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Code Issues Wiki Activity

Interrupt/DMA driven SX1280 interaction for ELRS

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This commit is contained in:
Steve Evans 2022-02-02 21:05:58 +00:00
parent 7b4415f062
commit fc8640154a
39 changed files with 1003 additions and 438 deletions
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1
src/test/unit/link_quality_unittest.cc
View file

@ -494,6 +494,7 @@ extern "C" {
bool areMotorsRunning(void){ return true; }
bool pidOsdAntiGravityActive(void) { return false; }
bool failsafeIsActive(void) { return false; }
bool failsafeIsReceivingRxData(void) { return true; }
bool gpsIsHealthy(void) { return true; }
bool gpsRescueIsConfigured(void) { return false; }
int8_t calculateThrottlePercent(void) { return 0; }

1
src/test/unit/rx_ranges_unittest.cc
View file

@ -107,6 +107,7 @@ extern "C" {
void failsafeOnRxSuspend(uint32_t ) {}
void failsafeOnRxResume(void) {}
bool failsafeIsReceivingRxData(void) { return true; }
bool taskUpdateRxMainInProgress() { return true; }
uint32_t micros(void) { return 0; }

1
src/test/unit/rx_rx_unittest.cc
View file

@ -210,6 +210,7 @@ extern "C" {
void failsafeOnRxSuspend(uint32_t ) {}
void failsafeOnRxResume(void) {}
bool failsafeIsReceivingRxData(void) { return true; }
uint32_t micros(void) { return 0; }
uint32_t millis(void) { return 0; }

23
src/test/unit/rx_spi_expresslrs_unittest.cc
View file

@ -45,7 +45,7 @@ extern "C" {
#include "drivers/rx/rx_sx127x.h"
#include "drivers/rx/rx_sx1280.h"
extern uint8_t FHSSsequence[ELRS_NR_SEQUENCE_ENTRIES];
extern uint8_t fhssSequence[ELRS_NR_SEQUENCE_ENTRIES];
extern uint16_t crc14tab[ELRS_CRC_LEN];
extern elrsReceiver_t receiver;
@ -164,14 +164,14 @@ TEST(RxSpiExpressLrsUnitTest, TestFHSSTable)
}
};
FHSSrandomiseFHSSsequence(UID, ISM2400);
fhssGenSequence(UID, ISM2400);
for (int i = 0; i < ELRS_NR_SEQUENCE_ENTRIES; i++) {
EXPECT_EQ(expectedSequence[0][i], FHSSsequence[i]);
EXPECT_EQ(expectedSequence[0][i], fhssSequence[i]);
}
FHSSrandomiseFHSSsequence(UID, FCC915);
fhssGenSequence(UID, FCC915);
for (int i = 0; i < ELRS_NR_SEQUENCE_ENTRIES; i++) {
EXPECT_EQ(expectedSequence[1][i], FHSSsequence[i]);
EXPECT_EQ(expectedSequence[1][i], fhssSequence[i]);
}
}
@ -390,7 +390,8 @@ extern "C" {
IO_t IOGetByTag(ioTag_t ) { return (IO_t)1; }
void IOHi(IO_t ) {}
void IOLo(IO_t ) {}
void writeEEPROM(void) {}
void saveConfigAndNotify(void) {}
void rxSpiCommonIOInit(const rxSpiConfig_t *) {}
void rxSpiLedBlinkRxLoss(rx_spi_received_e ) {}
@ -404,11 +405,10 @@ extern "C" {
bool sx1280IsBusy(void) { return false; }
void sx1280Config(const sx1280LoraBandwidths_e , const sx1280LoraSpreadingFactors_e , const sx1280LoraCodingRates_e , const uint32_t , const uint8_t , const bool ) {}
void sx1280StartReceiving(void) {}
uint8_t sx1280ISR(uint32_t *timestamp)
{
*timestamp = 0;
return 0;
}
void sx1280ISR(void) {}
bool rxSpiGetExtiState(void) { return false; }
void sx1280HandleFromTock(void) {}
bool sx1280HandleFromTick(void) { return false; }
void sx1280TransmitData(const uint8_t *, const uint8_t ) {}
void sx1280ReceiveData(uint8_t *, const uint8_t ) {}
void sx1280SetFrequencyReg(const uint32_t ) {}
@ -469,5 +469,4 @@ extern "C" {
void getCurrentTelemetryPayload(uint8_t *, uint8_t *, uint8_t **) {}
void confirmCurrentTelemetryPayload(const bool ) {}
void updateTelemetryRate(const uint16_t , const uint8_t , const uint8_t ) {}
}

6
src/test/unit/scheduler_unittest.cc
View file

@ -67,9 +67,13 @@ extern "C" {
int16_t debug[1];
uint8_t debugMode = 0;
bool rxFrameReady(void) { return 0; }
void rxFrameCheck(timeUs_t, timeDelta_t) {}
// set up micros() to simulate time
uint32_t simulatedTime = 0;
uint32_t micros(void) { return simulatedTime; }
uint32_t millis(void) { return simulatedTime/1000; } // Note simplistic mapping suitable only for short unit tests
uint32_t clockCyclesToMicros(uint32_t x) { return x/10;}
int32_t clockCyclesTo10thMicros(int32_t x) { return x;}
uint32_t clockMicrosToCycles(uint32_t x) { return x*10;}
@ -78,6 +82,8 @@ extern "C" {
// set up tasks to take a simulated representative time to execute
bool gyroFilterReady(void) { return taskFilterReady; }
bool pidLoopReady(void) { return taskPidReady; }
void failsafeCheckDataFailurePeriod(void) {}
void failsafeUpdateState(void) {}
void taskGyroSample(timeUs_t) { simulatedTime += TEST_GYRO_SAMPLE_TIME; taskGyroRan = true; }
void taskFiltering(timeUs_t) { simulatedTime += TEST_FILTERING_TIME; taskFilterRan = true; }
void taskMainPidLoop(timeUs_t) { simulatedTime += TEST_PID_LOOP_TIME; taskPidRan = true; }