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Code Issues Wiki Activity

Rename FAKE to VIRTUAL (#12493)

Browse source 
* use_fake_xyz to use_virtual_xyz

* xyz_fake to xyz_virtual

* other fake to virtual

* all files fake to vrtual

* last touch on fake to virtual
This commit is contained in:
Homer 2023-03-14 12:35:39 +01:00 • committed by GitHub
parent 4f5b99d34c
commit 515e55ef0a
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GPG key ID: 4AEE18F83AFDEB23
29 changed files with 172 additions and 172 deletions
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6
src/main/cli/settings.c
View file

@ -137,20 +137,20 @@
const char * const lookupTableAccHardware[] = { const char * const lookupTableAccHardware[] = {
"AUTO", "NONE", "ADXL345", "MPU6050", "MMA8452", "BMA280", "LSM303DLHC", "AUTO", "NONE", "ADXL345", "MPU6050", "MMA8452", "BMA280", "LSM303DLHC",
"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605", "ICM42688P", "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605", "ICM42688P",
"BMI160", "BMI270", "LSM6DSO", "FAKE" "BMI160", "BMI270", "LSM6DSO", "VIRTUAL"
}; };
// sync with gyroHardware_e // sync with gyroHardware_e
const char * const lookupTableGyroHardware[] = { const char * const lookupTableGyroHardware[] = {
"AUTO", "NONE", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "AUTO", "NONE", "MPU6050", "L3G4200D", "MPU3050", "L3GD20",
"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605", "ICM42688P", "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605", "ICM42688P",
"BMI160", "BMI270", "LSM6SDO", "FAKE" "BMI160", "BMI270", "LSM6SDO", "VIRTUAL"
}; };
#if defined(USE_SENSOR_NAMES) || defined(USE_BARO) #if defined(USE_SENSOR_NAMES) || defined(USE_BARO)
// sync with baroSensor_e // sync with baroSensor_e
const char * const lookupTableBaroHardware[] = { const char * const lookupTableBaroHardware[] = {
"AUTO", "NONE", "BMP085", "MS5611", "BMP280", "LPS", "QMP6988", "BMP388", "DPS310", "2SMPB_02B", "FAKE" "AUTO", "NONE", "BMP085", "MS5611", "BMP280", "LPS", "QMP6988", "BMP388", "DPS310", "2SMPB_02B", "VIRTUAL"
}; };
#endif #endif
#if defined(USE_SENSOR_NAMES) || defined(USE_MAG) #if defined(USE_SENSOR_NAMES) || defined(USE_MAG)

2
src/main/drivers/accgyro/accgyro.h
View file

@ -59,7 +59,7 @@ typedef enum {
GYRO_BMI160, GYRO_BMI160,
GYRO_BMI270, GYRO_BMI270,
GYRO_LSM6DSO, GYRO_LSM6DSO,
GYRO_FAKE GYRO_VIRTUAL
} gyroHardware_e; } gyroHardware_e;
typedef enum { typedef enum {

74
src/main/drivers/accgyro/accgyro_fake.c → src/main/drivers/accgyro/accgyro_virtual.c
View file

@ -28,7 +28,7 @@
#include <pthread.h> #include <pthread.h>
#endif #endif
#ifdef USE_FAKE_GYRO #ifdef USE_VIRTUAL_GYRO
#include "build/build_config.h" #include "build/build_config.h"
@ -36,14 +36,14 @@
#include "common/utils.h" #include "common/utils.h"
#include "drivers/accgyro/accgyro.h" #include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_fake.h" #include "drivers/accgyro/accgyro_virtual.h"
static int16_t fakeGyroADC[XYZ_AXIS_COUNT]; static int16_t virtualGyroADC[XYZ_AXIS_COUNT];
gyroDev_t *fakeGyroDev; gyroDev_t *virtualGyroDev;
static void fakeGyroInit(gyroDev_t *gyro) static void virtualGyroInit(gyroDev_t *gyro)
{ {
fakeGyroDev = gyro; virtualGyroDev = gyro;
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD) #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
if (pthread_mutex_init(&gyro->lock, NULL) != 0) { if (pthread_mutex_init(&gyro->lock, NULL) != 0) {
printf("Create gyro lock error!\n"); printf("Create gyro lock error!\n");
@ -51,20 +51,20 @@ static void fakeGyroInit(gyroDev_t *gyro)
#endif #endif
} }
void fakeGyroSet(gyroDev_t *gyro, int16_t x, int16_t y, int16_t z) void virtualGyroSet(gyroDev_t *gyro, int16_t x, int16_t y, int16_t z)
{ {
gyroDevLock(gyro); gyroDevLock(gyro);
fakeGyroADC[X] = x; virtualGyroADC[X] = x;
fakeGyroADC[Y] = y; virtualGyroADC[Y] = y;
fakeGyroADC[Z] = z; virtualGyroADC[Z] = z;
gyro->dataReady = true; gyro->dataReady = true;
gyroDevUnLock(gyro); gyroDevUnLock(gyro);
} }
STATIC_UNIT_TESTED bool fakeGyroRead(gyroDev_t *gyro) STATIC_UNIT_TESTED bool virtualGyroRead(gyroDev_t *gyro)
{ {
gyroDevLock(gyro); gyroDevLock(gyro);
if (gyro->dataReady == false) { if (gyro->dataReady == false) {
@ -73,26 +73,26 @@ STATIC_UNIT_TESTED bool fakeGyroRead(gyroDev_t *gyro)
} }
gyro->dataReady = false; gyro->dataReady = false;
gyro->gyroADCRaw[X] = fakeGyroADC[X]; gyro->gyroADCRaw[X] = virtualGyroADC[X];
gyro->gyroADCRaw[Y] = fakeGyroADC[Y]; gyro->gyroADCRaw[Y] = virtualGyroADC[Y];
gyro->gyroADCRaw[Z] = fakeGyroADC[Z]; gyro->gyroADCRaw[Z] = virtualGyroADC[Z];
gyroDevUnLock(gyro); gyroDevUnLock(gyro);
return true; return true;
} }
static bool fakeGyroReadTemperature(gyroDev_t *gyro, int16_t *temperatureData) static bool virtualGyroReadTemperature(gyroDev_t *gyro, int16_t *temperatureData)
{ {
UNUSED(gyro); UNUSED(gyro);
UNUSED(temperatureData); UNUSED(temperatureData);
return true; return true;
} }
bool fakeGyroDetect(gyroDev_t *gyro) bool virtualGyroDetect(gyroDev_t *gyro)
{ {
gyro->initFn = fakeGyroInit; gyro->initFn = virtualGyroInit;
gyro->readFn = fakeGyroRead; gyro->readFn = virtualGyroRead;
gyro->temperatureFn = fakeGyroReadTemperature; gyro->temperatureFn = virtualGyroReadTemperature;
#if defined(SIMULATOR_BUILD) #if defined(SIMULATOR_BUILD)
gyro->scale = GYRO_SCALE_2000DPS; gyro->scale = GYRO_SCALE_2000DPS;
#else #else
@ -100,17 +100,17 @@ bool fakeGyroDetect(gyroDev_t *gyro)
#endif #endif
return true; return true;
} }
#endif // USE_FAKE_GYRO #endif // USE_VIRTUAL_GYRO
#ifdef USE_FAKE_ACC #ifdef USE_VIRTUAL_ACC
static int16_t fakeAccData[XYZ_AXIS_COUNT]; static int16_t virtualAccData[XYZ_AXIS_COUNT];
accDev_t *fakeAccDev; accDev_t *virtualAccDev;
static void fakeAccInit(accDev_t *acc) static void virtualAccInit(accDev_t *acc)
{ {
fakeAccDev = acc; virtualAccDev = acc;
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD) #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
if (pthread_mutex_init(&acc->lock, NULL) != 0) { if (pthread_mutex_init(&acc->lock, NULL) != 0) {
printf("Create acc lock error!\n"); printf("Create acc lock error!\n");
@ -118,20 +118,20 @@ static void fakeAccInit(accDev_t *acc)
#endif #endif
} }
void fakeAccSet(accDev_t *acc, int16_t x, int16_t y, int16_t z) void virtualAccSet(accDev_t *acc, int16_t x, int16_t y, int16_t z)
{ {
accDevLock(acc); accDevLock(acc);
fakeAccData[X] = x; virtualAccData[X] = x;
fakeAccData[Y] = y; virtualAccData[Y] = y;
fakeAccData[Z] = z; virtualAccData[Z] = z;
acc->dataReady = true; acc->dataReady = true;
accDevUnLock(acc); accDevUnLock(acc);
} }
static bool fakeAccRead(accDev_t *acc) static bool virtualAccRead(accDev_t *acc)
{ {
accDevLock(acc); accDevLock(acc);
if (acc->dataReady == false) { if (acc->dataReady == false) {
@ -140,19 +140,19 @@ static bool fakeAccRead(accDev_t *acc)
} }
acc->dataReady = false; acc->dataReady = false;
acc->ADCRaw[X] = fakeAccData[X]; acc->ADCRaw[X] = virtualAccData[X];
acc->ADCRaw[Y] = fakeAccData[Y]; acc->ADCRaw[Y] = virtualAccData[Y];
acc->ADCRaw[Z] = fakeAccData[Z]; acc->ADCRaw[Z] = virtualAccData[Z];
accDevUnLock(acc); accDevUnLock(acc);
return true; return true;
} }
bool fakeAccDetect(accDev_t *acc) bool virtualAccDetect(accDev_t *acc)
{ {
acc->initFn = fakeAccInit; acc->initFn = virtualAccInit;
acc->readFn = fakeAccRead; acc->readFn = virtualAccRead;
acc->revisionCode = 0; acc->revisionCode = 0;
return true; return true;
} }
#endif // USE_FAKE_ACC #endif // USE_VIRTUAL_ACC

12
src/main/drivers/accgyro/accgyro_fake.h → src/main/drivers/accgyro/accgyro_virtual.h
View file

@ -21,11 +21,11 @@
#pragma once #pragma once
struct accDev_s; struct accDev_s;
extern struct accDev_s *fakeAccDev; extern struct accDev_s *virtualAccDev;
bool fakeAccDetect(struct accDev_s *acc); bool virtualAccDetect(struct accDev_s *acc);
void fakeAccSet(struct accDev_s *acc, int16_t x, int16_t y, int16_t z); void virtualAccSet(struct accDev_s *acc, int16_t x, int16_t y, int16_t z);
struct gyroDev_s; struct gyroDev_s;
extern struct gyroDev_s *fakeGyroDev; extern struct gyroDev_s *virtualGyroDev;
bool fakeGyroDetect(struct gyroDev_s *gyro); bool virtualGyroDetect(struct gyroDev_s *gyro);
void fakeGyroSet(struct gyroDev_s *gyro, int16_t x, int16_t y, int16_t z); void virtualGyroSet(struct gyroDev_s *gyro, int16_t x, int16_t y, int16_t z);

46
src/main/drivers/barometer/barometer_fake.c → src/main/drivers/barometer/barometer_virtual.c
View file

@ -23,63 +23,63 @@
#include "platform.h" #include "platform.h"
#ifdef USE_FAKE_BARO #ifdef USE_VIRTUAL_BARO
#include "common/utils.h" #include "common/utils.h"
#include "barometer.h" #include "barometer.h"
#include "barometer_fake.h" #include "barometer_virtual.h"
static int32_t fakePressure; static int32_t virtualPressure;
static int32_t fakeTemperature; static int32_t virtualTemperature;
static void fakeBaroStart(baroDev_t *baro) static void virtualBaroStart(baroDev_t *baro)
{ {
UNUSED(baro); UNUSED(baro);
} }
static bool fakeBaroReadGet(baroDev_t *baro) static bool virtualBaroReadGet(baroDev_t *baro)
{ {
UNUSED(baro); UNUSED(baro);
return true; return true;
} }
static void fakeBaroCalculate(int32_t *pressure, int32_t *temperature) static void virtualBaroCalculate(int32_t *pressure, int32_t *temperature)
{ {
if (pressure) if (pressure)
*pressure = fakePressure; *pressure = virtualPressure;
if (temperature) if (temperature)
*temperature = fakeTemperature; *temperature = virtualTemperature;
} }
void fakeBaroSet(int32_t pressure, int32_t temperature) void virtualBaroSet(int32_t pressure, int32_t temperature)
{ {
fakePressure = pressure; virtualPressure = pressure;
fakeTemperature = temperature; virtualTemperature = temperature;
} }
bool fakeBaroDetect(baroDev_t *baro) bool virtualBaroDetect(baroDev_t *baro)
{ {
fakePressure = 101325; // pressure in Pa (0m MSL) virtualPressure = 101325; // pressure in Pa (0m MSL)
fakeTemperature = 2500; // temperature in 0.01 C = 25 deg virtualTemperature = 2500; // temperature in 0.01 C = 25 deg
// these are dummy as temperature is measured as part of pressure // these are dummy as temperature is measured as part of pressure
baro->combined_read = true; baro->combined_read = true;
baro->ut_delay = 10000; baro->ut_delay = 10000;
baro->get_ut = fakeBaroReadGet; baro->get_ut = virtualBaroReadGet;
baro->read_ut = fakeBaroReadGet; baro->read_ut = virtualBaroReadGet;
baro->start_ut = fakeBaroStart; baro->start_ut = virtualBaroStart;
// only _up part is executed, and gets both temperature and pressure // only _up part is executed, and gets both temperature and pressure
baro->up_delay = 10000; baro->up_delay = 10000;
baro->start_up = fakeBaroStart; baro->start_up = virtualBaroStart;
baro->read_up = fakeBaroReadGet; baro->read_up = virtualBaroReadGet;
baro->get_up = fakeBaroReadGet; baro->get_up = virtualBaroReadGet;
baro->calculate = fakeBaroCalculate; baro->calculate = virtualBaroCalculate;
return true; return true;
} }
#endif // USE_FAKE_BARO #endif // USE_VIRTUAL_BARO

4
src/main/drivers/barometer/barometer_fake.h → src/main/drivers/barometer/barometer_virtual.h
View file

@ -21,5 +21,5 @@
#pragma once #pragma once
struct baroDev_s; struct baroDev_s;
bool fakeBaroDetect(struct baroDev_s *baro); bool virtualBaroDetect(struct baroDev_s *baro);
void fakeBaroSet(int32_t pressure, int32_t temperature); void virtualBaroSet(int32_t pressure, int32_t temperature);

38
src/main/drivers/compass/compass_fake.c → src/main/drivers/compass/compass_virtual.c
View file

@ -23,7 +23,7 @@
#include "platform.h" #include "platform.h"
#ifdef USE_FAKE_MAG #ifdef USE_VIRTUAL_MAG
#include "build/build_config.h" #include "build/build_config.h"
@ -31,44 +31,44 @@
#include "common/utils.h" #include "common/utils.h"
#include "compass.h" #include "compass.h"
#include "compass_fake.h" #include "compass_virtual.h"
static int16_t fakeMagData[XYZ_AXIS_COUNT]; static int16_t virtualMagData[XYZ_AXIS_COUNT];
static bool fakeMagInit(magDev_t *mag) static bool virtualMagInit(magDev_t *mag)
{ {
UNUSED(mag); UNUSED(mag);
// initially point north // initially point north
fakeMagData[X] = 4096; virtualMagData[X] = 4096;
fakeMagData[Y] = 0; virtualMagData[Y] = 0;
fakeMagData[Z] = 0; virtualMagData[Z] = 0;
return true; return true;
} }
void fakeMagSet(int16_t x, int16_t y, int16_t z) void virtualMagSet(int16_t x, int16_t y, int16_t z)
{ {
fakeMagData[X] = x; virtualMagData[X] = x;
fakeMagData[Y] = y; virtualMagData[Y] = y;
fakeMagData[Z] = z; virtualMagData[Z] = z;
} }
static bool fakeMagRead(magDev_t *mag, int16_t *magData) static bool virtualMagRead(magDev_t *mag, int16_t *magData)
{ {
UNUSED(mag); UNUSED(mag);
magData[X] = fakeMagData[X]; magData[X] = virtualMagData[X];
magData[Y] = fakeMagData[Y]; magData[Y] = virtualMagData[Y];
magData[Z] = fakeMagData[Z]; magData[Z] = virtualMagData[Z];
return true; return true;
} }
bool fakeMagDetect(magDev_t *mag) bool virtualMagDetect(magDev_t *mag)
{ {
mag->init = fakeMagInit; mag->init = virtualMagInit;
mag->read = fakeMagRead; mag->read = virtualMagRead;
return true; return true;
} }
#endif // USE_FAKE_MAG #endif // USE_VIRTUAL_MAG

4
src/main/drivers/compass/compass_fake.h → src/main/drivers/compass/compass_virtual.h
View file

@ -21,5 +21,5 @@
#pragma once #pragma once
struct magDev_s; struct magDev_s;
bool fakeMagDetect(struct magDev_s *mag); bool virtualMagDetect(struct magDev_s *mag);
void fakeMagSet(int16_t x, int16_t y, int16_t z); void virtualMagSet(int16_t x, int16_t y, int16_t z);

2
src/main/drivers/light_led.h
View file

@ -34,7 +34,7 @@ typedef struct statusLedConfig_s {
PG_DECLARE(statusLedConfig_t, statusLedConfig); PG_DECLARE(statusLedConfig_t, statusLedConfig);
// Helpful macros // Helpful macros
#if defined(UNIT_TEST) || defined(USE_FAKE_LED) #if defined(UNIT_TEST) || defined(USE_VIRTUAL_LED)
#define LED0_TOGGLE NOOP #define LED0_TOGGLE NOOP
#define LED0_OFF NOOP #define LED0_OFF NOOP

2
src/main/fc/init.c
View file

@ -408,7 +408,7 @@ void init(void)
targetPreInit(); targetPreInit();
#endif #endif
#if !defined(USE_FAKE_LED) #if !defined(USE_VIRTUAL_LED)
ledInit(statusLedConfig()); ledInit(statusLedConfig());
#endif #endif
LED2_ON; LED2_ON;

18
src/main/io/serial_4way_avrootloader.c
View file

@ -42,7 +42,7 @@
#include "io/serial_4way_impl.h" #include "io/serial_4way_impl.h"
#include "io/serial_4way_avrootloader.h" #include "io/serial_4way_avrootloader.h"
#if defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) && !defined(USE_FAKE_ESC) #if defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) && !defined(USE_VIRTUAL_ESC)
// Bootloader commands // Bootloader commands
// RunCmd // RunCmd
@ -344,12 +344,12 @@ uint8_t BL_VerifyFlash(ioMem_t *pMem)
} }
#endif #endif
#if defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) && defined(USE_FAKE_ESC) #if defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) && defined(USE_VIRTUAL_ESC)
#define FAKE_PAGE_SIZE 512 #define VIRTUAL_PAGE_SIZE 512
#define FAKE_FLASH_SIZE 16385 #define VIRTUAL_FLASH_SIZE 16385
static uint8_t fakeFlash[FAKE_FLASH_SIZE] = static uint8_t virtualFlash[VIRTUAL_FLASH_SIZE] =
{ {
0x02, 0x19, 0xFD, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x02, 0x00, 0xAA, 0xFF, 0xFF, 0x02, 0x19, 0xFD, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x02, 0x00, 0xAA, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
@ -858,7 +858,7 @@ static uint8_t BL_ReadA(uint8_t cmd, ioMem_t *pMem)
uint16_t bytes = pMem->D_NUM_BYTES; uint16_t bytes = pMem->D_NUM_BYTES;
if (bytes == 0) bytes = 256; if (bytes == 0) bytes = 256;
memcpy(pMem->D_PTR_I, &fakeFlash[address], bytes); memcpy(pMem->D_PTR_I, &virtualFlash[address], bytes);
return true; return true;
} }
@ -870,7 +870,7 @@ static uint8_t BL_WriteA(uint8_t cmd, ioMem_t *pMem, uint32_t timeout)
uint16_t bytes = pMem->D_NUM_BYTES; uint16_t bytes = pMem->D_NUM_BYTES;
if (bytes == 0) bytes = 256; if (bytes == 0) bytes = 256;
memcpy(&fakeFlash[address], pMem->D_PTR_I, bytes); memcpy(&virtualFlash[address], pMem->D_PTR_I, bytes);
return true; return true;
} }
@ -888,9 +888,9 @@ uint8_t BL_ReadEEprom(ioMem_t *pMem)
uint8_t BL_PageErase(ioMem_t *pMem) uint8_t BL_PageErase(ioMem_t *pMem)
{ {
uint16_t address = pMem->D_FLASH_ADDR_H << 8 | pMem->D_FLASH_ADDR_L; uint16_t address = pMem->D_FLASH_ADDR_H << 8 | pMem->D_FLASH_ADDR_L;
if (address + FAKE_PAGE_SIZE > FAKE_FLASH_SIZE) if (address + VIRTUAL_PAGE_SIZE > VIRTUAL_FLASH_SIZE)
return false; return false;
memset(&fakeFlash[address], 0xFF, FAKE_PAGE_SIZE); memset(&virtualFlash[address], 0xFF, VIRTUAL_PAGE_SIZE);
return true; return true;
} }

14
src/main/io/spektrum_rssi.c
View file

@ -20,7 +20,7 @@
#include "platform.h" #include "platform.h"
#ifdef USE_SERIALRX #ifdef USE_SERIALRX
#if defined(USE_SPEKTRUM_REAL_RSSI) || defined(USE_SPEKTRUM_FAKE_RSSI) #if defined(USE_SPEKTRUM_REAL_RSSI) || defined(USE_SPEKTRUM_VIRTUAL_RSSI)
#include "config/feature.h" #include "config/feature.h"
#include "common/utils.h" #include "common/utils.h"
@ -38,7 +38,7 @@
// Number of fade outs counted as a link loss when using USE_SPEKTRUM_REAL_RSSI // Number of fade outs counted as a link loss when using USE_SPEKTRUM_REAL_RSSI
#define SPEKTRUM_RSSI_LINK_LOSS_FADES 5 #define SPEKTRUM_RSSI_LINK_LOSS_FADES 5
#ifdef USE_SPEKTRUM_FAKE_RSSI #ifdef USE_SPEKTRUM_VIRTUAL_RSSI
// Spektrum Rx type. Determined by bind method. // Spektrum Rx type. Determined by bind method.
static bool spektrumSatInternal = true; // Assume internal,bound by BF. static bool spektrumSatInternal = true; // Assume internal,bound by BF.
@ -161,14 +161,14 @@ void spektrumHandleRSSI(volatile uint8_t spekFrame[])
spek_last_rssi = rssi; spek_last_rssi = rssi;
} }
#ifdef USE_SPEKTRUM_FAKE_RSSI #ifdef USE_SPEKTRUM_VIRTUAL_RSSI
else else
#endif #endif
#endif // USE_SPEKTRUM_REAL_RSSI #endif // USE_SPEKTRUM_REAL_RSSI
#ifdef USE_SPEKTRUM_FAKE_RSSI #ifdef USE_SPEKTRUM_VIRTUAL_RSSI
{ {
// Fake RSSI value computed from fades // Virtual RSSI value computed from fades
const uint32_t current_secs = micros() / 1000 / (1000 / SPEKTRUM_FADE_REPORTS_PER_SEC); const uint32_t current_secs = micros() / 1000 / (1000 / SPEKTRUM_FADE_REPORTS_PER_SEC);
uint16_t fade; uint16_t fade;
@ -210,7 +210,7 @@ void spektrumHandleRSSI(volatile uint8_t spekFrame[])
spek_fade_last_sec = current_secs; spek_fade_last_sec = current_secs;
} }
} }
#endif // USE_SPEKTRUM_FAKE_RSSI #endif // USE_SPEKTRUM_VIRTUAL_RSSI
} }
#endif // USE_SPEKTRUM_REAL_RSSI || USE_SPEKTRUM_FAKE_RSSI #endif // USE_SPEKTRUM_REAL_RSSI || USE_SPEKTRUM_VIRTUAL_RSSI
#endif // USE_SERIALRX #endif // USE_SERIALRX

2
src/main/rx/spektrum.c
View file

@ -121,7 +121,7 @@ static uint8_t spektrumFrameStatus(rxRuntimeState_t *rxRuntimeState)
if (rcFrameComplete) { if (rcFrameComplete) {
rcFrameComplete = false; rcFrameComplete = false;
#if defined(USE_SPEKTRUM_REAL_RSSI) || defined(USE_SPEKTRUM_FAKE_RSSI) #if defined(USE_SPEKTRUM_REAL_RSSI) || defined(USE_SPEKTRUM_VIRTUAL_RSSI)
spektrumHandleRSSI(spekFrame); spektrumHandleRSSI(spekFrame);
#endif #endif

2
src/main/sensors/acceleration.h
View file

@ -47,7 +47,7 @@ typedef enum {
ACC_BMI160, ACC_BMI160,
ACC_BMI270, ACC_BMI270,
ACC_LSM6DSO, ACC_LSM6DSO,
ACC_FAKE ACC_VIRTUAL
} accelerationSensor_e; } accelerationSensor_e;
typedef struct acc_s { typedef struct acc_s {

12
src/main/sensors/acceleration_init.c
View file

@ -37,7 +37,7 @@
#include "config/feature.h" #include "config/feature.h"
#include "drivers/accgyro/accgyro.h" #include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_fake.h" #include "drivers/accgyro/accgyro_virtual.h"
#include "drivers/accgyro/accgyro_mpu.h" #include "drivers/accgyro/accgyro_mpu.h"
#include "drivers/accgyro/accgyro_mpu3050.h" #include "drivers/accgyro/accgyro_mpu3050.h"
#include "drivers/accgyro/accgyro_mpu6050.h" #include "drivers/accgyro/accgyro_mpu6050.h"
@ -91,7 +91,7 @@
!defined(USE_ACC_SPI_ICM20689) && !defined(USE_ACCGYRO_LSM6DSO) && !defined(USE_ACCGYRO_BMI160) && \ !defined(USE_ACC_SPI_ICM20689) && !defined(USE_ACCGYRO_LSM6DSO) && !defined(USE_ACCGYRO_BMI160) && \
!defined(USE_ACCGYRO_BMI270) && !defined(USE_ACC_SPI_ICM42605) && !defined(USE_ACC_SPI_ICM42688P) && \ !defined(USE_ACCGYRO_BMI270) && !defined(USE_ACC_SPI_ICM42605) && !defined(USE_ACC_SPI_ICM42688P) && \
!defined(USE_ACC_ADXL345) && !defined(USE_ACC_BMA280) && !defined(USE_ACC_LSM303DLHC) && \ !defined(USE_ACC_ADXL345) && !defined(USE_ACC_BMA280) && !defined(USE_ACC_LSM303DLHC) && \
!defined(USE_ACC_MMA8452) && !defined(USE_FAKE_ACC) !defined(USE_ACC_MMA8452) && !defined(USE_VIRTUAL_ACC)
#error At least one USE_ACC device definition required #error At least one USE_ACC device definition required
#endif #endif
@ -328,10 +328,10 @@ retry:
FALLTHROUGH; FALLTHROUGH;
#endif #endif
#ifdef USE_FAKE_ACC #ifdef USE_VIRTUAL_ACC
case ACC_FAKE: case ACC_VIRTUAL:
if (fakeAccDetect(dev)) { if (virtualAccDetect(dev)) {
accHardware = ACC_FAKE; accHardware = ACC_VIRTUAL;
break; break;
} }
FALLTHROUGH; FALLTHROUGH;

18
src/main/sensors/barometer.c
View file

@ -40,7 +40,7 @@
#include "drivers/barometer/barometer_bmp388.h" #include "drivers/barometer/barometer_bmp388.h"
#include "drivers/barometer/barometer_dps310.h" #include "drivers/barometer/barometer_dps310.h"
#include "drivers/barometer/barometer_qmp6988.h" #include "drivers/barometer/barometer_qmp6988.h"
#include "drivers/barometer/barometer_fake.h" #include "drivers/barometer/barometer_virtual.h"
#include "drivers/barometer/barometer_ms5611.h" #include "drivers/barometer/barometer_ms5611.h"
#include "drivers/barometer/barometer_lps.h" #include "drivers/barometer/barometer_lps.h"
#include "drivers/barometer/barometer_2smpb_02b.h" #include "drivers/barometer/barometer_2smpb_02b.h"
@ -185,7 +185,7 @@ static bool baroDetect(baroDev_t *baroDev, baroSensor_e baroHardwareToUse)
UNUSED(dev); UNUSED(dev);
#endif #endif
#ifndef USE_FAKE_BARO #ifndef USE_VIRTUAL_BARO
switch (barometerConfig()->baro_busType) { switch (barometerConfig()->baro_busType) {
#ifdef USE_I2C #ifdef USE_I2C
case BUS_TYPE_I2C: case BUS_TYPE_I2C:
@ -208,7 +208,7 @@ static bool baroDetect(baroDev_t *baroDev, baroSensor_e baroHardwareToUse)
default: default:
return false; return false;
} }
#endif // USE_FAKE_BARO #endif // USE_VIRTUAL_BARO
switch (baroHardware) { switch (baroHardware) {
case BARO_DEFAULT: case BARO_DEFAULT:
@ -304,10 +304,10 @@ static bool baroDetect(baroDev_t *baroDev, baroSensor_e baroHardwareToUse)
#endif #endif
FALLTHROUGH; FALLTHROUGH;
case BARO_FAKE: case BARO_VIRTUAL:
#ifdef USE_FAKE_BARO #ifdef USE_VIRTUAL_BARO
if (fakeBaroDetect(baroDev)) { if (virtualBaroDetect(baroDev)) {
baroHardware = BARO_FAKE; baroHardware = BARO_VIRTUAL;
break; break;
} }
#endif #endif
@ -329,10 +329,10 @@ static bool baroDetect(baroDev_t *baroDev, baroSensor_e baroHardwareToUse)
void baroInit(void) void baroInit(void)
{ {
#ifndef USE_FAKE_BARO #ifndef USE_VIRTUAL_BARO
baroReady = baroDetect(&baro.dev, barometerConfig()->baro_hardware); baroReady = baroDetect(&baro.dev, barometerConfig()->baro_hardware);
#else #else
baroReady = baroDetect(&baro.dev, BARO_FAKE); baroReady = baroDetect(&baro.dev, BARO_VIRTUAL);
#endif #endif
} }

2
src/main/sensors/barometer.h
View file

@ -34,7 +34,7 @@ typedef enum {
BARO_BMP388 = 7, BARO_BMP388 = 7,
BARO_DPS310 = 8, BARO_DPS310 = 8,
BARO_2SMPB_02B = 9, BARO_2SMPB_02B = 9,
BARO_FAKE = 10, BARO_VIRTUAL = 10,
} baroSensor_e; } baroSensor_e;
typedef struct barometerConfig_s { typedef struct barometerConfig_s {

2
src/main/sensors/compass.c
View file

@ -37,7 +37,7 @@
#include "drivers/compass/compass.h" #include "drivers/compass/compass.h"
#include "drivers/compass/compass_ak8975.h" #include "drivers/compass/compass_ak8975.h"
#include "drivers/compass/compass_ak8963.h" #include "drivers/compass/compass_ak8963.h"
#include "drivers/compass/compass_fake.h" #include "drivers/compass/compass_virtual.h"
#include "drivers/compass/compass_hmc5883l.h" #include "drivers/compass/compass_hmc5883l.h"
#include "drivers/compass/compass_lis3mdl.h" #include "drivers/compass/compass_lis3mdl.h"
#include "drivers/compass/compass_mpu925x_ak8963.h" #include "drivers/compass/compass_mpu925x_ak8963.h"

4
src/main/sensors/gyro.c
View file

@ -173,8 +173,8 @@ static bool isOnFirstGyroCalibrationCycle(const gyroCalibration_t *gyroCalibrati
static void gyroSetCalibrationCycles(gyroSensor_t *gyroSensor) static void gyroSetCalibrationCycles(gyroSensor_t *gyroSensor)
{ {
#if defined(USE_FAKE_GYRO) && !defined(UNIT_TEST) #if defined(USE_VIRTUAL_GYRO) && !defined(UNIT_TEST)
if (gyroSensor->gyroDev.gyroHardware == GYRO_FAKE) { if (gyroSensor->gyroDev.gyroHardware == GYRO_VIRTUAL) {
gyroSensor->calibration.cyclesRemaining = 0; gyroSensor->calibration.cyclesRemaining = 0;
return; return;
} }

16
src/main/sensors/gyro_init.c
View file

@ -35,7 +35,7 @@
#include "config/config.h" #include "config/config.h"
#include "drivers/accgyro/accgyro.h" #include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_fake.h" #include "drivers/accgyro/accgyro_virtual.h"
#include "drivers/accgyro/accgyro_mpu.h" #include "drivers/accgyro/accgyro_mpu.h"
#include "drivers/accgyro/accgyro_mpu3050.h" #include "drivers/accgyro/accgyro_mpu3050.h"
#include "drivers/accgyro/accgyro_mpu6050.h" #include "drivers/accgyro/accgyro_mpu6050.h"
@ -75,7 +75,7 @@
#if !defined(USE_GYRO_L3G4200D) && !defined(USE_GYRO_MPU3050) && !defined(USE_GYRO_MPU6050) && \ #if !defined(USE_GYRO_L3G4200D) && !defined(USE_GYRO_MPU3050) && !defined(USE_GYRO_MPU6050) && \
!defined(USE_GYRO_MPU6500) && !defined(USE_GYRO_SPI_ICM20689) && !defined(USE_GYRO_SPI_MPU6000) && \ !defined(USE_GYRO_MPU6500) && !defined(USE_GYRO_SPI_ICM20689) && !defined(USE_GYRO_SPI_MPU6000) && \
!defined(USE_GYRO_SPI_MPU6500) && !defined(USE_GYRO_SPI_MPU9250) && !defined(USE_GYRO_L3GD20) && \ !defined(USE_GYRO_SPI_MPU6500) && !defined(USE_GYRO_SPI_MPU9250) && !defined(USE_GYRO_L3GD20) && \
!defined(USE_GYRO_SPI_ICM42605) && !defined(USE_GYRO_SPI_ICM42688P) && !defined(USE_ACCGYRO_BMI270) && !defined(USE_FAKE_GYRO) !defined(USE_GYRO_SPI_ICM42605) && !defined(USE_GYRO_SPI_ICM42688P) && !defined(USE_ACCGYRO_BMI270) && !defined(USE_VIRTUAL_GYRO)
#error At least one USE_GYRO device definition required #error At least one USE_GYRO device definition required
#endif #endif
@ -316,7 +316,7 @@ void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
switch (gyroSensor->gyroDev.gyroHardware) { switch (gyroSensor->gyroDev.gyroHardware) {
case GYRO_NONE: // Won't ever actually get here, but included to account for all gyro types case GYRO_NONE: // Won't ever actually get here, but included to account for all gyro types
case GYRO_DEFAULT: case GYRO_DEFAULT:
case GYRO_FAKE: case GYRO_VIRTUAL:
case GYRO_MPU6050: case GYRO_MPU6050:
case GYRO_L3G4200D: case GYRO_L3G4200D:
case GYRO_MPU3050: case GYRO_MPU3050:
@ -504,10 +504,10 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
FALLTHROUGH; FALLTHROUGH;
#endif #endif
#ifdef USE_FAKE_GYRO #ifdef USE_VIRTUAL_GYRO
case GYRO_FAKE: case GYRO_VIRTUAL:
if (fakeGyroDetect(dev)) { if (virtualGyroDetect(dev)) {
gyroHardware = GYRO_FAKE; gyroHardware = GYRO_VIRTUAL;
break; break;
} }
FALLTHROUGH; FALLTHROUGH;
@ -533,7 +533,7 @@ static bool gyroDetectSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t
bool gyroFound = mpuDetect(&gyroSensor->gyroDev, config); bool gyroFound = mpuDetect(&gyroSensor->gyroDev, config);
#if !defined(USE_FAKE_GYRO) // Allow resorting to fake accgyro if defined #if !defined(USE_VIRTUAL_GYRO) // Allow resorting to virtual accgyro if defined
if (!gyroFound) { if (!gyroFound) {
return false; return false;
} }

2
src/main/target/AT32F435/target.h
View file

@ -34,7 +34,7 @@
#define HANG_ON_ERRORS #define HANG_ON_ERRORS
#endif #endif
#define USE_FAKE_GYRO #define USE_VIRTUAL_GYRO
#define USE_UART1 #define USE_UART1
#define USE_UART2 #define USE_UART2

14
src/main/target/SITL/sitl.c
View file

@ -41,8 +41,8 @@
#include "drivers/timer.h" #include "drivers/timer.h"
#include "timer_def.h" #include "timer_def.h"
#include "drivers/accgyro/accgyro_fake.h" #include "drivers/accgyro/accgyro_virtual.h"
#include "drivers/barometer/barometer_fake.h" #include "drivers/barometer/barometer_virtual.h"
#include "flight/imu.h" #include "flight/imu.h"
#include "config/feature.h" #include "config/feature.h"
@ -135,17 +135,17 @@ void updateState(const fdm_packet* pkt)
x = constrain(-pkt->imu_linear_acceleration_xyz[0] * ACC_SCALE, -32767, 32767); x = constrain(-pkt->imu_linear_acceleration_xyz[0] * ACC_SCALE, -32767, 32767);
y = constrain(-pkt->imu_linear_acceleration_xyz[1] * ACC_SCALE, -32767, 32767); y = constrain(-pkt->imu_linear_acceleration_xyz[1] * ACC_SCALE, -32767, 32767);
z = constrain(-pkt->imu_linear_acceleration_xyz[2] * ACC_SCALE, -32767, 32767); z = constrain(-pkt->imu_linear_acceleration_xyz[2] * ACC_SCALE, -32767, 32767);
fakeAccSet(fakeAccDev, x, y, z); virtualAccSet(virtualAccDev, x, y, z);
// printf("[acc]%lf,%lf,%lf\n", pkt->imu_linear_acceleration_xyz[0], pkt->imu_linear_acceleration_xyz[1], pkt->imu_linear_acceleration_xyz[2]); // printf("[acc]%lf,%lf,%lf\n", pkt->imu_linear_acceleration_xyz[0], pkt->imu_linear_acceleration_xyz[1], pkt->imu_linear_acceleration_xyz[2]);
x = constrain(pkt->imu_angular_velocity_rpy[0] * GYRO_SCALE * RAD2DEG, -32767, 32767); x = constrain(pkt->imu_angular_velocity_rpy[0] * GYRO_SCALE * RAD2DEG, -32767, 32767);
y = constrain(-pkt->imu_angular_velocity_rpy[1] * GYRO_SCALE * RAD2DEG, -32767, 32767); y = constrain(-pkt->imu_angular_velocity_rpy[1] * GYRO_SCALE * RAD2DEG, -32767, 32767);
z = constrain(-pkt->imu_angular_velocity_rpy[2] * GYRO_SCALE * RAD2DEG, -32767, 32767); z = constrain(-pkt->imu_angular_velocity_rpy[2] * GYRO_SCALE * RAD2DEG, -32767, 32767);
fakeGyroSet(fakeGyroDev, x, y, z); virtualGyroSet(virtualGyroDev, x, y, z);
// printf("[gyr]%lf,%lf,%lf\n", pkt->imu_angular_velocity_rpy[0], pkt->imu_angular_velocity_rpy[1], pkt->imu_angular_velocity_rpy[2]); // printf("[gyr]%lf,%lf,%lf\n", pkt->imu_angular_velocity_rpy[0], pkt->imu_angular_velocity_rpy[1], pkt->imu_angular_velocity_rpy[2]);
// temperature in 0.01 C = 25 deg // temperature in 0.01 C = 25 deg
fakeBaroSet(pkt->pressure, 2500); virtualBaroSet(pkt->pressure, 2500);
#if !defined(USE_IMU_CALC) #if !defined(USE_IMU_CALC)
#if defined(SET_IMU_FROM_EULER) #if defined(SET_IMU_FROM_EULER)
// set from Euler // set from Euler
@ -288,7 +288,7 @@ void systemInit(void)
clock_gettime(CLOCK_MONOTONIC, &start_time); clock_gettime(CLOCK_MONOTONIC, &start_time);
printf("[system]Init...\n"); printf("[system]Init...\n");
SystemCoreClock = 500 * 1e6; // fake 500MHz SystemCoreClock = 500 * 1e6; // virtual 500MHz
if (pthread_mutex_init(&updateLock, NULL) != 0) { if (pthread_mutex_init(&updateLock, NULL) != 0) {
printf("Create updateLock error!\n"); printf("Create updateLock error!\n");
@ -658,7 +658,7 @@ uint16_t adcGetChannel(uint8_t channel)
char _estack; char _estack;
char _Min_Stack_Size; char _Min_Stack_Size;
// fake EEPROM // virtual EEPROM
static FILE *eepromFd = NULL; static FILE *eepromFd = NULL;
void FLASH_Unlock(void) void FLASH_Unlock(void)

10
src/main/target/SITL/target.h
View file

@ -67,19 +67,19 @@
#undef SCHEDULER_DELAY_LIMIT #undef SCHEDULER_DELAY_LIMIT
#define SCHEDULER_DELAY_LIMIT 1 #define SCHEDULER_DELAY_LIMIT 1
#define USE_FAKE_LED #define USE_VIRTUAL_LED
#define USE_ACC #define USE_ACC
#define USE_FAKE_ACC #define USE_VIRTUAL_ACC
#define USE_GYRO #define USE_GYRO
#define USE_FAKE_GYRO #define USE_VIRTUAL_GYRO
#define USE_MAG #define USE_MAG
#define USE_FAKE_MAG #define USE_VIRTUAL_MAG
#define USE_BARO #define USE_BARO
#define USE_FAKE_BARO #define USE_VIRTUAL_BARO
#define USABLE_TIMER_CHANNEL_COUNT 0 #define USABLE_TIMER_CHANNEL_COUNT 0

6
src/main/target/SITL/target.mk
View file

@ -3,7 +3,7 @@ TARGET_MCU_FAMILY := SITL
SIMULATOR_BUILD = yes SIMULATOR_BUILD = yes
TARGET_SRC = \ TARGET_SRC = \
drivers/accgyro/accgyro_fake.c \ drivers/accgyro/accgyro_virtual.c \
drivers/barometer/barometer_fake.c \ drivers/barometer/barometer_virtual.c \
drivers/compass/compass_fake.c \ drivers/compass/compass_virtual.c \
drivers/serial_tcp.c drivers/serial_tcp.c

4
src/main/target/common_post.h
View file

@ -85,7 +85,7 @@
In the future we can move to specific drivers being added only - to save flash space. In the future we can move to specific drivers being added only - to save flash space.
*/ */
#if defined(USE_MAG) && !defined(USE_FAKE_MAG) #if defined(USE_MAG) && !defined(USE_VIRTUAL_MAG)
#define USE_MAG_DATA_READY_SIGNAL #define USE_MAG_DATA_READY_SIGNAL
#define USE_MAG_HMC5883 #define USE_MAG_HMC5883
#define USE_MAG_SPI_HMC5883 #define USE_MAG_SPI_HMC5883
@ -235,7 +235,7 @@
#undef USE_SPEKTRUM_BIND #undef USE_SPEKTRUM_BIND
#undef USE_SPEKTRUM_BIND_PLUG #undef USE_SPEKTRUM_BIND_PLUG
#undef USE_SPEKTRUM_REAL_RSSI #undef USE_SPEKTRUM_REAL_RSSI
#undef USE_SPEKTRUM_FAKE_RSSI #undef USE_SPEKTRUM_VIRTUAL_RSSI
#undef USE_SPEKTRUM_RSSI_PERCENT_CONVERSION #undef USE_SPEKTRUM_RSSI_PERCENT_CONVERSION
#undef USE_SPEKTRUM_VTX_CONTROL #undef USE_SPEKTRUM_VTX_CONTROL
#undef USE_SPEKTRUM_VTX_TELEMETRY #undef USE_SPEKTRUM_VTX_TELEMETRY

4
src/main/target/common_pre.h
View file

@ -76,7 +76,7 @@
#define USE_MAG #define USE_MAG
#if !defined(USE_BARO) && !defined(USE_FAKE_BARO) #if !defined(USE_BARO) && !defined(USE_VIRTUAL_BARO)
#define USE_BARO #define USE_BARO
#define USE_BARO_MS5611 #define USE_BARO_MS5611
@ -319,7 +319,7 @@
#define USE_SPEKTRUM_BIND #define USE_SPEKTRUM_BIND
#define USE_SPEKTRUM_BIND_PLUG #define USE_SPEKTRUM_BIND_PLUG
#define USE_SPEKTRUM_REAL_RSSI #define USE_SPEKTRUM_REAL_RSSI
#define USE_SPEKTRUM_FAKE_RSSI #define USE_SPEKTRUM_VIRTUAL_RSSI
#define USE_SPEKTRUM_RSSI_PERCENT_CONVERSION #define USE_SPEKTRUM_RSSI_PERCENT_CONVERSION
#define USE_SPEKTRUM_VTX_CONTROL #define USE_SPEKTRUM_VTX_CONTROL
#define USE_SPEKTRUM_VTX_TELEMETRY #define USE_SPEKTRUM_VTX_TELEMETRY

2
src/test/Makefile
View file

@ -301,7 +301,7 @@ sensor_gyro_unittest_SRC := \
$(USER_DIR)/common/maths.c \ $(USER_DIR)/common/maths.c \
$(USER_DIR)/common/streambuf.c \ $(USER_DIR)/common/streambuf.c \
$(USER_DIR)/common/sensor_alignment.c \ $(USER_DIR)/common/sensor_alignment.c \
$(USER_DIR)/drivers/accgyro/accgyro_fake.c \ $(USER_DIR)/drivers/accgyro/accgyro_virtual.c \
$(USER_DIR)/drivers/accgyro/gyro_sync.c \ $(USER_DIR)/drivers/accgyro/gyro_sync.c \
$(USER_DIR)/pg/pg.c \ $(USER_DIR)/pg/pg.c \
$(USER_DIR)/pg/gyrodev.c $(USER_DIR)/pg/gyrodev.c

20
src/test/unit/sensor_gyro_unittest.cc
View file

@ -29,7 +29,7 @@ extern "C" {
#include "common/axis.h" #include "common/axis.h"
#include "common/maths.h" #include "common/maths.h"
#include "common/utils.h" #include "common/utils.h"
#include "drivers/accgyro/accgyro_fake.h" #include "drivers/accgyro/accgyro_virtual.h"
#include "drivers/accgyro/accgyro_mpu.h" #include "drivers/accgyro/accgyro_mpu.h"
#include "drivers/sensor.h" #include "drivers/sensor.h"
#include "io/beeper.h" #include "io/beeper.h"
@ -44,7 +44,7 @@ extern "C" {
STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev); STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev);
struct gyroSensor_s; struct gyroSensor_s;
STATIC_UNIT_TESTED void performGyroCalibration(struct gyroSensor_s *gyroSensor, uint8_t gyroMovementCalibrationThreshold); STATIC_UNIT_TESTED void performGyroCalibration(struct gyroSensor_s *gyroSensor, uint8_t gyroMovementCalibrationThreshold);
STATIC_UNIT_TESTED bool fakeGyroRead(gyroDev_t *gyro); STATIC_UNIT_TESTED bool virtualGyroRead(gyroDev_t *gyro);
uint8_t debugMode; uint8_t debugMode;
int16_t debug[DEBUG16_VALUE_COUNT]; int16_t debug[DEBUG16_VALUE_COUNT];
@ -59,7 +59,7 @@ extern gyroDev_t * const gyroDevPtr;
TEST(SensorGyro, Detect) TEST(SensorGyro, Detect)
{ {
const gyroHardware_e detected = gyroDetect(gyroDevPtr); const gyroHardware_e detected = gyroDetect(gyroDevPtr);
EXPECT_EQ(GYRO_FAKE, detected); EXPECT_EQ(GYRO_VIRTUAL, detected);
} }
TEST(SensorGyro, Init) TEST(SensorGyro, Init)
@ -67,14 +67,14 @@ TEST(SensorGyro, Init)
pgResetAll(); pgResetAll();
const bool initialised = gyroInit(); const bool initialised = gyroInit();
EXPECT_TRUE(initialised); EXPECT_TRUE(initialised);
EXPECT_EQ(GYRO_FAKE, detectedSensors[SENSOR_INDEX_GYRO]); EXPECT_EQ(GYRO_VIRTUAL, detectedSensors[SENSOR_INDEX_GYRO]);
} }
TEST(SensorGyro, Read) TEST(SensorGyro, Read)
{ {
pgResetAll(); pgResetAll();
gyroInit(); gyroInit();
fakeGyroSet(gyroDevPtr, 5, 6, 7); virtualGyroSet(gyroDevPtr, 5, 6, 7);
const bool read = gyroDevPtr->readFn(gyroDevPtr); const bool read = gyroDevPtr->readFn(gyroDevPtr);
EXPECT_TRUE(read); EXPECT_TRUE(read);
EXPECT_EQ(5, gyroDevPtr->gyroADCRaw[X]); EXPECT_EQ(5, gyroDevPtr->gyroADCRaw[X]);
@ -87,7 +87,7 @@ TEST(SensorGyro, Calibrate)
pgResetAll(); pgResetAll();
gyroInit(); gyroInit();
gyroSetTargetLooptime(1); gyroSetTargetLooptime(1);
fakeGyroSet(gyroDevPtr, 5, 6, 7); virtualGyroSet(gyroDevPtr, 5, 6, 7);
const bool read = gyroDevPtr->readFn(gyroDevPtr); const bool read = gyroDevPtr->readFn(gyroDevPtr);
EXPECT_TRUE(read); EXPECT_TRUE(read);
EXPECT_EQ(5, gyroDevPtr->gyroADCRaw[X]); EXPECT_EQ(5, gyroDevPtr->gyroADCRaw[X]);
@ -122,14 +122,14 @@ TEST(SensorGyro, Update)
gyroConfigMutable()->gyro_soft_notch_hz_2 = 0; gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
gyroInit(); gyroInit();
gyroSetTargetLooptime(1); gyroSetTargetLooptime(1);
gyroDevPtr->readFn = fakeGyroRead; gyroDevPtr->readFn = virtualGyroRead;
gyroStartCalibration(false); gyroStartCalibration(false);
EXPECT_FALSE(gyroIsCalibrationComplete()); EXPECT_FALSE(gyroIsCalibrationComplete());
fakeGyroSet(gyroDevPtr, 5, 6, 7); virtualGyroSet(gyroDevPtr, 5, 6, 7);
gyroUpdate(); gyroUpdate();
while (!gyroIsCalibrationComplete()) { while (!gyroIsCalibrationComplete()) {
fakeGyroSet(gyroDevPtr, 5, 6, 7); virtualGyroSet(gyroDevPtr, 5, 6, 7);
gyroUpdate(); gyroUpdate();
} }
EXPECT_TRUE(gyroIsCalibrationComplete()); EXPECT_TRUE(gyroIsCalibrationComplete());
@ -144,7 +144,7 @@ TEST(SensorGyro, Update)
EXPECT_FLOAT_EQ(0, gyro.gyroADCf[X]); EXPECT_FLOAT_EQ(0, gyro.gyroADCf[X]);
EXPECT_FLOAT_EQ(0, gyro.gyroADCf[Y]); EXPECT_FLOAT_EQ(0, gyro.gyroADCf[Y]);
EXPECT_FLOAT_EQ(0, gyro.gyroADCf[Z]); EXPECT_FLOAT_EQ(0, gyro.gyroADCf[Z]);
fakeGyroSet(gyroDevPtr, 15, 26, 97); virtualGyroSet(gyroDevPtr, 15, 26, 97);
gyroUpdate(); gyroUpdate();
EXPECT_NEAR(10 * gyroDevPtr->scale, gyro.gyroADC[X], 1e-3); // gyro.gyroADC values are scaled EXPECT_NEAR(10 * gyroDevPtr->scale, gyro.gyroADC[X], 1e-3); // gyro.gyroADC values are scaled
EXPECT_NEAR(20 * gyroDevPtr->scale, gyro.gyroADC[Y], 1e-3); EXPECT_NEAR(20 * gyroDevPtr->scale, gyro.gyroADC[Y], 1e-3);

2
src/test/unit/target.h
View file

@ -26,7 +26,7 @@
#define USE_ACC #define USE_ACC
#define USE_CMS #define USE_CMS
#define CMS_MAX_DEVICE 4 #define CMS_MAX_DEVICE 4
#define USE_FAKE_GYRO #define USE_VIRTUAL_GYRO
#define USE_BEEPER #define USE_BEEPER
#define USE_BLACKBOX #define USE_BLACKBOX
#define USE_MAG #define USE_MAG