mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-16 21:05:35 +03:00
Update RC Controls so that functions with different modes can be
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
parent
e22b37026c
commit
cac814923c
4 changed files with 105 additions and 55 deletions
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@ -273,78 +273,85 @@ uint8_t adjustmentStateMask = 0;
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static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COUNT - 1] = {
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{
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.adjustmentFunction = ADJUSTMENT_RC_RATE,
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.step = 1
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.mode = ADJUSTMENT_MODE_STEP,
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.data.stepConfig.step = 1
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},
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{
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.adjustmentFunction = ADJUSTMENT_RC_EXPO,
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.step = 1
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.mode = ADJUSTMENT_MODE_STEP,
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.data.stepConfig.step = 1
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},
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{
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.adjustmentFunction = ADJUSTMENT_THROTTLE_EXPO,
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.step = 1
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.mode = ADJUSTMENT_MODE_STEP,
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.data.stepConfig.step = 1
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},
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{
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.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_RATE,
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.step = 1
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.mode = ADJUSTMENT_MODE_STEP,
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.data.stepConfig.step = 1
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},
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{
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.adjustmentFunction = ADJUSTMENT_YAW_RATE,
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.step = 1
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.mode = ADJUSTMENT_MODE_STEP,
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.data.stepConfig.step = 1
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},
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{
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.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_P,
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.step = 1
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.mode = ADJUSTMENT_MODE_STEP,
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.data.stepConfig.step = 1
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},
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{
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.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_I,
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.step = 1
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.mode = ADJUSTMENT_MODE_STEP,
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.data.stepConfig.step = 1
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},
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{
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.adjustmentFunction = ADJUSTMENT_PITCH_ROLL_D,
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.step = 1
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.mode = ADJUSTMENT_MODE_STEP,
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.data.stepConfig.step = 1
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},
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{
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.adjustmentFunction = ADJUSTMENT_YAW_P,
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.step = 1
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.mode = ADJUSTMENT_MODE_STEP,
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.data.stepConfig.step = 1
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},
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{
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.adjustmentFunction = ADJUSTMENT_YAW_I,
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.step = 1
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.mode = ADJUSTMENT_MODE_STEP,
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.data.stepConfig.step = 1
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},
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{
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.adjustmentFunction = ADJUSTMENT_YAW_D,
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.step = 1
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.mode = ADJUSTMENT_MODE_STEP,
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.data.stepConfig.step = 1
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},
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{
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.adjustmentFunction = ADJUSTMENT_RATE_PROFILE,
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.mode = ADJUSTMENT_MODE_SELECT,
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.data.selectConfig.switchPositions = 3
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}
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};
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#define ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET 1
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typedef struct adjustmentState_s {
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uint8_t auxChannelIndex;
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uint8_t adjustmentFunction;
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uint8_t step;
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uint32_t timeoutAt;
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} adjustmentState_t;
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static adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
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adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
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void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig) {
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adjustmentState_t *adjustmentState = &adjustmentStates[index];
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if (adjustmentState->adjustmentFunction == adjustmentConfig->adjustmentFunction) {
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if (adjustmentState->config == adjustmentConfig) {
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// already configured
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return;
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}
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adjustmentState->auxChannelIndex = auxSwitchChannelIndex;
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adjustmentState->adjustmentFunction = adjustmentConfig->adjustmentFunction;
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adjustmentState->step = adjustmentConfig->step;
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adjustmentState->config = adjustmentConfig;
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adjustmentState->timeoutAt = 0;
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MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
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}
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void applyAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
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void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
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int newValue;
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if (delta > 0) {
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@ -421,7 +428,10 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rx
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for (adjustmentIndex = 0; adjustmentIndex < MAX_SIMULTANEOUS_ADJUSTMENT_COUNT; adjustmentIndex++) {
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adjustmentState_t *adjustmentState = &adjustmentStates[adjustmentIndex];
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uint8_t adjustmentFunction = adjustmentState->adjustmentFunction;
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if (!adjustmentState->config) {
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continue;
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}
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uint8_t adjustmentFunction = adjustmentState->config->adjustmentFunction;
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if (adjustmentFunction == ADJUSTMENT_NONE) {
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continue;
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}
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@ -437,24 +447,25 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rx
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uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentState->auxChannelIndex;
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if (adjustmentState->config->mode == ADJUSTMENT_MODE_STEP) {
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int delta;
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if (rcData[channelIndex] > rxConfig->midrc + 200) {
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delta = adjustmentState->step;
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delta = adjustmentState->config->data.stepConfig.step;
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} else if (rcData[channelIndex] < rxConfig->midrc - 200) {
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delta = 0 - adjustmentState->step;
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delta = 0 - adjustmentState->config->data.stepConfig.step;
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} else {
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// returning the switch to the middle immediately resets the ready state
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MARK_ADJUSTMENT_FUNCTION_AS_READY(adjustmentIndex);
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adjustmentState->timeoutAt = now + RESET_FREQUENCY_2HZ;
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continue;
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}
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if (IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex)) {
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continue;
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}
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MARK_ADJUSTMENT_FUNCTION_AS_BUSY(adjustmentIndex);
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applyAdjustment(controlRateConfig, adjustmentFunction, delta);
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applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
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}
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}
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}
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@ -146,13 +146,33 @@ typedef enum {
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ADJUSTMENT_YAW_P,
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ADJUSTMENT_YAW_I,
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ADJUSTMENT_YAW_D,
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ADJUSTMENT_RATE_PROFILE
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} adjustmentFunction_e;
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#define ADJUSTMENT_FUNCTION_COUNT 12
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#define ADJUSTMENT_FUNCTION_COUNT 13
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typedef enum {
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ADJUSTMENT_MODE_STEP,
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ADJUSTMENT_MODE_SELECT
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} adjustmentMode_e;
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typedef struct adjustmentStepConfig_s {
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uint8_t step;
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} adjustmentStepConfig_t;
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typedef struct adjustmentSelectConfig_s {
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uint8_t switchPositions;
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} adjustmentSelectConfig_t;
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typedef union adjustmentConfig_u {
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adjustmentStepConfig_t stepConfig;
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adjustmentSelectConfig_t selectConfig;
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} adjustmentData_t;
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typedef struct adjustmentConfig_s {
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uint8_t adjustmentFunction;
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uint8_t step;
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uint8_t mode;
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adjustmentData_t data;
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} adjustmentConfig_t;
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typedef struct adjustmentRange_s {
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@ -170,7 +190,14 @@ typedef struct adjustmentRange_s {
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#define ADJUSTMENT_INDEX_OFFSET 1
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typedef struct adjustmentState_s {
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uint8_t auxChannelIndex;
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const adjustmentConfig_t *config;
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uint32_t timeoutAt;
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} adjustmentState_t;
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#define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 4 // enough for 4 x 3position switches / 4 aux channel
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#define MAX_ADJUSTMENT_RANGE_COUNT 12 // enough for 2 * 6pos switches.
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void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig);
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@ -140,7 +140,7 @@ $(OBJECT_DIR)/telemetry/hott.o : $(USER_DIR)/telemetry/hott.c $(USER_DIR)/teleme
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$(OBJECT_DIR)/telemetry_hott_unittest.o : $(TEST_DIR)/telemetry_hott_unittest.cc \
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$(USER_DIR)/telemetry/hott.h $(GTEST_HEADERS)
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@mkdir -p $(dir $@)
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$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_hott_unittest.cc -o $@
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$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/telemetry_hott_unittest.cc -o $@
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telemetry_hott_unittest :$(OBJECT_DIR)/telemetry/hott.o $(OBJECT_DIR)/telemetry_hott_unittest.o $(OBJECT_DIR)/flight/gps_conversion.o $(OBJECT_DIR)/gtest_main.a
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$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
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@ -149,7 +149,7 @@ telemetry_hott_unittest :$(OBJECT_DIR)/telemetry/hott.o $(OBJECT_DIR)/telemetry_
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$(OBJECT_DIR)/io/rc_controls.o : $(USER_DIR)/io/rc_controls.c $(USER_DIR)/io/rc_controls.h $(GTEST_HEADERS)
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@mkdir -p $(dir $@)
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$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rc_controls.c -o $@
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$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rc_controls.c -o $@
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$(OBJECT_DIR)/rc_controls_unittest.o : $(TEST_DIR)/rc_controls_unittest.cc \
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$(USER_DIR)/io/rc_controls.h $(GTEST_HEADERS)
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@ -167,7 +167,7 @@ $(OBJECT_DIR)/io/ledstrip.o : $(USER_DIR)/io/ledstrip.c $(USER_DIR)/io/ledstrip.
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$(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 $@
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$(CC) $(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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@ -176,7 +176,7 @@ ledstrip_unittest :$(OBJECT_DIR)/io/ledstrip.o $(OBJECT_DIR)/ledstrip_unittest.o
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$(OBJECT_DIR)/drivers/light_ws2811strip.o : $(USER_DIR)/drivers/light_ws2811strip.c $(USER_DIR)/drivers/light_ws2811strip.h $(GTEST_HEADERS)
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@mkdir -p $(dir $@)
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$(CXX) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/light_ws2811strip.c -o $@
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$(CC) $(CPPFLAGS) $(CXXFLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/light_ws2811strip.c -o $@
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$(OBJECT_DIR)/ws2811_unittest.o : $(TEST_DIR)/ws2811_unittest.cc \
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$(USER_DIR)/drivers/light_ws2811strip.h $(GTEST_HEADERS)
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@ -17,17 +17,18 @@
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#include <stdint.h>
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#include <limits.h>
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extern "C" {
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#include "common/axis.h"
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#include "flight/flight.h"
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#include "common/axis.h"
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#include "flight/flight.h"
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#include "rx/rx.h"
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#include "io/escservo.h"
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#include "io/rc_controls.h"
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#include "rx/rx.h"
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#include "io/escservo.h"
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#include "io/rc_controls.h"
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}
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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extern "C" {
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int constrain(int amt, int low, int high)
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{
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if (amt < low)
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@ -37,6 +38,7 @@ int constrain(int amt, int low, int high)
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else
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return amt;
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}
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}
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TEST(RcControlsTest, updateActivatedModesWithAllInputsAtMidde)
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{
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@ -168,6 +170,7 @@ static int callCounts[CALL_COUNT_ITEM_COUNT];
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#define CALL_COUNTER(item) (callCounts[item])
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extern "C" {
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void generatePitchRollCurve(controlRateConfig_t *) {
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callCounts[COUNTER_GENERATE_PITCH_ROLL_CURVE]++;
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}
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@ -175,15 +178,19 @@ void generatePitchRollCurve(controlRateConfig_t *) {
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void queueConfirmationBeep(uint8_t) {
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callCounts[COUNTER_QUEUE_CONFIRMATION_BEEP]++;
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}
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}
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void resetCallCounters(void) {
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memset(&callCounts, 0, sizeof(callCounts));
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}
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uint32_t fixedMillis = 0;
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extern "C" {
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uint32_t millis(void) {
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return fixedMillis;
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}
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}
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#define DEFAULT_MIN_CHECK 1100
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#define DEFAULT_MAX_CHECK 1900
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@ -191,10 +198,12 @@ uint32_t millis(void) {
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rxConfig_t rxConfig;
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extern uint8_t adjustmentStateMask;
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extern adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
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static const adjustmentConfig_t rateAdjustmentConfig = {
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.adjustmentFunction = ADJUSTMENT_RC_RATE,
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.step = 1
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.mode = ADJUSTMENT_MODE_STEP,
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.data = { 1 }
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};
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TEST(RcControlsTest, processRcAdjustmentsSticksInMiddle)
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@ -215,6 +224,7 @@ TEST(RcControlsTest, processRcAdjustmentsSticksInMiddle)
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rxConfig.maxcheck = DEFAULT_MAX_CHECK;
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rxConfig.midrc = 1500;
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memset(&adjustmentStates, 0, sizeof(adjustmentStates));
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configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig);
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// and
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@ -393,6 +403,7 @@ TEST(RcControlsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp)
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}
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extern "C" {
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void saveConfigAndNotify(void) {}
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void generateThrottleCurve(controlRateConfig_t *, escAndServoConfig_t *) {}
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void changeProfile(uint8_t) {}
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@ -410,3 +421,4 @@ int16_t heading;
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uint8_t stateFlags = 0;
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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rxRuntimeConfig_t rxRuntimeConfig;
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}
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