mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-25 17:25:18 +03:00
add runcam split support (#1977)
Add runcam split support USE_RCSPLIT definition for FLASH_SIZE > 128 in common.h
This commit is contained in:
azolyoung
Konstantin Sharlaimov
parent
2bbd9d9667
commit
fa603a27ef
12 changed files with 745 additions and 7 deletions
1
Makefile
1
Makefile
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@ -605,6 +605,7 @@ COMMON_SRC = \
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io/serial_4way_avrootloader.c \
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io/serial_4way_stk500v2.c \
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io/statusindicator.c \
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io/rcsplit.c \
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msp/msp_serial.c \
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rx/ibus.c \
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rx/jetiexbus.c \
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@ -85,6 +85,7 @@
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#include "io/pwmdriver_i2c.h"
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#include "io/osd.h"
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#include "io/displayport_msp.h"
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#include "io/rcsplit.h"
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#include "msp/msp_serial.h"
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@ -632,6 +633,10 @@ void init(void)
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fcTasksInit();
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#ifdef USE_RCSPLIT
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rcSplitInit();
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#endif // USE_RCSPLIT
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addBootlogEvent2(BOOT_EVENT_SYSTEM_READY, BOOT_EVENT_FLAGS_NONE);
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systemState |= SYSTEM_STATE_READY;
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}
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@ -141,6 +141,9 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
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{ BOXNAVLAUNCH, "NAV LAUNCH;", 36 },
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{ BOXAUTOTRIM, "SERVO AUTOTRIM;", 37 },
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{ BOXKILLSWITCH, "KILLSWITCH;", 38 },
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{ BOXCAMERA1, "CAMERA CONTROL 1;", 39 },
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{ BOXCAMERA2, "CAMERA CONTROL 2;", 40 },
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{ BOXCAMERA3, "CAMERA CONTROL 3;", 41 },
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{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
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};
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@ -328,6 +331,12 @@ static void initActiveBoxIds(void)
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activeBoxIds[activeBoxIdCount++] = BOXKILLSWITCH;
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activeBoxIds[activeBoxIdCount++] = BOXFAILSAFE;
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#ifdef USE_RCSPLIT
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activeBoxIds[activeBoxIdCount++] = BOXCAMERA1;
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activeBoxIds[activeBoxIdCount++] = BOXCAMERA2;
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activeBoxIds[activeBoxIdCount++] = BOXCAMERA3;
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#endif
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}
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#define IS_ENABLED(mask) (mask == 0 ? 0 : 1)
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@ -54,6 +54,7 @@
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#include "io/osd.h"
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#include "io/pwmdriver_i2c.h"
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#include "io/serial.h"
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#include "io/rcsplit.h"
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#include "msp/msp_serial.h"
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@ -524,4 +525,13 @@ cfTask_t cfTasks[TASK_COUNT] = {
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef USE_RCSPLIT
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[TASK_RCSPLIT] = {
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.taskName = "RCSPLIT",
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.taskFunc = rcSplitProcess,
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.desiredPeriod = TASK_PERIOD_HZ(10), // 10 Hz, 100ms
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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#endif
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};
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@ -49,6 +49,9 @@ typedef enum {
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BOXTURNASSIST = 26,
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BOXAUTOTRIM = 27,
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BOXAUTOTUNE = 28,
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BOXCAMERA1 = 29,
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BOXCAMERA2 = 30,
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BOXCAMERA3 = 31,
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CHECKBOX_ITEM_COUNT
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} boxId_e;
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166
src/main/io/rcsplit.c
Normal file
166
src/main/io/rcsplit.c
Normal file
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@ -0,0 +1,166 @@
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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
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* 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
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdio.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 "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 "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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// communicate with camera device variables
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serialPort_t *rcSplitSerialPort = NULL;
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rcsplit_switch_state_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
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rcsplit_state_e cameraState = RCSPLIT_STATE_UNKNOWN;
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static uint8_t crc_high_first(uint8_t *ptr, uint8_t len)
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{
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uint8_t i;
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uint8_t crc=0x00;
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while (len--) {
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crc ^= *ptr++;
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for (i=8; i>0; --i) {
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if (crc & 0x80)
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crc = (crc << 1) ^ 0x31;
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else
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crc = (crc << 1);
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}
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}
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return (crc);
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}
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static void sendCtrlCommand(rcsplit_ctrl_argument_e argument)
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{
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if (!rcSplitSerialPort)
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return ;
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uint8_t uart_buffer[5] = {0};
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uint8_t crc = 0;
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uart_buffer[0] = RCSPLIT_PACKET_HEADER;
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uart_buffer[1] = RCSPLIT_PACKET_CMD_CTRL;
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uart_buffer[2] = argument;
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uart_buffer[3] = RCSPLIT_PACKET_TAIL;
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crc = crc_high_first(uart_buffer, 4);
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// build up a full request [header]+[command]+[argument]+[crc]+[tail]
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uart_buffer[3] = crc;
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uart_buffer[4] = RCSPLIT_PACKET_TAIL;
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// write to device
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serialWriteBuf(rcSplitSerialPort, uart_buffer, 5);
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}
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static void rcSplitProcessMode()
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{
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// if the device not ready, do not handle any mode change event
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if (RCSPLIT_STATE_IS_READY != cameraState) {
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printf("device not ready");
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return ;
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}
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for (boxId_e i = BOXCAMERA1; i <= BOXCAMERA3; i++) {
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uint8_t switchIndex = i - BOXCAMERA1;
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if (IS_RC_MODE_ACTIVE(i)) {
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// check last state of this mode, if it's true, then ignore it.
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// Here is a logic to make a toggle control for this mode
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if (switchStates[switchIndex].isActivated) {
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continue;
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}
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uint8_t argument = RCSPLIT_CTRL_ARGU_INVALID;
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switch (i) {
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case BOXCAMERA1:
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argument = RCSPLIT_CTRL_ARGU_WIFI_BTN;
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break;
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case BOXCAMERA2:
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argument = RCSPLIT_CTRL_ARGU_POWER_BTN;
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break;
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case BOXCAMERA3:
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argument = RCSPLIT_CTRL_ARGU_CHANGE_MODE;
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break;
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default:
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argument = RCSPLIT_CTRL_ARGU_INVALID;
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break;
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}
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if (argument != RCSPLIT_CTRL_ARGU_INVALID) {
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sendCtrlCommand(argument);
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switchStates[switchIndex].isActivated = true;
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}
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} else {
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switchStates[switchIndex].isActivated = false;
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}
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}
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}
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bool rcSplitInit(void)
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{
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// found the port config with FUNCTION_RUNCAM_SPLIT_CONTROL
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// User must set some UART inteface with RunCam Split at peripherals column in Ports tab
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serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RCSPLIT);
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if (portConfig) {
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rcSplitSerialPort = openSerialPort(portConfig->identifier, FUNCTION_RCSPLIT, NULL, 115200, MODE_RXTX, 0);
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}
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if (!rcSplitSerialPort) {
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return false;
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}
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// set init value to true, to avoid the action auto run when the flight board start and the switch is on.
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for (boxId_e i = BOXCAMERA1; i <= BOXCAMERA3; i++) {
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uint8_t switchIndex = i - BOXCAMERA1;
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switchStates[switchIndex].boxId = 1 << i;
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switchStates[switchIndex].isActivated = true;
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}
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cameraState = RCSPLIT_STATE_IS_READY;
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#ifdef USE_RCSPLIT
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setTaskEnabled(TASK_RCSPLIT, true);
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#endif
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return true;
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}
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void rcSplitProcess(timeUs_t currentTimeUs)
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{
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UNUSED(currentTimeUs);
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if (rcSplitSerialPort == NULL)
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return ;
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// process rcsplit custom mode if has any changed
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rcSplitProcessMode();
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}
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56
src/main/io/rcsplit.h
Normal file
56
src/main/io/rcsplit.h
Normal file
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@ -0,0 +1,56 @@
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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
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* 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
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <stdbool.h>
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#include "common/time.h"
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#include "fc/fc_msp.h"
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typedef struct {
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uint8_t boxId;
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bool isActivated;
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} rcsplit_switch_state_t;
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typedef enum {
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RCSPLIT_STATE_UNKNOWN = 0,
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RCSPLIT_STATE_INITIALIZING,
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RCSPLIT_STATE_IS_READY,
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} rcsplit_state_e;
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// packet header and tail
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#define RCSPLIT_PACKET_HEADER 0x55
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#define RCSPLIT_PACKET_CMD_CTRL 0x01
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#define RCSPLIT_PACKET_TAIL 0xaa
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// the commands of RunCam Split serial protocol
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typedef enum {
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RCSPLIT_CTRL_ARGU_INVALID = 0x0,
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RCSPLIT_CTRL_ARGU_WIFI_BTN = 0x1,
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RCSPLIT_CTRL_ARGU_POWER_BTN = 0x2,
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RCSPLIT_CTRL_ARGU_CHANGE_MODE = 0x3,
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RCSPLIT_CTRL_ARGU_WHO_ARE_YOU = 0xFF,
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} rcsplit_ctrl_argument_e;
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bool rcSplitInit(void);
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void rcSplitProcess(timeUs_t currentTimeUs);
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// only for unit test
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extern rcsplit_state_e cameraState;
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extern serialPort_t *rcSplitSerialPort;
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extern rcsplit_switch_state_t switchStates[BOXCAMERA3 - BOXCAMERA1 + 1];
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@ -40,7 +40,8 @@ typedef enum {
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FUNCTION_RX_SERIAL = (1 << 6), // 64
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FUNCTION_BLACKBOX = (1 << 7), // 128
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FUNCTION_TELEMETRY_MAVLINK = (1 << 8), // 256
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FUNCTION_TELEMETRY_IBUS = (1 << 9) // 512
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FUNCTION_TELEMETRY_IBUS = (1 << 9), // 512
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FUNCTION_RCSPLIT = (1 << 10) // 1024
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} serialPortFunction_e;
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typedef enum {
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@ -100,6 +100,9 @@ typedef enum {
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#endif
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#ifdef CMS
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TASK_CMS,
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#endif
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#ifdef USE_RCSPLIT
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TASK_RCSPLIT,
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#endif
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/* Count of real tasks */
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TASK_COUNT,
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@ -89,6 +89,7 @@
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#define PWM_DRIVER_PCA9685
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#define NAV_MAX_WAYPOINTS 60
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#define MAX_BOOTLOG_ENTRIES 64
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#define USE_RCSPLIT
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#else
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#define CLI_MINIMAL_VERBOSITY
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#define SKIP_TASK_STATISTICS
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@ -243,17 +243,17 @@ $(OBJECT_DIR)/telemetry_hott_unittest : \
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$(OBJECT_DIR)/io/rc_controls.o : \
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$(USER_DIR)/io/rc_controls.c \
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$(USER_DIR)/io/rc_controls.h \
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$(OBJECT_DIR)/fc/rc_controls.o : \
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$(USER_DIR)/fc/rc_controls.c \
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$(USER_DIR)/fc/rc_controls.h \
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$(GTEST_HEADERS)
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@mkdir -p $(dir $@)
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$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rc_controls.c -o $@
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$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/fc/rc_controls.c -o $@
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$(OBJECT_DIR)/rc_controls_unittest.o : \
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$(TEST_DIR)/rc_controls_unittest.cc \
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$(USER_DIR)/io/rc_controls.h \
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$(USER_DIR)/fc/rc_controls.h \
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$(GTEST_HEADERS)
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@mkdir -p $(dir $@)
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@ -630,6 +630,30 @@ $(OBJECT_DIR)/sensor_gyro_unittest : \
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$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
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$(OBJECT_DIR)/io/rcsplit.o : \
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$(USER_DIR)/io/rcsplit.c \
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$(USER_DIR)/io/rcsplit.h
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@mkdir -p $(dir $@)
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$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/io/rcsplit.c -o $@
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$(OBJECT_DIR)/rcsplit_unittest.o : \
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$(TEST_DIR)/rcsplit_unittest.cc \
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$(GTEST_HEADERS)
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@mkdir -p $(dir $@)
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$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rcsplit_unittest.cc -o $@
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$(OBJECT_DIR)/rcsplit_unittest : \
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$(OBJECT_DIR)/rcsplit_unittest.o \
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$(OBJECT_DIR)/io/rcsplit.o \
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$(OBJECT_DIR)/fc/rc_controls.o \
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$(OBJECT_DIR)/rx/rx.o \
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$(OBJECT_DIR)/common/maths.o \
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$(OBJECT_DIR)/gtest_main.a
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|
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$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
|
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|
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$(OBJECT_DIR)/drivers/system.o : \
|
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$(USER_DIR)/drivers/system.c \
|
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$(USER_DIR)/drivers/system.h \
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|
|
@ -660,4 +684,5 @@ test: $(TESTS:%=test-%)
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test-%: $(OBJECT_DIR)/%
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$<
|
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|
||||
-include $(DEPS)
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-include $(DEPS)
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|
||||
|
|
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458
src/test/unit/rcsplit_unittest.cc
Normal file
458
src/test/unit/rcsplit_unittest.cc
Normal file
|
|
@ -0,0 +1,458 @@
|
|||
/*
|
||||
* 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/>.
|
||||
*/
|
||||
|
||||
|
||||
extern "C" {
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||||
#include <stdbool.h>
|
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#include <stdint.h>
|
||||
#include <ctype.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "common/utils.h"
|
||||
#include "common/maths.h"
|
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|
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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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|
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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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}
|
||||
|
||||
bool unitTestIsSwitchActivited(boxId_e boxId)
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{
|
||||
uint8_t adjustBoxID = boxId - BOXCAMERA1;
|
||||
rcsplit_switch_state_t switchState = switchStates[adjustBoxID];
|
||||
return switchState.isActivated;
|
||||
}
|
||||
|
||||
void unitTestResetRCSplit()
|
||||
{
|
||||
rcSplitSerialPort = NULL;
|
||||
cameraState = RCSPLIT_STATE_UNKNOWN;
|
||||
}
|
||||
}
|
||||
|
||||
typedef struct testData_s {
|
||||
bool isRunCamSplitPortConfigurated;
|
||||
bool isRunCamSplitOpenPortSupported;
|
||||
int8_t maxTimesOfRespDataAvailable;
|
||||
bool isAllowBufferReadWrite;
|
||||
} testData_t;
|
||||
|
||||
static testData_t testData;
|
||||
|
||||
#include "unittest_macros.h"
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
TEST(RCSplitTest, TestRCSplitInitWithoutPortConfigurated)
|
||||
{
|
||||
memset(&testData, 0, sizeof(testData));
|
||||
unitTestResetRCSplit();
|
||||
bool result = rcSplitInit();
|
||||
EXPECT_EQ(false, result);
|
||||
EXPECT_EQ(RCSPLIT_STATE_UNKNOWN, unitTestRCsplitState());
|
||||
}
|
||||
|
||||
TEST(RCSplitTest, TestRCSplitInitWithoutOpenPortConfigurated)
|
||||
{
|
||||
memset(&testData, 0, sizeof(testData));
|
||||
unitTestResetRCSplit();
|
||||
testData.isRunCamSplitOpenPortSupported = false;
|
||||
testData.isRunCamSplitPortConfigurated = true;
|
||||
|
||||
bool result = rcSplitInit();
|
||||
EXPECT_EQ(false, result);
|
||||
EXPECT_EQ(RCSPLIT_STATE_UNKNOWN, unitTestRCsplitState());
|
||||
}
|
||||
|
||||
TEST(RCSplitTest, TestRCSplitInit)
|
||||
{
|
||||
memset(&testData, 0, sizeof(testData));
|
||||
unitTestResetRCSplit();
|
||||
testData.isRunCamSplitOpenPortSupported = true;
|
||||
testData.isRunCamSplitPortConfigurated = true;
|
||||
|
||||
bool result = rcSplitInit();
|
||||
EXPECT_EQ(true, result);
|
||||
EXPECT_EQ(RCSPLIT_STATE_IS_READY, unitTestRCsplitState());
|
||||
}
|
||||
|
||||
TEST(RCSplitTest, TestRecvWhoAreYouResponse)
|
||||
{
|
||||
memset(&testData, 0, sizeof(testData));
|
||||
unitTestResetRCSplit();
|
||||
testData.isRunCamSplitOpenPortSupported = true;
|
||||
testData.isRunCamSplitPortConfigurated = true;
|
||||
|
||||
bool result = rcSplitInit();
|
||||
EXPECT_EQ(true, result);
|
||||
|
||||
// here will generate a number in [6-255], it's make the serialRxBytesWaiting() and serialRead() run at least 5 times,
|
||||
// so the "who are you response" will full received, and cause the state change to RCSPLIT_STATE_IS_READY;
|
||||
int8_t randNum = rand() % 127 + 6;
|
||||
testData.maxTimesOfRespDataAvailable = randNum;
|
||||
rcSplitProcess((timeUs_t)0);
|
||||
|
||||
EXPECT_EQ(RCSPLIT_STATE_IS_READY, unitTestRCsplitState());
|
||||
}
|
||||
|
||||
TEST(RCSplitTest, TestWifiModeChangeWithDeviceUnready)
|
||||
{
|
||||
memset(&testData, 0, sizeof(testData));
|
||||
unitTestResetRCSplit();
|
||||
testData.isRunCamSplitOpenPortSupported = true;
|
||||
testData.isRunCamSplitPortConfigurated = true;
|
||||
testData.maxTimesOfRespDataAvailable = 0;
|
||||
|
||||
bool result = rcSplitInit();
|
||||
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(1300);
|
||||
modeActivationConditionsMutable(2)->range.endStep = CHANNEL_VALUE_TO_STEP(1600);
|
||||
|
||||
// make the binded mode inactive
|
||||
rcData[modeActivationConditions(0)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 1800;
|
||||
rcData[modeActivationConditions(1)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 900;
|
||||
rcData[modeActivationConditions(2)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 900;
|
||||
|
||||
updateUsedModeActivationConditionFlags();
|
||||
updateActivatedModes();
|
||||
|
||||
// runn process loop
|
||||
rcSplitProcess(0);
|
||||
|
||||
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA1));
|
||||
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA2));
|
||||
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3));
|
||||
}
|
||||
|
||||
TEST(RCSplitTest, TestWifiModeChangeWithDeviceReady)
|
||||
{
|
||||
memset(&testData, 0, sizeof(testData));
|
||||
unitTestResetRCSplit();
|
||||
testData.isRunCamSplitOpenPortSupported = true;
|
||||
testData.isRunCamSplitPortConfigurated = true;
|
||||
testData.maxTimesOfRespDataAvailable = 0;
|
||||
|
||||
bool result = rcSplitInit();
|
||||
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);
|
||||
|
||||
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;
|
||||
|
||||
updateUsedModeActivationConditionFlags();
|
||||
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));
|
||||
}
|
||||
|
||||
TEST(RCSplitTest, TestWifiModeChangeCombine)
|
||||
{
|
||||
memset(&testData, 0, sizeof(testData));
|
||||
unitTestResetRCSplit();
|
||||
testData.isRunCamSplitOpenPortSupported = true;
|
||||
testData.isRunCamSplitPortConfigurated = true;
|
||||
testData.maxTimesOfRespDataAvailable = 0;
|
||||
|
||||
bool result = rcSplitInit();
|
||||
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;
|
||||
|
||||
updateUsedModeActivationConditionFlags();
|
||||
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;
|
||||
updateUsedModeActivationConditionFlags();
|
||||
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;
|
||||
updateUsedModeActivationConditionFlags();
|
||||
updateActivatedModes();
|
||||
rcSplitProcess((timeUs_t)0);
|
||||
EXPECT_EQ(false, unitTestIsSwitchActivited(BOXCAMERA3));
|
||||
|
||||
rcData[modeActivationConditions(1)->auxChannelIndex + NON_AUX_CHANNEL_COUNT] = 2001;
|
||||
updateUsedModeActivationConditionFlags();
|
||||
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); }
|
||||
|
||||
void accSetCalibrationCycles(uint16_t calibrationCyclesRequired) { UNUSED(calibrationCyclesRequired); }
|
||||
void applyAndSaveBoardAlignmentDelta(int16_t roll, int16_t pitch) { UNUSED(roll); UNUSED(pitch); }
|
||||
|
||||
uint16_t armingFlags = 0;
|
||||
void beeper(beeperMode_e) {}
|
||||
bool failsafeIsActive(void) { return false; }
|
||||
void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired) { UNUSED(calibrationCyclesRequired); };
|
||||
timeMs_t millis(void) { return 0; }
|
||||
void mwArm(void) {}
|
||||
void mwDisarm(void) {}
|
||||
|
||||
void saveConfigAndNotify(void) {}
|
||||
void setConfigProfileAndWriteEEPROM(uint8_t profileIndex) { UNUSED(profileIndex); }
|
||||
uint8_t stateFlags;
|
||||
|
||||
void failsafeOnRxResume(void) {}
|
||||
void failsafeOnRxSuspend(uint32_t usSuspendPeriod) { UNUSED(usSuspendPeriod); }
|
||||
void failsafeOnValidDataFailed(void) { }
|
||||
void failsafeOnValidDataReceived(void) { }
|
||||
uint32_t micros(void) { return 0; }
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue