src/test/unit/rx_ranges_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     #include "build/debug.h"
  26     #include "drivers/io.h"
  27     #include "common/maths.h"
  28     #include "flight/failsafe.h"
  29     #include "pg/pg.h"
  30     #include "pg/pg_ids.h"
  31     #include "pg/rx.h"
  32     #include "fc/rc_controls.h"
  33     #include "fc/rc_modes.h"
  34     #include "fc/runtime_config.h"
  35     #include "rx/rx.h"
  36 }
  37
  38 #include "unittest_macros.h"
  39 #include "gtest/gtest.h"
  40
  41 extern "C" {
  42
  43 PG_REGISTER(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
  44 PG_REGISTER(failsafeConfig_t, failsafeConfig, PG_FAILSAFE_CONFIG, 0);
  45
  46 boxBitmask_t rcModeActivationMask;
  47 int16_t debug[DEBUG16_VALUE_COUNT];
  48 uint8_t debugMode = 0;
  49 uint8_t armingFlags = 0;
  50
  51 extern float applyRxChannelRangeConfiguraton(float sample, const rxChannelRangeConfig_t *range);
  52 }
  53
  54 #define RANGE_CONFIGURATION(min, max) new (rxChannelRangeConfig_t) {min, max}
  55
  56 TEST(RxChannelRangeTest, TestRxChannelRanges)
  57 {
  58     memset(&rcModeActivationMask, 0, sizeof(rcModeActivationMask)); // BOXFAILSAFE must be OFF
  59
  60     // No signal, special condition
  61     EXPECT_EQ(0, applyRxChannelRangeConfiguraton(0, RANGE_CONFIGURATION(1000, 2000)));
  62     EXPECT_EQ(0, applyRxChannelRangeConfiguraton(0, RANGE_CONFIGURATION(1300, 1700)));
  63     EXPECT_EQ(0, applyRxChannelRangeConfiguraton(0, RANGE_CONFIGURATION(900, 2100)));
  64
  65     // Exact mapping
  66     EXPECT_EQ(1000, applyRxChannelRangeConfiguraton(1000, RANGE_CONFIGURATION(1000, 2000)));
  67     EXPECT_EQ(1500, applyRxChannelRangeConfiguraton(1500, RANGE_CONFIGURATION(1000, 2000)));
  68     EXPECT_EQ(2000, applyRxChannelRangeConfiguraton(2000, RANGE_CONFIGURATION(1000, 2000)));
  69     EXPECT_EQ(750, applyRxChannelRangeConfiguraton(700, RANGE_CONFIGURATION(1000, 2000)));
  70     EXPECT_EQ(2250, applyRxChannelRangeConfiguraton(2500, RANGE_CONFIGURATION(1000, 2000)));
  71
  72     // Reversed channel
  73     EXPECT_EQ(2000, applyRxChannelRangeConfiguraton(1000, RANGE_CONFIGURATION(2000, 1000)));
  74     EXPECT_EQ(1500, applyRxChannelRangeConfiguraton(1500, RANGE_CONFIGURATION(2000, 1000)));
  75     EXPECT_EQ(1000, applyRxChannelRangeConfiguraton(2000, RANGE_CONFIGURATION(2000, 1000)));
  76
  77     // Shifted range
  78     EXPECT_EQ(1000, applyRxChannelRangeConfiguraton(900, RANGE_CONFIGURATION(900, 1900)));
  79     EXPECT_EQ(1500, applyRxChannelRangeConfiguraton(1400, RANGE_CONFIGURATION(900, 1900)));
  80     EXPECT_EQ(2000, applyRxChannelRangeConfiguraton(1900, RANGE_CONFIGURATION(900, 1900)));
  81     EXPECT_EQ(750, applyRxChannelRangeConfiguraton(600, RANGE_CONFIGURATION(900, 1900)));
  82     EXPECT_EQ(2250, applyRxChannelRangeConfiguraton(2500, RANGE_CONFIGURATION(900, 1900)));
  83
  84     // Narrower range than expected
  85     EXPECT_EQ(1000, applyRxChannelRangeConfiguraton(1300, RANGE_CONFIGURATION(1300, 1700)));
  86     EXPECT_EQ(1500, applyRxChannelRangeConfiguraton(1500, RANGE_CONFIGURATION(1300, 1700)));
  87     EXPECT_EQ(2000, applyRxChannelRangeConfiguraton(1700, RANGE_CONFIGURATION(1300, 1700)));
  88     EXPECT_EQ(750, applyRxChannelRangeConfiguraton(700, RANGE_CONFIGURATION(1300, 1700)));
  89     EXPECT_EQ(2250, applyRxChannelRangeConfiguraton(2500, RANGE_CONFIGURATION(1300, 1700)));
  90
  91     // Wider range than expected
  92     EXPECT_EQ(1000, applyRxChannelRangeConfiguraton(900, RANGE_CONFIGURATION(900, 2100)));
  93     EXPECT_EQ(1500, applyRxChannelRangeConfiguraton(1500, RANGE_CONFIGURATION(900, 2100)));
  94     EXPECT_EQ(2000, applyRxChannelRangeConfiguraton(2100, RANGE_CONFIGURATION(900, 2100)));
  95     EXPECT_EQ(750, applyRxChannelRangeConfiguraton(600, RANGE_CONFIGURATION(900, 2100)));
  96     EXPECT_EQ(2250, applyRxChannelRangeConfiguraton(2700, RANGE_CONFIGURATION(900, 2100)));
  97
  98     // extreme out of range
  99     EXPECT_EQ(750, applyRxChannelRangeConfiguraton(1, RANGE_CONFIGURATION(1000, 2000)));
 100     EXPECT_EQ(750, applyRxChannelRangeConfiguraton(1, RANGE_CONFIGURATION(1300, 1700)));
 101     EXPECT_EQ(750, applyRxChannelRangeConfiguraton(1, RANGE_CONFIGURATION(900, 2100)));
 102
 103     EXPECT_EQ(2250, applyRxChannelRangeConfiguraton(10000, RANGE_CONFIGURATION(1000, 2000)));
 104     EXPECT_EQ(2250, applyRxChannelRangeConfiguraton(10000, RANGE_CONFIGURATION(1300, 1700)));
 105     EXPECT_EQ(2250, applyRxChannelRangeConfiguraton(10000, RANGE_CONFIGURATION(900, 2100)));
 106 }
 107
 108
 109 // stubs
 110 extern "C" {
 111
 112 void failsafeOnRxSuspend(uint32_t ) {}
 113 void failsafeOnRxResume(void) {}
 114 bool failsafeIsActive(void) { return false; }
 115 bool failsafeIsReceivingRxData(void) { return true; }
 116 bool taskUpdateRxMainInProgress() { return true; }
 117 void setArmingDisabled(armingDisableFlags_e flag) { UNUSED(flag); }
 118 void unsetArmingDisabled(armingDisableFlags_e flag) { UNUSED(flag); }
 119
 120 uint32_t micros(void) { return 0; }
 121 uint32_t millis(void) { return 0; }
 122
 123 void rxPwmInit(rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
 124 {
 125     UNUSED(rxRuntimeState);
 126     UNUSED(callback);
 127 }
 128
 129 bool sbusInit(rxConfig_t *initialRxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
 130 {
 131     UNUSED(initialRxConfig);
 132     UNUSED(rxRuntimeState);
 133     UNUSED(callback);
 134     return true;
 135 }
 136
 137 bool spektrumInit(rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
 138 {
 139     UNUSED(rxConfig);
 140     UNUSED(rxRuntimeState);
 141     UNUSED(callback);
 142     return true;
 143 }
 144
 145 bool sumdInit(rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
 146 {
 147     UNUSED(rxConfig);
 148     UNUSED(rxRuntimeState);
 149     UNUSED(callback);
 150     return true;
 151 }
 152
 153 bool sumhInit(rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
 154 {
 155     UNUSED(rxConfig);
 156     UNUSED(rxRuntimeState);
 157     UNUSED(callback);
 158     return true;
 159 }
 160
 161 bool crsfRxInit(rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
 162 {
 163     UNUSED(rxConfig);
 164     UNUSED(rxRuntimeState);
 165     UNUSED(callback);
 166     return true;
 167 }
 168
 169 bool jetiExBusInit(rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
 170 {
 171     UNUSED(rxConfig);
 172     UNUSED(rxRuntimeState);
 173     UNUSED(callback);
 174     return true;
 175 }
 176
 177 bool ibusInit(rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
 178 {
 179     UNUSED(rxConfig);
 180     UNUSED(rxRuntimeState);
 181     UNUSED(callback);
 182     return true;
 183 }
 184
 185 bool xBusInit(rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
 186 {
 187     UNUSED(rxConfig);
 188     UNUSED(rxRuntimeState);
 189     UNUSED(callback);
 190     return true;
 191 }
 192
 193 bool rxMspInit(rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState, rcReadRawDataFnPtr *callback)
 194 {
 195     UNUSED(rxConfig);
 196     UNUSED(rxRuntimeState);
 197     UNUSED(callback);
 198     return true;
 199 }
 200
 201 bool featureIsEnabled(uint32_t) {
 202     return false;
 203 }
 204
 205 void featureDisableImmediate(uint32_t) {
 206 }
 207
 208 bool rxMspFrameComplete(void)
 209 {
 210     return false;
 211 }
 212
 213 bool isPPMDataBeingReceived(void)
 214 {
 215     return false;
 216 }
 217
 218 bool isPWMDataBeingReceived(void)
 219 {
 220     return false;
 221 }
 222
 223 void resetPPMDataReceivedState(void)
 224 {
 225 }
 226
 227 void failsafeOnValidDataReceived(void)
 228 {
 229 }
 230
 231 void failsafeOnValidDataFailed(void)
 232 {
 233 }
 234
 235 uint32_t failsafeFailurePeriodMs(void)
 236 {
 237     return 400;
 238 }
 239
 240 float pt1FilterGain(float f_cut, float dT)
 241 {
 242     UNUSED(f_cut);
 243     UNUSED(dT);
 244     return 0.0;
 245 }
 246
 247 void pt1FilterInit(pt1Filter_t *filter, float k)
 248 {
 249     UNUSED(filter);
 250     UNUSED(k);
 251 }
 252
 253 float pt1FilterApply(pt1Filter_t *filter, float input)
 254 {
 255     UNUSED(filter);
 256     UNUSED(input);
 257     return 0.0;
 258 }
 259
 260 void pinioBoxTaskControl(void) {}
 261
 262 }