src/main/config/config_unittest.h

   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 #pragma once
  19
  20 #ifdef SRC_MAIN_SCHEDULER_C_
  21 #ifdef UNIT_TEST
  22
  23 cfTask_t *unittest_scheduler_selectedTask;
  24 uint8_t unittest_scheduler_selectedTaskDynamicPriority;
  25 uint16_t unittest_scheduler_waitingTasks;
  26 bool unittest_outsideRealtimeGuardInterval;
  27
  28 #define GET_SCHEDULER_LOCALS() \
  29     { \
  30     unittest_scheduler_selectedTask = selectedTask; \
  31     unittest_scheduler_selectedTaskDynamicPriority = selectedTaskDynamicPriority; \
  32     unittest_scheduler_waitingTasks = waitingTasks; \
  33     unittest_outsideRealtimeGuardInterval = outsideRealtimeGuardInterval; \
  34     }
  35
  36 #else
  37
  38 #define GET_SCHEDULER_LOCALS() {}
  39
  40 #endif
  41 #endif
  42
  43
  44 #ifdef SRC_MAIN_FLIGHT_PID_C_
  45 #ifdef UNIT_TEST
  46
  47 float unittest_pidLuxFloat_lastErrorForDelta[3];
  48 float unittest_pidLuxFloat_delta1[3];
  49 float unittest_pidLuxFloat_delta2[3];
  50 float unittest_pidLuxFloat_PTerm[3];
  51 float unittest_pidLuxFloat_ITerm[3];
  52 float unittest_pidLuxFloat_DTerm[3];
  53
  54 #define SET_PID_LUX_FLOAT_LOCALS(axis) \
  55     { \
  56         lastErrorForDelta[axis] = unittest_pidLuxFloat_lastErrorForDelta[axis]; \
  57         delta1[axis] = unittest_pidLuxFloat_delta1[axis]; \
  58         delta2[axis] = unittest_pidLuxFloat_delta2[axis]; \
  59     }
  60
  61 #define GET_PID_LUX_FLOAT_LOCALS(axis) \
  62     { \
  63         unittest_pidLuxFloat_lastErrorForDelta[axis] = lastErrorForDelta[axis]; \
  64         unittest_pidLuxFloat_delta1[axis] = delta1[axis]; \
  65         unittest_pidLuxFloat_delta2[axis] = delta2[axis]; \
  66         unittest_pidLuxFloat_PTerm[axis] = PTerm; \
  67         unittest_pidLuxFloat_ITerm[axis] = ITerm; \
  68         unittest_pidLuxFloat_DTerm[axis] = DTerm; \
  69     }
  70
  71 int32_t unittest_pidMultiWiiRewrite_lastErrorForDelta[3];
  72 int32_t unittest_pidMultiWiiRewrite_PTerm[3];
  73 int32_t unittest_pidMultiWiiRewrite_ITerm[3];
  74 int32_t unittest_pidMultiWiiRewrite_DTerm[3];
  75
  76 #define SET_PID_MULTI_WII_REWRITE_LOCALS(axis) \
  77     { \
  78     lastErrorForDelta[axis] = unittest_pidMultiWiiRewrite_lastErrorForDelta[axis]; \
  79     }
  80
  81 #define GET_PID_MULTI_WII_REWRITE_LOCALS(axis) \
  82     { \
  83         unittest_pidMultiWiiRewrite_lastErrorForDelta[axis] = lastErrorForDelta[axis]; \
  84         unittest_pidMultiWiiRewrite_PTerm[axis] = PTerm; \
  85         unittest_pidMultiWiiRewrite_ITerm[axis] = ITerm; \
  86         unittest_pidMultiWiiRewrite_DTerm[axis] = DTerm; \
  87     }
  88
  89 #else
  90
  91 #define SET_PID_LUX_FLOAT_LOCALS(axis) {}
  92 #define GET_PID_LUX_FLOAT_LOCALS(axis) {}
  93 #define SET_PID_MULTI_WII_REWRITE_LOCALS(axis) {}
  94 #define GET_PID_MULTI_WII_REWRITE_LOCALS(axis) {}
  95
  96 #endif // UNIT_TEST
  97 #endif // SRC_MAIN_FLIGHT_PID_C_