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Merge https://github.com/cleanflight/cleanflight into virtualcurrent

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tracernz 2015-01-16 22:03:53 +13:00
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29 changed files with 562 additions and 222 deletions
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4
docs/Configuration.md
View file

@ -1,6 +1,6 @@
# Configuration
Cleanflight is configured primarilty using the Cleanflight Configurator GUI.
Cleanflight is configured primarily using the Cleanflight Configurator GUI.
Both the command line interface and GUI are accessible by connecting to a serial port on the target,
be it a USB virtual serial port, physical hardware UART port or a SoftSerial port.
@ -15,7 +15,7 @@ __Due to ongoing development, the fact that the GUI cannot yet backup all your s
## GUI
![Cleanflight Gui](cleanflight-gui.png)
![Cleanflight Gui](Screenshots/cleanflight-gui.png)
The GUI tool is the preferred way of configuration. The GUI tool also includes a terminal which
can be used to interact with the CLI.

0
docs/cleanflight-gui.png → docs/Screenshots/cleanflight-gui.png
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21
docs/development/Development.md
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@ -16,6 +16,8 @@ This project could really do with some functional tests which test the behaviour
All pull requests to add/improve the testability of the code or testing methods are highly sought!
Note: Tests are written in C++ and linked with with firmware's C code.
##General principals
1. Name everything well.
@ -48,22 +50,3 @@ You can run them on the command line to execute the tests and to see the test re
You can also step-debug the tests in eclipse and you can use the GoogleTest test runner to make building and re-running the tests simple.
The tests are currently always compiled with debugging information enabled, there may be additional warnings, if you see any warnings please attempt to fix them and submit pull requests with the fixes.
##TODO
* Test OpenLRSNG's RSSI PWM on AUX5-8.
* Add support for UART3/4 on STM32F3.
* Cleanup validateAndFixConfig and pwm_mapping.c to use some kind of feature/timer/io pin mapping to remove #ifdef
* Split RX config into RC config and RX config.
* Enabling/disabling features should not take effect until reboot since. Main loop executes and uses new flags as they are set in the cli but
appropriate init methods will not have been called which results in undefined behaviour and could damage connected devices - this is a legacy
problem from baseflight.
* Solve all the naze rev4/5 HSE_VALUE == 8000000/1200000 checking, the checks should only apply to the naze32 target. See system_stm32f10x.c/SetSysClock().
##Known Issues
* Softserial RX on STM32F3 does not work. TX is fine.
* Dynamic throttle PID does not work with new pid controller.
* Autotune does not work yet with with new pid controller.

98
src/main/blackbox/blackbox.c
View file

@ -74,7 +74,6 @@
#include "config/config_profile.h"
#include "config/config_master.h"
#include "blackbox_fielddefs.h"
#include "blackbox.h"
#define BLACKBOX_BAUDRATE 115200
@ -83,6 +82,9 @@
#define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))
#define STATIC_ASSERT(condition, name ) \
typedef char assert_failed_ ## name [(condition) ? 1 : -1 ]
// Some macros to make writing FLIGHT_LOG_FIELD_* constants shorter:
#define STR_HELPER(x) #x
#define STR(x) STR_HELPER(x)
@ -235,7 +237,8 @@ typedef enum BlackboxState {
BLACKBOX_STATE_SEND_GPS_G_HEADERS,
BLACKBOX_STATE_SEND_SYSINFO,
BLACKBOX_STATE_PRERUN,
BLACKBOX_STATE_RUNNING
BLACKBOX_STATE_RUNNING,
BLACKBOX_STATE_SHUTTING_DOWN
} BlackboxState;
typedef struct gpsState_t {
@ -267,8 +270,11 @@ static struct {
} u;
} xmitState;
// Cache for FLIGHT_LOG_FIELD_CONDITION_* test results:
static uint32_t blackboxConditionCache;
STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_NEVER, too_many_flight_log_conditions);
static uint32_t blackboxIteration;
static uint32_t blackboxPFrameIndex, blackboxIFrameIndex;
@ -671,6 +677,9 @@ static void blackboxSetState(BlackboxState newState)
blackboxPFrameIndex = 0;
blackboxIFrameIndex = 0;
break;
case BLACKBOX_STATE_SHUTTING_DOWN:
xmitState.u.startTime = millis();
break;
default:
;
}
@ -894,6 +903,14 @@ static void releaseBlackboxPort(void)
serialSetBaudRate(blackboxPort, previousBaudRate);
endSerialPortFunction(blackboxPort, FUNCTION_BLACKBOX);
/*
* Normally this would be handled by mw.c, but since we take an unknown amount
* of time to shut down asynchronously, we're the only ones that know when to call it.
*/
if (isSerialPortFunctionShared(FUNCTION_BLACKBOX, FUNCTION_MSP)) {
mspAllocateSerialPorts(&masterConfig.serialConfig);
}
}
void startBlackbox(void)
@ -931,10 +948,18 @@ void startBlackbox(void)
void finishBlackbox(void)
{
if (blackboxState != BLACKBOX_STATE_DISABLED && blackboxState != BLACKBOX_STATE_STOPPED) {
blackboxSetState(BLACKBOX_STATE_STOPPED);
if (blackboxState == BLACKBOX_STATE_RUNNING) {
blackboxLogEvent(FLIGHT_LOG_EVENT_LOG_END, NULL);
blackboxSetState(BLACKBOX_STATE_SHUTTING_DOWN);
} else if (blackboxState != BLACKBOX_STATE_DISABLED && blackboxState != BLACKBOX_STATE_STOPPED
&& blackboxState != BLACKBOX_STATE_SHUTTING_DOWN) {
/*
* We're shutting down in the middle of transmitting headers, so we can't log a "log completed" event.
* Just give the port back and stop immediately.
*/
releaseBlackboxPort();
blackboxSetState(BLACKBOX_STATE_STOPPED);
}
}
@ -1141,7 +1166,6 @@ static bool blackboxWriteSysinfo()
blackboxPrintf("H P interval:%d/%d\n", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
xmitState.u.serialBudget -= strlen("H P interval:%d/%d\n");
break;
case 5:
blackboxPrintf("H rcRate:%d\n", masterConfig.controlRateProfiles[masterConfig.current_profile_index].rcRate8);
@ -1193,10 +1217,49 @@ static bool blackboxWriteSysinfo()
return false;
}
/**
* Write the given event to the log immediately
*/
void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
{
if (blackboxState != BLACKBOX_STATE_RUNNING)
return;
//Shared header for event frames
blackboxWrite('E');
blackboxWrite(event);
//Now serialize the data for this specific frame type
switch (event) {
case FLIGHT_LOG_EVENT_SYNC_BEEP:
writeUnsignedVB(data->syncBeep.time);
break;
case FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_START:
blackboxWrite(data->autotuneCycleStart.phase);
blackboxWrite(data->autotuneCycleStart.cycle);
blackboxWrite(data->autotuneCycleStart.p);
blackboxWrite(data->autotuneCycleStart.i);
blackboxWrite(data->autotuneCycleStart.d);
break;
case FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_RESULT:
blackboxWrite(data->autotuneCycleResult.overshot);
blackboxWrite(data->autotuneCycleStart.p);
blackboxWrite(data->autotuneCycleStart.i);
blackboxWrite(data->autotuneCycleStart.d);
break;
case FLIGHT_LOG_EVENT_LOG_END:
blackboxPrint("End of log");
blackboxWrite(0);
break;
}
}
// Beep the buzzer and write the current time to the log as a synchronization point
static void blackboxPlaySyncBeep()
{
uint32_t now = micros();
flightLogEvent_syncBeep_t eventData;
eventData.time = micros();
/*
* The regular beep routines aren't going to work for us, because they queue up the beep to be executed later.
@ -1207,10 +1270,7 @@ static void blackboxPlaySyncBeep()
// Have the regular beeper code turn off the beep for us eventually, since that's not timing-sensitive
queueConfirmationBeep(1);
blackboxWrite('E');
blackboxWrite(FLIGHT_LOG_EVENT_SYNC_BEEP);
writeUnsignedVB(now);
blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP, (flightLogEventData_t *) &eventData);
}
void handleBlackbox(void)
@ -1269,9 +1329,9 @@ void handleBlackbox(void)
blackboxSetState(BLACKBOX_STATE_PRERUN);
break;
case BLACKBOX_STATE_PRERUN:
blackboxPlaySyncBeep();
blackboxSetState(BLACKBOX_STATE_RUNNING);
blackboxPlaySyncBeep();
break;
case BLACKBOX_STATE_RUNNING:
// On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
@ -1317,6 +1377,20 @@ void handleBlackbox(void)
blackboxIFrameIndex++;
}
break;
case BLACKBOX_STATE_SHUTTING_DOWN:
//On entry of this state, startTime is set
/*
* Wait for the log we've transmitted to make its way to the logger before we release the serial port,
* since releasing the port clears the Tx buffer.
*
* Don't wait longer than it could possibly take if something funky happens.
*/
if (millis() > xmitState.u.startTime + 200 || isSerialTransmitBufferEmpty(blackboxPort)) {
releaseBlackboxPort();
blackboxSetState(BLACKBOX_STATE_STOPPED);
}
break;
default:
break;
}

7
src/main/blackbox/blackbox.h
View file

@ -17,9 +17,12 @@
#pragma once
#include "common/axis.h"
#include <stdint.h>
#include "common/axis.h"
#include "flight/mixer.h"
#include "blackbox/blackbox_fielddefs.h"
typedef struct blackboxValues_t {
uint32_t time;
@ -41,6 +44,8 @@ typedef struct blackboxValues_t {
#endif
} blackboxValues_t;
void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data);
void initBlackbox(void);
void handleBlackbox(void);
void startBlackbox(void);

35
src/main/blackbox/blackbox_fielddefs.h
View file

@ -93,5 +93,40 @@ typedef enum FlightLogFieldSign {
typedef enum FlightLogEvent {
FLIGHT_LOG_EVENT_SYNC_BEEP = 0,
FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_START = 10,
FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_RESULT = 11,
FLIGHT_LOG_EVENT_LOG_END = 255
} FlightLogEvent;
typedef struct flightLogEvent_syncBeep_t {
uint32_t time;
} flightLogEvent_syncBeep_t;
typedef struct flightLogEvent_autotuneCycleStart_t {
uint8_t phase;
uint8_t cycle;
uint8_t p;
uint8_t i;
uint8_t d;
} flightLogEvent_autotuneCycleStart_t;
typedef struct flightLogEvent_autotuneCycleResult_t {
uint8_t overshot;
uint8_t p;
uint8_t i;
uint8_t d;
} flightLogEvent_autotuneCycleResult_t;
typedef union flightLogEventData_t
{
flightLogEvent_syncBeep_t syncBeep;
flightLogEvent_autotuneCycleStart_t autotuneCycleStart;
flightLogEvent_autotuneCycleResult_t autotuneCycleResult;
} flightLogEventData_t;
typedef struct flightLogEvent_t
{
FlightLogEvent event;
flightLogEventData_t data;
} flightLogEvent_t;

6
src/main/common/printf.c
View file

@ -69,7 +69,7 @@ static void putchw(void *putp, putcf putf, int n, char z, char *bf)
putf(putp, ch);
}
void tfp_format(void *putp, putcf putf, char *fmt, va_list va)
void tfp_format(void *putp, putcf putf, const char *fmt, va_list va)
{
char bf[12];
@ -154,7 +154,7 @@ void init_printf(void *putp, void (*putf) (void *, char))
stdout_putp = putp;
}
void tfp_printf(char *fmt, ...)
void tfp_printf(const char *fmt, ...)
{
va_list va;
va_start(va, fmt);
@ -168,7 +168,7 @@ static void putcp(void *p, char c)
*(*((char **) p))++ = c;
}
void tfp_sprintf(char *s, char *fmt, ...)
void tfp_sprintf(char *s, const char *fmt, ...)
{
va_list va;

6
src/main/common/printf.h
View file

@ -107,10 +107,10 @@ regs Kusti, 23.10.2004
void init_printf(void *putp, void (*putf) (void *, char));
void tfp_printf(char *fmt, ...);
void tfp_sprintf(char *s, char *fmt, ...);
void tfp_printf(const char *fmt, ...);
void tfp_sprintf(char *s, const char *fmt, ...);
void tfp_format(void *putp, void (*putf) (void *, char), char *fmt, va_list va);
void tfp_format(void *putp, void (*putf) (void *, char), const char *fmt, va_list va);
#define printf tfp_printf
#define sprintf tfp_sprintf

4
src/main/common/typeconversion.c
View file

@ -90,9 +90,9 @@ int a2d(char ch)
return -1;
}
char a2i(char ch, char **src, int base, int *nump)
char a2i(char ch, const char **src, int base, int *nump)
{
char *p = *src;
const char *p = *src;
int num = 0;
int digit;
while ((digit = a2d(ch)) >= 0) {

2
src/main/common/typeconversion.h
View file

@ -20,7 +20,7 @@ void uli2a(unsigned long int num, unsigned int base, int uc, char *bf);
void li2a(long num, char *bf);
void ui2a(unsigned int num, unsigned int base, int uc, char *bf);
void i2a(int num, char *bf);
char a2i(char ch, char **src, int base, int *nump);
char a2i(char ch, const char **src, int base, int *nump);
char *ftoa(float x, char *floatString);
float fastA2F(const char *p);

1
src/main/config/config.c
View file

@ -159,6 +159,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->D_f[YAW] = 0.05f;
pidProfile->A_level = 5.0f;
pidProfile->H_level = 3.0f;
pidProfile->H_sensitivity = 75;
}
#ifdef GPS

92
src/main/flight/autotune.c
View file

@ -31,6 +31,9 @@
#include "flight/flight.h"
#include "config/config.h"
#include "blackbox/blackbox.h"
extern int16_t debug[4];
/*
@ -97,6 +100,12 @@ typedef enum {
PHASE_SAVE_OR_RESTORE_PIDS,
} autotunePhase_e;
typedef enum {
CYCLE_TUNE_I = 0,
CYCLE_TUNE_PD,
CYCLE_TUNE_PD2
} autotuneCycle_e;
static const pidIndex_e angleIndexToPidIndexMap[] = {
PIDROLL,
PIDPITCH
@ -112,7 +121,7 @@ static pidProfile_t pidBackup;
static uint8_t pidController;
static uint8_t pidIndex;
static bool rising;
static uint8_t cycleCount; // TODO can we replace this with an enum to improve readability.
static autotuneCycle_e cycle;
static uint32_t timeoutAt;
static angle_index_t autoTuneAngleIndex;
static autotunePhase_e phase = PHASE_IDLE;
@ -140,10 +149,33 @@ bool isAutotuneIdle(void)
return phase == PHASE_IDLE;
}
#ifdef BLACKBOX
static void autotuneLogCycleStart()
{
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_autotuneCycleStart_t eventData;
eventData.phase = phase;
eventData.cycle = cycle;
eventData.p = pid.p * MULTIWII_P_MULTIPLIER;
eventData.i = pid.i * MULTIWII_I_MULTIPLIER;
eventData.d = pid.d;
blackboxLogEvent(FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_START, (flightLogEventData_t*)&eventData);
}
}
#endif
static void startNewCycle(void)
{
rising = !rising;
secondPeakAngle = firstPeakAngle = 0;
#ifdef BLACKBOX
autotuneLogCycleStart();
#endif
}
static void updatePidIndex(void)
@ -155,8 +187,7 @@ static void updateTargetAngle(void)
{
if (rising) {
targetAngle = AUTOTUNE_TARGET_ANGLE;
}
else {
} else {
targetAngle = -AUTOTUNE_TARGET_ANGLE;
}
@ -210,7 +241,8 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
debug[3] = DEGREES_TO_DECIDEGREES(secondPeakAngle);
} else if (secondPeakAngle > 0) {
if (cycleCount == 0) {
switch (cycle) {
case CYCLE_TUNE_I:
// when checking the I value, we would like to overshoot the target position by half of the max oscillation.
if (currentAngle - targetAngle < AUTOTUNE_MAX_OSCILLATION_ANGLE / 2) {
pid.i *= AUTOTUNE_INCREASE_MULTIPLIER;
@ -221,19 +253,36 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
}
}
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_autotuneCycleResult_t eventData;
eventData.overshot = currentAngle - targetAngle < AUTOTUNE_MAX_OSCILLATION_ANGLE / 2 ? 0 : 1;
eventData.p = pidProfile->P8[pidIndex];
eventData.i = pidProfile->I8[pidIndex];
eventData.d = pidProfile->D8[pidIndex];
blackboxLogEvent(FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_RESULT, (flightLogEventData_t*)&eventData);
}
#endif
// go back to checking P and D
cycleCount = 1;
cycle = CYCLE_TUNE_PD;
pidProfile->I8[pidIndex] = 0;
startNewCycle();
} else {
break;
case CYCLE_TUNE_PD:
case CYCLE_TUNE_PD2:
// we are checking P and D values
// set up to look for the 2nd peak
firstPeakAngle = currentAngle;
timeoutAt = millis() + AUTOTUNE_SETTLING_DELAY_MS;
break;
}
}
} else {
// we saw the first peak. looking for the second
// We saw the first peak while tuning PD, looking for the second
if (currentAngle < firstPeakAngle) {
firstPeakAngle = currentAngle;
@ -286,15 +335,30 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
pidProfile->P8[pidIndex] = pid.p * MULTIWII_P_MULTIPLIER;
pidProfile->D8[pidIndex] = pid.d;
// switch to the other direction and start a new cycle
startNewCycle();
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_autotuneCycleResult_t eventData;
if (++cycleCount == 3) {
eventData.overshot = secondPeakAngle > targetAngleAtPeak ? 1 : 0;
eventData.p = pidProfile->P8[pidIndex];
eventData.i = pidProfile->I8[pidIndex];
eventData.d = pidProfile->D8[pidIndex];
blackboxLogEvent(FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_RESULT, (flightLogEventData_t*)&eventData);
}
#endif
if (cycle == CYCLE_TUNE_PD2) {
// switch to testing I value
cycleCount = 0;
cycle = CYCLE_TUNE_I;
pidProfile->I8[pidIndex] = pid.i * MULTIWII_I_MULTIPLIER;
} else {
cycle = CYCLE_TUNE_PD2;
}
// switch to the other direction for the new cycle
startNewCycle();
}
}
@ -344,7 +408,7 @@ void autotuneBeginNextPhase(pidProfile_t *pidProfileToTune, uint8_t pidControlle
}
rising = true;
cycleCount = 1;
cycle = CYCLE_TUNE_PD;
secondPeakAngle = firstPeakAngle = 0;
pidProfile = pidProfileToTune;
@ -360,6 +424,10 @@ void autotuneBeginNextPhase(pidProfile_t *pidProfileToTune, uint8_t pidControlle
pidProfile->D8[pidIndex] = pid.d;
pidProfile->I8[pidIndex] = 0;
#ifdef BLACKBOX
autotuneLogCycleStart();
#endif
}
void autotuneEndPhase(void)

40
src/main/flight/flight.c
View file

@ -57,10 +57,10 @@ static float errorGyroIf[3] = { 0.0f, 0.0f, 0.0f };
static int32_t errorAngleI[2] = { 0, 0 };
static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim);
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig);
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim); // pid controller function prototype
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype
pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii
@ -97,18 +97,42 @@ bool shouldAutotune(void)
#endif
static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim)
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
{
float RateError, errorAngle, AngleRate, gyroRate;
float ITerm,PTerm,DTerm;
int32_t stickPosAil, stickPosEle, mostDeflectedPos;
static float lastGyroRate[3];
static float delta1[3], delta2[3];
float delta, deltaSum;
float dT;
int axis;
float horizonLevelStrength = 1;
dT = (float)cycleTime * 0.000001f;
if (FLIGHT_MODE(HORIZON_MODE)) {
// Figure out the raw stick positions
stickPosAil = getRcStickDeflection(FD_ROLL, rxConfig->midrc);
stickPosEle = getRcStickDeflection(FD_PITCH, rxConfig->midrc);
if(abs(stickPosAil) > abs(stickPosEle)){
mostDeflectedPos = abs(stickPosAil);
}
else {
mostDeflectedPos = abs(stickPosEle);
}
// Progressively turn off the horizon self level strength as the stick is banged over
horizonLevelStrength = (float)(500 - mostDeflectedPos) / 500; // 1 at centre stick, 0 = max stick deflection
if(pidProfile->H_sensitivity == 0){
horizonLevelStrength = 0;
} else {
horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->H_sensitivity)) + 1, 0, 1);
}
}
// ----------PID controller----------
for (axis = 0; axis < 3; axis++) {
// -----Get the desired angle rate depending on flight mode
@ -139,7 +163,7 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
AngleRate = (float)((controlRateConfig->rollPitchRate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max yaw rate
if (FLIGHT_MODE(HORIZON_MODE)) {
// mix up angle error to desired AngleRate to add a little auto-level feel
AngleRate += errorAngle * pidProfile->H_level;
AngleRate += errorAngle * pidProfile->H_level * horizonLevelStrength;
}
}
}
@ -181,8 +205,10 @@ static void pidBaseflight(pidProfile_t *pidProfile, controlRateConfig_t *control
}
static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim)
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
{
UNUSED(rxConfig);
int axis, prop;
int32_t error, errorAngle;
int32_t PTerm, ITerm, PTermACC = 0, ITermACC = 0, PTermGYRO = 0, ITermGYRO = 0, DTerm;
@ -264,8 +290,10 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
#define GYRO_I_MAX 256
static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
rollAndPitchTrims_t *angleTrim)
rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
{
UNUSED(rxConfig);
int32_t errorAngle;
int axis;
int32_t delta, deltaSum;

1
src/main/flight/flight.h
View file

@ -42,6 +42,7 @@ typedef struct pidProfile_s {
float D_f[3];
float A_level;
float H_level;
uint8_t H_sensitivity;
} pidProfile_t;
typedef enum {

10
src/main/io/display.c
View file

@ -378,24 +378,28 @@ void showBatteryPage(void)
void showSensorsPage(void)
{
uint8_t rowIndex = PAGE_TITLE_LINE_COUNT;
static const char *format = "%c = %5d %5d %5d";
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(" X Y Z");
if (sensors(SENSOR_ACC)) {
tfp_sprintf(lineBuffer, "A = %5d %5d %5d", accSmooth[X], accSmooth[Y], accSmooth[Z]);
tfp_sprintf(lineBuffer, format, 'A', accSmooth[X], accSmooth[Y], accSmooth[Z]);
padLineBuffer();
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
}
if (sensors(SENSOR_GYRO)) {
tfp_sprintf(lineBuffer, "G = %5d %5d %5d", gyroADC[X], gyroADC[Y], gyroADC[Z]);
tfp_sprintf(lineBuffer, format, 'G', gyroADC[X], gyroADC[Y], gyroADC[Z]);
padLineBuffer();
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);
}
#ifdef MAG
if (sensors(SENSOR_MAG)) {
tfp_sprintf(lineBuffer, "M = %5d %5d %5d", magADC[X], magADC[Y], magADC[Z]);
tfp_sprintf(lineBuffer, format, 'M', magADC[X], magADC[Y], magADC[Z]);
padLineBuffer();
i2c_OLED_set_line(rowIndex++);
i2c_OLED_send_string(lineBuffer);

53
src/main/io/ledstrip.c
View file

@ -50,14 +50,26 @@
static bool ledStripInitialised = false;
static failsafe_t* failsafe;
//#define USE_LED_ANIMATION
// timers
#ifdef USE_LED_ANIMATION
static uint32_t nextAnimationUpdateAt = 0;
#endif
static uint32_t nextIndicatorFlashAt = 0;
static uint32_t nextWarningFlashAt = 0;
#define LED_STRIP_20HZ ((1000 * 1000) / 20)
#define LED_STRIP_10HZ ((1000 * 1000) / 10)
#define LED_STRIP_5HZ ((1000 * 1000) / 5)
#if MAX_LED_STRIP_LENGTH > WS2811_LED_STRIP_LENGTH
#error "Led strip length must match driver"
#endif
hsvColor_t *colors;
//#define USE_LED_ANIMATION
// H S V
#define LED_BLACK { 0, 0, 0}
#define LED_WHITE { 0, 255, 255}
@ -185,6 +197,7 @@ static const modeColorIndexes_t angleModeColors = {
COLOR_ORANGE
};
#ifdef MAG
static const modeColorIndexes_t magModeColors = {
COLOR_MINT_GREEN,
COLOR_DARK_VIOLET,
@ -193,6 +206,7 @@ static const modeColorIndexes_t magModeColors = {
COLOR_BLUE,
COLOR_ORANGE
};
#endif
static const modeColorIndexes_t baroModeColors = {
COLOR_LIGHT_BLUE,
@ -436,15 +450,6 @@ void generateLedConfig(uint8_t ledIndex, char *ledConfigBuffer, size_t bufferSiz
sprintf(ledConfigBuffer, "%u,%u:%s:%s", GET_LED_X(ledConfig), GET_LED_Y(ledConfig), directions, functions);
}
// timers
uint32_t nextAnimationUpdateAt = 0;
uint32_t nextIndicatorFlashAt = 0;
uint32_t nextWarningFlashAt = 0;
#define LED_STRIP_20HZ ((1000 * 1000) / 20)
#define LED_STRIP_10HZ ((1000 * 1000) / 10)
#define LED_STRIP_5HZ ((1000 * 1000) / 5)
void applyDirectionalModeColor(const uint8_t ledIndex, const ledConfig_t *ledConfig, const modeColorIndexes_t *modeColors)
{
// apply up/down colors regardless of quadrant.
@ -686,6 +691,7 @@ void applyLedThrottleLayer()
}
}
#ifdef USE_LED_ANIMATION
static uint8_t frameCounter = 0;
static uint8_t previousRow;
@ -703,7 +709,6 @@ static void updateLedAnimationState(void)
frameCounter = (frameCounter + 1) % animationFrames;
}
#ifdef USE_LED_ANIMATION
static void applyLedAnimationLayer(void)
{
const ledConfig_t *ledConfig;
@ -738,11 +743,18 @@ void updateLedStrip(void)
uint32_t now = micros();
bool animationUpdateNow = (int32_t)(now - nextAnimationUpdateAt) >= 0L;
bool indicatorFlashNow = (int32_t)(now - nextIndicatorFlashAt) >= 0L;
bool warningFlashNow = (int32_t)(now - nextWarningFlashAt) >= 0L;
if (!(warningFlashNow || indicatorFlashNow || animationUpdateNow)) {
bool indicatorFlashNow = indicatorFlashNow = (int32_t)(now - nextIndicatorFlashAt) >= 0L;
bool warningFlashNow =warningFlashNow = (int32_t)(now - nextWarningFlashAt) >= 0L;
#ifdef USE_LED_ANIMATION
bool animationUpdateNow = animationUpdateNow = (int32_t)(now - nextAnimationUpdateAt) >= 0L;
#endif
if (!(
indicatorFlashNow ||
warningFlashNow
#ifdef USE_LED_ANIMATION
|| animationUpdateNow
#endif
)) {
return;
}
@ -777,20 +789,21 @@ void updateLedStrip(void)
applyLedIndicatorLayer(indicatorFlashState);
#ifdef USE_LED_ANIMATION
if (animationUpdateNow) {
nextAnimationUpdateAt = now + LED_STRIP_20HZ;
updateLedAnimationState();
}
#ifdef USE_LED_ANIMATION
applyLedAnimationLayer();
#endif
ws2811UpdateStrip();
}
bool parseColor(uint8_t index, char *colorConfig)
bool parseColor(uint8_t index, const char *colorConfig)
{
char *remainingCharacters = colorConfig;
const char *remainingCharacters = colorConfig;
hsvColor_t *color = &colors[index];

2
src/main/io/ledstrip.h
View file

@ -69,7 +69,7 @@ void updateLedStrip(void);
void applyDefaultLedStripConfig(ledConfig_t *ledConfig);
void generateLedConfig(uint8_t ledIndex, char *ledConfigBuffer, size_t bufferSize);
bool parseColor(uint8_t index, char *colorConfig);
bool parseColor(uint8_t index, const char *colorConfig);
void applyDefaultColors(hsvColor_t *colors, uint8_t colorCount);
void ledStripEnable(void);

4
src/main/io/rc_controls.c
View file

@ -517,6 +517,10 @@ void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges)
}
}
int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
return min(abs(rcData[axis] - midrc), 500);
}
void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse)
{
uint8_t index;

2
src/main/io/rc_controls.h
View file

@ -214,3 +214,5 @@ void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig);
bool isUsingSticksForArming(void);
int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);

1
src/main/io/serial_cli.c
View file

@ -393,6 +393,7 @@ const clivalue_t valueTable[] = {
{ "level_horizon", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_level, 0, 10 },
{ "level_angle", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.A_level, 0, 10 },
{ "sensitivity_horizon", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.H_sensitivity, 0, 250 },
{ "p_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDALT], 0, 200 },
{ "i_alt", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDALT], 0, 200 },

10
src/main/io/serial_msp.c
View file

@ -846,7 +846,7 @@ static bool processOutCommand(uint8_t cmdMSP)
if (i == PIDLEVEL) {
serialize8(constrain(lrintf(currentProfile->pidProfile.A_level * 10.0f), 0, 250));
serialize8(constrain(lrintf(currentProfile->pidProfile.H_level * 10.0f), 0, 250));
serialize8(0);
serialize8(constrain(lrintf(currentProfile->pidProfile.H_sensitivity), 0, 250));
} else {
serialize8(currentProfile->pidProfile.P8[i]);
serialize8(currentProfile->pidProfile.I8[i]);
@ -1171,7 +1171,7 @@ static bool processInCommand(void)
if (i == PIDLEVEL) {
currentProfile->pidProfile.A_level = (float)read8() / 10.0f;
currentProfile->pidProfile.H_level = (float)read8() / 10.0f;
read8();
currentProfile->pidProfile.H_sensitivity = read8();
} else {
currentProfile->pidProfile.P8[i] = read8();
currentProfile->pidProfile.I8[i] = read8();
@ -1442,12 +1442,11 @@ static bool processInCommand(void)
case MSP_SET_LED_STRIP_CONFIG:
{
uint8_t ledCount = currentPort->dataSize / 6;
if (ledCount != MAX_LED_STRIP_LENGTH) {
i = read8();
if (i >= MAX_LED_STRIP_LENGTH || currentPort->dataSize != 7) {
headSerialError(0);
break;
}
for (i = 0; i < MAX_LED_STRIP_LENGTH; i++) {
ledConfig_t *ledConfig = &masterConfig.ledConfigs[i];
uint16_t mask;
// currently we're storing directions and functions in a uint16 (flags)
@ -1464,7 +1463,6 @@ static bool processInCommand(void)
mask = read8();
ledConfig->xy |= CALCULATE_LED_Y(mask);
}
}
break;
#endif
case MSP_REBOOT:

9
src/main/mw.c
View file

@ -97,7 +97,8 @@ static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the m
extern uint8_t dynP8[3], dynI8[3], dynD8[3];
extern failsafe_t *failsafe;
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination, rollAndPitchTrims_t *accelerometerTrims);
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype
extern pidControllerFuncPtr pid_controller;
@ -311,9 +312,6 @@ void mwDisarm(void)
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
finishBlackbox();
if (isSerialPortFunctionShared(FUNCTION_BLACKBOX, FUNCTION_MSP)) {
mspAllocateSerialPorts(&masterConfig.serialConfig);
}
}
#endif
}
@ -712,7 +710,8 @@ void loop(void)
&currentProfile->pidProfile,
currentControlRateProfile,
masterConfig.max_angle_inclination,
&currentProfile->accelerometerTrims
&currentProfile->accelerometerTrims,
&masterConfig.rxConfig
);
mixTable();

2
src/main/rx/sbus.c
View file

@ -121,7 +121,7 @@ static void sbusDataReceive(uint16_t c)
static uint8_t sbusFramePosition = 0;
static uint32_t sbusTimeoutAt = 0;
uint32_t now = millis();
uint32_t now = micros();
if ((int32_t)(sbusTimeoutAt - now) < 0) {
sbusFramePosition = 0;

227
src/test/Makefile
View file

@ -23,13 +23,23 @@ USER_INCLUDE_DIR = $(USER_DIR)
OBJECT_DIR = ../../obj/test
# Flags passed to the preprocessor.
# Set Google Test's header directory as a system directory, such that
# the compiler doesn't generate warnings in Google Test headers.
CPPFLAGS += -isystem $(GTEST_DIR)/inc
COMMON_FLAGS = \
-g \
-Wall \
-Wextra \
-pthread \
-ggdb3 \
-O0 \
-DUNIT_TEST \
-isystem $(GTEST_DIR)/inc
# Flags passed to the C compiler.
C_FLAGS = $(COMMON_FLAGS) \
-std=gnu99
# Flags passed to the C++ compiler.
CXXFLAGS += -g -Wall -Wextra -pthread -ggdb3 -O0 -DUNIT_TEST
CXX_FLAGS = $(COMMON_FLAGS) \
-std=gnu++98
# All tests produced by this Makefile. Remember to add new tests you
# created to the list.
@ -66,12 +76,12 @@ GTEST_SRCS_ = $(GTEST_DIR)/src/*.cc $(GTEST_DIR)/inc/gtest/*.h $(GTEST_HEADERS)
# compiles fast and for ordinary users its source rarely changes.
$(OBJECT_DIR)/gtest-all.o : $(GTEST_SRCS_)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) -I$(GTEST_DIR) $(CXXFLAGS) -c \
$(CXX) $(CXX_FLAGS) -I$(GTEST_DIR) -c \
$(GTEST_DIR)/src/gtest-all.cc -o $@
$(OBJECT_DIR)/gtest_main.o : $(GTEST_SRCS_)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) -I$(GTEST_DIR) $(CXXFLAGS) -c \
$(CXX) $(CXX_FLAGS) -I$(GTEST_DIR) -c \
$(GTEST_DIR)/src/gtest_main.cc -o $@
$(OBJECT_DIR)/gtest.a : $(OBJECT_DIR)/gtest-all.o
@ -88,117 +98,208 @@ $(OBJECT_DIR)/gtest_main.a : $(OBJECT_DIR)/gtest-all.o $(OBJECT_DIR)/gtest_main.
TEST_INCLUDE_DIRS := $(TEST_DIR) \
$(USER_INCLUDE_DIR)
TEST_CFLAGS = $(addprefix -I,$(TEST_INCLUDE_DIRS))
$(OBJECT_DIR)/common/maths.o : \
$(USER_DIR)/common/maths.c \
$(USER_DIR)/common/maths.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/common/maths.c -o $@
$(OBJECT_DIR)/sensors/battery.o : $(USER_DIR)/sensors/battery.c $(USER_DIR)/sensors/battery.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/battery.c -o $@
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/battery.c -o $@
$(OBJECT_DIR)/battery_unittest.o : \
$(TEST_DIR)/battery_unittest.cc \
$(USER_DIR)/sensors/battery.h \
$(GTEST_HEADERS)
$(OBJECT_DIR)/battery_unittest.o : $(TEST_DIR)/battery_unittest.cc \
$(USER_DIR)/sensors/battery.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/battery_unittest.cc -o $@
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/battery_unittest.cc -o $@
battery_unittest : $(OBJECT_DIR)/sensors/battery.o $(OBJECT_DIR)/battery_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -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) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/flight/imu.o : \
$(USER_DIR)/flight/imu.c \
$(USER_DIR)/flight/imu.h \
$(GTEST_HEADERS)
$(OBJECT_DIR)/flight/imu.o : $(USER_DIR)/flight/imu.c $(USER_DIR)/flight/imu.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/imu.c -o $@
$(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)
$(OBJECT_DIR)/flight_imu_unittest.o : $(TEST_DIR)/flight_imu_unittest.cc \
$(USER_DIR)/flight/imu.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_imu_unittest.cc -o $@
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/flight_imu_unittest.cc -o $@
flight_imu_unittest : $(OBJECT_DIR)/flight/imu.o $(OBJECT_DIR)/flight/altitudehold.o $(OBJECT_DIR)/flight_imu_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
flight_imu_unittest : \
$(OBJECT_DIR)/flight/imu.o \
$(OBJECT_DIR)/flight/altitudehold.o \
$(OBJECT_DIR)/flight_imu_unittest.o \
$(OBJECT_DIR)/gtest_main.a
$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/flight/altitudehold.o : $(USER_DIR)/flight/altitudehold.c $(USER_DIR)/flight/altitudehold.h $(GTEST_HEADERS)
$(OBJECT_DIR)/flight/altitudehold.o : \
$(USER_DIR)/flight/altitudehold.c \
$(USER_DIR)/flight/altitudehold.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/altitudehold.c -o $@
$(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)
$(OBJECT_DIR)/altitude_hold_unittest.o : $(TEST_DIR)/altitude_hold_unittest.cc \
$(USER_DIR)/flight/altitudehold.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/altitude_hold_unittest.cc -o $@
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/altitude_hold_unittest.cc -o $@
altitude_hold_unittest : $(OBJECT_DIR)/flight/altitudehold.o $(OBJECT_DIR)/altitude_hold_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -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) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/flight/gps_conversion.o : \
$(USER_DIR)/flight/gps_conversion.c \
$(USER_DIR)/flight/gps_conversion.h \
$(GTEST_HEADERS)
$(OBJECT_DIR)/flight/gps_conversion.o : $(USER_DIR)/flight/gps_conversion.c $(USER_DIR)/flight/gps_conversion.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/flight/gps_conversion.c -o $@
$(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)
$(OBJECT_DIR)/gps_conversion_unittest.o : $(TEST_DIR)/gps_conversion_unittest.cc \
$(USER_DIR)/flight/gps_conversion.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/gps_conversion_unittest.cc -o $@
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/gps_conversion_unittest.cc -o $@
gps_conversion_unittest : $(OBJECT_DIR)/flight/gps_conversion.o $(OBJECT_DIR)/gps_conversion_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -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) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/telemetry/hott.o : $(USER_DIR)/telemetry/hott.c $(USER_DIR)/telemetry/hott.h $(GTEST_HEADERS)
$(OBJECT_DIR)/telemetry/hott.o : \
$(USER_DIR)/telemetry/hott.c \
$(USER_DIR)/telemetry/hott.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/telemetry/hott.c -o $@
$(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)
$(OBJECT_DIR)/telemetry_hott_unittest.o : $(TEST_DIR)/telemetry_hott_unittest.cc \
$(USER_DIR)/telemetry/hott.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_hott_unittest.cc -o $@
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_hott_unittest.cc -o $@
telemetry_hott_unittest :$(OBJECT_DIR)/telemetry/hott.o $(OBJECT_DIR)/telemetry_hott_unittest.o $(OBJECT_DIR)/flight/gps_conversion.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -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) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/io/rc_controls.o : $(USER_DIR)/io/rc_controls.c $(USER_DIR)/io/rc_controls.h $(GTEST_HEADERS)
$(OBJECT_DIR)/io/rc_controls.o : \
$(USER_DIR)/io/rc_controls.c \
$(USER_DIR)/io/rc_controls.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rc_controls.c -o $@
$(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)
$(OBJECT_DIR)/rc_controls_unittest.o : $(TEST_DIR)/rc_controls_unittest.cc \
$(USER_DIR)/io/rc_controls.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rc_controls_unittest.cc -o $@
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rc_controls_unittest.cc -o $@
rc_controls_unittest :$(OBJECT_DIR)/io/rc_controls.o $(OBJECT_DIR)/rc_controls_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
rc_controls_unittest : \
$(OBJECT_DIR)/io/rc_controls.o \
$(OBJECT_DIR)/rc_controls_unittest.o \
$(OBJECT_DIR)/gtest_main.a
$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/io/ledstrip.o : $(USER_DIR)/io/ledstrip.c $(USER_DIR)/io/ledstrip.h $(GTEST_HEADERS)
$(OBJECT_DIR)/io/ledstrip.o : \
$(USER_DIR)/io/ledstrip.c \
$(USER_DIR)/io/ledstrip.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/ledstrip.c -o $@
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/ledstrip.c -o $@
$(OBJECT_DIR)/ledstrip_unittest.o : \
$(TEST_DIR)/ledstrip_unittest.cc \
$(USER_DIR)/io/ledstrip.h \
$(GTEST_HEADERS)
$(OBJECT_DIR)/ledstrip_unittest.o : $(TEST_DIR)/ledstrip_unittest.cc \
$(USER_DIR)/io/ledstrip.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ledstrip_unittest.cc -o $@
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ledstrip_unittest.cc -o $@
ledstrip_unittest :$(OBJECT_DIR)/io/ledstrip.o $(OBJECT_DIR)/ledstrip_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
ledstrip_unittest : \
$(OBJECT_DIR)/io/ledstrip.o \
$(OBJECT_DIR)/ledstrip_unittest.o \
$(OBJECT_DIR)/gtest_main.a
$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
$(OBJECT_DIR)/drivers/light_ws2811strip.o : $(USER_DIR)/drivers/light_ws2811strip.c $(USER_DIR)/drivers/light_ws2811strip.h $(GTEST_HEADERS)
$(OBJECT_DIR)/drivers/light_ws2811strip.o : \
$(USER_DIR)/drivers/light_ws2811strip.c \
$(USER_DIR)/drivers/light_ws2811strip.h \
$(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/light_ws2811strip.c -o $@
$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/light_ws2811strip.c -o $@
$(OBJECT_DIR)/ws2811_unittest.o : \
$(TEST_DIR)/ws2811_unittest.cc \
$(USER_DIR)/drivers/light_ws2811strip.h \
$(GTEST_HEADERS)
$(OBJECT_DIR)/ws2811_unittest.o : $(TEST_DIR)/ws2811_unittest.cc \
$(USER_DIR)/drivers/light_ws2811strip.h $(GTEST_HEADERS)
@mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ws2811_unittest.cc -o $@
$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ws2811_unittest.cc -o $@
ws2811_unittest :$(OBJECT_DIR)/drivers/light_ws2811strip.o $(OBJECT_DIR)/ws2811_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
ws2811_unittest : \
$(OBJECT_DIR)/drivers/light_ws2811strip.o \
$(OBJECT_DIR)/ws2811_unittest.o \
$(OBJECT_DIR)/gtest_main.a
$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@

2
src/test/unit/flight_imu_unittest.cc
View file

@ -27,7 +27,9 @@ extern "C" {
#include "flight/flight.h"
#include "sensors/sensors.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/compass.h"
#include "sensors/gyro.h"
#include "sensors/compass.h"
#include "sensors/acceleration.h"

7
src/test/unit/gps_conversion_unittest.cc
View file

@ -18,7 +18,10 @@
#include <stdint.h>
#include <limits.h>
#include "flight/gps_conversion.h"
extern "C" {
#include "flight/gps_conversion.h"
}
#include "unittest_macros.h"
#include "gtest/gtest.h"
@ -33,7 +36,7 @@ TEST(GpsConversionTest, GPSCoordToDegrees_BadString)
}
typedef struct gpsConversionExpectation_s {
char *coord;
const char *coord;
uint32_t degrees;
} gpsConversionExpectation_t;

55
src/test/unit/ledstrip_unittest.cc
View file

@ -19,37 +19,40 @@
#include <limits.h>
#include "build_config.h"
extern "C" {
#include "build_config.h"
#include "common/color.h"
#include "common/axis.h"
#include "flight/flight.h"
#include "common/color.h"
#include "common/axis.h"
#include "flight/flight.h"
#include "sensors/battery.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "sensors/battery.h"
#include "config/runtime_config.h"
#include "config/config.h"
#include "rx/rx.h"
#include "drivers/light_ws2811strip.h"
#include "io/ledstrip.h"
#include "rx/rx.h"
#include "drivers/light_ws2811strip.h"
#include "io/ledstrip.h"
}
#include "unittest_macros.h"
#include "gtest/gtest.h"
extern ledConfig_t *ledConfigs;
extern uint8_t highestYValueForNorth;
extern uint8_t lowestYValueForSouth;
extern uint8_t highestXValueForWest;
extern uint8_t lowestXValueForEast;
extern uint8_t ledGridWidth;
extern uint8_t ledGridHeight;
extern "C" {
extern ledConfig_t *ledConfigs;
extern uint8_t highestYValueForNorth;
extern uint8_t lowestYValueForSouth;
extern uint8_t highestXValueForWest;
extern uint8_t lowestXValueForEast;
extern uint8_t ledGridWidth;
extern uint8_t ledGridHeight;
void determineLedStripDimensions(void);
void determineOrientationLimits(void);
void determineLedStripDimensions(void);
void determineOrientationLimits(void);
ledConfig_t systemLedConfigs[MAX_LED_STRIP_LENGTH];
ledConfig_t systemLedConfigs[MAX_LED_STRIP_LENGTH];
}
TEST(LedStripTest, parseLedStripConfig)
{
@ -312,7 +315,7 @@ TEST(ColorTest, parseColor)
{ 333, 22, 1 }
};
char *testColors[TEST_COLOR_COUNT] = {
const char *testColors[TEST_COLOR_COUNT] = {
"0,0,0",
"1,1,1",
"359,255,255",
@ -336,12 +339,18 @@ TEST(ColorTest, parseColor)
}
}
extern "C" {
uint8_t armingFlags = 0;
uint16_t flightModeFlags = 0;
int16_t rcCommand[4];
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
batteryState_e calculateBatteryState(void) {
return BATTERY_OK;
}
void ws2811LedStripInit(void) {}
void ws2811UpdateStrip(void) {}
void setLedValue(uint16_t index, const uint8_t value) {
@ -399,3 +408,5 @@ int scaleRange(int x, int srcMin, int srcMax, int destMin, int destMax) {
return 0;
}
}

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

@ -17,6 +17,7 @@
#pragma once
#define MAG
#define BARO
#define GPS
#define TELEMETRY

14
src/test/unit/ws2811_unittest.cc
View file

@ -19,23 +19,27 @@
#include <limits.h>
#include "build_config.h"
extern "C" {
#include "build_config.h"
#include "common/color.h"
#include "common/color.h"
#include "drivers/light_ws2811strip.h"
#include "drivers/light_ws2811strip.h"
}
#include "unittest_macros.h"
#include "gtest/gtest.h"
extern "C" {
STATIC_UNIT_TESTED extern uint16_t dmaBufferOffset;
STATIC_UNIT_TESTED void fastUpdateLEDDMABuffer(rgbColor24bpp_t *color);
STATIC_UNIT_TESTED void updateLEDDMABuffer(uint8_t componentValue);
}
TEST(WS2812, updateDMABuffer) {
// given
rgbColor24bpp_t color1 = {0xFF,0xAA,0x55};
rgbColor24bpp_t color1 = { .raw = {0xFF,0xAA,0x55} };
// and
dmaBufferOffset = 0;
@ -86,6 +90,7 @@ TEST(WS2812, updateDMABuffer) {
byteIndex++;
}
extern "C" {
rgbColor24bpp_t* hsvToRgb24(const hsvColor_t *c) {
UNUSED(c);
return NULL;
@ -93,3 +98,4 @@ rgbColor24bpp_t* hsvToRgb24(const hsvColor_t *c) {
void ws2811LedStripHardwareInit(void) {}
void ws2811LedStripDMAEnable(void) {}
}