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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
No known key found for this signature in database
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[] = {
"AUTO", "NONE", "ADXL345", "MPU6050", "MMA8452", "BMA280", "LSM303DLHC",
"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605", "ICM42688P",
"BMI160", "BMI270", "LSM6DSO", "FAKE"
"BMI160", "BMI270", "LSM6DSO", "VIRTUAL"
};
// sync with gyroHardware_e
const char * const lookupTableGyroHardware[] = {
"AUTO", "NONE", "MPU6050", "L3G4200D", "MPU3050", "L3GD20",
"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)
// sync with baroSensor_e
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
#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_BMI270,
GYRO_LSM6DSO,
GYRO_FAKE
GYRO_VIRTUAL
} gyroHardware_e;
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>
#endif
#ifdef USE_FAKE_GYRO
#ifdef USE_VIRTUAL_GYRO
#include "build/build_config.h"
@ -36,14 +36,14 @@
#include "common/utils.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];
gyroDev_t *fakeGyroDev;
static int16_t virtualGyroADC[XYZ_AXIS_COUNT];
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 (pthread_mutex_init(&gyro->lock, NULL) != 0) {
printf("Create gyro lock error!\n");
@ -51,20 +51,20 @@ static void fakeGyroInit(gyroDev_t *gyro)
#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);
fakeGyroADC[X] = x;
fakeGyroADC[Y] = y;
fakeGyroADC[Z] = z;
virtualGyroADC[X] = x;
virtualGyroADC[Y] = y;
virtualGyroADC[Z] = z;
gyro->dataReady = true;
gyroDevUnLock(gyro);
}
STATIC_UNIT_TESTED bool fakeGyroRead(gyroDev_t *gyro)
STATIC_UNIT_TESTED bool virtualGyroRead(gyroDev_t *gyro)
{
gyroDevLock(gyro);
if (gyro->dataReady == false) {
@ -73,26 +73,26 @@ STATIC_UNIT_TESTED bool fakeGyroRead(gyroDev_t *gyro)
}
gyro->dataReady = false;
gyro->gyroADCRaw[X] = fakeGyroADC[X];
gyro->gyroADCRaw[Y] = fakeGyroADC[Y];
gyro->gyroADCRaw[Z] = fakeGyroADC[Z];
gyro->gyroADCRaw[X] = virtualGyroADC[X];
gyro->gyroADCRaw[Y] = virtualGyroADC[Y];
gyro->gyroADCRaw[Z] = virtualGyroADC[Z];
gyroDevUnLock(gyro);
return true;
}
static bool fakeGyroReadTemperature(gyroDev_t *gyro, int16_t *temperatureData)
static bool virtualGyroReadTemperature(gyroDev_t *gyro, int16_t *temperatureData)
{
UNUSED(gyro);
UNUSED(temperatureData);
return true;
}
bool fakeGyroDetect(gyroDev_t *gyro)
bool virtualGyroDetect(gyroDev_t *gyro)
{
gyro->initFn = fakeGyroInit;
gyro->readFn = fakeGyroRead;
gyro->temperatureFn = fakeGyroReadTemperature;
gyro->initFn = virtualGyroInit;
gyro->readFn = virtualGyroRead;
gyro->temperatureFn = virtualGyroReadTemperature;
#if defined(SIMULATOR_BUILD)
gyro->scale = GYRO_SCALE_2000DPS;
#else
@ -100,17 +100,17 @@ bool fakeGyroDetect(gyroDev_t *gyro)
#endif
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];
accDev_t *fakeAccDev;
static int16_t virtualAccData[XYZ_AXIS_COUNT];
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 (pthread_mutex_init(&acc->lock, NULL) != 0) {
printf("Create acc lock error!\n");
@ -118,20 +118,20 @@ static void fakeAccInit(accDev_t *acc)
#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);
fakeAccData[X] = x;
fakeAccData[Y] = y;
fakeAccData[Z] = z;
virtualAccData[X] = x;
virtualAccData[Y] = y;
virtualAccData[Z] = z;
acc->dataReady = true;
accDevUnLock(acc);
}
static bool fakeAccRead(accDev_t *acc)
static bool virtualAccRead(accDev_t *acc)
{
accDevLock(acc);
if (acc->dataReady == false) {
@ -140,19 +140,19 @@ static bool fakeAccRead(accDev_t *acc)
}
acc->dataReady = false;
acc->ADCRaw[X] = fakeAccData[X];
acc->ADCRaw[Y] = fakeAccData[Y];
acc->ADCRaw[Z] = fakeAccData[Z];
acc->ADCRaw[X] = virtualAccData[X];
acc->ADCRaw[Y] = virtualAccData[Y];
acc->ADCRaw[Z] = virtualAccData[Z];
accDevUnLock(acc);
return true;
}
bool fakeAccDetect(accDev_t *acc)
bool virtualAccDetect(accDev_t *acc)
{
acc->initFn = fakeAccInit;
acc->readFn = fakeAccRead;
acc->initFn = virtualAccInit;
acc->readFn = virtualAccRead;
acc->revisionCode = 0;
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
struct accDev_s;
extern struct accDev_s *fakeAccDev;
bool fakeAccDetect(struct accDev_s *acc);
void fakeAccSet(struct accDev_s *acc, int16_t x, int16_t y, int16_t z);
extern struct accDev_s *virtualAccDev;
bool virtualAccDetect(struct accDev_s *acc);
void virtualAccSet(struct accDev_s *acc, int16_t x, int16_t y, int16_t z);
struct gyroDev_s;
extern struct gyroDev_s *fakeGyroDev;
bool fakeGyroDetect(struct gyroDev_s *gyro);
void fakeGyroSet(struct gyroDev_s *gyro, int16_t x, int16_t y, int16_t z);
extern struct gyroDev_s *virtualGyroDev;
bool virtualGyroDetect(struct gyroDev_s *gyro);
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"
#ifdef USE_FAKE_BARO
#ifdef USE_VIRTUAL_BARO
#include "common/utils.h"
#include "barometer.h"
#include "barometer_fake.h"
#include "barometer_virtual.h"
static int32_t fakePressure;
static int32_t fakeTemperature;
static int32_t virtualPressure;
static int32_t virtualTemperature;
static void fakeBaroStart(baroDev_t *baro)
static void virtualBaroStart(baroDev_t *baro)
{
UNUSED(baro);
}
static bool fakeBaroReadGet(baroDev_t *baro)
static bool virtualBaroReadGet(baroDev_t *baro)
{
UNUSED(baro);
return true;
}
static void fakeBaroCalculate(int32_t *pressure, int32_t *temperature)
static void virtualBaroCalculate(int32_t *pressure, int32_t *temperature)
{
if (pressure)
*pressure = fakePressure;
*pressure = virtualPressure;
if (temperature)
*temperature = fakeTemperature;
*temperature = virtualTemperature;
}
void fakeBaroSet(int32_t pressure, int32_t temperature)
void virtualBaroSet(int32_t pressure, int32_t temperature)
{
fakePressure = pressure;
fakeTemperature = temperature;
virtualPressure = pressure;
virtualTemperature = temperature;
}
bool fakeBaroDetect(baroDev_t *baro)
bool virtualBaroDetect(baroDev_t *baro)
{
fakePressure = 101325; // pressure in Pa (0m MSL)
fakeTemperature = 2500; // temperature in 0.01 C = 25 deg
virtualPressure = 101325; // pressure in Pa (0m MSL)
virtualTemperature = 2500; // temperature in 0.01 C = 25 deg
// these are dummy as temperature is measured as part of pressure
baro->combined_read = true;
baro->ut_delay = 10000;
baro->get_ut = fakeBaroReadGet;
baro->read_ut = fakeBaroReadGet;
baro->start_ut = fakeBaroStart;
baro->get_ut = virtualBaroReadGet;
baro->read_ut = virtualBaroReadGet;
baro->start_ut = virtualBaroStart;
// only _up part is executed, and gets both temperature and pressure
baro->up_delay = 10000;
baro->start_up = fakeBaroStart;
baro->read_up = fakeBaroReadGet;
baro->get_up = fakeBaroReadGet;
baro->calculate = fakeBaroCalculate;
baro->start_up = virtualBaroStart;
baro->read_up = virtualBaroReadGet;
baro->get_up = virtualBaroReadGet;
baro->calculate = virtualBaroCalculate;
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
struct baroDev_s;
bool fakeBaroDetect(struct baroDev_s *baro);
void fakeBaroSet(int32_t pressure, int32_t temperature);
bool virtualBaroDetect(struct baroDev_s *baro);
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"
#ifdef USE_FAKE_MAG
#ifdef USE_VIRTUAL_MAG
#include "build/build_config.h"
@ -31,44 +31,44 @@
#include "common/utils.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);
// initially point north
fakeMagData[X] = 4096;
fakeMagData[Y] = 0;
fakeMagData[Z] = 0;
virtualMagData[X] = 4096;
virtualMagData[Y] = 0;
virtualMagData[Z] = 0;
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;
fakeMagData[Y] = y;
fakeMagData[Z] = z;
virtualMagData[X] = x;
virtualMagData[Y] = y;
virtualMagData[Z] = z;
}
static bool fakeMagRead(magDev_t *mag, int16_t *magData)
static bool virtualMagRead(magDev_t *mag, int16_t *magData)
{
UNUSED(mag);
magData[X] = fakeMagData[X];
magData[Y] = fakeMagData[Y];
magData[Z] = fakeMagData[Z];
magData[X] = virtualMagData[X];
magData[Y] = virtualMagData[Y];
magData[Z] = virtualMagData[Z];
return true;
}
bool fakeMagDetect(magDev_t *mag)
bool virtualMagDetect(magDev_t *mag)
{
mag->init = fakeMagInit;
mag->read = fakeMagRead;
mag->init = virtualMagInit;
mag->read = virtualMagRead;
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
struct magDev_s;
bool fakeMagDetect(struct magDev_s *mag);
void fakeMagSet(int16_t x, int16_t y, int16_t z);
bool virtualMagDetect(struct magDev_s *mag);
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);
// Helpful macros
#if defined(UNIT_TEST) || defined(USE_FAKE_LED)
#if defined(UNIT_TEST) || defined(USE_VIRTUAL_LED)
#define LED0_TOGGLE NOOP
#define LED0_OFF NOOP

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

@ -408,7 +408,7 @@ void init(void)
targetPreInit();
#endif
#if !defined(USE_FAKE_LED)
#if !defined(USE_VIRTUAL_LED)
ledInit(statusLedConfig());
#endif
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_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
// RunCmd
@ -344,12 +344,12 @@ uint8_t BL_VerifyFlash(ioMem_t *pMem)
}
#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 FAKE_FLASH_SIZE 16385
#define VIRTUAL_PAGE_SIZE 512
#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,
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;
if (bytes == 0) bytes = 256;
memcpy(pMem->D_PTR_I, &fakeFlash[address], bytes);
memcpy(pMem->D_PTR_I, &virtualFlash[address], bytes);
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;
if (bytes == 0) bytes = 256;
memcpy(&fakeFlash[address], pMem->D_PTR_I, bytes);
memcpy(&virtualFlash[address], pMem->D_PTR_I, bytes);
return true;
}
@ -888,9 +888,9 @@ uint8_t BL_ReadEEprom(ioMem_t *pMem)
uint8_t BL_PageErase(ioMem_t *pMem)
{
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;
memset(&fakeFlash[address], 0xFF, FAKE_PAGE_SIZE);
memset(&virtualFlash[address], 0xFF, VIRTUAL_PAGE_SIZE);
return true;
}

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

@ -20,7 +20,7 @@
#include "platform.h"
#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 "common/utils.h"
@ -38,7 +38,7 @@
// Number of fade outs counted as a link loss when using USE_SPEKTRUM_REAL_RSSI
#define SPEKTRUM_RSSI_LINK_LOSS_FADES 5
#ifdef USE_SPEKTRUM_FAKE_RSSI
#ifdef USE_SPEKTRUM_VIRTUAL_RSSI
// Spektrum Rx type. Determined by bind method.
static bool spektrumSatInternal = true; // Assume internal,bound by BF.
@ -161,14 +161,14 @@ void spektrumHandleRSSI(volatile uint8_t spekFrame[])
spek_last_rssi = rssi;
}
#ifdef USE_SPEKTRUM_FAKE_RSSI
#ifdef USE_SPEKTRUM_VIRTUAL_RSSI
else
#endif
#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);
uint16_t fade;
@ -210,7 +210,7 @@ void spektrumHandleRSSI(volatile uint8_t spekFrame[])
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

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

@ -121,7 +121,7 @@ static uint8_t spektrumFrameStatus(rxRuntimeState_t *rxRuntimeState)
if (rcFrameComplete) {
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);
#endif

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

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

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

@ -37,7 +37,7 @@
#include "config/feature.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_mpu3050.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_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_MMA8452) && !defined(USE_FAKE_ACC)
!defined(USE_ACC_MMA8452) && !defined(USE_VIRTUAL_ACC)
#error At least one USE_ACC device definition required
#endif
@ -328,10 +328,10 @@ retry:
FALLTHROUGH;
#endif
#ifdef USE_FAKE_ACC
case ACC_FAKE:
if (fakeAccDetect(dev)) {
accHardware = ACC_FAKE;
#ifdef USE_VIRTUAL_ACC
case ACC_VIRTUAL:
if (virtualAccDetect(dev)) {
accHardware = ACC_VIRTUAL;
break;
}
FALLTHROUGH;

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

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

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

@ -34,7 +34,7 @@ typedef enum {
BARO_BMP388 = 7,
BARO_DPS310 = 8,
BARO_2SMPB_02B = 9,
BARO_FAKE = 10,
BARO_VIRTUAL = 10,
} baroSensor_e;
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_ak8975.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_lis3mdl.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)
{
#if defined(USE_FAKE_GYRO) && !defined(UNIT_TEST)
if (gyroSensor->gyroDev.gyroHardware == GYRO_FAKE) {
#if defined(USE_VIRTUAL_GYRO) && !defined(UNIT_TEST)
if (gyroSensor->gyroDev.gyroHardware == GYRO_VIRTUAL) {
gyroSensor->calibration.cyclesRemaining = 0;
return;
}

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

@ -35,7 +35,7 @@
#include "config/config.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_mpu3050.h"
#include "drivers/accgyro/accgyro_mpu6050.h"
@ -75,7 +75,7 @@
#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_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
#endif
@ -316,7 +316,7 @@ void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
switch (gyroSensor->gyroDev.gyroHardware) {
case GYRO_NONE: // Won't ever actually get here, but included to account for all gyro types
case GYRO_DEFAULT:
case GYRO_FAKE:
case GYRO_VIRTUAL:
case GYRO_MPU6050:
case GYRO_L3G4200D:
case GYRO_MPU3050:
@ -504,10 +504,10 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
FALLTHROUGH;
#endif
#ifdef USE_FAKE_GYRO
case GYRO_FAKE:
if (fakeGyroDetect(dev)) {
gyroHardware = GYRO_FAKE;
#ifdef USE_VIRTUAL_GYRO
case GYRO_VIRTUAL:
if (virtualGyroDetect(dev)) {
gyroHardware = GYRO_VIRTUAL;
break;
}
FALLTHROUGH;
@ -533,7 +533,7 @@ static bool gyroDetectSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t
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) {
return false;
}

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

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

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

@ -41,8 +41,8 @@
#include "drivers/timer.h"
#include "timer_def.h"
#include "drivers/accgyro/accgyro_fake.h"
#include "drivers/barometer/barometer_fake.h"
#include "drivers/accgyro/accgyro_virtual.h"
#include "drivers/barometer/barometer_virtual.h"
#include "flight/imu.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);
y = constrain(-pkt->imu_linear_acceleration_xyz[1] * 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]);
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);
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]);
// temperature in 0.01 C = 25 deg
fakeBaroSet(pkt->pressure, 2500);
virtualBaroSet(pkt->pressure, 2500);
#if !defined(USE_IMU_CALC)
#if defined(SET_IMU_FROM_EULER)
// set from Euler
@ -288,7 +288,7 @@ void systemInit(void)
clock_gettime(CLOCK_MONOTONIC, &start_time);
printf("[system]Init...\n");
SystemCoreClock = 500 * 1e6; // fake 500MHz
SystemCoreClock = 500 * 1e6; // virtual 500MHz
if (pthread_mutex_init(&updateLock, NULL) != 0) {
printf("Create updateLock error!\n");
@ -658,7 +658,7 @@ uint16_t adcGetChannel(uint8_t channel)
char _estack;
char _Min_Stack_Size;
// fake EEPROM
// virtual EEPROM
static FILE *eepromFd = NULL;
void FLASH_Unlock(void)

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

@ -67,19 +67,19 @@
#undef SCHEDULER_DELAY_LIMIT
#define SCHEDULER_DELAY_LIMIT 1
#define USE_FAKE_LED
#define USE_VIRTUAL_LED
#define USE_ACC
#define USE_FAKE_ACC
#define USE_VIRTUAL_ACC
#define USE_GYRO
#define USE_FAKE_GYRO
#define USE_VIRTUAL_GYRO
#define USE_MAG
#define USE_FAKE_MAG
#define USE_VIRTUAL_MAG
#define USE_BARO
#define USE_FAKE_BARO
#define USE_VIRTUAL_BARO
#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
TARGET_SRC = \
drivers/accgyro/accgyro_fake.c \
drivers/barometer/barometer_fake.c \
drivers/compass/compass_fake.c \
drivers/accgyro/accgyro_virtual.c \
drivers/barometer/barometer_virtual.c \
drivers/compass/compass_virtual.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.
*/
#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_HMC5883
#define USE_MAG_SPI_HMC5883
@ -235,7 +235,7 @@
#undef USE_SPEKTRUM_BIND
#undef USE_SPEKTRUM_BIND_PLUG
#undef USE_SPEKTRUM_REAL_RSSI
#undef USE_SPEKTRUM_FAKE_RSSI
#undef USE_SPEKTRUM_VIRTUAL_RSSI
#undef USE_SPEKTRUM_RSSI_PERCENT_CONVERSION
#undef USE_SPEKTRUM_VTX_CONTROL
#undef USE_SPEKTRUM_VTX_TELEMETRY

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

@ -76,7 +76,7 @@
#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_MS5611
@ -319,7 +319,7 @@
#define USE_SPEKTRUM_BIND
#define USE_SPEKTRUM_BIND_PLUG
#define USE_SPEKTRUM_REAL_RSSI
#define USE_SPEKTRUM_FAKE_RSSI
#define USE_SPEKTRUM_VIRTUAL_RSSI
#define USE_SPEKTRUM_RSSI_PERCENT_CONVERSION
#define USE_SPEKTRUM_VTX_CONTROL
#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/streambuf.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)/pg/pg.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/maths.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/sensor.h"
#include "io/beeper.h"
@ -44,7 +44,7 @@ extern "C" {
STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev);
struct gyroSensor_s;
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;
int16_t debug[DEBUG16_VALUE_COUNT];
@ -59,7 +59,7 @@ extern gyroDev_t * const gyroDevPtr;
TEST(SensorGyro, Detect)
{
const gyroHardware_e detected = gyroDetect(gyroDevPtr);
EXPECT_EQ(GYRO_FAKE, detected);
EXPECT_EQ(GYRO_VIRTUAL, detected);
}
TEST(SensorGyro, Init)
@ -67,14 +67,14 @@ TEST(SensorGyro, Init)
pgResetAll();
const bool initialised = gyroInit();
EXPECT_TRUE(initialised);
EXPECT_EQ(GYRO_FAKE, detectedSensors[SENSOR_INDEX_GYRO]);
EXPECT_EQ(GYRO_VIRTUAL, detectedSensors[SENSOR_INDEX_GYRO]);
}
TEST(SensorGyro, Read)
{
pgResetAll();
gyroInit();
fakeGyroSet(gyroDevPtr, 5, 6, 7);
virtualGyroSet(gyroDevPtr, 5, 6, 7);
const bool read = gyroDevPtr->readFn(gyroDevPtr);
EXPECT_TRUE(read);
EXPECT_EQ(5, gyroDevPtr->gyroADCRaw[X]);
@ -87,7 +87,7 @@ TEST(SensorGyro, Calibrate)
pgResetAll();
gyroInit();
gyroSetTargetLooptime(1);
fakeGyroSet(gyroDevPtr, 5, 6, 7);
virtualGyroSet(gyroDevPtr, 5, 6, 7);
const bool read = gyroDevPtr->readFn(gyroDevPtr);
EXPECT_TRUE(read);
EXPECT_EQ(5, gyroDevPtr->gyroADCRaw[X]);
@ -122,14 +122,14 @@ TEST(SensorGyro, Update)
gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
gyroInit();
gyroSetTargetLooptime(1);
gyroDevPtr->readFn = fakeGyroRead;
gyroDevPtr->readFn = virtualGyroRead;
gyroStartCalibration(false);
EXPECT_FALSE(gyroIsCalibrationComplete());
fakeGyroSet(gyroDevPtr, 5, 6, 7);
virtualGyroSet(gyroDevPtr, 5, 6, 7);
gyroUpdate();
while (!gyroIsCalibrationComplete()) {
fakeGyroSet(gyroDevPtr, 5, 6, 7);
virtualGyroSet(gyroDevPtr, 5, 6, 7);
gyroUpdate();
}
EXPECT_TRUE(gyroIsCalibrationComplete());
@ -144,7 +144,7 @@ TEST(SensorGyro, Update)
EXPECT_FLOAT_EQ(0, gyro.gyroADCf[X]);
EXPECT_FLOAT_EQ(0, gyro.gyroADCf[Y]);
EXPECT_FLOAT_EQ(0, gyro.gyroADCf[Z]);
fakeGyroSet(gyroDevPtr, 15, 26, 97);
virtualGyroSet(gyroDevPtr, 15, 26, 97);
gyroUpdate();
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);

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

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