Fixed point passes initial unit test

2025-07-24 16:55:36 +03:00 · 2015-01-04 21:11:28 -05:00 · 2015-01-04 21:11:28 -05:00 · 11a9725605
commit 11a9725605
parent fc218ebebc
1 changed files with 114 additions and 0 deletions
--- a/src/test/unit/mixer_unittest.cc
+++ b/src/test/unit/mixer_unittest.cc
@ -0,0 +1,114 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include <stdint.h>
+
+#include <limits.h>
+
+extern "C" {
+    #include "flight/mixer.h" 
+    #include "rx/rx.h"
+    #include "io/gimbal.h"
+    #include "io/escservo.h"
+    extern void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DConfigToUse, escAndServoConfig_t *escAndServoConfigToUse, mixerConfig_t *mixerConfigToUse, airplaneConfig_t *airplaneConfigToUse, rxConfig_t *rxConfigToUse, gimbalConfig_t *gimbalConfigToUse);
+}
+uint32_t debug[4];
+
+#include "unittest_macros.h"
+#include "gtest/gtest.h"
+
+TEST(MixerTest, ServoLowpassFilter)
+{
+    int16_t servoCmds[3000];
+    int16_t expectedOut[3000];
+    const int16_t margin = 0;
+    uint8_t servoIdx;
+    uint16_t sampleIdx;
+    static mixerConfig_t mixerConfig;
+    static servoParam_t servoConfig[MAX_SUPPORTED_SERVOS];
+
+
+    uint16_t sampleCount = sizeof(servoCmds) / sizeof(int16_t);
+
+    // generate inputs and expecteds
+    for (sampleIdx = 0; sampleIdx < sampleCount; sampleIdx++) {
+        if (sampleIdx < 1000) {
+            servoCmds[sampleIdx] = 501;
+        } else if (sampleIdx >= 1000 && sampleIdx < 2000) {
+            servoCmds[sampleIdx] = 2500;
+        } else {
+            servoCmds[sampleIdx] = 1500;
+        }
+
+        if ((sampleIdx >= 900 && sampleIdx < 1000) ||
+            (sampleIdx >= 1900 && sampleIdx < 2000)||
+            (sampleIdx >= 2900 && sampleIdx < 3000)) {
+            expectedOut[sampleIdx] = servoCmds[sampleIdx];
+        } else {
+            expectedOut[sampleIdx] = -1;
+        }
+
+    }
+
+    // Set mixer configuration
+    for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
+        servoConfig[servoIdx].min = 0;
+        servoConfig[servoIdx].max = 2500;
+    }
+
+    mixerConfig.servo_lowpass_enable = 1;
+    mixerConfig.servo_lowpass_freq_idx = 400; // 10 to 400
+    mixerUseConfigs(servoConfig, NULL, NULL, &mixerConfig, NULL, NULL, NULL);
+
+    // Run tests
+    for (sampleIdx = 0; sampleIdx < sampleCount; sampleIdx++) {
+        for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
+            servo[servoIdx] = servoCmds[sampleIdx];
+        }
+
+        filterServos();
+
+        if (expectedOut[sampleIdx] >= 0) {
+            for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
+                EXPECT_LE(servo[servoIdx], expectedOut[sampleIdx] + margin);
+                EXPECT_GE(servo[servoIdx], expectedOut[sampleIdx] - margin);
+            }
+        }
+    }
+}
+
+// STUBS
+
+extern "C" {
+
+void delay(uint32_t ms)
+{
+    UNUSED(ms);
+    return;
+}
+
+int constrain(int amt, int low, int high)
+{
+    return (amt > high ? high : (amt < low ? low : amt));
+}
+
+uint32_t micros()
+{
+    return 0;
+}
+}
+
+