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Fix bug where aux configuration for channels 5-8 were ignored.

Browse source 
The bug was introduced by a recent refactor which was in error.

Fixed using TDD by first creating a failing unit test and then fixing
the code.
This commit is contained in:
Dominic Clifton 2014-09-06 00:28:48 +01:00
parent ca72890964
commit 5a36db26c9
3 changed files with 83 additions and 13 deletions
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64
src/test/unit/rc_controls_unittest.cc
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@ -47,7 +47,7 @@ TEST(RcControlsTest, updateRcOptionsWithAllInputsAtMidde)
rxRuntimeConfig.auxChannelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT;
// and
for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT; index++) {
for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
rcData[index] = PWM_RANGE_MIDDLE;
}
@ -66,6 +66,68 @@ TEST(RcControlsTest, updateRcOptionsWithAllInputsAtMidde)
}
}
TEST(RcControlsTest, updateRcOptionsUsingValidAuxConfigurationAndRXValues)
{
// given
uint32_t activate[CHECKBOX_ITEM_COUNT];
memset(&activate, 0, sizeof(activate));
activate[0] = 0b000000000100UL;
activate[1] = 0b000000010000UL;
activate[2] = 0b000001000000UL;
activate[3] = 0b111000000000UL;
activate[4] = 0b000000000001UL << 16;
activate[5] = 0b000000010000UL << 16;
activate[6] = 0b000100000000UL << 16;
activate[7] = 0b111000000000UL << 16;
uint8_t index;
for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
rcOptions[index] = 0;
}
// and
memset(&rxRuntimeConfig, 0, sizeof(rxRuntimeConfig_t));
rxRuntimeConfig.auxChannelCount = MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT;
// and
for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
rcData[index] = PWM_RANGE_MIDDLE;
}
rcData[AUX1] = PWM_RANGE_MAX;
rcData[AUX2] = PWM_RANGE_MIDDLE;
rcData[AUX3] = PWM_RANGE_MIN;
rcData[AUX4] = PWM_RANGE_MAX;
rcData[AUX5] = PWM_RANGE_MIN;
rcData[AUX6] = PWM_RANGE_MIDDLE;
rcData[AUX7] = PWM_RANGE_MAX;
rcData[AUX8] = PWM_RANGE_MIN;
// and
uint32_t expectedRcOptions[CHECKBOX_ITEM_COUNT];
memset(&expectedRcOptions, 0, sizeof(expectedRcOptions));
expectedRcOptions[0] = 1;
expectedRcOptions[1] = 1;
expectedRcOptions[2] = 1;
expectedRcOptions[3] = 1;
expectedRcOptions[4] = 1;
expectedRcOptions[5] = 1;
expectedRcOptions[6] = 1;
expectedRcOptions[7] = 1;
// when
updateRcOptions(activate);
// then
for (index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
printf("iteration: %d\n", index);
EXPECT_EQ(expectedRcOptions[index], rcOptions[index]);
}
}
void changeProfile(uint8_t profileIndex) {}
void accSetCalibrationCycles(uint16_t) {}
void gyroSetCalibrationCycles(uint16_t) {}