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Merge branch 'master' into betaflight

Browse source 
Conflicts:
	Makefile
	src/main/io/serial_cli.c
	src/main/main.c
	src/main/sensors/initialisation.c
	src/main/sensors/initialisation.h
This commit is contained in:
borisbstyle 2015-09-11 11:19:25 +02:00
commit 5a1301f73d
27 changed files with 852 additions and 111 deletions
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5
src/main/config/config.c
View file

@ -807,6 +807,11 @@ void validateAndFixConfig(void)
}
#endif
#ifdef STM32F303xC
// hardware supports serial port inversion, make users life easier for those that want to connect SBus RX's
masterConfig.telemetryConfig.telemetry_inversion = 1;
#endif
/*
* The retarded_arm setting is incompatible with pid_at_min_throttle because full roll causes the craft to roll over on the ground.
* The pid_at_min_throttle implementation ignores yaw on the ground, but doesn't currently ignore roll when retarded_arm is enabled.

53
src/main/drivers/barometer_bmp085.c
View file

@ -34,9 +34,8 @@
#ifdef BARO
#if defined(BARO_EOC_GPIO)
// BMP085, Standard address 0x77
static bool isConversionComplete = false;
static uint16_t bmp085ConversionOverrun = 0;
static bool isEOCConnected = true;
// EXTI14 for BMP085 End of Conversion Interrupt
void BMP085_EOC_EXTI_Handler(void) {
@ -107,6 +106,10 @@ typedef struct {
#define SMD500_PARAM_MI 3791 //calibration parameter
STATIC_UNIT_TESTED bmp085_t bmp085;
#define UT_DELAY 6000 // 1.5ms margin according to the spec (4.5ms T conversion time)
#define UP_DELAY 27000 // 6000+21000=27000 1.5ms margin according to the spec (25.5ms P conversion time with OSS=3)
static bool bmp085InitDone = false;
STATIC_UNIT_TESTED uint16_t bmp085_ut; // static result of temperature measurement
STATIC_UNIT_TESTED uint32_t bmp085_up; // static result of pressure measurement
@ -133,7 +136,6 @@ void bmp085InitXCLRGpio(const bmp085Config_t *config) {
RCC_APB2PeriphClockCmd(config->gpioAPB2Peripherals, ENABLE);
// PC13, PC14 (Barometer XCLR reset output, EOC input)
gpio.pin = config->xclrGpioPin;
gpio.speed = Speed_2MHz;
gpio.mode = Mode_Out_PP;
@ -163,7 +165,7 @@ bool bmp085Detect(const bmp085Config_t *config, baro_t *baro)
bmp085InitXCLRGpio(config);
gpio.pin = config->eocGpioPin;
gpio.mode = Mode_IN_FLOATING;
gpio.mode = Mode_IPD;
gpioInit(config->eocGpioPort, &gpio);
BMP085_ON;
@ -200,19 +202,22 @@ bool bmp085Detect(const bmp085Config_t *config, baro_t *baro)
bmp085.ml_version = BMP085_GET_BITSLICE(data, BMP085_ML_VERSION); /* get ML Version */
bmp085.al_version = BMP085_GET_BITSLICE(data, BMP085_AL_VERSION); /* get AL Version */
bmp085_get_cal_param(); /* readout bmp085 calibparam structure */
bmp085InitDone = true;
baro->ut_delay = 6000; // 1.5ms margin according to the spec (4.5ms T conversion time)
baro->up_delay = 27000; // 6000+21000=27000 1.5ms margin according to the spec (25.5ms P conversion time with OSS=3)
baro->ut_delay = UT_DELAY;
baro->up_delay = UP_DELAY;
baro->start_ut = bmp085_start_ut;
baro->get_ut = bmp085_get_ut;
baro->start_up = bmp085_start_up;
baro->get_up = bmp085_get_up;
baro->calculate = bmp085_calculate;
#if defined(BARO_EOC_GPIO)
isEOCConnected = bmp085TestEOCConnected(config);
#endif
bmp085InitDone = true;
return true;
}
}
#ifdef BARO_EOC_GPIO
#if defined(BARO_EOC_GPIO)
EXTI_InitTypeDef EXTI_InitStructure;
EXTI_StructInit(&EXTI_InitStructure);
EXTI_InitStructure.EXTI_Line = EXTI_Line14;
@ -293,9 +298,9 @@ static void bmp085_get_ut(void)
uint8_t data[2];
#if defined(BARO_EOC_GPIO)
if (!isConversionComplete) {
bmp085ConversionOverrun++;
return; // keep old value
// return old baro value if conversion time exceeds datasheet max when EOC is connected
if ((isEOCConnected) && (!isConversionComplete)) {
return;
}
#endif
@ -324,11 +329,10 @@ static void bmp085_get_up(void)
{
uint8_t data[3];
#if defined(BARO_EOC_GPIO)
// wait in case of cockup
if (!isConversionComplete) {
bmp085ConversionOverrun++;
return; // keep old value
#if defined(BARO_EOC_GPIO)
// return old baro value if conversion time exceeds datasheet max when EOC is connected
if ((isEOCConnected) && (!isConversionComplete)) {
return;
}
#endif
@ -372,4 +376,21 @@ static void bmp085_get_cal_param(void)
bmp085.cal_param.md = (data[20] << 8) | data[21];
}
#if defined(BARO_EOC_GPIO)
bool bmp085TestEOCConnected(const bmp085Config_t *config)
{
if (!bmp085InitDone) {
bmp085_start_ut();
delayMicroseconds(UT_DELAY * 2); // wait twice as long as normal, just to be sure
// conversion should have finished now so check if EOC is high
uint8_t status = GPIO_ReadInputDataBit(config->eocGpioPort, config->eocGpioPin);
if (status) {
return true;
}
}
return false; // assume EOC is not connected
}
#endif
#endif /* BARO */

4
src/main/drivers/barometer_bmp085.h
View file

@ -28,6 +28,10 @@ typedef struct bmp085Config_s {
bool bmp085Detect(const bmp085Config_t *config, baro_t *baro);
void bmp085Disable(const bmp085Config_t *config);
#if defined(BARO_EOC_GPIO)
bool bmp085TestEOCConnected(const bmp085Config_t *config);
#endif
#ifdef UNIT_TEST
void RCC_APB2PeriphClockCmd(uint32_t RCC_APB2Periph, FunctionalState NewState);
#endif

6
src/main/drivers/pwm_mapping.c
View file

@ -622,12 +622,12 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
if (type == MAP_TO_PPM_INPUT) {
#ifdef CC3D
if (init->useOneshot) {
if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM4);
}
#endif
#ifdef SPARKY
if (init->useOneshot) {
if (init->useOneshot || isMotorBrushed(init->motorPwmRate)) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
}
#endif
@ -638,7 +638,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
} else if (type == MAP_TO_MOTOR_OUTPUT) {
if (init->useOneshot) {
pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
} else if (init->motorPwmRate > 500) {
} else if (isMotorBrushed(init->motorPwmRate)) {
pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
} else {
pwmBrushlessMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);

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

@ -35,6 +35,8 @@
#define PWM_TIMER_MHZ 1
#define ONESHOT125_TIMER_MHZ 8
#define PWM_BRUSHED_TIMER_MHZ 8
typedef struct sonarGPIOConfig_s {
GPIO_TypeDef *gpio;

6
src/main/drivers/pwm_output.c
View file

@ -47,7 +47,6 @@ static pwmOutputPort_t *motors[MAX_PWM_MOTORS];
#ifdef USE_SERVOS
static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
#endif
#define PWM_BRUSHED_TIMER_MHZ 8
static uint8_t allocatedOutputPortCount = 0;
@ -172,6 +171,11 @@ void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
}
}
bool isMotorBrushed(uint16_t motorPwmRate)
{
return (motorPwmRate > 500);
}
void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
{
uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;

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

@ -22,3 +22,5 @@ void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
void pwmCompleteOneshotMotorUpdate(uint8_t motorCount);
void pwmWriteServo(uint8_t index, uint16_t value);
bool isMotorBrushed(uint16_t motorPwmRate);

11
src/main/flight/failsafe.c
View file

@ -132,6 +132,17 @@ bool failsafeIsReceivingRxData(void)
return (failsafeState.rxLinkState == FAILSAFE_RXLINK_UP);
}
void failsafeOnRxSuspend(uint32_t usSuspendPeriod)
{
failsafeState.validRxDataReceivedAt += (usSuspendPeriod / 1000); // / 1000 to convert micros to millis
}
void failsafeOnRxResume(void)
{
failsafeState.validRxDataReceivedAt = millis(); // prevent RX link down trigger, restart rx link up
failsafeState.rxLinkState = FAILSAFE_RXLINK_UP; // do so while rx link is up
}
void failsafeOnValidDataReceived(void)
{
failsafeState.validRxDataReceivedAt = millis();

2
src/main/flight/failsafe.h
View file

@ -73,6 +73,8 @@ failsafePhase_e failsafePhase();
bool failsafeIsMonitoring(void);
bool failsafeIsActive(void);
bool failsafeIsReceivingRxData(void);
void failsafeOnRxSuspend(uint32_t suspendPeriod);
void failsafeOnRxResume(void);
void failsafeOnValidDataReceived(void);
void failsafeOnValidDataFailed(void);

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

@ -481,7 +481,7 @@ int flashfsIdentifyStartOfFreeSpace()
/* We can choose whatever power of 2 size we like, which determines how much wastage of free space we'll have
* at the end of the last written data. But smaller blocksizes will require more searching.
*/
FREE_BLOCK_SIZE = 65536,
FREE_BLOCK_SIZE = 2048,
/* We don't expect valid data to ever contain this many consecutive uint32_t's of all 1 bits: */
FREE_BLOCK_TEST_SIZE_INTS = 4, // i.e. 16 bytes
@ -493,16 +493,20 @@ int flashfsIdentifyStartOfFreeSpace()
uint32_t ints[FREE_BLOCK_TEST_SIZE_INTS];
} testBuffer;
int left = 0;
int right = flashfsGetSize() / FREE_BLOCK_SIZE;
int mid, result = right;
int left = 0; // Smallest block index in the search region
int right = flashfsGetSize() / FREE_BLOCK_SIZE; // One past the largest block index in the search region
int mid;
int result = right;
int i;
bool blockErased;
while (left < right) {
mid = (left + right) / 2;
m25p16_readBytes(mid * FREE_BLOCK_SIZE, testBuffer.bytes, FREE_BLOCK_TEST_SIZE_BYTES);
if (m25p16_readBytes(mid * FREE_BLOCK_SIZE, testBuffer.bytes, FREE_BLOCK_TEST_SIZE_BYTES) < FREE_BLOCK_TEST_SIZE_BYTES) {
// Unexpected timeout from flash, so bail early (reporting the device fuller than it really is)
break;
}
// Checking the buffer 4 bytes at a time like this is probably faster than byte-by-byte, but I didn't benchmark it :)
blockErased = true;

2
src/main/io/serial_cli.c
View file

@ -475,7 +475,7 @@ const clivalue_t valueTable[] = {
{ "baro_noise_lpf", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_noise_lpf, 0, 1 },
{ "baro_cf_vel", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_vel, 0, 1 },
{ "baro_cf_alt", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].barometerConfig.baro_cf_alt, 0, 1 },
{ "baro_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.baro_hardware, 0, BARO_MAX },
{ "baro_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.baro_hardware, 0, BARO_MAX },
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE, &masterConfig.mag_hardware, 0, MAG_MAX },
{ "mag_declination", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].mag_declination, -18000, 18000 },

18
src/main/rx/rx.c
View file

@ -40,6 +40,7 @@
#include "drivers/gpio.h"
#include "drivers/timer.h"
#include "drivers/pwm_rx.h"
#include "drivers/system.h"
#include "rx/pwm.h"
#include "rx/sbus.h"
#include "rx/spektrum.h"
@ -50,6 +51,7 @@
#include "rx/rx.h"
//#define DEBUG_RX_SIGNAL_LOSS
void rxPwmInit(rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
@ -71,6 +73,7 @@ static bool rxFlightChannelsValid = false;
static uint32_t rxUpdateAt = 0;
static uint32_t needRxSignalBefore = 0;
static uint32_t suspendRxSignalUntil = 0;
static uint8_t skipRxSamples = 0;
int16_t rcRaw[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
@ -80,8 +83,8 @@ int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
#define DELAY_50_HZ (1000000 / 50)
#define DELAY_10_HZ (1000000 / 10)
#define SKIP_RC_SAMPLES_ON_SUSPEND 75 // approx. 1.5 seconds of samples at 50Hz
#define SKIP_RC_SAMPLES_ON_RESUME 2 // flush 2 samples to drop wrong measurements
#define SKIP_RC_ON_SUSPEND_PERIOD 1500000 // 1.5 second period in usec (call frequency independent)
#define SKIP_RC_SAMPLES_ON_RESUME 2 // flush 2 samples to drop wrong measurements (timing independent)
rxRuntimeConfig_t rxRuntimeConfig;
static rxConfig_t *rxConfig;
@ -276,12 +279,16 @@ static void resetRxSignalReceivedFlagIfNeeded(uint32_t currentTime)
void suspendRxSignal(void)
{
skipRxSamples = SKIP_RC_SAMPLES_ON_SUSPEND;
suspendRxSignalUntil = micros() + SKIP_RC_ON_SUSPEND_PERIOD;
skipRxSamples = SKIP_RC_SAMPLES_ON_RESUME;
failsafeOnRxSuspend(SKIP_RC_ON_SUSPEND_PERIOD);
}
void resumeRxSignal(void)
{
suspendRxSignalUntil = micros();
skipRxSamples = SKIP_RC_SAMPLES_ON_RESUME;
failsafeOnRxResume();
}
void updateRx(uint32_t currentTime)
@ -491,8 +498,11 @@ void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime)
}
}
// only proceed when no more samples to skip and suspend period is over
if (skipRxSamples) {
skipRxSamples--;
if (currentTime > suspendRxSignalUntil) {
skipRxSamples--;
}
return;
}

1
src/main/sensors/barometer.h
View file

@ -28,6 +28,7 @@ typedef enum {
#define BARO_MAX BARO_BMP280
#define BARO_SAMPLE_COUNT_MAX 48
#define BARO_MAX BARO_MS5611
typedef struct barometerConfig_s {
uint8_t baro_sample_count; // size of baro filter array

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

@ -44,9 +44,9 @@ void initBoardAlignment(boardAlignment_t *boardAlignment)
standardBoardAlignment = false;
fp_angles_t rotationAngles;
rotationAngles.angles.roll = degreesToRadians(boardAlignment->rollDegrees);
rotationAngles.angles.roll = degreesToRadians(boardAlignment->rollDegrees );
rotationAngles.angles.pitch = degreesToRadians(boardAlignment->pitchDegrees);
rotationAngles.angles.yaw = degreesToRadians(boardAlignment->yawDegrees);
rotationAngles.angles.yaw = degreesToRadians(boardAlignment->yawDegrees );
buildRotationMatrix(&rotationAngles, boardRotation);
}

2
src/main/target/CHEBUZZF3/target.h
View file

@ -47,7 +47,7 @@
#define L3GD20_CS_GPIO GPIOE
#define L3GD20_CS_PIN GPIO_Pin_3
#define GYRO_L3GD20_ALIGN CW90_DEG
#define GYRO_L3GD20_ALIGN CW270_DEG
#define GYRO_MPU6050_ALIGN CW0_DEG
#define ACC

2
src/main/target/STM32F3DISCOVERY/target.h
View file

@ -47,7 +47,7 @@
#define L3GD20_CS_GPIO GPIOE
#define L3GD20_CS_PIN GPIO_Pin_3
#define GYRO_L3GD20_ALIGN CW90_DEG
#define GYRO_L3GD20_ALIGN CW270_DEG
#define ACC
#define USE_ACC_LSM303DLHC

467
src/test/Makefile
View file

@ -94,44 +94,447 @@ TEST_INCLUDE_DIRS := $(TEST_DIR) \
TEST_CFLAGS = $(addprefix -I,$(TEST_INCLUDE_DIRS))
LIBCLEANFLIGHT_SRC = \
common/encoding.c \
common/maths.c \
drivers/barometer_ms5611.c \
drivers/barometer_bmp085.c \
drivers/light_ws2811strip.c \
flight/altitudehold.c \
flight/failsafe.c \
flight/gps_conversion.c \
flight/imu.c \
flight/lowpass.c \
flight/mixer.c \
io/ledstrip.c \
io/rc_controls.c \
io/serial.c \
rx/rx.c \
sensors/battery.c \
telemetry/hott.c
DEPS = $(TEST_BINARIES:%=%.d)
LIBCLEANFLIGHT_OBJ = $(LIBCLEANFLIGHT_SRC:%.c=$(OBJECT_DIR)/%.o)
$(OBJECT_DIR)/common/maths.o : \
$(USER_DIR)/common/maths.c \
$(USER_DIR)/common/maths.h \
$(GTEST_HEADERS)
DEPS = $(LIBCLEANFLIGHT_OBJ:%.o=%.d) \
$(TEST_BINARIES:%=%.d)
@mkdir -p $(dir $@)
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/maths.c -o $@
LIBS = $(OBJECT_DIR)/libcleanflight.a $(OBJECT_DIR)/gtest_main.a
$(OBJECT_DIR)/libcleanflight.a: $(LIBCLEANFLIGHT_OBJ)
$(AR) $(ARFLAGS) $@ $^
$(OBJECT_DIR)/sensors/battery.o : $(USER_DIR)/sensors/battery.c $(USER_DIR)/sensors/battery.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/battery.c -o $@
# Build a module from the flight software.
$(OBJECT_DIR)/%.o: $(USER_DIR)/%.c
mkdir -p $(@D)
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $< -o $@
$(OBJECT_DIR)/battery_unittest.o : \
$(TEST_DIR)/battery_unittest.cc \
$(USER_DIR)/sensors/battery.h \
$(GTEST_HEADERS)
# Build the unit test executable.
$(OBJECT_DIR)/%: $(TEST_DIR)/%.cc $(LIBS)
@mkdir -p $(@D)
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -o $@ $< $(LIBS)
@mkdir -p $(dir $@)
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $< -o $@
$(OBJECT_DIR)/battery_unittest : \
$(OBJECT_DIR)/sensors/battery.o \
$(OBJECT_DIR)/common/maths.o \
$(OBJECT_DIR)/battery_unittest.o \
$(OBJECT_DIR)/gtest_main.a
$(CXX) $(CXX_FLAGS) $^ -o $@
$(OBJECT_DIR)/common/encoding.o : $(USER_DIR)/common/encoding.c $(USER_DIR)/common/encoding.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/encoding.c -o $@
$(OBJECT_DIR)/encoding_unittest.o : \
$(TEST_DIR)/encoding_unittest.cc \
$(USER_DIR)/common/encoding.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/encoding_unittest.cc -o $@
$(OBJECT_DIR)/encoding_unittest : \
$(OBJECT_DIR)/common/encoding.o \
$(OBJECT_DIR)/encoding_unittest.o \
$(OBJECT_DIR)/gtest_main.a
$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/flight/imu.o : \
$(USER_DIR)/flight/imu.c \
$(USER_DIR)/flight/imu.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/imu.c -o $@
$(OBJECT_DIR)/flight_imu_unittest.o : \
$(TEST_DIR)/flight_imu_unittest.cc \
$(USER_DIR)/flight/imu.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_imu_unittest.cc -o $@
$(OBJECT_DIR)/flight_imu_unittest : \
$(OBJECT_DIR)/flight/imu.o \
$(OBJECT_DIR)/flight/altitudehold.o \
$(OBJECT_DIR)/flight_imu_unittest.o \
$(OBJECT_DIR)/common/maths.o \
$(OBJECT_DIR)/gtest_main.a
$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/maths_unittest.o : \
$(TEST_DIR)/maths_unittest.cc \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/maths_unittest.cc -o $@
$(OBJECT_DIR)/maths_unittest : \
$(OBJECT_DIR)/maths_unittest.o \
$(OBJECT_DIR)/common/maths.o \
$(OBJECT_DIR)/gtest_main.a
$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/flight/altitudehold.o : \
$(USER_DIR)/flight/altitudehold.c \
$(USER_DIR)/flight/altitudehold.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/altitudehold.c -o $@
$(OBJECT_DIR)/altitude_hold_unittest.o : \
$(TEST_DIR)/altitude_hold_unittest.cc \
$(USER_DIR)/flight/altitudehold.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/altitude_hold_unittest.cc -o $@
$(OBJECT_DIR)/altitude_hold_unittest : \
$(OBJECT_DIR)/flight/altitudehold.o \
$(OBJECT_DIR)/altitude_hold_unittest.o \
$(OBJECT_DIR)/gtest_main.a
$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/flight/gps_conversion.o : \
$(USER_DIR)/flight/gps_conversion.c \
$(USER_DIR)/flight/gps_conversion.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/gps_conversion.c -o $@
$(OBJECT_DIR)/gps_conversion_unittest.o : \
$(TEST_DIR)/gps_conversion_unittest.cc \
$(USER_DIR)/flight/gps_conversion.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/gps_conversion_unittest.cc -o $@
$(OBJECT_DIR)/gps_conversion_unittest : \
$(OBJECT_DIR)/flight/gps_conversion.o \
$(OBJECT_DIR)/gps_conversion_unittest.o \
$(OBJECT_DIR)/gtest_main.a
$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/telemetry/hott.o : \
$(USER_DIR)/telemetry/hott.c \
$(USER_DIR)/telemetry/hott.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/telemetry/hott.c -o $@
$(OBJECT_DIR)/telemetry_hott_unittest.o : \
$(TEST_DIR)/telemetry_hott_unittest.cc \
$(USER_DIR)/telemetry/hott.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_hott_unittest.cc -o $@
$(OBJECT_DIR)/telemetry_hott_unittest : \
$(OBJECT_DIR)/telemetry/hott.o \
$(OBJECT_DIR)/telemetry_hott_unittest.o \
$(OBJECT_DIR)/flight/gps_conversion.o \
$(OBJECT_DIR)/gtest_main.a
$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/io/rc_controls.o : \
$(USER_DIR)/io/rc_controls.c \
$(USER_DIR)/io/rc_controls.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rc_controls.c -o $@
$(OBJECT_DIR)/rc_controls_unittest.o : \
$(TEST_DIR)/rc_controls_unittest.cc \
$(USER_DIR)/io/rc_controls.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rc_controls_unittest.cc -o $@
$(OBJECT_DIR)/rc_controls_unittest : \
$(OBJECT_DIR)/common/maths.o \
$(OBJECT_DIR)/io/rc_controls.o \
$(OBJECT_DIR)/rc_controls_unittest.o \
$(OBJECT_DIR)/gtest_main.a
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$(USER_DIR)/io/ledstrip.h \
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$(OBJECT_DIR)/drivers/light_ws2811strip.o : \
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$(USER_DIR)/drivers/light_ws2811strip.h \
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$(USER_DIR)/flight/failsafe.h \
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$(OBJECT_DIR)/flight_failsafe_unittest.o \
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$(USER_DIR)/io/serial.h \
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$(OBJECT_DIR)/io_serial_unittest.o \
$(OBJECT_DIR)/gtest_main.a
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$(OBJECT_DIR)/gtest_main.a
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$(TEST_DIR)/rx_ranges_unittest.cc \
$(USER_DIR)/rx/rx.h \
$(GTEST_HEADERS)
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$(OBJECT_DIR)/rx_ranges_unittest.o \
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$(OBJECT_DIR)/drivers/barometer_ms5611.o : \
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$(USER_DIR)/drivers/barometer_ms5611.h \
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$(OBJECT_DIR)/baro_ms5611_unittest.o : \
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$(OBJECT_DIR)/drivers/barometer_ms5611.o \
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$(OBJECT_DIR)/drivers/barometer_bmp085.o : \
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$(USER_DIR)/drivers/barometer_bmp085.h \
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$(OBJECT_DIR)/baro_bmp085_unittest.o : \
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$(USER_DIR)/drivers/barometer_bmp085.h \
$(GTEST_HEADERS)
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$(OBJECT_DIR)/baro_bmp085_unittest : \
$(OBJECT_DIR)/drivers/barometer_bmp085.o \
$(OBJECT_DIR)/baro_bmp085_unittest.o \
$(OBJECT_DIR)/gtest_main.a
$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/sensors/boardalignment.o : \
$(USER_DIR)/sensors/boardalignment.c \
$(USER_DIR)/sensors/boardalignment.h \
$(GTEST_HEADERS)
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$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/boardalignment.c -o $@
$(OBJECT_DIR)/alignsensor_unittest.o : \
$(TEST_DIR)/alignsensor_unittest.cc \
$(USER_DIR)/sensors/boardalignment.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/alignsensor_unittest.cc -o $@
$(OBJECT_DIR)/alignsensor_unittest : \
$(OBJECT_DIR)/common/maths.o \
$(OBJECT_DIR)/sensors/boardalignment.o \
$(OBJECT_DIR)/alignsensor_unittest.o \
$(OBJECT_DIR)/gtest_main.a
$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
test: $(TESTS:%=test-%)

269
src/test/unit/alignsensor_unittest.cc Normal file
View file

@ -0,0 +1,269 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it 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 is distributed in the hope that it 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include "math.h"
#include "stdint.h"
#include "time.h"
extern "C" {
#include "common/axis.h"
#include "sensors/boardalignment.h"
#include "sensors/sensors.h"
}
#include "gtest/gtest.h"
/*
* This test file contains an independent method of rotating a vector.
* The output of alignSensor() is compared to the output of the test
* rotation method.
*
* For each alignment condition (CW0, CW90, etc) the source vector under
* test is set to a unit vector along each axis (x-axis, y-axis, z-axis)
* plus one additional random vector is tested.
*/
#define DEG2RAD 0.01745329251
static void rotateVector(int16_t mat[3][3], int16_t vec[3], int16_t *out)
{
int16_t tmp[3];
for(int i=0; i<3; i++) {
tmp[i] = 0;
for(int j=0; j<3; j++) {
tmp[i] += mat[j][i] * vec[j];
}
}
out[0]=tmp[0];
out[1]=tmp[1];
out[2]=tmp[2];
}
//static void initXAxisRotation(int16_t mat[][3], int16_t angle)
//{
// mat[0][0] = 1;
// mat[0][1] = 0;
// mat[0][2] = 0;
// mat[1][0] = 0;
// mat[1][1] = cos(angle*DEG2RAD);
// mat[1][2] = -sin(angle*DEG2RAD);
// mat[2][0] = 0;
// mat[2][1] = sin(angle*DEG2RAD);
// mat[2][2] = cos(angle*DEG2RAD);
//}
static void initYAxisRotation(int16_t mat[][3], int16_t angle)
{
mat[0][0] = cos(angle*DEG2RAD);
mat[0][1] = 0;
mat[0][2] = sin(angle*DEG2RAD);
mat[1][0] = 0;
mat[1][1] = 1;
mat[1][2] = 0;
mat[2][0] = -sin(angle*DEG2RAD);
mat[2][1] = 0;
mat[2][2] = cos(angle*DEG2RAD);
}
static void initZAxisRotation(int16_t mat[][3], int16_t angle)
{
mat[0][0] = cos(angle*DEG2RAD);
mat[0][1] = -sin(angle*DEG2RAD);
mat[0][2] = 0;
mat[1][0] = sin(angle*DEG2RAD);
mat[1][1] = cos(angle*DEG2RAD);
mat[1][2] = 0;
mat[2][0] = 0;
mat[2][1] = 0;
mat[2][2] = 1;
}
static void testCW(sensor_align_e rotation, int16_t angle)
{
int16_t src[XYZ_AXIS_COUNT];
int16_t dest[XYZ_AXIS_COUNT];
int16_t test[XYZ_AXIS_COUNT];
// unit vector along x-axis
src[X] = 1;
src[Y] = 0;
src[Z] = 0;
int16_t matrix[3][3];
initZAxisRotation(matrix, angle);
rotateVector(matrix, src, test);
alignSensors(src, dest, rotation);
EXPECT_EQ(test[X], dest[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
EXPECT_EQ(test[Y], dest[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
EXPECT_EQ(test[Z], dest[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
// unit vector along y-axis
src[X] = 0;
src[Y] = 1;
src[Z] = 0;
rotateVector(matrix, src, test);
alignSensors(src, dest, rotation);
EXPECT_EQ(test[X], dest[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
EXPECT_EQ(test[Y], dest[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
EXPECT_EQ(test[Z], dest[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
// unit vector along z-axis
src[X] = 0;
src[Y] = 0;
src[Z] = 1;
rotateVector(matrix, src, test);
alignSensors(src, dest, rotation);
EXPECT_EQ(test[X], dest[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
EXPECT_EQ(test[Y], dest[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
EXPECT_EQ(test[Z], dest[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
// random vector to test
src[X] = rand() % 5;
src[Y] = rand() % 5;
src[Z] = rand() % 5;
rotateVector(matrix, src, test);
alignSensors(src, dest, rotation);
EXPECT_EQ(test[X], dest[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << dest[X];
EXPECT_EQ(test[Y], dest[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
EXPECT_EQ(test[Z], dest[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
}
/*
* Since the order of flip and rotation matters, these tests make the
* assumption that the 'flip' occurs first, followed by clockwise rotation
*/
static void testCWFlip(sensor_align_e rotation, int16_t angle)
{
int16_t src[XYZ_AXIS_COUNT];
int16_t dest[XYZ_AXIS_COUNT];
int16_t test[XYZ_AXIS_COUNT];
// unit vector along x-axis
src[X] = 1;
src[Y] = 0;
src[Z] = 0;
int16_t matrix[3][3];
initYAxisRotation(matrix, 180);
rotateVector(matrix, src, test);
initZAxisRotation(matrix, angle);
rotateVector(matrix, test, test);
alignSensors(src, dest, rotation);
EXPECT_EQ(test[X], dest[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
EXPECT_EQ(test[Y], dest[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
EXPECT_EQ(test[Z], dest[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
// unit vector along y-axis
src[X] = 0;
src[Y] = 1;
src[Z] = 0;
initYAxisRotation(matrix, 180);
rotateVector(matrix, src, test);
initZAxisRotation(matrix, angle);
rotateVector(matrix, test, test);
alignSensors(src, dest, rotation);
EXPECT_EQ(test[X], dest[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
EXPECT_EQ(test[Y], dest[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
EXPECT_EQ(test[Z], dest[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
// unit vector along z-axis
src[X] = 0;
src[Y] = 0;
src[Z] = 1;
initYAxisRotation(matrix, 180);
rotateVector(matrix, src, test);
initZAxisRotation(matrix, angle);
rotateVector(matrix, test, test);
alignSensors(src, dest, rotation);
EXPECT_EQ(test[X], dest[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
EXPECT_EQ(test[Y], dest[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
EXPECT_EQ(test[Z], dest[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
// random vector to test
src[X] = rand() % 5;
src[Y] = rand() % 5;
src[Z] = rand() % 5;
initYAxisRotation(matrix, 180);
rotateVector(matrix, src, test);
initZAxisRotation(matrix, angle);
rotateVector(matrix, test, test);
alignSensors(src, dest, rotation);
EXPECT_EQ(test[X], dest[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << dest[X];
EXPECT_EQ(test[Y], dest[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
EXPECT_EQ(test[Z], dest[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
}
TEST(AlignSensorTest, ClockwiseZeroDegrees)
{
srand(time(NULL));
testCW(CW0_DEG, 0);
}
TEST(AlignSensorTest, ClockwiseNinetyDegrees)
{
testCW(CW90_DEG, 90);
}
TEST(AlignSensorTest, ClockwiseOneEightyDegrees)
{
testCW(CW180_DEG, 180);
}
TEST(AlignSensorTest, ClockwiseTwoSeventyDegrees)
{
testCW(CW270_DEG, 270);
}
TEST(AlignSensorTest, ClockwiseZeroDegreesFlip)
{
testCWFlip(CW0_DEG_FLIP, 0);
}
TEST(AlignSensorTest, ClockwiseNinetyDegreesFlip)
{
testCWFlip(CW90_DEG_FLIP, 90);
}
TEST(AlignSensorTest, ClockwiseOneEightyDegreesFlip)
{
testCWFlip(CW180_DEG_FLIP, 180);
}
TEST(AlignSensorTest, ClockwiseTwoSeventyDegreesFlip)
{
testCWFlip(CW270_DEG_FLIP, 270);
}

4
src/test/unit/baro_bmp085_unittest.cc
View file

@ -182,8 +182,8 @@ TEST(baroBmp085Test, TestBmp085CalculateOss3Hot)
extern "C" {
void gpioInit(){}
void RCC_APB2PeriphClockCmd(){}
void gpioInit() {}
void RCC_APB2PeriphClockCmd() {}
void delay(uint32_t) {}
void delayMicroseconds(uint32_t) {}
bool i2cWrite(uint8_t, uint8_t, uint8_t) {

1
src/test/unit/platform.h
View file

@ -20,6 +20,7 @@
#define MAG
#define BARO
#define GPS
#define DISPLAY
#define TELEMETRY
#define LED_STRIP
#define USE_SERVOS

4
src/test/unit/rc_controls_unittest.cc
View file

@ -693,9 +693,9 @@ void accSetCalibrationCycles(uint16_t) {}
void gyroSetCalibrationCycles(uint16_t) {}
void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t*) {}
void handleInflightCalibrationStickPosition(void) {}
bool feature(uint32_t) { return false;}
bool sensors(uint32_t) { return false;}
void mwArm(void) {}
void feature(uint32_t) {}
void sensors(uint32_t) {}
void mwDisarm(void) {}
void displayDisablePageCycling() {}
void displayEnablePageCycling() {}

36
src/test/unit/rx_ranges_unittest.cc
View file

@ -97,6 +97,12 @@ TEST(RxChannelRangeTest, TestRxChannelRanges)
// stubs
extern "C" {
void failsafeOnRxSuspend(uint32_t ) {}
void failsafeOnRxResume(void) {}
uint32_t micros(void) { return 0; }
uint32_t millis(void) { return 0; }
void rxPwmInit(rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
{
UNUSED(rxRuntimeConfig);
@ -143,20 +149,8 @@ bool rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadR
return true;
}
void updateActivatedModes(modeActivationCondition_t *modeActivationConditions)
{
UNUSED(modeActivationConditions);
}
void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig)
{
UNUSED(index);
UNUSED(auxChannelIndex);
UNUSED(adjustmentConfig);
}
void feature(uint32_t)
{
bool feature(uint32_t) {
return false;
}
bool rxMspFrameComplete(void)
@ -164,10 +158,6 @@ bool rxMspFrameComplete(void)
return false;
}
void failsafeReset(void)
{
}
bool isPPMDataBeingReceived(void)
{
return false;
@ -182,10 +172,6 @@ void resetPPMDataReceivedState(void)
{
}
void failsafeOnRxCycle(void)
{
}
void failsafeOnValidDataReceived(void)
{
}
@ -194,11 +180,5 @@ void failsafeOnValidDataFailed(void)
{
}
void failsafeCheckPulse(uint8_t channel, uint16_t pulseDuration)
{
UNUSED(channel);
UNUSED(pulseDuration);
}
}

8
src/test/unit/rx_rx_unittest.cc
View file

@ -139,6 +139,12 @@ extern "C" {
void failsafeOnValidDataFailed() {}
void failsafeOnValidDataReceived() {}
void failsafeOnRxSuspend(uint32_t ) {}
void failsafeOnRxResume(void) {}
uint32_t micros(void) { return 0; }
uint32_t millis(void) { return 0; }
bool feature(uint32_t mask) {
UNUSED(mask);
return false;
@ -159,6 +165,4 @@ extern "C" {
void rxMspInit(rxConfig_t *, rxRuntimeConfig_t *, rcReadRawDataPtr *) {}
void rxPwmInit(rxRuntimeConfig_t *, rcReadRawDataPtr *) {}
}