src/test/unit/rx_rx_unittest.cc

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdint.h>
  19 #include <stdbool.h>
  20
  21 #include <limits.h>
  22
  23 extern "C" {
  24     #include "platform.h"
  25
  26     #include "pg/rx.h"
  27     #include "build/debug.h"
  28     #include "drivers/io.h"
  29     #include "fc/rc_controls.h"
  30     #include "rx/rx.h"
  31     #include "fc/rc_modes.h"
  32     #include "common/maths.h"
  33     #include "common/utils.h"
  34     #include "config/feature.h"
  35     #include "pg/pg.h"
  36     #include "pg/pg_ids.h"
  37     #include "io/beeper.h"
  38
  39     boxBitmask_t rcModeActivationMask;
  40     int16_t debug[DEBUG16_VALUE_COUNT];
  41     uint8_t debugMode = 0;
  42
  43     bool isPulseValid(uint16_t pulseDuration);
  44
  45     PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
  46         .enabledFeatures = 0
  47     );
  48
  49     PG_REGISTER(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
  50 }
  51
  52 #include "unittest_macros.h"
  53 #include "gtest/gtest.h"
  54
  55 #define DE_ACTIVATE_ALL_BOXES   0
  56
  57 typedef struct testData_s {
  58     bool isPPMDataBeingReceived;
  59     bool isPWMDataBeingReceived;
  60 } testData_t;
  61
  62 static testData_t testData;
  63
  64 #if 0 //!! valid pulse handling has changed so these test now test removed functions
  65 TEST(RxTest, TestValidFlightChannels)
  66 {
  67     // given
  68     memset(&testData, 0, sizeof(testData));
  69     memset(&rcModeActivationMask, 0, sizeof(rcModeActivationMask)); // BOXFAILSAFE must be OFF
  70
  71     // and
  72     rxConfigMutable()->rx_min_usec = 1000;
  73     rxConfigMutable()->rx_max_usec = 2000;
  74
  75     // and
  76     modeActivationConditionsMutable(0)->auxChannelIndex = 0;
  77     modeActivationConditionsMutable(0)->modeId = BOXARM;
  78     modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MIN);
  79     modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(1600);
  80
  81     analyzeModeActivationConditions();
  82
  83     // when
  84     rxInit();
  85
  86     // then (ARM channel should be positioned just 1 step above active range to init to OFF)
  87     EXPECT_EQ(1625, rcData[modeActivationConditions(0)->auxChannelIndex + NON_AUX_CHANNEL_COUNT]);
  88
  89     // given
  90     rxResetFlightChannelStatus();
  91
  92     // and
  93     for (uint8_t channelIndex = 0; channelIndex < MAX_SUPPORTED_RC_CHANNEL_COUNT; channelIndex++) {
  94         bool validPulse = isPulseValid(1500);
  95         rxUpdateFlightChannelStatus(channelIndex, validPulse);
  96     }
  97
  98     // then
  99     EXPECT_TRUE(rxHaveValidFlightChannels());
 100 }
 101
 102 TEST(RxTest, TestValidFlightChannelsHighArm)
 103 {
 104     // given
 105     memset(&testData, 0, sizeof(testData));
 106     memset(&rcModeActivationMask, 0, sizeof(rcModeActivationMask)); // BOXFAILSAFE must be OFF
 107
 108     // and
 109     rxConfigMutable()->rx_min_usec = 1000;
 110     rxConfigMutable()->rx_max_usec = 2000;
 111
 112     // and
 113     modeActivationConditionsMutable(0)->auxChannelIndex = 0;
 114     modeActivationConditionsMutable(0)->modeId = BOXARM;
 115     modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1400);
 116     modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
 117
 118     analyzeModeActivationConditions();
 119
 120     // when
 121     rxInit();
 122
 123     // then (ARM channel should be positioned just 1 step below active range to init to OFF)
 124     EXPECT_EQ(1375, rcData[modeActivationConditions(0)->auxChannelIndex + NON_AUX_CHANNEL_COUNT]);
 125
 126     // given
 127     rxResetFlightChannelStatus();
 128
 129     // and
 130     for (uint8_t channelIndex = 0; channelIndex < MAX_SUPPORTED_RC_CHANNEL_COUNT; channelIndex++) {
 131         bool validPulse = isPulseValid(1500);
 132         rxUpdateFlightChannelStatus(channelIndex, validPulse);
 133     }
 134
 135     // then
 136     EXPECT_TRUE(rxHaveValidFlightChannels());
 137 }
 138
 139 TEST(RxTest, TestInvalidFlightChannels)
 140 {
 141     // given
 142     memset(&testData, 0, sizeof(testData));
 143
 144     // and
 145     rxConfigMutable()->rx_min_usec = 1000;
 146     rxConfigMutable()->rx_max_usec = 2000;
 147
 148     // and
 149     modeActivationConditionsMutable(0)->auxChannelIndex = 0;
 150     modeActivationConditionsMutable(0)->modeId = BOXARM;
 151     modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1400);
 152     modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
 153
 154     analyzeModeActivationConditions();
 155
 156     // and
 157     uint16_t channelPulses[MAX_SUPPORTED_RC_CHANNEL_COUNT];
 158     memset(&channelPulses, 1500, sizeof(channelPulses));
 159
 160     // and
 161     rxInit();
 162
 163     // then (ARM channel should be positioned just 1 step below active range to init to OFF)
 164     EXPECT_EQ(1375, rcData[modeActivationConditions(0)->auxChannelIndex + NON_AUX_CHANNEL_COUNT]);
 165
 166     // and
 167     for (uint8_t stickChannelIndex = 0; stickChannelIndex < STICK_CHANNEL_COUNT; stickChannelIndex++) {
 168         // given
 169         rxResetFlightChannelStatus();
 170
 171         for (uint8_t otherStickChannelIndex = 0; otherStickChannelIndex < STICK_CHANNEL_COUNT; otherStickChannelIndex++) {
 172             channelPulses[otherStickChannelIndex] = rxConfig()->rx_min_usec;
 173         }
 174         channelPulses[stickChannelIndex] = rxConfig()->rx_min_usec - 1;
 175
 176         // when
 177         for (uint8_t channelIndex = 0; channelIndex < MAX_SUPPORTED_RC_CHANNEL_COUNT; channelIndex++) {
 178             bool validPulse = isPulseValid(channelPulses[channelIndex]);
 179             rxUpdateFlightChannelStatus(channelIndex, validPulse);
 180         }
 181
 182         // then
 183         EXPECT_FALSE(rxHaveValidFlightChannels());
 184
 185         // given
 186         rxResetFlightChannelStatus();
 187
 188         for (uint8_t otherStickChannelIndex = 0; otherStickChannelIndex < STICK_CHANNEL_COUNT; otherStickChannelIndex++) {
 189             channelPulses[otherStickChannelIndex] = rxConfig()->rx_max_usec;
 190         }
 191         channelPulses[stickChannelIndex] = rxConfig()->rx_max_usec + 1;
 192
 193         // when
 194         for (uint8_t channelIndex = 0; channelIndex < MAX_SUPPORTED_RC_CHANNEL_COUNT; channelIndex++) {
 195             bool validPulse = isPulseValid(channelPulses[channelIndex]);
 196             rxUpdateFlightChannelStatus(channelIndex, validPulse);
 197         }
 198
 199         // then
 200         EXPECT_FALSE(rxHaveValidFlightChannels());
 201     }
 202 }
 203 #endif
 204
 205 // STUBS
 206
 207 extern "C" {
 208     void failsafeOnValidDataFailed() {}
 209     void failsafeOnValidDataReceived() {}
 210
 211     void failsafeOnRxSuspend(uint32_t ) {}
 212     void failsafeOnRxResume(void) {}
 213
 214     uint32_t micros(void) { return 0; }
 215     uint32_t millis(void) { return 0; }
 216
 217     bool isPPMDataBeingReceived(void) {
 218         return testData.isPPMDataBeingReceived;
 219     }
 220
 221     bool isPWMDataBeingReceived(void) {
 222         return testData.isPWMDataBeingReceived;
 223     }
 224
 225     void resetPPMDataReceivedState(void) {}
 226     bool rxMspFrameComplete(void) { return false; }
 227
 228     void crsfRxInit(const rxConfig_t *, rxRuntimeState_t *) {}
 229     void ibusInit(const rxConfig_t *, rxRuntimeState_t *) {}
 230     void jetiExBusInit(const rxConfig_t *, rxRuntimeState_t *) {}
 231     void sbusInit(const rxConfig_t *, rxRuntimeState_t *) {}
 232     void spektrumInit(const rxConfig_t *, rxRuntimeState_t *) {}
 233     void sumdInit(const rxConfig_t *, rxRuntimeState_t *) {}
 234     void sumhInit(const rxConfig_t *, rxRuntimeState_t *) {}
 235     void xBusInit(const rxConfig_t *, rxRuntimeState_t *) {}
 236     void rxMspInit(const rxConfig_t *, rxRuntimeState_t *) {}
 237     void rxPwmInit(const rxConfig_t *, rxRuntimeState_t *) {}
 238     bool taskUpdateRxMainInProgress() { return true; }
 239     float pt1FilterGain(float f_cut, float dT)
 240     {
 241         UNUSED(f_cut);
 242         UNUSED(dT);
 243         return 0.0;
 244     }
 245
 246     void pt1FilterInit(pt1Filter_t *filter, float k)
 247     {
 248         UNUSED(filter);
 249         UNUSED(k);
 250     }
 251
 252     float pt1FilterApply(pt1Filter_t *filter, float input)
 253     {
 254         UNUSED(filter);
 255         UNUSED(input);
 256         return 0.0;
 257     }
 258
 259     void pinioBoxTaskControl(void) {}
 260 }