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Update RC Controls so that functions with different modes can be

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applied.  The existing modes are 'step'.  A new mode is 'select'.

The other unit tests need fixing up so that appropriate code is compiled
as C and not C++ code.
This commit is contained in:
Dominic Clifton 2014-10-29 20:52:44 +00:00
parent e22b37026c
commit cac814923c
4 changed files with 105 additions and 55 deletions
Download patch file Download diff file Expand all files Collapse all files

69
src/main/io/rc_controls.c
View file

@ -273,78 +273,85 @@ uint8_t adjustmentStateMask = 0;
static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COUNT - 1] = { static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COUNT - 1] = {
{ {
.adjustmentFunction = ADJUSTMENT_RC_RATE, .adjustmentFunction = ADJUSTMENT_RC_RATE,
.step = 1 .mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
}, },
{ {
.adjustmentFunction = ADJUSTMENT_RC_EXPO, .adjustmentFunction = ADJUSTMENT_RC_EXPO,
.step = 1 .mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
}, },
{ {
.adjustmentFunction = ADJUSTMENT_THROTTLE_EXPO, .adjustmentFunction = ADJUSTMENT_THROTTLE_EXPO,
.step = 1 .mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
}, },
{ {
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_RATE, .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_RATE,
.step = 1 .mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
}, },
{ {
.adjustmentFunction = ADJUSTMENT_YAW_RATE, .adjustmentFunction = ADJUSTMENT_YAW_RATE,
.step = 1 .mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
}, },
{ {
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_P, .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_P,
.step = 1 .mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
}, },
{ {
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_I, .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_I,
.step = 1 .mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
}, },
{ {
.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D, .adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
.step = 1 .mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
}, },
{ {
.adjustmentFunction = ADJUSTMENT_YAW_P, .adjustmentFunction = ADJUSTMENT_YAW_P,
.step = 1 .mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
}, },
{ {
.adjustmentFunction = ADJUSTMENT_YAW_I, .adjustmentFunction = ADJUSTMENT_YAW_I,
.step = 1 .mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
}, },
{ {
.adjustmentFunction = ADJUSTMENT_YAW_D, .adjustmentFunction = ADJUSTMENT_YAW_D,
.step = 1 .mode = ADJUSTMENT_MODE_STEP,
.data.stepConfig.step = 1
},
{
.adjustmentFunction = ADJUSTMENT_RATE_PROFILE,
.mode = ADJUSTMENT_MODE_SELECT,
.data.selectConfig.switchPositions = 3
} }
}; };
#define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1 #define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
typedef struct adjustmentState_s {
uint8_t auxChannelIndex;
uint8_t adjustmentFunction;
uint8_t step;
uint32_t timeoutAt;
} adjustmentState_t;
static adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig) { void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig) {
adjustmentState_t *adjustmentState = &adjustmentStates[index]; adjustmentState_t *adjustmentState = &adjustmentStates[index];
if (adjustmentState->adjustmentFunction == adjustmentConfig->adjustmentFunction) { if (adjustmentState->config == adjustmentConfig) {
// already configured // already configured
return; return;
} }
adjustmentState->auxChannelIndex = auxSwitchChannelIndex; adjustmentState->auxChannelIndex = auxSwitchChannelIndex;
adjustmentState->adjustmentFunction = adjustmentConfig->adjustmentFunction; adjustmentState->config = adjustmentConfig;
adjustmentState->step = adjustmentConfig->step;
adjustmentState->timeoutAt = 0; adjustmentState->timeoutAt = 0;
MARK_ADJUSTMENT_FUNCTION_AS_READY(index); MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
} }
void applyAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) { void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
int newValue; int newValue;
if (delta > 0) { if (delta > 0) {
@ -421,7 +428,10 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rx
for (adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) { for (adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex]; adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
uint8_t adjustmentFunction = adjustmentState->adjustmentFunction; if (!adjustmentState->config) {
continue;
}
uint8_t adjustmentFunction = adjustmentState->config->adjustmentFunction;
if (adjustmentFunction == ADJUSTMENT_NONE) { if (adjustmentFunction == ADJUSTMENT_NONE) {
continue; continue;
} }
@ -437,24 +447,25 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rx
uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex; uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
int delta; int delta;
if (rcData[channelIndex] > rxConfig->midrc + 200) { if (rcData[channelIndex] > rxConfig->midrc + 200) {
delta = adjustmentState->step; delta = adjustmentState->config->data.stepConfig.step;
} else if (rcData[channelIndex] < rxConfig->midrc - 200) { } else if (rcData[channelIndex] < rxConfig->midrc - 200) {
delta = 0 - adjustmentState->step; delta = 0 - adjustmentState->config->data.stepConfig.step;
} else { } else {
// returning the switch to the middle immediately resets the ready state // returning the switch to the middle immediately resets the ready state
MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex); MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ; adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
continue; continue;
} }
if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex)) { if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex)) {
continue; continue;
} }
MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex); MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
applyAdjustment(controlRateConfig, adjustmentFunction, delta); applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
}
} }
} }

31
src/main/io/rc_controls.h
View file

@ -146,13 +146,33 @@ typedef enum {
ADJUSTMENT_YAW_P, ADJUSTMENT_YAW_P,
ADJUSTMENT_YAW_I, ADJUSTMENT_YAW_I,
ADJUSTMENT_YAW_D, ADJUSTMENT_YAW_D,
ADJUSTMENT_RATE_PROFILE
} adjustmentFunction_e; } adjustmentFunction_e;
#define ADJUSTMENT_FUNCTION_COUNT 12 #define ADJUSTMENT_FUNCTION_COUNT 13
typedef enum {
ADJUSTMENT_MODE_STEP,
ADJUSTMENT_MODE_SELECT
} adjustmentMode_e;
typedef struct adjustmentStepConfig_s {
uint8_t step;
} adjustmentStepConfig_t;
typedef struct adjustmentSelectConfig_s {
uint8_t switchPositions;
} adjustmentSelectConfig_t;
typedef union adjustmentConfig_u {
adjustmentStepConfig_t stepConfig;
adjustmentSelectConfig_t selectConfig;
} adjustmentData_t;
typedef struct adjustmentConfig_s { typedef struct adjustmentConfig_s {
uint8_t adjustmentFunction; uint8_t adjustmentFunction;
uint8_t step; uint8_t mode;
adjustmentData_t data;
} adjustmentConfig_t; } adjustmentConfig_t;
typedef struct adjustmentRange_s { typedef struct adjustmentRange_s {
@ -170,7 +190,14 @@ typedef struct adjustmentRange_s {
#define ADJUSTMENT_INDEX_OFFSET 1 #define ADJUSTMENT_INDEX_OFFSET 1
typedef struct adjustmentState_s {
uint8_t auxChannelIndex;
const adjustmentConfig_t *config;
uint32_t timeoutAt;
} adjustmentState_t;
#define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 4 // enough for 4 x 3position switches / 4 aux channel #define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 4 // enough for 4 x 3position switches / 4 aux channel
#define MAX_ADJUSTMENT_RANGE_COUNT 12 // enough for 2 * 6pos switches. #define MAX_ADJUSTMENT_RANGE_COUNT 12 // enough for 2 * 6pos switches.
void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig); void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig);

8
src/test/Makefile
View file

@ -140,7 +140,7 @@ $(OBJECT_DIR)/telemetry/hott.o : $(USER_DIR)/telemetry/hott.c $(USER_DIR)/teleme
$(OBJECT_DIR)/telemetry_hott_unittest.o : $(TEST_DIR)/telemetry_hott_unittest.cc \ $(OBJECT_DIR)/telemetry_hott_unittest.o : $(TEST_DIR)/telemetry_hott_unittest.cc \
$(USER_DIR)/telemetry/hott.h $(GTEST_HEADERS) $(USER_DIR)/telemetry/hott.h $(GTEST_HEADERS)
@mkdir -p $(dir $@) @mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_hott_unittest.cc -o $@ $(CC) $(CPPFLAGS) $(CXXFLAGS) $(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 $(OBJECT_DIR)/gtest_main.a telemetry_hott_unittest :$(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 $(OBJECT_DIR)/$@ $(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
@ -149,7 +149,7 @@ telemetry_hott_unittest :$(OBJECT_DIR)/telemetry/hott.o $(OBJECT_DIR)/telemetry_
$(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 $@) @mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rc_controls.c -o $@ $(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rc_controls.c -o $@
$(OBJECT_DIR)/rc_controls_unittest.o : $(TEST_DIR)/rc_controls_unittest.cc \ $(OBJECT_DIR)/rc_controls_unittest.o : $(TEST_DIR)/rc_controls_unittest.cc \
$(USER_DIR)/io/rc_controls.h $(GTEST_HEADERS) $(USER_DIR)/io/rc_controls.h $(GTEST_HEADERS)
@ -167,7 +167,7 @@ $(OBJECT_DIR)/io/ledstrip.o : $(USER_DIR)/io/ledstrip.c $(USER_DIR)/io/ledstrip.
$(OBJECT_DIR)/ledstrip_unittest.o : $(TEST_DIR)/ledstrip_unittest.cc \ $(OBJECT_DIR)/ledstrip_unittest.o : $(TEST_DIR)/ledstrip_unittest.cc \
$(USER_DIR)/io/ledstrip.h $(GTEST_HEADERS) $(USER_DIR)/io/ledstrip.h $(GTEST_HEADERS)
@mkdir -p $(dir $@) @mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ledstrip_unittest.cc -o $@ $(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/ledstrip_unittest.cc -o $@
ledstrip_unittest :$(OBJECT_DIR)/io/ledstrip.o $(OBJECT_DIR)/ledstrip_unittest.o $(OBJECT_DIR)/gtest_main.a ledstrip_unittest :$(OBJECT_DIR)/io/ledstrip.o $(OBJECT_DIR)/ledstrip_unittest.o $(OBJECT_DIR)/gtest_main.a
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@ $(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
@ -176,7 +176,7 @@ ledstrip_unittest :$(OBJECT_DIR)/io/ledstrip.o $(OBJECT_DIR)/ledstrip_unittest.o
$(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 $@) @mkdir -p $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/light_ws2811strip.c -o $@ $(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/light_ws2811strip.c -o $@
$(OBJECT_DIR)/ws2811_unittest.o : $(TEST_DIR)/ws2811_unittest.cc \ $(OBJECT_DIR)/ws2811_unittest.o : $(TEST_DIR)/ws2811_unittest.cc \
$(USER_DIR)/drivers/light_ws2811strip.h $(GTEST_HEADERS) $(USER_DIR)/drivers/light_ws2811strip.h $(GTEST_HEADERS)

28
src/test/unit/rc_controls_unittest.cc
View file

@ -17,17 +17,18 @@
#include <stdint.h> #include <stdint.h>
#include <limits.h> #include <limits.h>
extern "C" {
#include "common/axis.h"
#include "flight/flight.h"
#include "common/axis.h" #include "rx/rx.h"
#include "flight/flight.h" #include "io/escservo.h"
#include "io/rc_controls.h"
#include "rx/rx.h" }
#include "io/escservo.h"
#include "io/rc_controls.h"
#include "unittest_macros.h" #include "unittest_macros.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"
extern "C" {
int constrain(int amt, int low, int high) int constrain(int amt, int low, int high)
{ {
if (amt < low) if (amt < low)
@ -37,6 +38,7 @@ int constrain(int amt, int low, int high)
else else
return amt; return amt;
} }
}
TEST(RcControlsTest, updateActivatedModesWithAllInputsAtMidde) TEST(RcControlsTest, updateActivatedModesWithAllInputsAtMidde)
{ {
@ -168,6 +170,7 @@ static int callCounts[CALL_COUNT_ITEM_COUNT];
#define CALL_COUNTER(item) (callCounts[item]) #define CALL_COUNTER(item) (callCounts[item])
extern "C" {
void generatePitchRollCurve(controlRateConfig_t *) { void generatePitchRollCurve(controlRateConfig_t *) {
callCounts[COUNTER_GENERATE_PITCH_ROLL_CURVE]++; callCounts[COUNTER_GENERATE_PITCH_ROLL_CURVE]++;
} }
@ -175,15 +178,19 @@ void generatePitchRollCurve(controlRateConfig_t *) {
void queueConfirmationBeep(uint8_t) { void queueConfirmationBeep(uint8_t) {
callCounts[COUNTER_QUEUE_CONFIRMATION_BEEP]++; callCounts[COUNTER_QUEUE_CONFIRMATION_BEEP]++;
} }
}
void resetCallCounters(void) { void resetCallCounters(void) {
memset(&callCounts, 0, sizeof(callCounts)); memset(&callCounts, 0, sizeof(callCounts));
} }
uint32_t fixedMillis = 0; uint32_t fixedMillis = 0;
extern "C" {
uint32_t millis(void) { uint32_t millis(void) {
return fixedMillis; return fixedMillis;
} }
}
#define DEFAULT_MIN_CHECK 1100 #define DEFAULT_MIN_CHECK 1100
#define DEFAULT_MAX_CHECK 1900 #define DEFAULT_MAX_CHECK 1900
@ -191,10 +198,12 @@ uint32_t millis(void) {
rxConfig_t rxConfig; rxConfig_t rxConfig;
extern uint8_t adjustmentStateMask; extern uint8_t adjustmentStateMask;
extern adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
static const adjustmentConfig_t rateAdjustmentConfig = { static const adjustmentConfig_t rateAdjustmentConfig = {
.adjustmentFunction = ADJUSTMENT_RC_RATE, .adjustmentFunction = ADJUSTMENT_RC_RATE,
.step = 1 .mode = ADJUSTMENT_MODE_STEP,
.data = { 1 }
}; };
TEST(RcControlsTest, processRcAdjustmentsSticksInMiddle) TEST(RcControlsTest, processRcAdjustmentsSticksInMiddle)
@ -215,6 +224,7 @@ TEST(RcControlsTest, processRcAdjustmentsSticksInMiddle)
rxConfig.maxcheck = DEFAULT_MAX_CHECK; rxConfig.maxcheck = DEFAULT_MAX_CHECK;
rxConfig.midrc = 1500; rxConfig.midrc = 1500;
memset(&adjustmentStates, 0, sizeof(adjustmentStates));
configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig); configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig);
// and // and
@ -393,6 +403,7 @@ TEST(RcControlsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp)
} }
extern "C" {
void saveConfigAndNotify(void) {} void saveConfigAndNotify(void) {}
void generateThrottleCurve(controlRateConfig_t *, escAndServoConfig_t *) {} void generateThrottleCurve(controlRateConfig_t *, escAndServoConfig_t *) {}
void changeProfile(uint8_t) {} void changeProfile(uint8_t) {}
@ -410,3 +421,4 @@ int16_t heading;
uint8_t stateFlags = 0; uint8_t stateFlags = 0;
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
rxRuntimeConfig_t rxRuntimeConfig; rxRuntimeConfig_t rxRuntimeConfig;
}