mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-21 15:25:36 +03:00
Normalize all the line endings
This commit is contained in:
Dominic Clifton
parent
4237370b60
commit
d60183d91d
396 changed files with 158300 additions and 158300 deletions
|
|
@ -1,222 +1,222 @@
|
|||
/*
|
||||
* 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 <stdbool.h>
|
||||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
|
||||
#include <limits.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "common/axis.h"
|
||||
|
||||
#include "drivers/system.h"
|
||||
|
||||
#include "drivers/serial.h"
|
||||
#include "io/serial.h"
|
||||
|
||||
#include "config/runtime_config.h"
|
||||
|
||||
#include "sensors/sensors.h"
|
||||
|
||||
#include "flight/flight.h"
|
||||
#include "io/gps.h"
|
||||
#include "sensors/battery.h"
|
||||
|
||||
#include "telemetry/telemetry.h"
|
||||
#include "telemetry/hott.h"
|
||||
|
||||
#include "flight/gps_conversion.h"
|
||||
|
||||
|
||||
#include "unittest_macros.h"
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
void addGPSCoordinates(HOTT_GPS_MSG_t *hottGPSMessage, int32_t latitude, int32_t longitude);
|
||||
|
||||
// See http://en.wikipedia.org/wiki/Geographic_coordinate_conversion
|
||||
|
||||
HOTT_GPS_MSG_t hottGPSMessage;
|
||||
|
||||
HOTT_GPS_MSG_t *getGPSMessageForTest(void)
|
||||
{
|
||||
memset(&hottGPSMessage, 0, sizeof(hottGPSMessage));
|
||||
return &hottGPSMessage;
|
||||
}
|
||||
|
||||
TEST(TelemetryHottTest, UpdateGPSCoordinates1)
|
||||
{
|
||||
// given
|
||||
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
|
||||
|
||||
// Mayrhofen, Austria
|
||||
uint32_t longitude = GPS_coord_to_degrees("4710.5186");
|
||||
uint32_t latitude = GPS_coord_to_degrees("1151.4252");
|
||||
|
||||
// when
|
||||
addGPSCoordinates(hottGPSMessage, latitude, longitude);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS, 0);
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L, 1151);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L), 4251);
|
||||
|
||||
EXPECT_EQ(hottGPSMessage->pos_EW, 0);
|
||||
EXPECT_EQ(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L, 4710);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), 5186);
|
||||
}
|
||||
|
||||
TEST(TelemetryHottTest, UpdateGPSCoordinates2)
|
||||
{
|
||||
// given
|
||||
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
|
||||
|
||||
// Hampstead Heath, London
|
||||
// 51.563886, -0.159960
|
||||
uint32_t longitude = GPS_coord_to_degrees("5156.3886");
|
||||
uint32_t latitude = -GPS_coord_to_degrees("015.9960");
|
||||
|
||||
// when
|
||||
addGPSCoordinates(hottGPSMessage, longitude, latitude);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS, 0);
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L, 5156);
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L, 3886);
|
||||
|
||||
EXPECT_EQ(hottGPSMessage->pos_EW, 1);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L), -15);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), -9960);
|
||||
}
|
||||
|
||||
|
||||
TEST(TelemetryHottTest, UpdateGPSCoordinates3)
|
||||
{
|
||||
// given
|
||||
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
|
||||
|
||||
int32_t longitude = -GPS_coord_to_degrees("17999.9999");
|
||||
int32_t latitude = GPS_coord_to_degrees("8999.9999");
|
||||
|
||||
// when
|
||||
addGPSCoordinates(hottGPSMessage, longitude, latitude);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS, 1);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L), -18039);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L), -9999);
|
||||
|
||||
EXPECT_EQ(hottGPSMessage->pos_EW, 0);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L), 9039);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), 9999);
|
||||
}
|
||||
|
||||
TEST(TelemetryHottTest, PrepareGPSMessage_Altitude1m)
|
||||
{
|
||||
// given
|
||||
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
|
||||
|
||||
stateFlags = GPS_FIX;
|
||||
uint16_t altitudeInMeters = 1;
|
||||
GPS_altitude = altitudeInMeters * (1 / 0.1f); // 1 = 0.1m
|
||||
|
||||
// when
|
||||
hottPrepareGPSResponse(hottGPSMessage);
|
||||
|
||||
// then
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->altitude_H << 8 | hottGPSMessage->altitude_L), 1 + HOTT_GPS_ALTITUDE_OFFSET);
|
||||
}
|
||||
|
||||
|
||||
// STUBS
|
||||
|
||||
int16_t debug[4];
|
||||
|
||||
uint8_t stateFlags;
|
||||
|
||||
|
||||
uint8_t GPS_numSat;
|
||||
int32_t GPS_coord[2];
|
||||
uint16_t GPS_speed; // speed in 0.1m/s
|
||||
uint16_t GPS_distanceToHome; // distance to home point in meters
|
||||
uint16_t GPS_altitude; // altitude in 0.1m
|
||||
uint8_t vbat;
|
||||
int16_t GPS_directionToHome; // direction to home or hol point in degrees
|
||||
|
||||
uint32_t micros(void) { return 0; }
|
||||
|
||||
uint8_t serialTotalBytesWaiting(serialPort_t *instance) {
|
||||
UNUSED(instance);
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint8_t serialRead(serialPort_t *instance) {
|
||||
UNUSED(instance);
|
||||
return 0;
|
||||
}
|
||||
|
||||
void serialWrite(serialPort_t *instance, uint8_t ch) {
|
||||
UNUSED(instance);
|
||||
UNUSED(ch);
|
||||
}
|
||||
|
||||
void serialSetMode(serialPort_t *instance, portMode_t mode) {
|
||||
UNUSED(instance);
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void serialSetBaudRate(serialPort_t *instance, uint32_t baudRate) {
|
||||
UNUSED(instance);
|
||||
UNUSED(baudRate);
|
||||
}
|
||||
|
||||
void beginSerialPortFunction(serialPort_t *port, serialPortFunction_e function) {
|
||||
UNUSED(port);
|
||||
UNUSED(function);
|
||||
}
|
||||
|
||||
void endSerialPortFunction(serialPort_t *port, serialPortFunction_e function) {
|
||||
UNUSED(port);
|
||||
UNUSED(function);
|
||||
}
|
||||
|
||||
serialPort_t *openSerialPort(serialPortFunction_e functionMask, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, serialInversion_e inversion) {
|
||||
UNUSED(functionMask);
|
||||
UNUSED(baudRate);
|
||||
UNUSED(callback);
|
||||
UNUSED(mode);
|
||||
UNUSED(inversion);
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
serialPort_t *findOpenSerialPort(uint16_t functionMask) {
|
||||
UNUSED(functionMask);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
bool sensors(uint32_t mask) {
|
||||
UNUSED(mask);
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* 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 <stdbool.h>
|
||||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
|
||||
#include <limits.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "common/axis.h"
|
||||
|
||||
#include "drivers/system.h"
|
||||
|
||||
#include "drivers/serial.h"
|
||||
#include "io/serial.h"
|
||||
|
||||
#include "config/runtime_config.h"
|
||||
|
||||
#include "sensors/sensors.h"
|
||||
|
||||
#include "flight/flight.h"
|
||||
#include "io/gps.h"
|
||||
#include "sensors/battery.h"
|
||||
|
||||
#include "telemetry/telemetry.h"
|
||||
#include "telemetry/hott.h"
|
||||
|
||||
#include "flight/gps_conversion.h"
|
||||
|
||||
|
||||
#include "unittest_macros.h"
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
void addGPSCoordinates(HOTT_GPS_MSG_t *hottGPSMessage, int32_t latitude, int32_t longitude);
|
||||
|
||||
// See http://en.wikipedia.org/wiki/Geographic_coordinate_conversion
|
||||
|
||||
HOTT_GPS_MSG_t hottGPSMessage;
|
||||
|
||||
HOTT_GPS_MSG_t *getGPSMessageForTest(void)
|
||||
{
|
||||
memset(&hottGPSMessage, 0, sizeof(hottGPSMessage));
|
||||
return &hottGPSMessage;
|
||||
}
|
||||
|
||||
TEST(TelemetryHottTest, UpdateGPSCoordinates1)
|
||||
{
|
||||
// given
|
||||
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
|
||||
|
||||
// Mayrhofen, Austria
|
||||
uint32_t longitude = GPS_coord_to_degrees("4710.5186");
|
||||
uint32_t latitude = GPS_coord_to_degrees("1151.4252");
|
||||
|
||||
// when
|
||||
addGPSCoordinates(hottGPSMessage, latitude, longitude);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS, 0);
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L, 1151);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L), 4251);
|
||||
|
||||
EXPECT_EQ(hottGPSMessage->pos_EW, 0);
|
||||
EXPECT_EQ(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L, 4710);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), 5186);
|
||||
}
|
||||
|
||||
TEST(TelemetryHottTest, UpdateGPSCoordinates2)
|
||||
{
|
||||
// given
|
||||
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
|
||||
|
||||
// Hampstead Heath, London
|
||||
// 51.563886, -0.159960
|
||||
uint32_t longitude = GPS_coord_to_degrees("5156.3886");
|
||||
uint32_t latitude = -GPS_coord_to_degrees("015.9960");
|
||||
|
||||
// when
|
||||
addGPSCoordinates(hottGPSMessage, longitude, latitude);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS, 0);
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L, 5156);
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L, 3886);
|
||||
|
||||
EXPECT_EQ(hottGPSMessage->pos_EW, 1);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L), -15);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), -9960);
|
||||
}
|
||||
|
||||
|
||||
TEST(TelemetryHottTest, UpdateGPSCoordinates3)
|
||||
{
|
||||
// given
|
||||
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
|
||||
|
||||
int32_t longitude = -GPS_coord_to_degrees("17999.9999");
|
||||
int32_t latitude = GPS_coord_to_degrees("8999.9999");
|
||||
|
||||
// when
|
||||
addGPSCoordinates(hottGPSMessage, longitude, latitude);
|
||||
|
||||
// then
|
||||
EXPECT_EQ(hottGPSMessage->pos_NS, 1);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_dm_H << 8 | hottGPSMessage->pos_NS_dm_L), -18039);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_NS_sec_H << 8 | hottGPSMessage->pos_NS_sec_L), -9999);
|
||||
|
||||
EXPECT_EQ(hottGPSMessage->pos_EW, 0);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_dm_H << 8 | hottGPSMessage->pos_EW_dm_L), 9039);
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->pos_EW_sec_H << 8 | hottGPSMessage->pos_EW_sec_L), 9999);
|
||||
}
|
||||
|
||||
TEST(TelemetryHottTest, PrepareGPSMessage_Altitude1m)
|
||||
{
|
||||
// given
|
||||
HOTT_GPS_MSG_t *hottGPSMessage = getGPSMessageForTest();
|
||||
|
||||
stateFlags = GPS_FIX;
|
||||
uint16_t altitudeInMeters = 1;
|
||||
GPS_altitude = altitudeInMeters * (1 / 0.1f); // 1 = 0.1m
|
||||
|
||||
// when
|
||||
hottPrepareGPSResponse(hottGPSMessage);
|
||||
|
||||
// then
|
||||
EXPECT_EQ((int16_t)(hottGPSMessage->altitude_H << 8 | hottGPSMessage->altitude_L), 1 + HOTT_GPS_ALTITUDE_OFFSET);
|
||||
}
|
||||
|
||||
|
||||
// STUBS
|
||||
|
||||
int16_t debug[4];
|
||||
|
||||
uint8_t stateFlags;
|
||||
|
||||
|
||||
uint8_t GPS_numSat;
|
||||
int32_t GPS_coord[2];
|
||||
uint16_t GPS_speed; // speed in 0.1m/s
|
||||
uint16_t GPS_distanceToHome; // distance to home point in meters
|
||||
uint16_t GPS_altitude; // altitude in 0.1m
|
||||
uint8_t vbat;
|
||||
int16_t GPS_directionToHome; // direction to home or hol point in degrees
|
||||
|
||||
uint32_t micros(void) { return 0; }
|
||||
|
||||
uint8_t serialTotalBytesWaiting(serialPort_t *instance) {
|
||||
UNUSED(instance);
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint8_t serialRead(serialPort_t *instance) {
|
||||
UNUSED(instance);
|
||||
return 0;
|
||||
}
|
||||
|
||||
void serialWrite(serialPort_t *instance, uint8_t ch) {
|
||||
UNUSED(instance);
|
||||
UNUSED(ch);
|
||||
}
|
||||
|
||||
void serialSetMode(serialPort_t *instance, portMode_t mode) {
|
||||
UNUSED(instance);
|
||||
UNUSED(mode);
|
||||
}
|
||||
|
||||
void serialSetBaudRate(serialPort_t *instance, uint32_t baudRate) {
|
||||
UNUSED(instance);
|
||||
UNUSED(baudRate);
|
||||
}
|
||||
|
||||
void beginSerialPortFunction(serialPort_t *port, serialPortFunction_e function) {
|
||||
UNUSED(port);
|
||||
UNUSED(function);
|
||||
}
|
||||
|
||||
void endSerialPortFunction(serialPort_t *port, serialPortFunction_e function) {
|
||||
UNUSED(port);
|
||||
UNUSED(function);
|
||||
}
|
||||
|
||||
serialPort_t *openSerialPort(serialPortFunction_e functionMask, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, serialInversion_e inversion) {
|
||||
UNUSED(functionMask);
|
||||
UNUSED(baudRate);
|
||||
UNUSED(callback);
|
||||
UNUSED(mode);
|
||||
UNUSED(inversion);
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
serialPort_t *findOpenSerialPort(uint16_t functionMask) {
|
||||
UNUSED(functionMask);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
bool sensors(uint32_t mask) {
|
||||
UNUSED(mask);
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue