as5047u_handler_comprehensive_test.cpp File Reference

Comprehensive test suite for As5047uHandler. More...

#include "TestFramework.h"
#include "esp32_bus_setup.hpp"
#include "esp32_test_config.hpp"
#include "handlers/as5047u/As5047uHandler.h"
#include <memory>
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"

Include dependency graph for as5047u_handler_comprehensive_test.cpp:

Functions
static bool	create_handler () noexcept
static bool	test_handler_construction () noexcept
static bool	test_initialize () noexcept
static bool	test_is_initialized () noexcept
static bool	test_read_angle_raw () noexcept
static bool	test_read_angle_degrees () noexcept
static bool	test_read_angle_consistency () noexcept
static bool	test_read_velocity () noexcept
static bool	test_daec_enable_disable () noexcept
static bool	test_set_zero_position () noexcept
static bool	test_dump_diagnostics () noexcept
static bool	test_get_sensor () noexcept
static bool	test_operations_before_init () noexcept
static void	concurrent_reader_task (void *param)
static bool	test_concurrent_access () noexcept
void	app_main (void)

Variables
static const char *	TAG = "AS5047U_Handler_Test"
static TestResults	g_test_results
static constexpr bool	ENABLE_INITIALIZATION_TESTS = true
static constexpr bool	ENABLE_ANGLE_TESTS = true
static constexpr bool	ENABLE_VELOCITY_TESTS = true
static constexpr bool	ENABLE_DAEC_TESTS = true
static constexpr bool	ENABLE_ZERO_POSITION_TESTS = true
static constexpr bool	ENABLE_DIAGNOSTICS_TESTS = true
static constexpr bool	ENABLE_ERROR_HANDLING_TESTS = true
static constexpr bool	ENABLE_THREAD_SAFETY_TESTS = true
static BaseSpi *	g_spi_device = nullptr
static std::unique_ptr< As5047uHandler >	g_handler
static volatile bool	g_thread_test_pass = true

Detailed Description

Comprehensive test suite for As5047uHandler.

Tests the AS5047U magnetic rotary position sensor handler through its full public API, exercising the underlying CRTP SPI adapter and driver.

Test Categories:

1. Initialization & lifecycle
2. Angle reading (14-bit absolute, degrees)
3. Velocity measurement (rpm, dps)
4. DAEC configuration
5. Zero position setting
6. Interface configuration (ABI/UVW/PWM)
7. Diagnostics & error flags
8. Thread safety (mutex contention)
9. Error handling & edge cases

Hardware Required:

• AS5047U encoder on SPI bus (see esp32_test_config.hpp for pins)
• Diametrically magnetized magnet within sensor range

Author

HardFOC Team

Date

2025-2026

Copyright

GPL-3.0-or-later

Function Documentation

app_main()

void app_main

(

void

)

Here is the call graph for this function:

concurrent_reader_task()

static void concurrent_reader_task ( void * param )

static

Here is the call graph for this function:

Here is the caller graph for this function:

create_handler()

static bool create_handler ( )

staticnoexcept

Here is the call graph for this function:

Here is the caller graph for this function:

test_concurrent_access()

static bool test_concurrent_access ( )

staticnoexcept

Here is the call graph for this function:

Here is the caller graph for this function:

test_daec_enable_disable()

static bool test_daec_enable_disable ( )

staticnoexcept

Here is the caller graph for this function:

test_dump_diagnostics()

static bool test_dump_diagnostics ( )

staticnoexcept

Here is the caller graph for this function:

test_get_sensor()

static bool test_get_sensor ( )

staticnoexcept

Here is the caller graph for this function:

test_handler_construction()

static bool test_handler_construction ( )

staticnoexcept

Here is the call graph for this function:

Here is the caller graph for this function:

test_initialize()

static bool test_initialize ( )

staticnoexcept

Here is the caller graph for this function:

test_is_initialized()

static bool test_is_initialized ( )

staticnoexcept

Here is the caller graph for this function:

test_operations_before_init()

static bool test_operations_before_init ( )

staticnoexcept

Here is the call graph for this function:

Here is the caller graph for this function:

test_read_angle_consistency()

static bool test_read_angle_consistency ( )

staticnoexcept

Here is the caller graph for this function:

test_read_angle_degrees()

static bool test_read_angle_degrees ( )

staticnoexcept

Here is the caller graph for this function:

test_read_angle_raw()

static bool test_read_angle_raw ( )

staticnoexcept

Here is the caller graph for this function:

test_read_velocity()

static bool test_read_velocity ( )

staticnoexcept

Here is the caller graph for this function:

test_set_zero_position()

static bool test_set_zero_position ( )

staticnoexcept

Here is the caller graph for this function:

Variable Documentation

ENABLE_ANGLE_TESTS

constexpr bool ENABLE_ANGLE_TESTS = true

staticconstexpr

ENABLE_DAEC_TESTS

constexpr bool ENABLE_DAEC_TESTS = true

staticconstexpr

ENABLE_DIAGNOSTICS_TESTS

constexpr bool ENABLE_DIAGNOSTICS_TESTS = true

staticconstexpr

ENABLE_ERROR_HANDLING_TESTS

constexpr bool ENABLE_ERROR_HANDLING_TESTS = true

staticconstexpr

ENABLE_INITIALIZATION_TESTS

constexpr bool ENABLE_INITIALIZATION_TESTS = true

staticconstexpr

ENABLE_THREAD_SAFETY_TESTS

constexpr bool ENABLE_THREAD_SAFETY_TESTS = true

staticconstexpr

ENABLE_VELOCITY_TESTS

constexpr bool ENABLE_VELOCITY_TESTS = true

staticconstexpr

ENABLE_ZERO_POSITION_TESTS

constexpr bool ENABLE_ZERO_POSITION_TESTS = true

staticconstexpr

g_handler

std::unique_ptr<As5047uHandler> g_handler

static

g_spi_device

BaseSpi* g_spi_device = nullptr

static

g_test_results

TestResults g_test_results

static

g_thread_test_pass

volatile bool g_thread_test_pass = true

static

TAG

const char* TAG = "AS5047U_Handler_Test"

static