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Cleanup PWM rx loss detection.

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This commit is contained in:
Dominic Clifton 2015-08-03 20:17:47 +01:00
parent 490268d2fc
commit 1ef2d8ea4d
2 changed files with 48 additions and 56 deletions
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52
src/test/unit/rx_rx_unittest.cc
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@ -26,35 +26,23 @@ extern "C" {
#include "rx/rx.h"
void rxInit(rxConfig_t *rxConfig);
void rxCheckPulse(uint8_t channel, uint16_t pulseDuration);
void rxResetFlightChannelStatus(void);
bool rxHaveValidFlightChannels(void);
void rxUpdateFlightChannelStatus(uint8_t channel, uint16_t pulseDuration);
}
#include "unittest_macros.h"
#include "gtest/gtest.h"
enum {
COUNTER_FAILSAFE_ON_VALID_DATA_RECEIVED = 0,
};
#define CALL_COUNT_ITEM_COUNT 1
static int callCounts[CALL_COUNT_ITEM_COUNT];
#define CALL_COUNTER(item) (callCounts[item])
void resetCallCounters(void) {
memset(&callCounts, 0, sizeof(callCounts));
}
typedef struct testData_s {
bool isPPMDataBeingReceived;
} testData_t;
static testData_t testData;
TEST(RxTest, TestFailsafeInformedOfValidData)
TEST(RxTest, TestValidFlightChannels)
{
// given
resetCallCounters();
memset(&testData, 0, sizeof(testData));
// and
@ -67,15 +55,17 @@ TEST(RxTest, TestFailsafeInformedOfValidData)
// when
rxInit(&rxConfig);
rxResetFlightChannelStatus();
for (uint8_t channelIndex = 0; channelIndex < MAX_SUPPORTED_RC_CHANNEL_COUNT; channelIndex++) {
rxCheckPulse(channelIndex, 1500);
rxUpdateFlightChannelStatus(channelIndex, 1500);
}
// then
EXPECT_EQ(1, CALL_COUNTER(COUNTER_FAILSAFE_ON_VALID_DATA_RECEIVED));
EXPECT_TRUE(rxHaveValidFlightChannels());
}
TEST(RxTest, TestFailsafeNotInformedOfValidDataWhenStickChannelsAreBad)
TEST(RxTest, TestInvalidFlightChannels)
{
// given
memset(&testData, 0, sizeof(testData));
@ -99,36 +89,36 @@ TEST(RxTest, TestFailsafeNotInformedOfValidDataWhenStickChannelsAreBad)
for (uint8_t stickChannelIndex = 0; stickChannelIndex < STICK_CHANNEL_COUNT; stickChannelIndex++) {
// given
resetCallCounters();
rxResetFlightChannelStatus();
for (uint8_t channelIndex = 0; channelIndex < STICK_CHANNEL_COUNT; channelIndex++) {
channelPulses[stickChannelIndex] = rxConfig.rx_min_usec;
for (uint8_t otherStickChannelIndex = 0; otherStickChannelIndex < STICK_CHANNEL_COUNT; otherStickChannelIndex++) {
channelPulses[otherStickChannelIndex] = rxConfig.rx_min_usec;
}
channelPulses[stickChannelIndex] = rxConfig.rx_min_usec - 1;
// when
for (uint8_t channelIndex = 0; channelIndex < MAX_SUPPORTED_RC_CHANNEL_COUNT; channelIndex++) {
rxCheckPulse(channelIndex, channelPulses[channelIndex]);
rxUpdateFlightChannelStatus(channelIndex, channelPulses[channelIndex]);
}
// then
EXPECT_EQ(0, CALL_COUNTER(COUNTER_FAILSAFE_ON_VALID_DATA_RECEIVED));
EXPECT_FALSE(rxHaveValidFlightChannels());
// given
resetCallCounters();
rxResetFlightChannelStatus();
for (uint8_t channelIndex = 0; channelIndex < STICK_CHANNEL_COUNT; channelIndex++) {
channelPulses[stickChannelIndex] = rxConfig.rx_max_usec;
for (uint8_t otherStickChannelIndex = 0; otherStickChannelIndex < STICK_CHANNEL_COUNT; otherStickChannelIndex++) {
channelPulses[otherStickChannelIndex] = rxConfig.rx_max_usec;
}
channelPulses[stickChannelIndex] = rxConfig.rx_max_usec + 1;
// when
for (uint8_t channelIndex = 0; channelIndex < MAX_SUPPORTED_RC_CHANNEL_COUNT; channelIndex++) {
rxCheckPulse(channelIndex, channelPulses[channelIndex]);
rxUpdateFlightChannelStatus(channelIndex, channelPulses[channelIndex]);
}
// then
EXPECT_EQ(0, CALL_COUNTER(COUNTER_FAILSAFE_ON_VALID_DATA_RECEIVED));
EXPECT_FALSE(rxHaveValidFlightChannels());
}
}
@ -137,9 +127,7 @@ TEST(RxTest, TestFailsafeNotInformedOfValidDataWhenStickChannelsAreBad)
extern "C" {
void failsafeOnRxCycleStarted() {}
void failsafeOnValidDataReceived() {
callCounts[COUNTER_FAILSAFE_ON_VALID_DATA_RECEIVED]++;
}
void failsafeOnValidDataReceived() {}
bool feature(uint32_t mask) {
UNUSED(mask);