Unit test fixes

iNavFlight · Sep 6, 2024 · 2511cc3 · 2511cc3
1 parent 2ac3603
commit 2511cc3
Show file tree

Hide file tree

Showing 6 changed files with 18 additions and 8 deletions.
diff --git a/src/main/drivers/headtracker_common.c b/src/main/drivers/headtracker_common.c
@@ -157,10 +157,6 @@ void taskUpdateHeadTracker(timeUs_t currentTimeUs)
 #else
 void taskUpdateHeadTracker(timeUs_t currentTimeUs)
 {
- if (cliMode) {
- return;
- }
-
  headTrackerDevice_t *headTrackerDevice = headTrackerCommonDevice();
 
  if(headTrackerDevice) {

diff --git a/src/main/drivers/headtracker_common.h b/src/main/drivers/headtracker_common.h
@@ -23,7 +23,6 @@
 #define HEADTRACKER_RANGE_MIN -2048
 #define HEADTRACKER_RANGE_MAX 2047
 
-#ifdef USE_HEADTRACKER
 
 #include <stdint.h>
 
@@ -81,6 +80,8 @@ typedef struct headTrackerConfig_s {
  float roll_ratio;
 } headTrackerConfig_t;
 
+#ifdef USE_HEADTRACKER
+
 PG_DECLARE(headTrackerConfig_t, headTrackerConfig);
 
 void headTrackerCommonInit(void);

diff --git a/src/main/drivers/time.h b/src/main/drivers/time.h
@@ -19,6 +19,9 @@
 
 #include <stdint.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
 #include "common/time.h"
 
 extern uint32_t usTicks;
@@ -32,3 +35,7 @@ timeUs_t microsISR(void);
 timeMs_t millis(void);
 
 uint32_t ticks(void);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/src/main/io/gimbal_serial.c b/src/main/io/gimbal_serial.c
@@ -63,11 +63,11 @@ static gimbalSerialHtrkState_t headTrackerState = {
  .attitude = {},
  .state = WAITING_HDR1,
 };
+static serialPort_t *headTrackerPort = NULL;
 #endif
 
 #endif
 
-static serialPort_t *headTrackerPort = NULL;
 static serialPort_t *gimbalPort = NULL;
 
 gimbalVTable_t gimbalSerialVTable = {

diff --git a/src/test/unit/CMakeLists.txt b/src/test/unit/CMakeLists.txt
@@ -40,8 +40,8 @@ set_property(SOURCE osd_unittest.cc PROPERTY definitions OSD_UNIT_TEST USE_MSP_D
 set_property(SOURCE gps_ublox_unittest.cc PROPERTY depends "io/gps_ublox_utils.c")
 set_property(SOURCE gps_ublox_unittest.cc PROPERTY definitions GPS_UBLOX_UNIT_TEST)
 
-set_property(SOURCE gimbal_serial_unittest.cc PROPERTY depends "io/gimbal_serial.c" "drivers/gimbal_common.c" "common/maths.c")
-set_property(SOURCE gimbal_serial_unittest.cc PROPERTY definitions USE_SERIAL_GIMBAL GIMBAL_UNIT_TEST)
+set_property(SOURCE gimbal_serial_unittest.cc PROPERTY depends "io/gimbal_serial.c" "drivers/gimbal_common.c" "common/maths.c" "drivers/headtracker_common.c")
+set_property(SOURCE gimbal_serial_unittest.cc PROPERTY definitions USE_SERIAL_GIMBAL GIMBAL_UNIT_TEST USE_HEADTRACKER)
 
 function(unit_test src)
  get_filename_component(basename ${src} NAME)

diff --git a/src/test/unit/gimbal_serial_unittest.cc b/src/test/unit/gimbal_serial_unittest.cc
@@ -34,6 +34,12 @@ void dumpMemory(uint8_t *mem, int size)
  printf("\n");
 }
 
+extern "C" {
+timeUs_t micros(void) {
+ return 10;
+}
+}
+
 TEST(GimbalSerialTest, TestGimbalSerialScale)
 {
  int16_t res16 = gimbal_scale12(1000, 2000, 2000);