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Merge pull request #4230 from martinbudden/bf_rc_split_tidy

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RC Split tidy
This commit is contained in:
Martin Budden 2017-10-09 13:12:51 +01:00 • committed by GitHub
commit 6e025aeba6
5 changed files with 47 additions and 76 deletions
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8
src/main/fc/fc_init.c
View file

@ -714,6 +714,10 @@ void init(void)
LED2_ON;
#endif
#ifdef USE_RCSPLIT
rcSplitInit();
#endif // USE_RCSPLIT
// Latch active features AGAIN since some may be modified by init().
latchActiveFeatures();
pwmEnableMotors();
@ -726,9 +730,5 @@ void init(void)
fcTasksInit();
#endif
#ifdef USE_RCSPLIT
rcSplitInit();
#endif // USE_RCSPLIT
systemState |= SYSTEM_STATE_READY;
}

5
src/main/fc/fc_tasks.c
View file

@ -368,6 +368,9 @@ void fcTasksInit(void)
#ifdef USE_CAMERA_CONTROL
setTaskEnabled(TASK_CAMCTRL, true);
#endif
#ifdef USE_RCSPLIT
setTaskEnabled(TASK_RCSPLIT, rcSplitIsEnabled());
#endif
}
#endif
@ -614,7 +617,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
#ifdef USE_RCSPLIT
[TASK_RCSPLIT] = {
.taskName = "RCSPLIT",
.taskFunc = rcSplitProcess,
.taskFunc = rcSplitUpdate,
.desiredPeriod = TASK_PERIOD_HZ(10), // 10 Hz, 100ms
.staticPriority = TASK_PRIORITY_MEDIUM,
},

51
src/main/io/rcsplit.c
View file

@ -17,63 +17,48 @@
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <ctype.h>
#include <platform.h>
#include "common/utils.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/serial.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "io/beeper.h"
#include "io/rcsplit.h"
#include "io/serial.h"
#include "scheduler/scheduler.h"
// communicate with camera device variables
STATIC_UNIT_TESTED serialPort_t *rcSplitSerialPort = NULL;
STATIC_UNIT_TESTED rcsplitState_e cameraState = RCSPLIT_STATE_UNKNOWN;
// only for unit test
STATIC_UNIT_TESTED rcsplitSwitchState_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
static uint8_t crc_high_first(uint8_t *ptr, uint8_t len)
{
uint8_t i;
uint8_t crc=0x00;
uint8_t crc = 0x00;
while (len--) {
crc ^= *ptr++;
for (i=8; i>0; --i) {
if (crc & 0x80)
for (int i=8; i>0; --i) {
if (crc & 0x80) {
crc = (crc << 1) ^ 0x31;
else
} else {
crc = (crc << 1);
}
}
}
return (crc);
return crc;
}
static void sendCtrlCommand(rcsplit_ctrl_argument_e argument)
{
if (!rcSplitSerialPort)
return ;
uint8_t uart_buffer[5] = {0};
uint8_t crc = 0;
uart_buffer[0] = RCSPLIT_PACKET_HEADER;
uart_buffer[1] = RCSPLIT_PACKET_CMD_CTRL;
uart_buffer[2] = argument;
uart_buffer[3] = RCSPLIT_PACKET_TAIL;
crc = crc_high_first(uart_buffer, 4);
uint8_t crc = crc_high_first(uart_buffer, 4);
// build up a full request [header]+[command]+[argument]+[crc]+[tail]
uart_buffer[3] = crc;
@ -85,12 +70,8 @@ static void sendCtrlCommand(rcsplit_ctrl_argument_e argument)
static void rcSplitProcessMode(void)
{
// if the device not ready, do not handle any mode change event
if (RCSPLIT_STATE_IS_READY != cameraState)
return ;
for (boxId_e i = BOXCAMERA1; i <= BOXCAMERA3; i++) {
uint8_t switchIndex = i - BOXCAMERA1;
const uint8_t switchIndex = i - BOXCAMERA1;
if (IS_RC_MODE_ACTIVE(i)) {
// check last state of this mode, if it's true, then ignore it.
// Here is a logic to make a toggle control for this mode
@ -124,6 +105,11 @@ static void rcSplitProcessMode(void)
}
}
bool rcSplitIsEnabled(void)
{
return rcSplitSerialPort ? true : false;
}
bool rcSplitInit(void)
{
// found the port config with FUNCTION_RUNCAM_SPLIT_CONTROL
@ -143,22 +129,13 @@ bool rcSplitInit(void)
switchStates[switchIndex].isActivated = true;
}
cameraState = RCSPLIT_STATE_IS_READY;
#ifdef USE_RCSPLIT
setTaskEnabled(TASK_RCSPLIT, true);
#endif
return true;
}
void rcSplitProcess(timeUs_t currentTimeUs)
void rcSplitUpdate(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
if (rcSplitSerialPort == NULL)
return ;
// process rcsplit custom mode if has any changed
rcSplitProcessMode();
}

10
src/main/io/rcsplit.h
View file

@ -19,9 +19,8 @@
#include <stdbool.h>
#include "common/time.h"
#include "fc/fc_msp.h"
typedef struct {
typedef struct rcsplitSwitchState_s {
bool isActivated;
} rcsplitSwitchState_t;
@ -32,8 +31,8 @@ typedef enum {
} rcsplitState_e;
// packet header and tail
#define RCSPLIT_PACKET_HEADER 0x55
#define RCSPLIT_PACKET_CMD_CTRL 0x01
#define RCSPLIT_PACKET_HEADER 0x55
#define RCSPLIT_PACKET_CMD_CTRL 0x01
#define RCSPLIT_PACKET_TAIL 0xaa
@ -47,4 +46,5 @@ typedef enum {
} rcsplit_ctrl_argument_e;
bool rcSplitInit(void);
void rcSplitProcess(timeUs_t currentTimeUs);
bool rcSplitIsEnabled(void);
void rcSplitUpdate(timeUs_t currentTimeUs);

49
src/test/unit/rcsplit_unittest.cc
View file

@ -25,9 +25,10 @@ extern "C" {
#include "platform.h"
#include "common/utils.h"
#include "common/maths.h"
#include "common/bitarray.h"
#include "common/maths.h"
#include "common/streambuf.h"
#include "common/utils.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
@ -37,25 +38,16 @@ extern "C" {
#include "io/beeper.h"
#include "io/serial.h"
#include "scheduler/scheduler.h"
#include "drivers/serial.h"
#include "io/rcsplit.h"
#include "io/serial.h"
#include "rx/rx.h"
extern rcsplitState_e cameraState;
extern serialPort_t *rcSplitSerialPort;
extern rcsplitSwitchState_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
rcsplitState_e unitTestRCsplitState()
{
return cameraState;
}
bool unitTestIsSwitchActivited(boxId_e boxId)
{
uint8_t adjustBoxID = boxId - BOXCAMERA1;
@ -66,7 +58,6 @@ extern "C" {
void unitTestResetRCSplit()
{
rcSplitSerialPort = NULL;
cameraState = RCSPLIT_STATE_UNKNOWN;
}
}
@ -85,7 +76,7 @@ TEST(RCSplitTest, TestRCSplitInitWithoutPortConfigurated)
unitTestResetRCSplit();
bool result = rcSplitInit();
EXPECT_EQ(false, result);
EXPECT_EQ(RCSPLIT_STATE_UNKNOWN, unitTestRCsplitState());
EXPECT_EQ(false, rcSplitIsEnabled());
}
TEST(RCSplitTest, TestRCSplitInitWithoutOpenPortConfigurated)
@ -97,7 +88,7 @@ TEST(RCSplitTest, TestRCSplitInitWithoutOpenPortConfigurated)
bool result = rcSplitInit();
EXPECT_EQ(false, result);
EXPECT_EQ(RCSPLIT_STATE_UNKNOWN, unitTestRCsplitState());
EXPECT_EQ(false, rcSplitIsEnabled());
}
TEST(RCSplitTest, TestRCSplitInit)
@ -109,7 +100,7 @@ TEST(RCSplitTest, TestRCSplitInit)
bool result = rcSplitInit();
EXPECT_EQ(true, result);
EXPECT_EQ(RCSPLIT_STATE_IS_READY, unitTestRCsplitState());
EXPECT_EQ(true, rcSplitIsEnabled());
}
TEST(RCSplitTest, TestRecvWhoAreYouResponse)
@ -126,9 +117,9 @@ TEST(RCSplitTest, TestRecvWhoAreYouResponse)
// so the "who are you response" will full received, and cause the state change to RCSPLIT_STATE_IS_READY;
int8_t randNum = rand() % 127 + 6;
testData.maxTimesOfRespDataAvailable = randNum;
rcSplitProcess((timeUs_t)0);
rcSplitUpdate((timeUs_t)0);
EXPECT_EQ(RCSPLIT_STATE_IS_READY, unitTestRCsplitState());
EXPECT_EQ(true, rcSplitIsEnabled());
}
TEST(RCSplitTest, TestWifiModeChangeWithDeviceUnready)
@ -172,8 +163,8 @@ TEST(RCSplitTest, TestWifiModeChangeWithDeviceUnready)
updateActivatedModes();
// runn process loop
rcSplitProcess(0);
// run update
rcSplitUpdate(0);
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA1));
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA2));
@ -221,12 +212,12 @@ TEST(RCSplitTest, TestWifiModeChangeWithDeviceReady)
updateActivatedModes();
// runn process loop
// run update
int8_t randNum = rand() % 127 + 6;
testData.maxTimesOfRespDataAvailable = randNum;
rcSplitProcess((timeUs_t)0);
rcSplitUpdate((timeUs_t)0);
EXPECT_EQ(RCSPLIT_STATE_IS_READY, unitTestRCsplitState());
EXPECT_EQ(true, rcSplitIsEnabled());
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA1));
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA2));
@ -274,12 +265,12 @@ TEST(RCSplitTest, TestWifiModeChangeCombine)
rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1700;
updateActivatedModes();
// runn process loop
// run update
int8_t randNum = rand() % 127 + 6;
testData.maxTimesOfRespDataAvailable = randNum;
rcSplitProcess((timeUs_t)0);
rcSplitUpdate((timeUs_t)0);
EXPECT_EQ(RCSPLIT_STATE_IS_READY, unitTestRCsplitState());
EXPECT_EQ(true, rcSplitIsEnabled());
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA1));
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA2));
@ -291,7 +282,7 @@ TEST(RCSplitTest, TestWifiModeChangeCombine)
rcData[modeActivationConditions(1)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1300;
rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1900;
updateActivatedModes();
rcSplitProcess((timeUs_t)0);
rcSplitUpdate((timeUs_t)0);
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA1));
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA2));
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA3));
@ -299,12 +290,12 @@ TEST(RCSplitTest, TestWifiModeChangeCombine)
rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1899;
updateActivatedModes();
rcSplitProcess((timeUs_t)0);
rcSplitUpdate((timeUs_t)0);
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3));
rcData[modeActivationConditions(1)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 2001;
updateActivatedModes();
rcSplitProcess((timeUs_t)0);
rcSplitUpdate((timeUs_t)0);
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA1));
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA2));
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3));