mirror of
https://github.com/betaflight/betaflight.git
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Update LED strip code to allow configurable LED strips.
See documentation for details.
This commit is contained in:
Dominic Clifton
parent
3ef769bf7b
commit
6ce5736990
17 changed files with 983 additions and 236 deletions
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@ -33,7 +33,13 @@ CXXFLAGS += -g -Wall -Wextra -pthread -ggdb -O0
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# All tests produced by this Makefile. Remember to add new tests you
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# created to the list.
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TESTS = battery_unittest flight_imu_unittest gps_conversion_unittest telemetry_hott_unittest rc_controls_unittest
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TESTS = \
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battery_unittest \
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flight_imu_unittest \
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gps_conversion_unittest \
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telemetry_hott_unittest \
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rc_controls_unittest \
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ledstrip_unittest
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# All Google Test headers. Usually you shouldn't change this
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# definition.
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@ -153,3 +159,16 @@ rc_controls_unittest :$(OBJECT_DIR)/io/rc_controls.o $(OBJECT_DIR)/rc_controls_u
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$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
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$(OBJECT_DIR)/io/ledstrip.o : $(USER_DIR)/io/ledstrip.c $(USER_DIR)/io/ledstrip.h $(GTEST_HEADERS)
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@mkdir -p $(dir $@)
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$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/ledstrip.c -o $@
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$(OBJECT_DIR)/ledstrip_unittest.o : $(TEST_DIR)/ledstrip_unittest.cc \
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$(USER_DIR)/io/ledstrip.h $(GTEST_HEADERS)
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@mkdir -p $(dir $@)
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$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ledstrip_unittest.cc -o $@
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ledstrip_unittest :$(OBJECT_DIR)/io/ledstrip.o $(OBJECT_DIR)/ledstrip_unittest.o $(OBJECT_DIR)/gtest_main.a
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$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
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322
src/test/unit/ledstrip_unittest.cc
Normal file
322
src/test/unit/ledstrip_unittest.cc
Normal file
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@ -0,0 +1,322 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <limits.h>
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#include "common/axis.h"
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#include "flight/flight.h"
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#include "sensors/battery.h"
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#include "config/runtime_config.h"
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#include "config/config.h"
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#include "drivers/light_ws2811strip.h"
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#include "io/ledstrip.h"
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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extern ledConfig_t *ledConfigs;
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extern uint8_t highestYValueForNorth;
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extern uint8_t lowestYValueForSouth;
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extern uint8_t highestXValueForWest;
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extern uint8_t lowestXValueForEast;
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extern uint8_t ledGridWidth;
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extern uint8_t ledGridHeight;
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void determineLedStripDimensions(void);
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void determineOrientationLimits(void);
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ledConfig_t systemLedConfigs[MAX_LED_STRIP_LENGTH];
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TEST(LedStripTest, parseLedStripConfig)
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{
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/*
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* 0..5 - rear right cluster, 0..2 rear 3..5 right
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* 6..11 - front right cluster, 6..8 rear, 9..11 front
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* 12..15 - front center cluster
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* 16..21 - front left cluster, 16..18 front, 19..21 rear
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* 22..27 - rear left cluster, 22..24 left, 25..27 rear
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*/
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// given
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static const ledConfig_t expectedLedStripConfig[WS2811_LED_STRIP_LENGTH] = {
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{ CALCULATE_LED_XY( 9, 9), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
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{ CALCULATE_LED_XY(10, 10), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
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{ CALCULATE_LED_XY(11, 11), LED_DIRECTION_SOUTH | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY(11, 11), LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY(10, 10), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 9, 9), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY(10, 5), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY(11, 4), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY(12, 3), LED_DIRECTION_SOUTH | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY(12, 2), LED_DIRECTION_NORTH | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY(11, 1), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY(10, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 7, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
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{ CALCULATE_LED_XY( 6, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
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{ CALCULATE_LED_XY( 5, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
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{ CALCULATE_LED_XY( 4, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
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{ CALCULATE_LED_XY( 2, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 1, 1), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 0, 2), LED_DIRECTION_NORTH | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 0, 3), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 1, 4), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 2, 5), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 2, 9), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 1, 10), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 0, 11), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 0, 11), LED_DIRECTION_SOUTH | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 1, 10), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
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{ CALCULATE_LED_XY( 2, 9), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
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{ 0, 0 },
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{ 0, 0 },
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{ 0, 0 },
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{ 0, 0 },
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};
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// and
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const char *ledStripConfigCommands[] = {
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// Spider quad
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// right rear cluster
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"9,9:S:FB",
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"10,10:S:FB",
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"11,11:S:IA",
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"11,11:E:IA",
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"10,10:E:F",
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"9,9:E:F",
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// right front cluster
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"10,5:S:F",
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"11,4:S:F",
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"12,3:S:IA",
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"12,2:N:IA",
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"11,1:N:F",
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"10,0:N:F",
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// center front cluster
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"7,0:N:FB",
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"6,0:N:FB",
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"5,0:N:FB",
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"4,0:N:FB",
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// left front cluster
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"2,0:N:F",
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"1,1:N:F",
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"0,2:N:IA",
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"0,3:W:IA",
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"1,4:W:F",
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"2,5:W:F",
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// left rear cluster
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"2,9:W:F",
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"1,10:W:F",
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"0,11:W:IA",
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"0,11:S:IA",
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"1,10:S:FB",
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"2,9:S:FB"
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};
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// and
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memset(&systemLedConfigs, 0, sizeof(systemLedConfigs));
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ledConfigs = systemLedConfigs;
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// and
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bool ok = false;
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// when
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for (uint8_t index = 0; index < (sizeof(ledStripConfigCommands) / sizeof(ledStripConfigCommands[0])); index++) {
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ok |= parseLedStripConfig(index, ledStripConfigCommands[index]);
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}
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// then
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EXPECT_EQ(true, ok);
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EXPECT_EQ(28, ledCount);
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// and
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for (uint8_t index = 0; index < WS2811_LED_STRIP_LENGTH; index++) {
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printf("iteration: %d\n", index);
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EXPECT_EQ(expectedLedStripConfig[index].xy, ledConfigs[index].xy);
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EXPECT_EQ(expectedLedStripConfig[index].flags, ledConfigs[index].flags);
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}
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// then
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EXPECT_EQ(13, ledGridWidth);
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EXPECT_EQ(12, ledGridHeight);
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// then
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EXPECT_EQ(5, highestXValueForWest);
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EXPECT_EQ(7, lowestXValueForEast);
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EXPECT_EQ(5, highestYValueForNorth);
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EXPECT_EQ(6, lowestYValueForSouth);
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}
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TEST(LedStripTest, smallestGridWithCenter)
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{
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// given
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memset(&systemLedConfigs, 0, sizeof(systemLedConfigs));
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ledConfigs = systemLedConfigs;
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// and
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static const ledConfig_t testLedConfigs[] = {
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{ CALCULATE_LED_XY( 2, 2), LED_DIRECTION_SOUTH | LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 2, 1), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
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{ CALCULATE_LED_XY( 2, 0), LED_DIRECTION_NORTH | LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 1, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
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{ CALCULATE_LED_XY( 0, 0), LED_DIRECTION_NORTH | LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 0, 1), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
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{ CALCULATE_LED_XY( 0, 2), LED_DIRECTION_SOUTH | LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 1, 2), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY }
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};
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memcpy(&systemLedConfigs, &testLedConfigs, sizeof(testLedConfigs));
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// when
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determineLedStripDimensions();
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// then
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EXPECT_EQ(3, ledGridWidth);
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EXPECT_EQ(3, ledGridHeight);
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// when
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determineOrientationLimits();
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// then
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EXPECT_EQ(0, highestXValueForWest);
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EXPECT_EQ(2, lowestXValueForEast);
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EXPECT_EQ(0, highestYValueForNorth);
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EXPECT_EQ(2, lowestYValueForSouth);
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}
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TEST(LedStripTest, smallestGrid)
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{
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// given
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memset(&systemLedConfigs, 0, sizeof(systemLedConfigs));
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ledConfigs = systemLedConfigs;
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// and
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static const ledConfig_t testLedConfigs[] = {
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{ CALCULATE_LED_XY( 1, 1), LED_DIRECTION_SOUTH | LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 1, 0), LED_DIRECTION_NORTH | LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 0, 0), LED_DIRECTION_NORTH | LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 0, 1), LED_DIRECTION_SOUTH | LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_FLIGHT_MODE },
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};
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memcpy(&systemLedConfigs, &testLedConfigs, sizeof(testLedConfigs));
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// when
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determineLedStripDimensions();
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// then
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EXPECT_EQ(2, ledGridWidth);
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EXPECT_EQ(2, ledGridHeight);
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// when
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determineOrientationLimits();
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// then
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EXPECT_EQ(0, highestXValueForWest);
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EXPECT_EQ(1, lowestXValueForEast);
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EXPECT_EQ(0, highestYValueForNorth);
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EXPECT_EQ(1, lowestYValueForSouth);
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}
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/*
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{ CALCULATE_LED_XY( 1, 14), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_INDICATOR | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 0, 13), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 0, 12), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 0, 11), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 0, 10), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 0, 9), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 0, 8), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
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{ CALCULATE_LED_XY( 0, 7), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
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{ CALCULATE_LED_XY( 0, 6), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
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{ CALCULATE_LED_XY( 0, 5), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 0, 4), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 0, 3), LED_DIRECTION_WEST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 0, 2), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 0, 1), LED_DIRECTION_WEST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 1, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 2, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 3, 0), LED_DIRECTION_NORTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 4, 1), LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 4, 2), LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 4, 3), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 4, 4), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 4, 5), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 4, 6), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
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{ CALCULATE_LED_XY( 4, 7), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
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{ CALCULATE_LED_XY( 4, 8), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_BATTERY },
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{ CALCULATE_LED_XY( 4, 9), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 4, 10), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 4, 11), LED_DIRECTION_EAST | LED_FUNCTION_FLIGHT_MODE },
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{ CALCULATE_LED_XY( 4, 12), LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 4, 13), LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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{ CALCULATE_LED_XY( 3, 14), LED_DIRECTION_SOUTH | LED_FUNCTION_FLIGHT_MODE | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },
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*/
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uint8_t armingFlags = 0;
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uint16_t flightModeFlags = 0;
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int16_t rcCommand[4];
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void ws2811UpdateStrip(void) {}
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void setLedColor(uint16_t index, const rgbColor24bpp_t *color) {
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UNUSED(index);
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UNUSED(color);
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}
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void setLedBrightness(uint16_t index, const uint8_t scalePercent) {
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UNUSED(index);
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UNUSED(scalePercent);
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}
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void setStripColor(const rgbColor24bpp_t *color) {
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UNUSED(color);
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}
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void setStripColors(const rgbColor24bpp_t *colors) {
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UNUSED(colors);
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}
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bool isWS2811LedStripReady(void) { return false; }
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void delay(uint32_t ms)
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{
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UNUSED(ms);
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return;
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}
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uint32_t micros(void) { return 0; }
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bool shouldSoundBatteryAlarm(void) { return false; }
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bool feature(uint32_t mask) {
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UNUSED(mask);
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return false;
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}
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void tfp_sprintf(char *, char*, ...) { };
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@ -20,6 +20,7 @@
|
|||
#define BARO
|
||||
#define GPS
|
||||
#define TELEMETRY
|
||||
#define LED_STRIP
|
||||
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue