src/test/unit/rx_ranges_unittest.cc.txt

   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 "rx/rx.h"
  27     #include "io/rc_controls.h"
  28     #include "common/maths.h"
  29 }
  30
  31 #include "unittest_macros.h"
  32 #include "gtest/gtest.h"
  33
  34 #define DE_ACTIVATE_ALL_BOXES   0
  35
  36 extern "C" {
  37 uint32_t rcModeActivationMask;
  38
  39 extern uint16_t applyRxChannelRangeConfiguraton(int sample, rxChannelRangeConfiguration_t range);
  40 }
  41
  42 #define RANGE_CONFIGURATION(min, max) (rxChannelRangeConfiguration_t) {min, max}
  43
  44 TEST(RxChannelRangeTest, TestRxChannelRanges)
  45 {
  46     rcModeActivationMask = DE_ACTIVATE_ALL_BOXES;   // BOXFAILSAFE must be OFF
  47
  48     // No signal, special condition
  49     EXPECT_EQ(applyRxChannelRangeConfiguraton(0, RANGE_CONFIGURATION(1000, 2000)), 0);
  50     EXPECT_EQ(applyRxChannelRangeConfiguraton(0, RANGE_CONFIGURATION(1300, 1700)), 0);
  51     EXPECT_EQ(applyRxChannelRangeConfiguraton(0, RANGE_CONFIGURATION(900, 2100)), 0);
  52
  53     // Exact mapping
  54     EXPECT_EQ(applyRxChannelRangeConfiguraton(1000, RANGE_CONFIGURATION(1000, 2000)), 1000);
  55     EXPECT_EQ(applyRxChannelRangeConfiguraton(1500, RANGE_CONFIGURATION(1000, 2000)), 1500);
  56     EXPECT_EQ(applyRxChannelRangeConfiguraton(2000, RANGE_CONFIGURATION(1000, 2000)), 2000);
  57     EXPECT_EQ(applyRxChannelRangeConfiguraton(700, RANGE_CONFIGURATION(1000, 2000)), 750);
  58     EXPECT_EQ(applyRxChannelRangeConfiguraton(2500, RANGE_CONFIGURATION(1000, 2000)), 2250);
  59
  60     // Reversed channel
  61     EXPECT_EQ(applyRxChannelRangeConfiguraton(1000, RANGE_CONFIGURATION(2000, 1000)), 2000);
  62     EXPECT_EQ(applyRxChannelRangeConfiguraton(1500, RANGE_CONFIGURATION(2000, 1000)), 1500);
  63     EXPECT_EQ(applyRxChannelRangeConfiguraton(2000, RANGE_CONFIGURATION(2000, 1000)), 1000);
  64
  65     // Shifted range
  66     EXPECT_EQ(applyRxChannelRangeConfiguraton(900, RANGE_CONFIGURATION(900, 1900)), 1000);
  67     EXPECT_EQ(applyRxChannelRangeConfiguraton(1400, RANGE_CONFIGURATION(900, 1900)), 1500);
  68     EXPECT_EQ(applyRxChannelRangeConfiguraton(1900, RANGE_CONFIGURATION(900, 1900)), 2000);
  69     EXPECT_EQ(applyRxChannelRangeConfiguraton(600, RANGE_CONFIGURATION(900, 1900)), 750);
  70     EXPECT_EQ(applyRxChannelRangeConfiguraton(2500, RANGE_CONFIGURATION(900, 1900)), 2250);
  71
  72     // Narrower range than expected
  73     EXPECT_EQ(applyRxChannelRangeConfiguraton(1300, RANGE_CONFIGURATION(1300, 1700)), 1000);
  74     EXPECT_EQ(applyRxChannelRangeConfiguraton(1500, RANGE_CONFIGURATION(1300, 1700)), 1500);
  75     EXPECT_EQ(applyRxChannelRangeConfiguraton(1700, RANGE_CONFIGURATION(1300, 1700)), 2000);
  76     EXPECT_EQ(applyRxChannelRangeConfiguraton(700, RANGE_CONFIGURATION(1300, 1700)), 750);
  77     EXPECT_EQ(applyRxChannelRangeConfiguraton(2500, RANGE_CONFIGURATION(1300, 1700)), 2250);
  78
  79     // Wider range than expected
  80     EXPECT_EQ(applyRxChannelRangeConfiguraton(900, RANGE_CONFIGURATION(900, 2100)), 1000);
  81     EXPECT_EQ(applyRxChannelRangeConfiguraton(1500, RANGE_CONFIGURATION(900, 2100)), 1500);
  82     EXPECT_EQ(applyRxChannelRangeConfiguraton(2100, RANGE_CONFIGURATION(900, 2100)), 2000);
  83     EXPECT_EQ(applyRxChannelRangeConfiguraton(600, RANGE_CONFIGURATION(900, 2100)), 750);
  84     EXPECT_EQ(applyRxChannelRangeConfiguraton(2700, RANGE_CONFIGURATION(900, 2100)), 2250);
  85
  86     // extreme out of range
  87     EXPECT_EQ(applyRxChannelRangeConfiguraton(1, RANGE_CONFIGURATION(1000, 2000)), 750);
  88     EXPECT_EQ(applyRxChannelRangeConfiguraton(1, RANGE_CONFIGURATION(1300, 1700)), 750);
  89     EXPECT_EQ(applyRxChannelRangeConfiguraton(1, RANGE_CONFIGURATION(900, 2100)), 750);
  90
  91     EXPECT_EQ(applyRxChannelRangeConfiguraton(10000, RANGE_CONFIGURATION(1000, 2000)), 2250);
  92     EXPECT_EQ(applyRxChannelRangeConfiguraton(10000, RANGE_CONFIGURATION(1300, 1700)), 2250);
  93     EXPECT_EQ(applyRxChannelRangeConfiguraton(10000, RANGE_CONFIGURATION(900, 2100)), 2250);
  94 }
  95
  96
  97 // stubs
  98 extern "C" {
  99
 100 void failsafeOnRxSuspend(uint32_t ) {}
 101 void failsafeOnRxResume(void) {}
 102
 103 uint32_t micros(void) { return 0; }
 104 uint32_t millis(void) { return 0; }
 105
 106 void rxPwmInit(rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
 107 {
 108     UNUSED(rxRuntimeConfig);
 109     UNUSED(callback);
 110 }
 111
 112 bool sbusInit(rxConfig_t *initialRxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
 113 {
 114     UNUSED(initialRxConfig);
 115     UNUSED(rxRuntimeConfig);
 116     UNUSED(callback);
 117     return true;
 118 }
 119
 120 bool spektrumInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
 121 {
 122     UNUSED(rxConfig);
 123     UNUSED(rxRuntimeConfig);
 124     UNUSED(callback);
 125     return true;
 126 }
 127
 128 bool sumdInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
 129 {
 130     UNUSED(rxConfig);
 131     UNUSED(rxRuntimeConfig);
 132     UNUSED(callback);
 133     return true;
 134 }
 135
 136 bool rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback)
 137 {
 138     UNUSED(rxConfig);
 139     UNUSED(rxRuntimeConfig);
 140     UNUSED(callback);
 141     return true;
 142 }
 143
 144 bool feature(uint32_t) {
 145     return false;
 146 }
 147
 148 bool rxMspFrameComplete(void)
 149 {
 150     return false;
 151 }
 152
 153 bool isPPMDataBeingReceived(void)
 154 {
 155     return false;
 156 }
 157
 158 bool isPWMDataBeingReceived(void)
 159 {
 160     return false;
 161 }
 162
 163 void resetPPMDataReceivedState(void)
 164 {
 165 }
 166
 167 void failsafeOnValidDataReceived(void)
 168 {
 169 }
 170
 171 void failsafeOnValidDataFailed(void)
 172 {
 173 }
 174
 175 }
 176