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https://github.com/betaflight/betaflight.git
synced 2025-07-16 04:45:24 +03:00
First cut of code that passed the unit tests for mod activations,
however it uses / operations and doesn't handle the case where the channel value is on the boundary between two ranges.
This commit is contained in:
Dominic Clifton
parent
c0fd0c1f33
commit
2369a63df0
5 changed files with 117 additions and 52 deletions
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@ -225,9 +225,39 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
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}
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}
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#define MAX_AUX_STATE_CHANNELS 8
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#define MAX_AUX_CHANNEL_COUNT (MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT)
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#include <stdio.h>
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void updateRcOptions(modeActivationCondition_t *modeActivationConditions)
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{
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rcModeActivationMask = 0; // FIXME implement, use rcData & modeActivationConditions
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uint8_t index;
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uint8_t auxChannelSteps[MAX_AUX_CHANNEL_COUNT];
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for (index = 0; index < MAX_AUX_CHANNEL_COUNT; index++) {
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uint16_t channelValue = rcData[index + NON_AUX_CHANNEL_COUNT];
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uint16_t normalizedChannelValue = (constrain(channelValue, 900, 2100) - 900);
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auxChannelSteps[index] = normalizedChannelValue / 25;
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if (normalizedChannelValue > 0 && normalizedChannelValue % 25 == 0) {
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auxChannelSteps[index]--;
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}
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printf("%d\n", auxChannelSteps[index]);
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}
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for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
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modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
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if (modeActivationCondition->rangeStartStep == modeActivationCondition->rangeEndStep) {
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printf("skipping %d\n", index);
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continue;
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}
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uint8_t auxChannelStep = auxChannelSteps[modeActivationCondition->auxChannelIndex];
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if (auxChannelStep >= modeActivationCondition->rangeStartStep &&
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auxChannelStep < modeActivationCondition->rangeEndStep) {
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ACTIVATE_RC_MODE(modeActivationCondition->modeId);
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}
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}
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}
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@ -47,6 +47,7 @@ typedef enum {
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extern uint32_t rcModeActivationMask;
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#define IS_RC_MODE_ACTIVE(modeId) ((1 << modeId) & rcModeActivationMask)
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#define ACTIVATE_RC_MODE(modeId) (rcModeActivationMask |= (1 << modeId))
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typedef enum rc_alias {
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ROLL = 0,
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@ -90,7 +91,7 @@ typedef enum {
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#define MODE_STEP_TO_CHANNEL_VALUE(step) (900 + 25 * step)
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#define CHANNEL_VALUE_TO_STEP(channelValue) (constrain(channelValue, 900, 2100) - 900 / 25)
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#define CHANNEL_VALUE_TO_STEP(channelValue) ((constrain(channelValue, 900, 2100) - 900) / 25)
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typedef struct modeActivationCondition_s {
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boxId_e modeId;
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@ -98,7 +99,7 @@ typedef struct modeActivationCondition_s {
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// steps are 25 apart
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// a value of 0 corresponds to a channel value of 900 or less
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// a value of 47 corresponds to a channel value of 2100 or more
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// a value of 48 corresponds to a channel value of 2100 or more
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// 48 steps between 900 and 1200
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uint8_t rangeStartStep;
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uint8_t rangeEndStep;
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@ -41,6 +41,11 @@ typedef enum {
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#define MAX_SUPPORTED_RC_PARALLEL_PWM_CHANNEL_COUNT 8
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#define MAX_SUPPORTED_RC_CHANNEL_COUNT (18)
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#define NON_AUX_CHANNEL_COUNT 4
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#define MAX_AUX_CHANNEL_COUNT (MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT)
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#if MAX_SUPPORTED_RC_PARALLEL_PWM_CHANNEL_COUNT > MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT
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#define MAX_SUPPORTED_RX_PARALLEL_PWM_OR_PPM_CHANNEL_COUNT MAX_SUPPORTED_RC_PARALLEL_PWM_CHANNEL_COUNT
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#else
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@ -29,7 +29,7 @@ OBJECT_DIR = ../../obj/test
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CPPFLAGS += -isystem $(GTEST_DIR)/inc
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# Flags passed to the C++ compiler.
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CXXFLAGS += -g -Wall -Wextra -pthread -ggdb -O0 -DUNIT_TEST
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CXXFLAGS += -g -Wall -Wextra -pthread -ggdb3 -O0 -DUNIT_TEST
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# All tests produced by this Makefile. Remember to add new tests you
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# created to the list.
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@ -27,71 +27,104 @@
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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#define NON_AUX_CHANNEL_COUNT 4
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int constrain(int amt, int low, int high)
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{
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if (amt < low)
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return low;
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else if (amt > high)
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return high;
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else
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return amt;
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}
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TEST(RcControlsTest, updateRcOptionsWithAllInputsAtMidde)
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{
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// given
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uint32_t activate[CHECKBOX_ITEM_COUNT];
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memset(&activate, 0, sizeof(activate));
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modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
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memset(&modeActivationConditions, 0, sizeof(modeActivationConditions));
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uint8_t index;
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for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
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rcOptions[index] = 0;
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}
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// and
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rcModeActivationMask = 0;
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// and
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memset(&rxRuntimeConfig, 0, sizeof(rxRuntimeConfig_t));
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rxRuntimeConfig.auxChannelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT;
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// and
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uint8_t index;
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for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
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rcData[index] = PWM_RANGE_MIDDLE;
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}
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// and
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uint32_t expectedRcOptions[CHECKBOX_ITEM_COUNT];
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memset(&expectedRcOptions, 0, sizeof(expectedRcOptions));
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// when
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updateRcOptions(activate);
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updateRcOptions(modeActivationConditions);
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// then
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for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
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printf("iteration: %d\n", index);
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EXPECT_EQ(expectedRcOptions[index], rcOptions[index]);
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EXPECT_EQ(false, IS_RC_MODE_ACTIVE(index));
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}
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}
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TEST(RcControlsTest, updateRcOptionsUsingValidAuxConfigurationAndRXValues)
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{
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// given
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uint32_t activate[CHECKBOX_ITEM_COUNT];
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memset(&activate, 0, sizeof(activate));
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activate[0] = 0b000000000100UL;
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activate[1] = 0b000000010000UL;
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activate[2] = 0b000001000000UL;
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activate[3] = 0b111000000000UL;
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modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
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memset(&modeActivationConditions, 0, sizeof(modeActivationConditions));
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activate[4] = 0b000000000001UL << 16;
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activate[5] = 0b000000010000UL << 16;
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activate[6] = 0b000100000000UL << 16;
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activate[7] = 0b111000000000UL << 16;
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modeActivationConditions[0].modeId = (boxId_e)0;
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modeActivationConditions[0].auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
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modeActivationConditions[0].rangeStartStep = CHANNEL_VALUE_TO_STEP(1700);
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modeActivationConditions[0].rangeEndStep = CHANNEL_VALUE_TO_STEP(2100);
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uint8_t index;
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modeActivationConditions[1].modeId = (boxId_e)1;
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modeActivationConditions[1].auxChannelIndex = AUX2 - NON_AUX_CHANNEL_COUNT;
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modeActivationConditions[1].rangeStartStep = CHANNEL_VALUE_TO_STEP(1300);
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modeActivationConditions[1].rangeEndStep = CHANNEL_VALUE_TO_STEP(1700);
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for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
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rcOptions[index] = 0;
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}
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modeActivationConditions[2].modeId = (boxId_e)2;
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modeActivationConditions[2].auxChannelIndex = AUX3 - NON_AUX_CHANNEL_COUNT;
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modeActivationConditions[2].rangeStartStep = CHANNEL_VALUE_TO_STEP(900);
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modeActivationConditions[2].rangeEndStep = CHANNEL_VALUE_TO_STEP(1200);
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modeActivationConditions[3].modeId = (boxId_e)3;
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modeActivationConditions[3].auxChannelIndex = AUX4 - NON_AUX_CHANNEL_COUNT;
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modeActivationConditions[3].rangeStartStep = CHANNEL_VALUE_TO_STEP(900);
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modeActivationConditions[3].rangeEndStep = CHANNEL_VALUE_TO_STEP(2100);
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modeActivationConditions[4].modeId = (boxId_e)4;
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modeActivationConditions[4].auxChannelIndex = AUX5 - NON_AUX_CHANNEL_COUNT;
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modeActivationConditions[4].rangeStartStep = CHANNEL_VALUE_TO_STEP(900);
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modeActivationConditions[4].rangeEndStep = CHANNEL_VALUE_TO_STEP(925);
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EXPECT_EQ(0, modeActivationConditions[4].rangeStartStep);
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EXPECT_EQ(1, modeActivationConditions[4].rangeEndStep);
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modeActivationConditions[5].modeId = (boxId_e)5;
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modeActivationConditions[5].auxChannelIndex = AUX6 - NON_AUX_CHANNEL_COUNT;
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modeActivationConditions[5].rangeStartStep = CHANNEL_VALUE_TO_STEP(2075);
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modeActivationConditions[5].rangeEndStep = CHANNEL_VALUE_TO_STEP(2100);
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EXPECT_EQ(47, modeActivationConditions[5].rangeStartStep);
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EXPECT_EQ(48, modeActivationConditions[5].rangeEndStep);
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modeActivationConditions[6].modeId = (boxId_e)6;
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modeActivationConditions[6].auxChannelIndex = AUX7 - NON_AUX_CHANNEL_COUNT;
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modeActivationConditions[6].rangeStartStep = CHANNEL_VALUE_TO_STEP(925);
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modeActivationConditions[6].rangeEndStep = CHANNEL_VALUE_TO_STEP(950);
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EXPECT_EQ(1, modeActivationConditions[6].rangeStartStep);
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EXPECT_EQ(2, modeActivationConditions[6].rangeEndStep);
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// and
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rcModeActivationMask = 0;
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// and
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memset(&rxRuntimeConfig, 0, sizeof(rxRuntimeConfig_t));
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rxRuntimeConfig.auxChannelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT;
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// and
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uint8_t index;
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for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
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rcData[index] = PWM_RANGE_MIDDLE;
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}
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@ -100,35 +133,31 @@ TEST(RcControlsTest, updateRcOptionsUsingValidAuxConfigurationAndRXValues)
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rcData[AUX2] = PWM_RANGE_MIDDLE;
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rcData[AUX3] = PWM_RANGE_MIN;
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rcData[AUX4] = PWM_RANGE_MAX;
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rcData[AUX5] = PWM_RANGE_MIN;
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rcData[AUX6] = PWM_RANGE_MIDDLE;
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rcData[AUX7] = PWM_RANGE_MAX;
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rcData[AUX8] = PWM_RANGE_MIN;
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rcData[AUX5] = 899;
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rcData[AUX6] = 2101;
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rcData[AUX7] = 925;
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// and
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uint32_t expectedRcOptions[CHECKBOX_ITEM_COUNT];
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memset(&expectedRcOptions, 0, sizeof(expectedRcOptions));
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expectedRcOptions[0] = 1;
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expectedRcOptions[1] = 1;
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expectedRcOptions[2] = 1;
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expectedRcOptions[3] = 1;
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expectedRcOptions[4] = 1;
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expectedRcOptions[5] = 1;
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expectedRcOptions[6] = 1;
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expectedRcOptions[7] = 1;
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uint32_t expectedMask = 0;
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expectedMask |= (1 << 0);
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expectedMask |= (1 << 1);
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expectedMask |= (1 << 2);
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expectedMask |= (1 << 3);
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expectedMask |= (1 << 4);
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expectedMask |= (1 << 5);
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expectedMask |= (0 << 6);
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// when
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updateRcOptions(activate);
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updateRcOptions(modeActivationConditions);
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// then
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for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
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printf("iteration: %d\n", index);
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EXPECT_EQ(expectedRcOptions[index], rcOptions[index]);
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EXPECT_EQ(expectedMask & (1 << index), rcModeActivationMask & (1 << index));
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}
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}
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void changeProfile(uint8_t profileIndex) {}
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void changeProfile(uint8_t) {}
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void accSetCalibrationCycles(uint16_t) {}
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void gyroSetCalibrationCycles(uint16_t) {}
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void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t*) {}
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