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Code and documentation cleanup of rc calibration.

Browse source 
Note: since it didn't actually calibrate anything it has been renamed to
rxrange.

Added ability to reset rxranges using `rxrange reset` - this follows the
same pattern as other cli commands.
This commit is contained in:
Dominic Clifton 2015-08-04 00:23:38 +01:00
parent 27f8223de7
commit 9d3276b222
9 changed files with 103 additions and 87 deletions
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188
src/test/unit/rx_ranges_unittest.cc Executable file
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/*
* 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 <stdint.h>
#include <stdbool.h>
#include <limits.h>
extern "C" {
#include "platform.h"
#include "rx/rx.h"
#include "io/rc_controls.h"
#include "common/maths.h"
}
#include "unittest_macros.h"
#include "gtest/gtest.h"
extern "C" {
extern uint16_t applyRxChannelRangeConfiguraton(int sample, rxChannelRangeConfiguration_t range);
}
#define RANGE_CONFIGURATION(min, max) (rxChannelRangeConfiguration_t) {min, max}
TEST(RxChannelRangeTest, TestRxChannelRanges)
{
// No signal, special condition
EXPECT_EQ(applyRxChannelRangeConfiguraton(0, RANGE_CONFIGURATION(1000, 2000)), 0);
EXPECT_EQ(applyRxChannelRangeConfiguraton(0, RANGE_CONFIGURATION(1300, 1700)), 0);
EXPECT_EQ(applyRxChannelRangeConfiguraton(0, RANGE_CONFIGURATION(900, 2100)), 0);
// Exact mapping
EXPECT_EQ(applyRxChannelRangeConfiguraton(1000, RANGE_CONFIGURATION(1000, 2000)), 1000);
EXPECT_EQ(applyRxChannelRangeConfiguraton(1500, RANGE_CONFIGURATION(1000, 2000)), 1500);
EXPECT_EQ(applyRxChannelRangeConfiguraton(2000, RANGE_CONFIGURATION(1000, 2000)), 2000);
EXPECT_EQ(applyRxChannelRangeConfiguraton(700, RANGE_CONFIGURATION(1000, 2000)), 750);
EXPECT_EQ(applyRxChannelRangeConfiguraton(2500, RANGE_CONFIGURATION(1000, 2000)), 2250);
// Shifted range
EXPECT_EQ(applyRxChannelRangeConfiguraton(900, RANGE_CONFIGURATION(900, 1900)), 1000);
EXPECT_EQ(applyRxChannelRangeConfiguraton(1400, RANGE_CONFIGURATION(900, 1900)), 1500);
EXPECT_EQ(applyRxChannelRangeConfiguraton(1900, RANGE_CONFIGURATION(900, 1900)), 2000);
EXPECT_EQ(applyRxChannelRangeConfiguraton(600, RANGE_CONFIGURATION(900, 1900)), 750);
EXPECT_EQ(applyRxChannelRangeConfiguraton(2500, RANGE_CONFIGURATION(900, 1900)), 2250);
// Narrower range than expected
EXPECT_EQ(applyRxChannelRangeConfiguraton(1300, RANGE_CONFIGURATION(1300, 1700)), 1000);
EXPECT_EQ(applyRxChannelRangeConfiguraton(1500, RANGE_CONFIGURATION(1300, 1700)), 1500);
EXPECT_EQ(applyRxChannelRangeConfiguraton(1700, RANGE_CONFIGURATION(1300, 1700)), 2000);
EXPECT_EQ(applyRxChannelRangeConfiguraton(700, RANGE_CONFIGURATION(1300, 1700)), 750);
EXPECT_EQ(applyRxChannelRangeConfiguraton(2500, RANGE_CONFIGURATION(1300, 1700)), 2250);
// Wider range than expected
EXPECT_EQ(applyRxChannelRangeConfiguraton(900, RANGE_CONFIGURATION(900, 2100)), 1000);
EXPECT_EQ(applyRxChannelRangeConfiguraton(1500, RANGE_CONFIGURATION(900, 2100)), 1500);
EXPECT_EQ(applyRxChannelRangeConfiguraton(2100, RANGE_CONFIGURATION(900, 2100)), 2000);
EXPECT_EQ(applyRxChannelRangeConfiguraton(600, RANGE_CONFIGURATION(900, 2100)), 750);
EXPECT_EQ(applyRxChannelRangeConfiguraton(2700, RANGE_CONFIGURATION(900, 2100)), 2250);
// extreme out of range
EXPECT_EQ(applyRxChannelRangeConfiguraton(1, RANGE_CONFIGURATION(1000, 2000)), 750);
EXPECT_EQ(applyRxChannelRangeConfiguraton(1, RANGE_CONFIGURATION(1300, 1700)), 750);
EXPECT_EQ(applyRxChannelRangeConfiguraton(1, RANGE_CONFIGURATION(900, 2100)), 750);
EXPECT_EQ(applyRxChannelRangeConfiguraton(10000, RANGE_CONFIGURATION(1000, 2000)), 2250);
EXPECT_EQ(applyRxChannelRangeConfiguraton(10000, RANGE_CONFIGURATION(1300, 1700)), 2250);
EXPECT_EQ(applyRxChannelRangeConfiguraton(10000, RANGE_CONFIGURATION(900, 2100)), 2250);
}
// stubs
extern "C" {
void rxPwmInit(rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
{
UNUSED(rxRuntimeConfig);
UNUSED(callback);
}
bool sbusInit(rxConfig_t *initialRxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
{
UNUSED(initialRxConfig);
UNUSED(rxRuntimeConfig);
UNUSED(callback);
return true;
}
bool spektrumInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeConfig);
UNUSED(callback);
return true;
}
bool sumdInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeConfig);
UNUSED(callback);
return true;
}
bool sumhInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeConfig);
UNUSED(callback);
return true;
}
bool rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeConfig);
UNUSED(callback);
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 rxMspFrameComplete(void)
{
return false;
}
void failsafeReset(void)
{
}
bool isPPMDataBeingReceived(void)
{
return false;
}
void resetPPMDataReceivedState(void)
{
}
void failsafeOnRxCycle(void)
{
}
void failsafeOnValidDataReceived(void)
{
}
void failsafeOnRxCycleStarted(void)
{
}
void failsafeCheckPulse(uint8_t channel, uint16_t pulseDuration)
{
UNUSED(channel);
UNUSED(pulseDuration);
}
}