mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-22 07:45:29 +03:00
Merge branch 'master' into bfdev-configurable-bind-pin-2
This commit is contained in:
jflyper
GitHub
commit
e88db3cb1a
46 changed files with 1222 additions and 367 deletions
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@ -25,6 +25,7 @@ extern "C" {
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#include "common/maths.h"
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#include "common/axis.h"
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#include "common/bitarray.h"
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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@ -156,14 +157,14 @@ TEST_F(RcControlsModesTest, updateActivatedModesUsingValidAuxConfigurationAndRXV
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rcData[AUX7] = 950; // value equal to range step upper boundary should not activate the mode
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// and
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uint32_t expectedMask = 0;
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expectedMask |= (1 << 0);
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expectedMask |= (1 << 1);
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expectedMask |= (1 << 2);
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expectedMask |= (1 << 3);
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expectedMask |= (1 << 4);
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expectedMask |= (1 << 5);
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expectedMask |= (0 << 6);
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boxBitmask_t activeBoxIds;
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memset(&activeBoxIds, 0, sizeof(boxBitmask_t));
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bitArraySet(&activeBoxIds, 0);
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bitArraySet(&activeBoxIds, 1);
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bitArraySet(&activeBoxIds, 2);
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bitArraySet(&activeBoxIds, 3);
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bitArraySet(&activeBoxIds, 4);
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bitArraySet(&activeBoxIds, 5);
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// when
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updateActivatedModes();
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@ -171,9 +172,9 @@ TEST_F(RcControlsModesTest, updateActivatedModesUsingValidAuxConfigurationAndRXV
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// then
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for (int index = 0; index < CHECKBOX_ITEM_COUNT; index++) {
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#ifdef DEBUG_RC_CONTROLS
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printf("iteration: %d\n", index);
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printf("iteration: %d, %d\n", index, (bool)(bitArrayGet(&activeBoxIds, index)));
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#endif
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EXPECT_EQ((bool)(expectedMask & (1 << index)), IS_RC_MODE_ACTIVE((boxId_e)index));
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EXPECT_EQ((bool)(bitArrayGet(&activeBoxIds, index)), IS_RC_MODE_ACTIVE((boxId_e)index));
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}
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}
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431
src/test/unit/rcsplit_unittest.cc
Normal file
431
src/test/unit/rcsplit_unittest.cc
Normal file
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@ -0,0 +1,431 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
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* (at your option) any later version.
|
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*
|
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* Cleanflight is distributed in the hope that it will be useful,
|
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* 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/>.
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*/
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|
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#include "gtest/gtest.h"
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extern "C" {
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#include <stdbool.h>
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#include <stdint.h>
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#include <ctype.h>
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#include "platform.h"
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#include "common/utils.h"
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#include "common/maths.h"
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#include "common/bitarray.h"
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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#include "fc/rc_controls.h"
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#include "fc/rc_modes.h"
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#include "io/beeper.h"
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#include "io/serial.h"
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#include "scheduler/scheduler.h"
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#include "drivers/serial.h"
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#include "io/rcsplit.h"
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#include "rx/rx.h"
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|
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
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rcsplit_state_e unitTestRCsplitState()
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{
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return cameraState;
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}
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|
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bool unitTestIsSwitchActivited(boxId_e boxId)
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{
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uint8_t adjustBoxID = boxId - BOXCAMERA1;
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rcsplit_switch_state_t switchState = switchStates[adjustBoxID];
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return switchState.isActivated;
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}
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|
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void unitTestResetRCSplit()
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{
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rcSplitSerialPort = NULL;
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cameraState = RCSPLIT_STATE_UNKNOWN;
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}
|
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}
|
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|
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typedef struct testData_s {
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bool isRunCamSplitPortConfigurated;
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bool isRunCamSplitOpenPortSupported;
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int8_t maxTimesOfRespDataAvailable;
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bool isAllowBufferReadWrite;
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} testData_t;
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|
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static testData_t testData;
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|
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TEST(RCSplitTest, TestRCSplitInitWithoutPortConfigurated)
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{
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memset(&testData, 0, sizeof(testData));
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unitTestResetRCSplit();
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bool result = rcSplitInit();
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EXPECT_EQ(false, result);
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EXPECT_EQ(RCSPLIT_STATE_UNKNOWN, unitTestRCsplitState());
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}
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TEST(RCSplitTest, TestRCSplitInitWithoutOpenPortConfigurated)
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{
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memset(&testData, 0, sizeof(testData));
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unitTestResetRCSplit();
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testData.isRunCamSplitOpenPortSupported = false;
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testData.isRunCamSplitPortConfigurated = true;
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|
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bool result = rcSplitInit();
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EXPECT_EQ(false, result);
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EXPECT_EQ(RCSPLIT_STATE_UNKNOWN, unitTestRCsplitState());
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}
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TEST(RCSplitTest, TestRCSplitInit)
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{
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memset(&testData, 0, sizeof(testData));
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unitTestResetRCSplit();
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testData.isRunCamSplitOpenPortSupported = true;
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testData.isRunCamSplitPortConfigurated = true;
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bool result = rcSplitInit();
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EXPECT_EQ(true, result);
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EXPECT_EQ(RCSPLIT_STATE_IS_READY, unitTestRCsplitState());
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}
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TEST(RCSplitTest, TestRecvWhoAreYouResponse)
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{
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memset(&testData, 0, sizeof(testData));
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unitTestResetRCSplit();
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testData.isRunCamSplitOpenPortSupported = true;
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testData.isRunCamSplitPortConfigurated = true;
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bool result = rcSplitInit();
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EXPECT_EQ(true, result);
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// here will generate a number in [6-255], it's make the serialRxBytesWaiting() and serialRead() run at least 5 times,
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// so the "who are you response" will full received, and cause the state change to RCSPLIT_STATE_IS_READY;
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int8_t randNum = rand() % 127 + 6;
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testData.maxTimesOfRespDataAvailable = randNum;
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rcSplitProcess((timeUs_t)0);
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EXPECT_EQ(RCSPLIT_STATE_IS_READY, unitTestRCsplitState());
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}
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TEST(RCSplitTest, TestWifiModeChangeWithDeviceUnready)
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{
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memset(&testData, 0, sizeof(testData));
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unitTestResetRCSplit();
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testData.isRunCamSplitOpenPortSupported = true;
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testData.isRunCamSplitPortConfigurated = true;
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testData.maxTimesOfRespDataAvailable = 0;
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bool result = rcSplitInit();
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EXPECT_EQ(true, result);
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// bind aux1, aux2, aux3 channel to wifi button, power button and change mode
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for (uint8_t i = 0; i <= (BOXCAMERA3 - BOXCAMERA1); i++) {
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memset(modeActivationConditionsMutable(i), 0, sizeof(modeActivationCondition_t));
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}
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// bind aux1 to wifi button with range [900,1600]
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modeActivationConditionsMutable(0)->auxChannelIndex = 0;
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modeActivationConditionsMutable(0)->modeId = BOXCAMERA1;
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modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MIN);
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modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(1600);
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// bind aux2 to power button with range [1900, 2100]
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modeActivationConditionsMutable(1)->auxChannelIndex = 1;
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modeActivationConditionsMutable(1)->modeId = BOXCAMERA2;
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modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1900);
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modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(2100);
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// bind aux3 to change mode with range [1300, 1600]
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modeActivationConditionsMutable(2)->auxChannelIndex = 2;
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modeActivationConditionsMutable(2)->modeId = BOXCAMERA3;
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modeActivationConditionsMutable(2)->range.startStep = CHANNEL_VALUE_TO_STEP(1300);
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modeActivationConditionsMutable(2)->range.endStep = CHANNEL_VALUE_TO_STEP(1600);
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// make the binded mode inactive
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rcData[modeActivationConditions(0)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1800;
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rcData[modeActivationConditions(1)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 900;
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rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 900;
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updateActivatedModes();
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// runn process loop
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rcSplitProcess(0);
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EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA1));
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EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA2));
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EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3));
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}
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TEST(RCSplitTest, TestWifiModeChangeWithDeviceReady)
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{
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memset(&testData, 0, sizeof(testData));
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unitTestResetRCSplit();
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testData.isRunCamSplitOpenPortSupported = true;
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testData.isRunCamSplitPortConfigurated = true;
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testData.maxTimesOfRespDataAvailable = 0;
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bool result = rcSplitInit();
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EXPECT_EQ(true, result);
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// bind aux1, aux2, aux3 channel to wifi button, power button and change mode
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for (uint8_t i = 0; i <= BOXCAMERA3 - BOXCAMERA1; i++) {
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memset(modeActivationConditionsMutable(i), 0, sizeof(modeActivationCondition_t));
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}
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// bind aux1 to wifi button with range [900,1600]
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modeActivationConditionsMutable(0)->auxChannelIndex = 0;
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modeActivationConditionsMutable(0)->modeId = BOXCAMERA1;
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modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MIN);
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modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(1600);
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// bind aux2 to power button with range [1900, 2100]
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modeActivationConditionsMutable(1)->auxChannelIndex = 1;
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modeActivationConditionsMutable(1)->modeId = BOXCAMERA2;
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modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1900);
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modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(2100);
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// bind aux3 to change mode with range [1300, 1600]
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modeActivationConditionsMutable(2)->auxChannelIndex = 2;
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modeActivationConditionsMutable(2)->modeId = BOXCAMERA3;
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modeActivationConditionsMutable(2)->range.startStep = CHANNEL_VALUE_TO_STEP(1900);
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modeActivationConditionsMutable(2)->range.endStep = CHANNEL_VALUE_TO_STEP(2100);
|
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|
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rcData[modeActivationConditions(0)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1700;
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rcData[modeActivationConditions(1)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 2000;
|
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rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1700;
|
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|
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updateActivatedModes();
|
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|
||||
// runn process loop
|
||||
int8_t randNum = rand() % 127 + 6;
|
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testData.maxTimesOfRespDataAvailable = randNum;
|
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rcSplitProcess((timeUs_t)0);
|
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|
||||
EXPECT_EQ(RCSPLIT_STATE_IS_READY, unitTestRCsplitState());
|
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|
||||
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA1));
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EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA2));
|
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EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3));
|
||||
}
|
||||
|
||||
TEST(RCSplitTest, TestWifiModeChangeCombine)
|
||||
{
|
||||
memset(&testData, 0, sizeof(testData));
|
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unitTestResetRCSplit();
|
||||
testData.isRunCamSplitOpenPortSupported = true;
|
||||
testData.isRunCamSplitPortConfigurated = true;
|
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testData.maxTimesOfRespDataAvailable = 0;
|
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|
||||
bool result = rcSplitInit();
|
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EXPECT_EQ(true, result);
|
||||
|
||||
// bind aux1, aux2, aux3 channel to wifi button, power button and change mode
|
||||
for (uint8_t i = 0; i <= BOXCAMERA3 - BOXCAMERA1; i++) {
|
||||
memset(modeActivationConditionsMutable(i), 0, sizeof(modeActivationCondition_t));
|
||||
}
|
||||
|
||||
|
||||
// bind aux1 to wifi button with range [900,1600]
|
||||
modeActivationConditionsMutable(0)->auxChannelIndex = 0;
|
||||
modeActivationConditionsMutable(0)->modeId = BOXCAMERA1;
|
||||
modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MIN);
|
||||
modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(1600);
|
||||
|
||||
// bind aux2 to power button with range [1900, 2100]
|
||||
modeActivationConditionsMutable(1)->auxChannelIndex = 1;
|
||||
modeActivationConditionsMutable(1)->modeId = BOXCAMERA2;
|
||||
modeActivationConditionsMutable(1)->range.startStep = CHANNEL_VALUE_TO_STEP(1900);
|
||||
modeActivationConditionsMutable(1)->range.endStep = CHANNEL_VALUE_TO_STEP(2100);
|
||||
|
||||
// bind aux3 to change mode with range [1300, 1600]
|
||||
modeActivationConditionsMutable(2)->auxChannelIndex = 2;
|
||||
modeActivationConditionsMutable(2)->modeId = BOXCAMERA3;
|
||||
modeActivationConditionsMutable(2)->range.startStep = CHANNEL_VALUE_TO_STEP(1900);
|
||||
modeActivationConditionsMutable(2)->range.endStep = CHANNEL_VALUE_TO_STEP(2100);
|
||||
|
||||
// // make the binded mode inactive
|
||||
rcData[modeActivationConditions(0)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1700;
|
||||
rcData[modeActivationConditions(1)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 2000;
|
||||
rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1700;
|
||||
updateActivatedModes();
|
||||
|
||||
// runn process loop
|
||||
int8_t randNum = rand() % 127 + 6;
|
||||
testData.maxTimesOfRespDataAvailable = randNum;
|
||||
rcSplitProcess((timeUs_t)0);
|
||||
|
||||
EXPECT_EQ(RCSPLIT_STATE_IS_READY, unitTestRCsplitState());
|
||||
|
||||
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA1));
|
||||
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA2));
|
||||
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3));
|
||||
|
||||
|
||||
// // make the binded mode inactive
|
||||
rcData[modeActivationConditions(0)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1500;
|
||||
rcData[modeActivationConditions(1)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1300;
|
||||
rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1900;
|
||||
updateActivatedModes();
|
||||
rcSplitProcess((timeUs_t)0);
|
||||
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA1));
|
||||
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA2));
|
||||
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA3));
|
||||
|
||||
|
||||
rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1899;
|
||||
updateActivatedModes();
|
||||
rcSplitProcess((timeUs_t)0);
|
||||
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3));
|
||||
|
||||
rcData[modeActivationConditions(1)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 2001;
|
||||
updateActivatedModes();
|
||||
rcSplitProcess((timeUs_t)0);
|
||||
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA1));
|
||||
EXPECT_EQ(true, unitTestIsSwitchActivited(BOXCAMERA2));
|
||||
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3));
|
||||
}
|
||||
|
||||
extern "C" {
|
||||
serialPort_t *openSerialPort(serialPortIdentifier_e identifier, serialPortFunction_e functionMask, serialReceiveCallbackPtr callback, uint32_t baudRate, portMode_t mode, portOptions_t options)
|
||||
{
|
||||
UNUSED(identifier);
|
||||
UNUSED(functionMask);
|
||||
UNUSED(baudRate);
|
||||
UNUSED(callback);
|
||||
UNUSED(mode);
|
||||
UNUSED(options);
|
||||
|
||||
if (testData.isRunCamSplitOpenPortSupported) {
|
||||
static serialPort_t s;
|
||||
s.vTable = NULL;
|
||||
|
||||
// common serial initialisation code should move to serialPort::init()
|
||||
s.rxBufferHead = s.rxBufferTail = 0;
|
||||
s.txBufferHead = s.txBufferTail = 0;
|
||||
s.rxBufferSize = 0;
|
||||
s.txBufferSize = 0;
|
||||
s.rxBuffer = s.rxBuffer;
|
||||
s.txBuffer = s.txBuffer;
|
||||
|
||||
// callback works for IRQ-based RX ONLY
|
||||
s.rxCallback = NULL;
|
||||
s.baudRate = 0;
|
||||
|
||||
return (serialPort_t *)&s;
|
||||
}
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function)
|
||||
{
|
||||
UNUSED(function);
|
||||
if (testData.isRunCamSplitPortConfigurated) {
|
||||
static serialPortConfig_t portConfig;
|
||||
|
||||
portConfig.identifier = SERIAL_PORT_USART3;
|
||||
portConfig.msp_baudrateIndex = BAUD_115200;
|
||||
portConfig.gps_baudrateIndex = BAUD_57600;
|
||||
portConfig.telemetry_baudrateIndex = BAUD_AUTO;
|
||||
portConfig.blackbox_baudrateIndex = BAUD_115200;
|
||||
portConfig.functionMask = FUNCTION_MSP;
|
||||
|
||||
return &portConfig;
|
||||
}
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
uint32_t serialRxBytesWaiting(const serialPort_t *instance)
|
||||
{
|
||||
UNUSED(instance);
|
||||
|
||||
testData.maxTimesOfRespDataAvailable--;
|
||||
if (testData.maxTimesOfRespDataAvailable > 0) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint8_t serialRead(serialPort_t *instance)
|
||||
{
|
||||
UNUSED(instance);
|
||||
|
||||
if (testData.maxTimesOfRespDataAvailable > 0) {
|
||||
static uint8_t i = 0;
|
||||
static uint8_t buffer[] = { 0x55, 0x01, 0xFF, 0xad, 0xaa };
|
||||
|
||||
if (i >= 5) {
|
||||
i = 0;
|
||||
}
|
||||
|
||||
return buffer[i++];
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void sbufWriteString(sbuf_t *dst, const char *string)
|
||||
{
|
||||
UNUSED(dst); UNUSED(string);
|
||||
|
||||
if (testData.isAllowBufferReadWrite) {
|
||||
sbufWriteData(dst, string, strlen(string));
|
||||
}
|
||||
}
|
||||
void sbufWriteU8(sbuf_t *dst, uint8_t val)
|
||||
{
|
||||
UNUSED(dst); UNUSED(val);
|
||||
|
||||
if (testData.isAllowBufferReadWrite) {
|
||||
*dst->ptr++ = val;
|
||||
}
|
||||
}
|
||||
|
||||
void sbufWriteData(sbuf_t *dst, const void *data, int len)
|
||||
{
|
||||
UNUSED(dst); UNUSED(data); UNUSED(len);
|
||||
|
||||
if (testData.isAllowBufferReadWrite) {
|
||||
memcpy(dst->ptr, data, len);
|
||||
dst->ptr += len;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// modifies streambuf so that written data are prepared for reading
|
||||
void sbufSwitchToReader(sbuf_t *buf, uint8_t *base)
|
||||
{
|
||||
UNUSED(buf); UNUSED(base);
|
||||
|
||||
if (testData.isAllowBufferReadWrite) {
|
||||
buf->end = buf->ptr;
|
||||
buf->ptr = base;
|
||||
}
|
||||
}
|
||||
|
||||
bool feature(uint32_t) { return false;}
|
||||
void serialWriteBuf(serialPort_t *instance, const uint8_t *data, int count) { UNUSED(instance); UNUSED(data); UNUSED(count); }
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue