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