add simple tests for sht3x and refactor the driver

Makefile

@@ -56,8 +56,10 @@ code_style:
 	cpplint Src/modules/*/*pp Src/peripheral/*/*pp Src/platform/*/*pp
 
 tests:
-	mkdir -p ${BUILD_DIR}/tests
-	cd ${BUILD_DIR}/tests && cmake ../../Src/drivers/as5600/tests && make && ./test_as5600
+	mkdir -p ${BUILD_DIR}/tests/as5600
+	mkdir -p ${BUILD_DIR}/tests/sht3x
+	cd ${BUILD_DIR}/tests/as5600 && cmake ../../../Src/drivers/as5600/tests && make && ./test_as5600
+	cd ${BUILD_DIR}/tests/sht3x && cmake ../../../Src/drivers/sht3x/tests && make && ./test_sht3x
 
 upload:
 	LATEST_TARGET=$$(ls -td ${BUILD_DIR}/release/*.bin | head -1) && ./scripts/tools/stm32/flash.sh $$LATEST_TARGET

Src/drivers/as5600/tests/CMakeLists.txt

@@ -6,7 +6,7 @@ project(as5600)
 
 add_library(as5600
     ../as5600.cpp
-    ../../Src/platform/ubuntu/i2c.cpp
+    ../../../Src/platform/ubuntu/i2c.cpp
 )
 
 target_include_directories(as5600 PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

Src/drivers/sht3x/sht3x.cpp

@@ -1,47 +1,19 @@
-#include "peripheral/sht3x/sht3x.hpp"
+/**
+ * This program is free software under the GNU General Public License v3.
+ * See <https://www.gnu.org/licenses/> for details.
+ */
 
-#include <cstdint>
-
-#include "main.h"
+#include "sht3x.hpp"
 #include "peripheral/i2c/i2c.hpp"
 
-static uint16_t uint8_to_uint16(uint8_t msb, uint8_t lsb) {
-    return (uint16_t)((uint16_t)msb << 8u) | lsb;
-}
-
-static uint8_t calculate_crc(const uint8_t *data, size_t length) {
-    uint8_t crc = 0xff;
-    for (size_t i = 0; i < length; i++) {
-        crc ^= data[i];
-        for (size_t j = 0; j < 8; j++) {
-            if ((crc & 0x80u) != 0) {
-                crc = (uint8_t)((uint8_t)(crc << 1u) ^ 0x31u);
-            } else {
-                crc <<= 1u;
-            }
-        }
-    }
-    return crc;
-}
-
-bool SHT3XPeriphery::sendCommand(const SHT3XHandle &handle, SHT3XCommand command) {
-    uint8_t command_buffer[2] = {(uint8_t)((uint16_t)command >> 8u),
-                                 (uint8_t)((uint16_t)command & 0xffu)};
-
-    return HAL::I2C::transmit(handle.device_address << 1u, command_buffer,
-                                  sizeof(command_buffer));
-}
+namespace Driver {
 
-bool SHT3XPeriphery::readTemperatureHumidity(const SHT3XHandle &handle,
-                                             float *temperature,
-                                             float *humidity) {
-    sendCommand(handle, SHT3XCommand::SHT3X_COMMAND_MEASURE_HIGHREP_STRETCH);
-    HAL_Delay(1);
+bool SHT3X::read(float *temperature, float *humidity) const {
+    sendCommand(device_address, SHT3XCommand::SHT3X_COMMAND_MEASURE_HIGHREP_STRETCH);
 
     uint8_t buffer[6];
 
-    if (!HAL::I2C::receive(handle.device_address << 1u, buffer,
-                               sizeof(buffer))) {
+    if (!HAL::I2C::receive(device_address << 1u, buffer, sizeof(buffer))) {
         return false;
     }
 
@@ -59,3 +31,32 @@ bool SHT3XPeriphery::readTemperatureHumidity(const SHT3XHandle &handle,
 
     return true;
 }
+
+bool SHT3X::sendCommand(uint8_t device_address, SHT3XCommand command) {
+    uint8_t command_buffer[2] = {(uint8_t)((uint16_t)command >> 8u),
+                                 (uint8_t)((uint16_t)command & 0xffu)};
+
+    return HAL::I2C::transmit(device_address << 1u, command_buffer,
+                                  sizeof(command_buffer));
+}
+
+uint16_t SHT3X::uint8_to_uint16(uint8_t msb, uint8_t lsb) {
+    return (uint16_t)((uint16_t)msb << 8u) | lsb;
+}
+
+uint8_t SHT3X::calculate_crc(const uint8_t *data, size_t length) {
+    uint8_t crc = 0xff;
+    for (size_t i = 0; i < length; i++) {
+        crc ^= data[i];
+        for (size_t j = 0; j < 8; j++) {
+            if ((crc & 0x80u) != 0) {
+                crc = (uint8_t)((uint8_t)(crc << 1u) ^ 0x31u);
+            } else {
+                crc <<= 1u;
+            }
+        }
+    }
+    return crc;
+}
+
+}  // namespace Driver

Src/drivers/sht3x/sht3x.hpp

@@ -1,10 +1,15 @@
+/**
+ * This program is free software under the GNU General Public License v3.
+ * See <https://www.gnu.org/licenses/> for details.
+ */
+
 #ifndef SRC_DRIVERS_SHT3X_SHT3X_HPP_
 #define SRC_DRIVERS_SHT3X_SHT3X_HPP_
 
 #include <cstdint>
+#include <cstddef>
 
-#define SHT3X_I2C_DEVICE_ADDRESS_ADDR_PIN_LOW 0x44
-#define SHT3X_I2C_DEVICE_ADDRESS_ADDR_PIN_HIGH 0x45
+namespace Driver {
 
 enum class SHT3XCommand {
     SHT3X_COMMAND_MEASURE_HIGHREP_STRETCH = 0x2c06,
@@ -18,34 +23,37 @@ enum class SHT3XCommand {
     SHT3X_COMMAND_MEASURE_LOWREP_10HZ = 0x272a
 };
 
-struct SHT3XHandle {
-    /**
-     * The I2C device address.
-     * @see{PCA9865_I2C_DEVICE_ADDRESS_ADDR_PIN_LOW} and
-     * @see{SHT3X_I2C_DEVICE_ADDRESS_ADDR_PIN_HIGH}
-     */
-    uint16_t device_address;
-};
 
-class SHT3XPeriphery {
-  public:
+class SHT3X {
+public:
+    static constexpr uint8_t DEV_ADDR_PIN_LOW = 0x44;
+    static constexpr uint8_t DEV_ADDR_PIN_HIGH = 0x45;
+
+    SHT3X(uint8_t dev_addr): device_address(dev_addr) {}
+
     /**
-     * Execute a command defined in SHT3XCommand
-     * @param handle Handle to the SHT3x device.
-     * @param command SHT3XCommand
+     * @brief Takes a single temperature and humidity measurement.
+     * @param temperature Pointer to the storage location for the sampled temperature.
+     * @param humidity Pointer to the storage location for the sampled humidity.
      * @return True on success, false otherwise.
      */
-    static bool sendCommand(const SHT3XHandle &handle, SHT3XCommand command);
+    bool read(float* temperature, float* humidity) const;
+
+private:
     /**
-     * Takes a single temperature and humidity measurement.
+     * @brief Execute a command defined in SHT3XCommand
      * @param handle Handle to the SHT3x device.
-     * @param temperature Pointer to the storage location for the sampled
-     * temperature.
-     * @param humidity Pointer to the storage location for the sampled humidity.
+     * @param command SHT3XCommand
      * @return True on success, false otherwise.
      */
-    static bool readTemperatureHumidity(const SHT3XHandle &handle, float *temperature,
-                                        float *humidity);
+    static bool sendCommand(uint8_t device_address, SHT3XCommand command);
+
+    static uint16_t uint8_to_uint16(uint8_t msb, uint8_t lsb);
+    static uint8_t calculate_crc(const uint8_t* data, size_t length);
+
+    uint8_t device_address;
 };
 
+}  // namespace Driver
+
 #endif  // SRC_DRIVERS_SHT3X_SHT3X_HPP_

Src/drivers/sht3x/tests/CMakeLists.txt

@@ -0,0 +1,28 @@
+# Copyright (C) 2024 Dmitry Ponomarev <ponomarevda96@gmail.com>
+# Distributed under the terms of the GPL v3 license, available in the file LICENSE.
+
+cmake_minimum_required(VERSION 3.10)
+project(sht3x)
+
+add_library(sht3x
+    ../sht3x.cpp
+    ../../../Src/platform/ubuntu/i2c.cpp
+)
+
+target_include_directories(sht3x PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+
+find_package(GTest REQUIRED)
+include_directories(
+    ${GTEST_INCLUDE_DIRS}
+    ../../../../Src
+)
+
+add_executable(test_sht3x
+    test_sht3x.cpp
+)
+
+target_link_libraries(test_sht3x
+    sht3x
+    GTest::GTest
+    GTest::Main
+)

Src/drivers/sht3x/tests/test_sht3x.cpp

@@ -0,0 +1,29 @@
+/**
+ * This program is free software under the GNU General Public License v3.
+ * See <https://www.gnu.org/licenses/> for details.
+ * Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include "drivers/sht3x/sht3x.hpp"
+
+TEST(Shx3xTest, HelloWorld) {
+    EXPECT_EQ(1, 1);
+}
+
+TEST(Shx3xTest, init) {
+    Driver::SHT3X sht3x(Driver::SHT3X::DEV_ADDR_PIN_LOW);
+}
+
+TEST(Shx3xTest, read) {
+    Driver::SHT3X sht3x(Driver::SHT3X::DEV_ADDR_PIN_LOW);
+
+    float temperature;
+    float humidity;
+    sht3x.read(&temperature, &humidity);
+}
+
+int main(int argc, char **argv) {
+    ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}