src/test/unit/motor_output_unittest.cc

   1 /*
   2  * This file is part of Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdint.h>
  22 #include <iostream>
  23
  24 extern "C" {
  25     #include "drivers/dshot.h"
  26 }
  27
  28 #include "unittest_macros.h"
  29 #include "gtest/gtest.h"
  30
  31 TEST(MotorOutputUnittest, TestFixMotorOutputReordering)
  32 {
  33     const unsigned size = 8;
  34
  35     uint8_t  a1_initial[size] = {0, 1, 2, 3, 4, 5, 6, 7};
  36     uint8_t a1_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
  37     validateAndfixMotorOutputReordering(a1_initial, size);
  38     EXPECT_TRUE( 0 == memcmp(a1_expected, a1_initial, sizeof(a1_expected)));
  39
  40     uint8_t  a2_initial[size] = {3, 2, 1, 4, 5, 6, 7, 0};
  41     uint8_t a2_expected[size] = {3, 2, 1, 4, 5, 6, 7, 0};
  42     validateAndfixMotorOutputReordering(a2_initial, size);
  43     EXPECT_TRUE( 0 == memcmp(a2_expected, a2_initial, sizeof(a2_expected)));
  44
  45     uint8_t  a3_initial[size] = {3, 2, 1, 100, 5, 6, 7, 0};
  46     uint8_t a3_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
  47     validateAndfixMotorOutputReordering(a3_initial, size);
  48     EXPECT_TRUE( 0 == memcmp(a3_expected, a3_initial, sizeof(a3_expected)));
  49
  50     uint8_t  a4_initial[size] = {3, 2, 1, 100, 5, 6, 200, 0};
  51     uint8_t a4_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
  52     validateAndfixMotorOutputReordering(a4_initial, size);
  53     EXPECT_TRUE( 0 == memcmp(a4_expected, a4_initial, sizeof(a4_expected)));
  54
  55     uint8_t  a5_initial[size] = {0, 0, 0, 0, 0, 0, 0, 0};
  56     uint8_t a5_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
  57     validateAndfixMotorOutputReordering(a5_initial, size);
  58     EXPECT_TRUE( 0 == memcmp(a5_expected, a5_initial, sizeof(a5_expected)));
  59
  60     uint8_t  a6_initial[size] = {0, 0, 0, 1, 0, 99, 0, 0};
  61     uint8_t a6_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
  62     validateAndfixMotorOutputReordering(a6_initial, size);
  63     EXPECT_TRUE( 0 == memcmp(a6_expected, a6_initial, sizeof(a5_expected)));
  64
  65     uint8_t  a7_initial[size] = {1, 5, 3, 4, 5, 6, 7, 0};
  66     uint8_t a7_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
  67     validateAndfixMotorOutputReordering(a7_initial, size);
  68     EXPECT_TRUE( 0 == memcmp(a7_expected, a7_initial, sizeof(a7_expected)));
  69
  70     uint8_t  a8_initial[size] = {1, 5, 1, 5, 3, 3, 3, 3};
  71     uint8_t a8_expected[size] = {0, 1, 2, 3, 4, 5, 6, 7};
  72     validateAndfixMotorOutputReordering(a8_initial, size);
  73     EXPECT_TRUE( 0 == memcmp(a8_expected, a8_initial, sizeof(a8_expected)));
  74
  75     uint8_t  a9_initial[size] = {7, 6, 5, 4, 3, 2, 1, 0};
  76     uint8_t a9_expected[size] = {7, 6, 5, 4, 3, 2, 1, 0};
  77     validateAndfixMotorOutputReordering(a9_initial, size);
  78     EXPECT_TRUE( 0 == memcmp(a9_expected, a9_initial, sizeof(a9_expected)));
  79 }