diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index 61f0117ab4..405260774c 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -827,7 +827,8 @@ const clivalue_t valueTable[] = {
{ "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmProtocol) },
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 200, 32000 }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmRate) },
{ "motor_pwm_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmInversion) },
- { "motor_poles", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 4, UINT8_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, motorPoleCount) },
+ { "motor_poles", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 4, UINT8_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, motorPoleCount) },
+ { "motor_output_reordering", VAR_UINT8 | MASTER_VALUE | MODE_ARRAY, .config.array.length = MAX_SUPPORTED_MOTORS, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorOutputReordering)},
// PG_THROTTLE_CORRECTION_CONFIG
{ "thr_corr_value", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 150 }, PG_THROTTLE_CORRECTION_CONFIG, offsetof(throttleCorrectionConfig_t, throttle_correction_value) },
diff --git a/src/main/config/config.c b/src/main/config/config.c
index 75afdac767..e1ae2037b6 100644
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -89,6 +89,8 @@
#include "config.h"
+#include "drivers/dshot.h"
+
static bool configIsDirty; /* someone indicated that the config is modified and it is not yet saved */
static bool rebootRequired = false; // set if a config change requires a reboot to take effect
@@ -596,6 +598,7 @@ static void validateAndFixConfig(void)
}
}
}
+
#if defined(USE_RX_MSP_OVERRIDE)
for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
const modeActivationCondition_t *mac = modeActivationConditions(i);
@@ -604,6 +607,8 @@ static void validateAndFixConfig(void)
}
}
#endif
+
+ validateAndfixMotorOutputReordering(motorConfigMutable()->dev.motorOutputReordering, MAX_SUPPORTED_MOTORS);
}
void validateAndFixGyroConfig(void)
diff --git a/src/main/drivers/dshot.c b/src/main/drivers/dshot.c
index b90fdb3810..63c5122b06 100644
--- a/src/main/drivers/dshot.c
+++ b/src/main/drivers/dshot.c
@@ -164,3 +164,39 @@ void updateDshotTelemetryQuality(dshotTelemetryQuality_t *qualityStats, bool pac
#endif // USE_DSHOT_TELEMETRY_STATS
#endif // USE_DSHOT
+
+// temporarly here, needs to be moved during refactoring
+void validateAndfixMotorOutputReordering(uint8_t *array, const unsigned size)
+{
+ bool invalid = false;
+
+ for (unsigned i = 0; i < size; i++) {
+ if (array[i] >= size) {
+ invalid = true;
+ break;
+ }
+ }
+
+ int valuesAsIndexes[size];
+
+ for (unsigned i = 0; i < size; i++) {
+ valuesAsIndexes[i] = -1;
+ }
+
+ if (!invalid) {
+ for (unsigned i = 0; i < size; i++) {
+ if (-1 != valuesAsIndexes[array[i]]) {
+ invalid = true;
+ break;
+ }
+
+ valuesAsIndexes[array[i]] = array[i];
+ }
+ }
+
+ if (invalid) {
+ for (unsigned i = 0; i < size; i++) {
+ array[i] = i;
+ }
+ }
+}
diff --git a/src/main/drivers/dshot.h b/src/main/drivers/dshot.h
index 4c69e19f92..cdc06ca388 100644
--- a/src/main/drivers/dshot.h
+++ b/src/main/drivers/dshot.h
@@ -90,3 +90,5 @@ bool isDshotMotorTelemetryActive(uint8_t motorIndex);
bool isDshotTelemetryActive(void);
int16_t getDshotTelemetryMotorInvalidPercent(uint8_t motorIndex);
+
+void validateAndfixMotorOutputReordering(uint8_t *array, const unsigned size);
diff --git a/src/main/drivers/dshot_bitbang.c b/src/main/drivers/dshot_bitbang.c
index 072306437e..e54b9d3f43 100644
--- a/src/main/drivers/dshot_bitbang.c
+++ b/src/main/drivers/dshot_bitbang.c
@@ -650,8 +650,9 @@ motorDevice_t *dshotBitbangDevInit(const motorDevConfig_t *motorConfig, uint8_t
#endif
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
- const timerHardware_t *timerHardware = timerGetByTag(motorConfig->ioTags[motorIndex]);
- const IO_t io = IOGetByTag(motorConfig->ioTags[motorIndex]);
+ const unsigned reorderedMotorIndex = motorConfig->motorOutputReordering[motorIndex];
+ const timerHardware_t *timerHardware = timerGetByTag(motorConfig->ioTags[reorderedMotorIndex]);
+ const IO_t io = IOGetByTag(motorConfig->ioTags[reorderedMotorIndex]);
uint8_t output = motorConfig->motorPwmInversion ? timerHardware->output ^ TIMER_OUTPUT_INVERTED : timerHardware->output;
bbPuPdMode = (output & TIMER_OUTPUT_INVERTED) ? BB_GPIO_PULLDOWN : BB_GPIO_PULLUP;
diff --git a/src/main/drivers/dshot_dpwm.c b/src/main/drivers/dshot_dpwm.c
index 9320387cee..bba76ff650 100644
--- a/src/main/drivers/dshot_dpwm.c
+++ b/src/main/drivers/dshot_dpwm.c
@@ -179,15 +179,17 @@ motorDevice_t *dshotPwmDevInit(const motorDevConfig_t *motorConfig, uint16_t idl
}
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
- const ioTag_t tag = motorConfig->ioTags[motorIndex];
- const timerHardware_t *timerHardware = timerAllocate(tag, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
+ const unsigned reorderedMotorIndex = motorConfig->motorOutputReordering[motorIndex];
+ const ioTag_t tag = motorConfig->ioTags[reorderedMotorIndex];
+ const timerHardware_t *timerHardware = timerAllocate(tag, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
if (timerHardware != NULL) {
motors[motorIndex].io = IOGetByTag(tag);
- IOInit(motors[motorIndex].io, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
+ IOInit(motors[motorIndex].io, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
if (pwmDshotMotorHardwareConfig(timerHardware,
motorIndex,
+ reorderedMotorIndex,
motorConfig->motorPwmProtocol,
motorConfig->motorPwmInversion ? timerHardware->output ^ TIMER_OUTPUT_INVERTED : timerHardware->output)) {
motors[motorIndex].enabled = true;
diff --git a/src/main/drivers/dshot_dpwm.h b/src/main/drivers/dshot_dpwm.h
index 55bcb854a0..00751c91bd 100644
--- a/src/main/drivers/dshot_dpwm.h
+++ b/src/main/drivers/dshot_dpwm.h
@@ -157,7 +157,7 @@ typedef struct motorDmaOutput_s {
motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
void pwmWriteDshotInt(uint8_t index, uint16_t value);
-bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
+bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t reorderedMotorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
#ifdef USE_DSHOT_TELEMETRY
bool pwmStartDshotMotorUpdate(void);
#endif
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 1dba145877..b17cea0a3e 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -219,8 +219,9 @@ motorDevice_t *motorPwmDevInit(const motorDevConfig_t *motorConfig, uint16_t idl
motorPwmDevice.vTable.updateComplete = useUnsyncedPwm ? motorUpdateCompleteNull : pwmCompleteOneshotMotorUpdate;
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
- const ioTag_t tag = motorConfig->ioTags[motorIndex];
- const timerHardware_t *timerHardware = timerAllocate(tag, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
+ const unsigned reorderedMotorIndex = motorConfig->motorOutputReordering[motorIndex];
+ const ioTag_t tag = motorConfig->ioTags[reorderedMotorIndex];
+ const timerHardware_t *timerHardware = timerAllocate(tag, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
if (timerHardware == NULL) {
/* not enough motors initialised for the mixer or a break in the motors */
@@ -231,7 +232,7 @@ motorDevice_t *motorPwmDevInit(const motorDevConfig_t *motorConfig, uint16_t idl
}
motors[motorIndex].io = IOGetByTag(tag);
- IOInit(motors[motorIndex].io, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
+ IOInit(motors[motorIndex].io, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
#if defined(STM32F1)
IOConfigGPIO(motors[motorIndex].io, IOCFG_AF_PP);
diff --git a/src/main/drivers/pwm_output_dshot.c b/src/main/drivers/pwm_output_dshot.c
index 5c3480dede..5d8716bc2a 100644
--- a/src/main/drivers/pwm_output_dshot.c
+++ b/src/main/drivers/pwm_output_dshot.c
@@ -224,7 +224,7 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
}
}
-bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
+bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t reorderedMotorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
{
#ifdef USE_DSHOT_TELEMETRY
#define OCINIT motor->ocInitStruct
@@ -377,7 +377,7 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
} else
#endif
{
- dmaInit(dmaGetIdentifier(dmaRef), OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
+ dmaInit(dmaGetIdentifier(dmaRef), OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
motor->dmaBuffer = &dshotDmaBuffer[motorIndex][0];
diff --git a/src/main/drivers/pwm_output_dshot_hal.c b/src/main/drivers/pwm_output_dshot_hal.c
index d111266acd..db9fabfe93 100644
--- a/src/main/drivers/pwm_output_dshot_hal.c
+++ b/src/main/drivers/pwm_output_dshot_hal.c
@@ -197,7 +197,7 @@ FAST_CODE static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
}
}
-bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
+bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t reorderedMotorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
{
#ifdef USE_DSHOT_TELEMETRY
#define OCINIT motor->ocInitStruct
@@ -347,7 +347,7 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
} else
#endif
{
- dmaInit(dmaGetIdentifier(dmaRef), OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
+ dmaInit(dmaGetIdentifier(dmaRef), OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
motor->dmaBuffer = &dshotDmaBuffer[motorIndex][0];
diff --git a/src/main/drivers/pwm_output_dshot_hal_hal.c b/src/main/drivers/pwm_output_dshot_hal_hal.c
index f557a7e62a..9ecc637c54 100644
--- a/src/main/drivers/pwm_output_dshot_hal_hal.c
+++ b/src/main/drivers/pwm_output_dshot_hal_hal.c
@@ -233,7 +233,7 @@ static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
}
}
-bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
+bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t reorderedMotorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
{
dmaResource_t *dmaRef = NULL;
uint32_t dmaChannel;
@@ -285,7 +285,7 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
const uint8_t timerIndex = getTimerIndex(timer);
const bool configureTimer = (timerIndex == dmaMotorTimerCount - 1);
- IOInit(motorIO, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
+ IOInit(motorIO, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
IOConfigGPIOAF(motorIO, motor->iocfg, timerHardware->alternateFunction);
// Configure time base
@@ -373,7 +373,7 @@ P - High - High -
} else
#endif
{
- dmaInit(identifier, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
+ dmaInit(identifier, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
dmaSetHandler(identifier, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motorIndex);
}
diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
index c93268b6a8..eb586030f0 100644
--- a/src/main/msp/msp.c
+++ b/src/main/msp/msp.c
@@ -1190,6 +1190,16 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
}
break;
+ case MSP2_MOTOR_OUTPUT_REORDERING:
+ {
+ sbufWriteU8(dst, MAX_SUPPORTED_MOTORS);
+
+ for (unsigned i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
+ sbufWriteU8(dst, motorConfig()->dev.motorOutputReordering[i]);
+ }
+ }
+ break;
+
case MSP_RC:
for (int i = 0; i < rxRuntimeState.channelCount; i++) {
sbufWriteU16(dst, rcData[i]);
@@ -2964,6 +2974,22 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
break;
#endif
+ case MSP2_SET_MOTOR_OUTPUT_REORDERING:
+ {
+ const uint8_t arraySize = sbufReadU8(src);
+
+ for (unsigned i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
+ uint8_t value = i;
+
+ if (i < arraySize) {
+ value = sbufReadU8(src);
+ }
+
+ motorConfigMutable()->dev.motorOutputReordering[i] = value;
+ }
+ }
+ break;
+
#ifdef USE_CAMERA_CONTROL
case MSP_CAMERA_CONTROL:
{
diff --git a/src/main/msp/msp_protocol_v2_betaflight.h b/src/main/msp/msp_protocol_v2_betaflight.h
index cab3ea555f..ba07b5b747 100644
--- a/src/main/msp/msp_protocol_v2_betaflight.h
+++ b/src/main/msp/msp_protocol_v2_betaflight.h
@@ -18,4 +18,6 @@
* If not, see .
*/
-#define MSP2_BETAFLIGHT_BIND 0x3000
+#define MSP2_BETAFLIGHT_BIND 0x3000
+#define MSP2_MOTOR_OUTPUT_REORDERING 0x3001
+#define MSP2_SET_MOTOR_OUTPUT_REORDERING 0x3002
diff --git a/src/main/pg/motor.c b/src/main/pg/motor.c
index 37c7f667b2..3f70786fd0 100644
--- a/src/main/pg/motor.c
+++ b/src/main/pg/motor.c
@@ -74,6 +74,10 @@ void pgResetFn_motorConfig(motorConfig_t *motorConfig)
motorConfig->motorPoleCount = 14; // Most brushes motors that we use are 14 poles
+ for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
+ motorConfig->dev.motorOutputReordering[i] = i;
+ }
+
#ifdef USE_DSHOT_BITBANG
motorConfig->dev.useDshotBitbang = DSHOT_BITBANG_DEFAULT;
motorConfig->dev.useDshotBitbangedTimer = DSHOT_BITBANGED_TIMER_DEFAULT;
diff --git a/src/main/pg/motor.h b/src/main/pg/motor.h
index 1e257f2050..a295ad0e96 100644
--- a/src/main/pg/motor.h
+++ b/src/main/pg/motor.h
@@ -48,6 +48,7 @@ typedef struct motorDevConfig_s {
uint8_t motorTransportProtocol;
uint8_t useDshotBitbang;
uint8_t useDshotBitbangedTimer;
+ uint8_t motorOutputReordering[MAX_SUPPORTED_MOTORS]; // Reindexing motors for "remap motors" feature in Configurator
} motorDevConfig_t;
typedef struct motorConfig_s {
diff --git a/src/test/Makefile b/src/test/Makefile
index bf801dbc5f..1e9b88e133 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -174,13 +174,17 @@ ledstrip_unittest_SRC := \
$(USER_DIR)/io/ledstrip.c
ledstrip_unittest_DEFINES := \
- USE_LED_STRIP=
-
-
+ USE_LED_STRIP=
+
+
maths_unittest_SRC := \
$(USER_DIR)/common/maths.c
+motor_output_unittest_SRC := \
+ $(USER_DIR)/drivers/dshot.c
+
+
osd_unittest_SRC := \
$(USER_DIR)/osd/osd.c \
$(USER_DIR)/osd/osd_elements.c \
diff --git a/src/test/unit/motor_output_unittest.cc b/src/test/unit/motor_output_unittest.cc
new file mode 100644
index 0000000000..37a20bfad7
--- /dev/null
+++ b/src/test/unit/motor_output_unittest.cc
@@ -0,0 +1,79 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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 and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see .
+ */
+
+#include
+#include
+
+extern "C" {
+ #include "drivers/dshot.h"
+}
+
+#include "unittest_macros.h"
+#include "gtest/gtest.h"
+
+TEST(MotorOutputUnittest, TestFixMotorOutputReordering)
+{
+ const unsigned size = 8;
+
+ uint8_t a1_initial[size] = {0, 1, 2, 3, 4, 5, 6, 7};
+ uint8_t a1_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
+ validateAndfixMotorOutputReordering(a1_initial, size);
+ EXPECT_TRUE( 0 == memcmp(a1_expected, a1_initial, sizeof(a1_expected)));
+
+ uint8_t a2_initial[size] = {3, 2, 1, 4, 5, 6, 7, 0};
+ uint8_t a2_expected[size] = {3, 2, 1, 4, 5, 6, 7, 0};
+ validateAndfixMotorOutputReordering(a2_initial, size);
+ EXPECT_TRUE( 0 == memcmp(a2_expected, a2_initial, sizeof(a2_expected)));
+
+ uint8_t a3_initial[size] = {3, 2, 1, 100, 5, 6, 7, 0};
+ uint8_t a3_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
+ validateAndfixMotorOutputReordering(a3_initial, size);
+ EXPECT_TRUE( 0 == memcmp(a3_expected, a3_initial, sizeof(a3_expected)));
+
+ uint8_t a4_initial[size] = {3, 2, 1, 100, 5, 6, 200, 0};
+ uint8_t a4_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
+ validateAndfixMotorOutputReordering(a4_initial, size);
+ EXPECT_TRUE( 0 == memcmp(a4_expected, a4_initial, sizeof(a4_expected)));
+
+ uint8_t a5_initial[size] = {0, 0, 0, 0, 0, 0, 0, 0};
+ uint8_t a5_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
+ validateAndfixMotorOutputReordering(a5_initial, size);
+ EXPECT_TRUE( 0 == memcmp(a5_expected, a5_initial, sizeof(a5_expected)));
+
+ uint8_t a6_initial[size] = {0, 0, 0, 1, 0, 99, 0, 0};
+ uint8_t a6_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
+ validateAndfixMotorOutputReordering(a6_initial, size);
+ EXPECT_TRUE( 0 == memcmp(a6_expected, a6_initial, sizeof(a5_expected)));
+
+ uint8_t a7_initial[size] = {1, 5, 3, 4, 5, 6, 7, 0};
+ uint8_t a7_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
+ validateAndfixMotorOutputReordering(a7_initial, size);
+ EXPECT_TRUE( 0 == memcmp(a7_expected, a7_initial, sizeof(a7_expected)));
+
+ uint8_t a8_initial[size] = {1, 5, 1, 5, 3, 3, 3, 3};
+ uint8_t a8_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
+ validateAndfixMotorOutputReordering(a8_initial, size);
+ EXPECT_TRUE( 0 == memcmp(a8_expected, a8_initial, sizeof(a8_expected)));
+
+ uint8_t a9_initial[size] = {7, 6, 5, 4, 3, 2, 1, 0};
+ uint8_t a9_expected[size] = {7, 6, 5, 4, 3, 2, 1, 0};
+ validateAndfixMotorOutputReordering(a9_initial, size);
+ EXPECT_TRUE( 0 == memcmp(a9_expected, a9_initial, sizeof(a9_expected)));
+}