src/test/unit/blackbox_unittest.cc

   1 /*
   2  *
   3  * Cleanflight is free software: you can redistribute it and/or modify
   4  * it under the terms of the GNU General Public License as published by
   5  * the Free Software Foundation, either version 3 of the License, or
   6  * (at your option) any later version.
   7  *
   8  * Cleanflight is distributed in the hope that it will be useful,
   9  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  11  * GNU General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License
  14  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  15  */
  16
  17 #include <stdint.h>
  18 #include <string.h>
  19
  20 extern "C" {
  21     #include "platform.h"
  22
  23     #include "build/debug.h"
  24
  25     #include "blackbox/blackbox.h"
  26     #include "common/utils.h"
  27
  28     #include "pg/pg.h"
  29     #include "pg/pg_ids.h"
  30     #include "pg/rx.h"
  31     #include "pg/motor.h"
  32
  33     #include "drivers/accgyro/accgyro.h"
  34     #include "drivers/accgyro/gyro_sync.h"
  35     #include "drivers/serial.h"
  36
  37     #include "flight/failsafe.h"
  38     #include "flight/mixer.h"
  39     #include "flight/pid.h"
  40
  41     #include "fc/rc_controls.h"
  42     #include "fc/rc_modes.h"
  43
  44     #include "io/gps.h"
  45     #include "io/serial.h"
  46
  47     #include "rx/rx.h"
  48
  49     #include "sensors/battery.h"
  50     #include "sensors/gyro.h"
  51
  52     extern int16_t blackboxIInterval;
  53     extern int16_t blackboxPInterval;
  54 }
  55
  56 #include "unittest_macros.h"
  57 #include "gtest/gtest.h"
  58
  59 gyroDev_t gyroDev;
  60
  61 TEST(BlackboxTest, TestInitIntervals)
  62 {
  63     blackboxConfigMutable()->sample_rate = 4; // sample_rate = PID loop frequency / 16
  64     // 250Hz PIDloop
  65     targetPidLooptime = 4000;
  66     blackboxInit();
  67     EXPECT_EQ(8, blackboxIInterval);
  68     EXPECT_EQ(0, blackboxPInterval);
  69     EXPECT_EQ(2048, blackboxSInterval);
  70
  71     // 500Hz PIDloop
  72     targetPidLooptime = 2000;
  73     blackboxInit();
  74     EXPECT_EQ(16, blackboxIInterval);
  75     EXPECT_EQ(16, blackboxPInterval);
  76     EXPECT_EQ(4096, blackboxSInterval);
  77
  78     blackboxConfigMutable()->sample_rate = 1; // sample_rate = PID loop frequency / 2
  79     // 2kHz PIDloop
  80     targetPidLooptime = 500;
  81     blackboxInit();
  82     EXPECT_EQ(64, blackboxIInterval);
  83     EXPECT_EQ(2, blackboxPInterval);
  84     EXPECT_EQ(16384, blackboxSInterval);
  85
  86     blackboxConfigMutable()->sample_rate = 2;
  87     // 4kHz PIDloop
  88     targetPidLooptime = 250;
  89     blackboxInit();
  90     EXPECT_EQ(128, blackboxIInterval);
  91     EXPECT_EQ(4, blackboxPInterval);
  92     EXPECT_EQ(32768, blackboxSInterval);
  93
  94     blackboxConfigMutable()->sample_rate = 3;
  95     // 8kHz PIDloop
  96     targetPidLooptime = 125;
  97     blackboxInit();
  98     EXPECT_EQ(256, blackboxIInterval);
  99     EXPECT_EQ(8, blackboxPInterval);
 100     EXPECT_EQ(65536, blackboxSInterval);
 101 }
 102
 103 TEST(BlackboxTest, Test_500Hz)
 104 {
 105     blackboxConfigMutable()->sample_rate = 0;
 106     // 500Hz PIDloop
 107     targetPidLooptime = 2000;
 108     blackboxInit();
 109     EXPECT_TRUE(blackboxShouldLogIFrame());
 110     EXPECT_TRUE(blackboxShouldLogPFrame());
 111     for (int ii = 0; ii < 15; ++ii) {
 112         blackboxAdvanceIterationTimers();
 113         EXPECT_FALSE(blackboxShouldLogIFrame());
 114         EXPECT_TRUE(blackboxShouldLogPFrame());
 115     }
 116     blackboxAdvanceIterationTimers();
 117     EXPECT_TRUE(blackboxShouldLogIFrame());
 118     EXPECT_TRUE(blackboxShouldLogPFrame());
 119 }
 120
 121 TEST(BlackboxTest, Test_1kHz)
 122 {
 123     blackboxConfigMutable()->sample_rate = 0;
 124     // 1kHz PIDloop
 125     targetPidLooptime = 1000;
 126     blackboxInit();
 127     EXPECT_TRUE(blackboxShouldLogIFrame());
 128     EXPECT_TRUE(blackboxShouldLogPFrame());
 129     EXPECT_EQ(0, blackboxSlowFrameIterationTimer);
 130     EXPECT_FALSE(blackboxSlowFrameIterationTimer >= blackboxSInterval);
 131     blackboxSlowFrameIterationTimer = blackboxSInterval;
 132     EXPECT_TRUE(writeSlowFrameIfNeeded());
 133     EXPECT_EQ(0, blackboxSlowFrameIterationTimer);
 134
 135     for (int ii = 0; ii < 31; ++ii) {
 136         blackboxAdvanceIterationTimers();
 137         EXPECT_FALSE(blackboxShouldLogIFrame());
 138         EXPECT_TRUE(blackboxShouldLogPFrame());
 139         EXPECT_EQ(ii + 1, blackboxSlowFrameIterationTimer);
 140         EXPECT_FALSE(writeSlowFrameIfNeeded());
 141     }
 142     blackboxAdvanceIterationTimers();
 143     EXPECT_TRUE(blackboxShouldLogIFrame());
 144     EXPECT_TRUE(blackboxShouldLogPFrame());
 145 }
 146
 147 TEST(BlackboxTest, Test_2kHz)
 148 {
 149     blackboxConfigMutable()->sample_rate = 1;
 150     // 2kHz PIDloop
 151     targetPidLooptime = 500;
 152     blackboxInit();
 153     EXPECT_EQ(64, blackboxIInterval);
 154     EXPECT_EQ(2, blackboxPInterval);
 155     EXPECT_TRUE(blackboxShouldLogIFrame());
 156     EXPECT_TRUE(blackboxShouldLogPFrame());
 157     blackboxAdvanceIterationTimers();
 158     EXPECT_FALSE(blackboxShouldLogIFrame());
 159     EXPECT_FALSE(blackboxShouldLogPFrame());
 160
 161     for (int ii = 0; ii < 31; ++ii) {
 162         blackboxAdvanceIterationTimers();
 163         EXPECT_FALSE(blackboxShouldLogIFrame());
 164         EXPECT_TRUE(blackboxShouldLogPFrame());
 165
 166         blackboxAdvanceIterationTimers();
 167         EXPECT_FALSE(blackboxShouldLogIFrame());
 168         EXPECT_FALSE(blackboxShouldLogPFrame());
 169     }
 170
 171     blackboxAdvanceIterationTimers();
 172     EXPECT_TRUE(blackboxShouldLogIFrame());
 173     EXPECT_TRUE(blackboxShouldLogPFrame());
 174
 175     blackboxAdvanceIterationTimers();
 176     EXPECT_FALSE(blackboxShouldLogIFrame());
 177     EXPECT_FALSE(blackboxShouldLogPFrame());
 178 }
 179
 180 TEST(BlackboxTest, Test_8kHz)
 181 {
 182     blackboxConfigMutable()->sample_rate = 3;
 183     // 8kHz PIDloop
 184     targetPidLooptime = 125;
 185     blackboxInit();
 186     EXPECT_TRUE(blackboxShouldLogIFrame());
 187     EXPECT_TRUE(blackboxShouldLogPFrame());
 188     EXPECT_EQ(0, blackboxSlowFrameIterationTimer);
 189     EXPECT_FALSE(blackboxSlowFrameIterationTimer >= blackboxSInterval);
 190     blackboxSlowFrameIterationTimer = blackboxSInterval;
 191     EXPECT_TRUE(writeSlowFrameIfNeeded());
 192     EXPECT_EQ(0, blackboxSlowFrameIterationTimer);
 193
 194     for (int ii = 0; ii < 255; ++ii) {
 195         blackboxAdvanceIterationTimers();
 196         EXPECT_FALSE(blackboxShouldLogIFrame());
 197         EXPECT_EQ(ii + 1, blackboxSlowFrameIterationTimer);
 198         EXPECT_FALSE(writeSlowFrameIfNeeded());
 199     }
 200     blackboxAdvanceIterationTimers();
 201     EXPECT_TRUE(blackboxShouldLogIFrame());
 202     EXPECT_TRUE(blackboxShouldLogPFrame());
 203 }
 204
 205 TEST(BlackboxTest, Test_zero_p_interval)
 206 {
 207     blackboxConfigMutable()->sample_rate = 4;
 208     // 250Hz PIDloop
 209     targetPidLooptime = 4000;
 210     blackboxInit();
 211     EXPECT_EQ(8, blackboxIInterval);
 212     EXPECT_EQ(0, blackboxPInterval);
 213     EXPECT_TRUE(blackboxShouldLogIFrame());
 214     EXPECT_FALSE(blackboxShouldLogPFrame());
 215
 216     for (int ii = 0; ii < 7; ++ii) {
 217         blackboxAdvanceIterationTimers();
 218         EXPECT_FALSE(blackboxShouldLogIFrame());
 219         EXPECT_FALSE(blackboxShouldLogPFrame());
 220     }
 221     blackboxAdvanceIterationTimers();
 222     EXPECT_TRUE(blackboxShouldLogIFrame());
 223     EXPECT_FALSE(blackboxShouldLogPFrame());
 224 }
 225
 226 TEST(BlackboxTest, Test_CalculatePDenom)
 227 {
 228     blackboxConfigMutable()->sample_rate = 0;
 229     // note I-frame is logged every 32ms regardless of PIDloop rate
 230
 231     // 1kHz PIDloop
 232     targetPidLooptime = 1000;
 233     blackboxInit();
 234     EXPECT_EQ(32, blackboxIInterval);
 235     EXPECT_EQ(32, blackboxCalculatePDenom(1, 1)); // 1kHz logging
 236     EXPECT_EQ(16, blackboxCalculatePDenom(1, 2));
 237     EXPECT_EQ(8, blackboxCalculatePDenom(1, 4));
 238
 239     // 2kHz PIDloop
 240     targetPidLooptime = 500;
 241     blackboxInit();
 242     EXPECT_EQ(64, blackboxIInterval);
 243     EXPECT_EQ(64, blackboxCalculatePDenom(1, 1));
 244     EXPECT_EQ(32, blackboxCalculatePDenom(1, 2)); // 1kHz logging
 245     EXPECT_EQ(16, blackboxCalculatePDenom(1, 4));
 246
 247     // 4kHz PIDloop
 248     targetPidLooptime = 250;
 249     blackboxInit();
 250     EXPECT_EQ(128, blackboxIInterval);
 251     EXPECT_EQ(128, blackboxCalculatePDenom(1, 1));
 252     EXPECT_EQ(64, blackboxCalculatePDenom(1, 2));
 253     EXPECT_EQ(32, blackboxCalculatePDenom(1, 4)); // 1kHz logging
 254     EXPECT_EQ(16, blackboxCalculatePDenom(1, 8));
 255
 256     // 8kHz PIDloop
 257     targetPidLooptime = 125;
 258     blackboxInit();
 259     EXPECT_EQ(256, blackboxIInterval);
 260     EXPECT_EQ(256, blackboxCalculatePDenom(1, 1));
 261     EXPECT_EQ(128, blackboxCalculatePDenom(1, 2));
 262     EXPECT_EQ(64, blackboxCalculatePDenom(1, 4));
 263     EXPECT_EQ(32, blackboxCalculatePDenom(1, 8)); // 1kHz logging
 264     EXPECT_EQ(16, blackboxCalculatePDenom(1, 16));
 265 }
 266
 267 TEST(BlackboxTest, Test_CalculateRates)
 268 {
 269     // 1kHz PIDloop
 270     targetPidLooptime = 1000;
 271     blackboxConfigMutable()->sample_rate = 0;
 272     blackboxInit();
 273     EXPECT_EQ(32, blackboxIInterval);
 274     EXPECT_EQ(1, blackboxPInterval);
 275     EXPECT_EQ(1, blackboxGetRateDenom());
 276
 277     blackboxConfigMutable()->sample_rate = 1;
 278     blackboxInit();
 279     EXPECT_EQ(32, blackboxIInterval);
 280     EXPECT_EQ(2, blackboxPInterval);
 281     EXPECT_EQ(2, blackboxGetRateDenom());
 282
 283     blackboxConfigMutable()->sample_rate = 2;
 284     blackboxInit();
 285     EXPECT_EQ(32, blackboxIInterval);
 286     EXPECT_EQ(4, blackboxPInterval);
 287     EXPECT_EQ(4, blackboxGetRateDenom());
 288
 289
 290     // 8kHz PIDloop
 291     targetPidLooptime = 125;
 292     blackboxConfigMutable()->sample_rate = 3; // 1kHz logging
 293     blackboxInit();
 294     EXPECT_EQ(256, blackboxIInterval);
 295     EXPECT_EQ(8, blackboxPInterval);
 296     EXPECT_EQ(8, blackboxGetRateDenom());
 297
 298     blackboxConfigMutable()->sample_rate = 4; // 500Hz logging
 299     blackboxInit();
 300     EXPECT_EQ(256, blackboxIInterval);
 301     EXPECT_EQ(16, blackboxPInterval);
 302     EXPECT_EQ(16, blackboxGetRateDenom());
 303
 304     blackboxConfigMutable()->sample_rate = 2; // 2kHz logging
 305     blackboxInit();
 306     EXPECT_EQ(256, blackboxIInterval);
 307     EXPECT_EQ(4, blackboxPInterval);
 308     EXPECT_EQ(4, blackboxGetRateDenom());
 309
 310     blackboxConfigMutable()->sample_rate = 1; // 4kHz logging
 311     blackboxInit();
 312     EXPECT_EQ(256, blackboxIInterval);
 313     EXPECT_EQ(2, blackboxPInterval);
 314     EXPECT_EQ(2, blackboxGetRateDenom());
 315
 316     blackboxConfigMutable()->sample_rate = 0; // 8kHz logging
 317     blackboxInit();
 318     EXPECT_EQ(256, blackboxIInterval);
 319     EXPECT_EQ(1, blackboxPInterval);
 320     EXPECT_EQ(1, blackboxGetRateDenom());
 321
 322     // 0.126 PIDloop = 7.94kHz
 323     targetPidLooptime = 126;
 324     blackboxConfigMutable()->sample_rate = 3; // 0.992kHz logging
 325     blackboxInit();
 326     EXPECT_EQ(253, blackboxIInterval);
 327     EXPECT_EQ(8, blackboxPInterval);
 328     EXPECT_EQ(8, blackboxGetRateDenom());
 329
 330 }
 331
 332
 333 // STUBS
 334 extern "C" {
 335
 336 PG_REGISTER(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
 337 PG_REGISTER(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
 338 PG_REGISTER(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 0);
 339 PG_REGISTER(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 0);
 340 PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
 341 PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
 342
 343 uint8_t armingFlags;
 344 uint8_t stateFlags;
 345 const uint32_t baudRates[] = {0, 9600, 19200, 38400, 57600, 115200, 230400, 250000,
 346         400000, 460800, 500000, 921600, 1000000, 1500000, 2000000, 2470000}; // see baudRate_e
 347 uint8_t debugMode = 0;
 348 int16_t debug[DEBUG16_VALUE_COUNT];
 349 int32_t blackboxHeaderBudget;
 350 gpsSolutionData_t gpsSol;
 351 int32_t GPS_home[2];
 352
 353 gyro_t gyro;
 354
 355 float motor_disarmed[MAX_SUPPORTED_MOTORS];
 356 struct pidProfile_s;
 357 struct pidProfile_s *currentPidProfile;
 358 uint32_t targetPidLooptime;
 359
 360 boxBitmask_t rcModeActivationMask;
 361
 362 void mspSerialAllocatePorts(void) {}
 363 uint32_t getArmingBeepTimeMicros(void) {return 0;}
 364 uint16_t getBatteryVoltageLatest(void) {return 0;}
 365 uint8_t getMotorCount(void) {return 4;}
 366 bool areMotorsRunning(void) { return false; }
 367 bool IS_RC_MODE_ACTIVE(boxId_e) {return false;}
 368 bool isModeActivationConditionPresent(boxId_e) {return false;}
 369 uint32_t millis(void) {return 0;}
 370 bool sensors(uint32_t) {return false;}
 371 void serialWrite(serialPort_t *, uint8_t) {}
 372 uint32_t serialTxBytesFree(const serialPort_t *) {return 0;}
 373 bool isSerialTransmitBufferEmpty(const serialPort_t *) {return false;}
 374 bool featureIsEnabled(uint32_t) {return false;}
 375 void mspSerialReleasePortIfAllocated(serialPort_t *) {}
 376 const serialPortConfig_t *findSerialPortConfig(serialPortFunction_e ) {return NULL;}
 377 serialPort_t *findSharedSerialPort(uint16_t , serialPortFunction_e ) {return NULL;}
 378 serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, void *, uint32_t, portMode_e, portOptions_e) {return NULL;}
 379 void closeSerialPort(serialPort_t *) {}
 380 portSharing_e determinePortSharing(const serialPortConfig_t *, serialPortFunction_e ) {return PORTSHARING_UNUSED;}
 381 failsafePhase_e failsafePhase(void) {return FAILSAFE_IDLE;}
 382 bool rxAreFlightChannelsValid(void) {return false;}
 383 bool rxIsReceivingSignal(void) {return false;}
 384 bool isRssiConfigured(void) {return false;}
 385 float getMotorOutputLow(void) {return 0.0;}
 386 float getMotorOutputHigh(void) {return 0.0;}
 387 }