enable_interrupt = false,
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.interrupt_pin = 0,
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.auto_calibration = false
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};
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qmi8658a_error_t result = sensor.Initialize(&config);
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if (result == QMI8658A_OK) {
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ESP_LOGI(TAG, "✓ Normal initialization passed");
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return true;
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} else {
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ESP_LOGE(TAG, "✗ Normal initialization failed with error: %d", result);
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return false;
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}
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}
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// 测试I2C通信错误恢复
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bool test_i2c_error_recovery(QMI8658A_TestHarness& sensor) {
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ESP_LOGI(TAG, "Testing I2C error recovery...");
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// 模拟前2次I2C写入失败，第3次成功
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sensor.SetI2CErrorSimulation(true, 2);
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qmi8658a_config_t config = {
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.acc_range = QMI8658A_ACC_RANGE_4G,
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.gyro_range = QMI8658A_GYRO_RANGE_512DPS,
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.acc_odr = QMI8658A_ODR_125HZ,
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.gyro_odr = QMI8658A_ODR_125HZ,
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.mode = QMI8658A_MODE_DUAL,
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.enable_interrupt = false,
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.interrupt_pin = 0,
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.auto_calibration = false
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};
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qmi8658a_error_t result = sensor.Initialize(&config);
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// 关闭错误模拟
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sensor.SetI2CErrorSimulation(false);
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if (result == QMI8658A_OK && sensor.GetErrorInjectionCount() == 2) {
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ESP_LOGI(TAG, "✓ I2C error recovery passed (recovered after %u errors)",
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(unsigned)sensor.GetErrorInjectionCount());
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return true;
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} else {
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ESP_LOGE(TAG, "✗ I2C error recovery failed. Result: %d, Errors injected: %u",
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result, (unsigned)sensor.GetErrorInjectionCount());
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return false;
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}
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}
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// 测试芯片ID错误检测
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bool test_chip_id_error_detection(QMI8658A_TestHarness& sensor) {
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ESP_LOGI(TAG, "Testing chip ID error detection...");
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sensor.SetChipIdErrorSimulation(true);
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qmi8658a_config_t config = {
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.acc_range = QMI8658A_ACC_RANGE_4G,
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.gyro_range = QMI8658A_GYRO_RANGE_512DPS,
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.acc_odr = QMI8658A_ODR_125HZ,
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.gyro_odr = QMI8658A_ODR_125HZ,
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.mode = QMI8658A_MODE_DUAL,
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.enable_interrupt = false,
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.interrupt_pin = 0,
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.auto_calibration = false
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};
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qmi8658a_error_t result = sensor.Initialize(&config);
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sensor.SetChipIdErrorSimulation(false);
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if (result == QMI8658A_ERROR_CHIP_ID) {
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ESP_LOGI(TAG, "✓ Chip ID error detection passed");
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return true;
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} else {
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ESP_LOGE(TAG, "✗ Chip ID error detection failed. Expected: %d, Got: %d",
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QMI8658A_ERROR_CHIP_ID, result);
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return false;
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}
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}
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// 测试配置验证
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bool test_configuration_validation(QMI8658A_TestHarness& sensor) {
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ESP_LOGI(TAG, "Testing configuration validation...");
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// 测试无效配置
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qmi8658a_config_t invalid_config = {
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.acc_range = static_cast<qmi8658a_acc_range_t>(0xFF), // 无效范围
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.gyro_range = QMI8658A_GYRO_RANGE_512DPS,
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.acc_odr = QMI8658A_ODR_125HZ,
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.gyro_odr = QMI8658A_ODR_125HZ,
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.mode = QMI8658A_MODE_DUAL,
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.enable_interrupt = false,
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.interrupt_pin = 0,
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.auto_calibration = false
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};
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qmi8658a_error_t result = sensor.Initialize(&invalid_config);
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if (result == QMI8658A_ERROR_INVALID_PARAM) {
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ESP_LOGI(TAG, "✓ Configuration validation passed");
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return true;
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} else {
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ESP_LOGE(TAG, "✗ Configuration validation failed. Expected: %d, Got: %d",
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QMI8658A_ERROR_INVALID_PARAM, result);
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return false;
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}
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}
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// 测试数据读取错误处理
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bool test_data_read_error_handling(QMI8658A_TestHarness& sensor) {
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ESP_LOGI(TAG, "Testing data read error handling...");
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// 首先正常初始化
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qmi8658a_config_t config = {
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.acc_range = QMI8658A_ACC_RANGE_4G,
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.gyro_range = QMI8658A_GYRO_RANGE_512DPS,
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.acc_odr = QMI8658A_ODR_125HZ,
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.gyro_odr = QMI8658A_ODR_125HZ,
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.mode = QMI8658A_MODE_DUAL,
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.enable_interrupt = false,
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.interrupt_pin = 0,
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.auto_calibration = false
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};
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qmi8658a_error_t result = sensor.Initialize(&config);
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if (result != QMI8658A_OK) {
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ESP_LOGE(TAG, "✗ Failed to initialize sensor for data read test");
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return false;
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}
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// 模拟超时错误
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sensor.SetTimeoutErrorSimulation(true);
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qmi8658a_data_t data;
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result = sensor.ReadSensorData(&data);
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sensor.SetTimeoutErrorSimulation(false);
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if (result == QMI8658A_ERROR_TIMEOUT || result == QMI8658A_ERROR_DATA_NOT_READY) {
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ESP_LOGI(TAG, "✓ Data read error handling passed");
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return true;
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} else {
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ESP_LOGE(TAG, "✗ Data read error handling failed. Got: %d", result);
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return false;
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}
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}
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// 运行所有测试
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void run_qmi8658a_robustness_tests(i2c_master_bus_handle_t i2c_bus) {
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ESP_LOGI(TAG, "=== QMI8658A Robustness Tests ===");
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QMI8658A_TestHarness sensor(i2c_bus, QMI8658A_I2C_ADDRESS);
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TestCase test_cases[] = {
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{"Normal Initialization", test_normal_initialization},
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{"I2C Error Recovery", test_i2c_error_recovery},
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{"Chip ID Error Detection", test_chip_id_error_detection},
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{"Configuration Validation", test_configuration_validation},
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{"Data Read Error Handling", test_data_read_error_handling}
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};
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uint32_t total_tests = sizeof(test_cases) / sizeof(TestCase);
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uint32_t passed_tests = 0;
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for (uint32_t i = 0; i < total_tests; i++) {
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ESP_LOGI(TAG, "\n--- Test %u/%u: %s ---", (unsigned)(i + 1), (unsigned)total_tests, test_cases[i].name);
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if (test_cases[i].test_func(sensor)) {
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passed_tests++;
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}
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// 测试间隔
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vTaskDelay(pdMS_TO_TICKS(100));
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}
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ESP_LOGI(TAG, "\n=== Test Results ===");
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ESP_LOGI(TAG, "Passed: %u/%u tests", (unsigned)passed_tests, (unsigned)total_tests);
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ESP_LOGI(TAG, "Success Rate: %.1f%%", (float)passed_tests / total_tests * 100.0f);
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if (passed_tests == total_tests) {
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ESP_LOGI(TAG, "🎉 All tests passed! QMI8658A robustness validation successful.");
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} else {
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ESP_LOGW(TAG, "⚠️ Some tests failed. Please review the error handling implementation.");
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}
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} |