test_pwm.c

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/**
 * @file    test_pwm.c
 * @author  foxBMS Team
 * @date    2021-10-08 (date of creation)
 * @updated 2023-10-12 (date of last update)
 * @version v1.6.0
 * @ingroup UNIT_TEST_IMPLEMENTATION
 * @prefix  TEST
 *
 * @brief   Tests for the PWM driver
 *
 */
 
/*========== Includes =======================================================*/
#include "unity.h"
#include "MockHL_etpwm.h"
 
/* HL_ecap.h can not be mocked, due to 'ecapNotification' is implemented in
   'pwm.c' and this would then lead to multiple defintions.
   The solution is to only include the real HAL header, and then implement
   stubs for the required functions (ecapInit, ecapGetCAP1, ecapGetCAP2,
   ecapGetCAP3). */
#include "HL_ecap.h"
 
#include "pwm.h"
#include "test_assert_helper.h"
 
/*========== Unit Testing Framework Directives ==============================*/
TEST_INCLUDE_PATH("../../src/app/driver/foxmath")
TEST_INCLUDE_PATH("../../src/app/driver/pwm")
 
/*========== Definitions and Implementations for Unit Test ==================*/
static uint8_t fsysRaisePrivilegeReturnValue = 0u;
long FSYS_RaisePrivilege(void) {
    return fsysRaisePrivilegeReturnValue;
}
 
void ecapInit(void) {
    /* dummy implementation required for linking */
}
 
uint32_t ecapGetCAP1(ecapBASE_t *ecap) {
    return ecap->CAP1;
}
uint32_t ecapGetCAP2(ecapBASE_t *ecap) {
    return ecap->CAP2;
}
uint32_t ecapGetCAP3(ecapBASE_t *ecap) {
    return ecap->CAP3;
}
/** wraps the duty cycle function for test
 *
 * The output duty cycle is tested against the value computed by the function.
 *
 * @param[in]   timeBasePeriod  This value will be injected as a time base period
 * @param[in]   dutyCycleIn     This value will be passed as requested duty cycle in permill
 * @param[in]   dutyCycleOut    The expected output duty cycle (in counts)
 */
void PWM_SetDutyCycle_Test(uint16_t timeBasePeriod, uint16_t dutyCycleIn, uint16_t dutyCycleOut) {
    etpwm_config_reg_t etPwmConfig = {0};
    etPwmConfig.CONFIG_TBPRD       = timeBasePeriod;
 
    etpwm1GetConfigValue_Expect(NULL_PTR, CurrentValue);
    etpwm1GetConfigValue_IgnoreArg_config_reg();
    etpwm1GetConfigValue_ReturnThruPtr_config_reg(&etPwmConfig);
 
    etpwmSetCmpA_Expect(NULL_PTR, dutyCycleOut);
    etpwmSetCmpA_IgnoreArg_etpwm();
    PWM_SetDutyCycle(dutyCycleIn);
}
 
/** calculates the PWM counter value
 *
 * @param[in]   timeBasePeriod  This time base period will be assumed for the calculation
 * @param[in]   dutyCycle       The requested duty cycle in permill
 */
uint16_t calculateCounterValue(uint16_t timeBasePeriod, uint16_t dutyCycle) {
    /* retrieves the tuning value from the module */
    int16_t linearOffset = TEST_PWM_GetLinearOffset();
 
    double correctedDutyCycle = ((double)dutyCycle + linearOffset);
    if (correctedDutyCycle < 0) {
        correctedDutyCycle = 0;
    }
 
    /* bound to upper and lower threshold */
    if (correctedDutyCycle < 1) {
        correctedDutyCycle = 1;
    }
    if (correctedDutyCycle > 999) {
        correctedDutyCycle = 999;
    }
 
    uint16_t counterSteps = (((double)timeBasePeriod * correctedDutyCycle) / 1000);
 
    return counterSteps;
}
 
/*========== Setup and Teardown =============================================*/
void setUp(void) {
    fsysRaisePrivilegeReturnValue = 0;
}
 
void tearDown(void) {
}
 
/*========== Test Cases =====================================================*/
 
/** test that the start function calls etPWM API */
void testPWM_StartPwm(void) {
    /* an assertion should happen, when privileges cannot be raised */
    fsysRaisePrivilegeReturnValue = 1;
    TEST_ASSERT_FAIL_ASSERT(PWM_StartPwm();)
 
    /* otherwise the API should be called */
    fsysRaisePrivilegeReturnValue = 0;
    etpwmStartTBCLK_Expect();
    PWM_StartPwm();
}
 
/** test that the stop function calls etPWM API */
void testPWM_StopPwm(void) {
    /* an assertion should happen, when privileges cannot be raised */
    fsysRaisePrivilegeReturnValue = 1;
    TEST_ASSERT_FAIL_ASSERT(PWM_StopPwm();)
 
    /* otherwise the API should be called */
    fsysRaisePrivilegeReturnValue = 0;
    etpwmStopTBCLK_Expect();
    PWM_StopPwm();
}
 
/** tests the duty cycle function */
void testPWM_SetDutyCycle(void) {
    uint16_t timeBasePeriod = 999u;
    for (uint16_t duty = 1u; duty <= 999; duty = duty + 10) {
        PWM_SetDutyCycle_Test(timeBasePeriod, duty, calculateCounterValue(timeBasePeriod, duty));
    }
 
    timeBasePeriod = 4999;
    uint16_t duty  = 0u;
    PWM_SetDutyCycle_Test(timeBasePeriod, duty, calculateCounterValue(timeBasePeriod, duty));
    for (uint16_t duty = 1u; duty <= 999; duty = duty + 10) {
        PWM_SetDutyCycle_Test(timeBasePeriod, duty, calculateCounterValue(timeBasePeriod, duty));
    }
}