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fix: timer throttle conditions on surface radio (#4502)

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This commit is contained in:
3djc
2024-01-03 09:39:47 +10:00
committed by GitHub
parent 6c79bcfd6d
commit 7d18edc48d
2 changed files with 27 additions and 14 deletions
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radio/src/tests/timers.cpp
+22 -14
View File
@@ -21,9 +21,17 @@
#include "gtests.h"
#define THR_100 128 // approximately 10% full throttle
#define THR_50 64 // approximately 10% full throttle
#if defined(SURFACE_RADIO)
#define THR_100 128 // approximately 100% full throttle
#define THR_50 96 // approximately 50% full throttle
#define THR_10 71 // approximately 10% full throttle
#define THR_0 64 // approximately 0% full throttle
#else
#define THR_100 128 // approximately 100% full throttle
#define THR_50 64 // approximately 50% full throttle
#define THR_10 13 // approximately 10% full throttle
#define THR_0 0 // approximately 0% full throttle
#endif
#define TEST_AB_EQUAL(a, b) if (a != b) { return ::testing::AssertionFailure() << \
#a "= " << (uint32_t)a << ", " << #b "= " << (uint32_t)b; };
@@ -113,7 +121,7 @@ TEST(Timers, timerAbsolute)
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_100, 0, TMR_RUNNING, 1));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_100, 0, TMR_RUNNING, 101));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, 0, 0, TMR_RUNNING, 201));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_0, 0, TMR_RUNNING, 201));
// max timer value test
timerSet(0, TIMER_MAX-10);
@@ -135,16 +143,16 @@ TEST(Timers, timerThrottle)
initModelTimer(0, TMRMODE_THR, 0);
timerReset(0);
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, 0, 0, TMR_RUNNING, 0));
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_0, 0, TMR_RUNNING, 0));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_100, 0, TMR_RUNNING, 100));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_10, 0, TMR_RUNNING, 200));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, 0, 0, TMR_RUNNING, 200));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_0, 0, TMR_RUNNING, 200));
// test down-running
g_model.timers[0].start = 200;
timerReset(0);
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_100, 0, TMR_RUNNING, 199));
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, 0, 0, TMR_RUNNING, 199));
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_0, 0, TMR_RUNNING, 199));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_100, 0, TMR_RUNNING, 99));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_50, 0, TMR_NEGATIVE, -1));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_100, 0, TMR_STOPPED,-101));
@@ -155,17 +163,17 @@ TEST(Timers, timerThrottleRelative)
initModelTimer(0, TMRMODE_THR_REL, 0);
timerReset(0);
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, 0, 0, TMR_RUNNING, 0));
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_0, 0, TMR_RUNNING, 0));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_100, 0, TMR_RUNNING, 100));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_50, 0, TMR_RUNNING, 150)); // 50% throttle == 50s
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_10, 0, TMR_RUNNING, 160)); // 10% throttle == 10s
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, 0, 0, TMR_RUNNING, 160));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_0, 0, TMR_RUNNING, 160));
// test down-running
initModelTimer(0, TMRMODE_THR_REL, 200);
timerReset(0);
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_100, 0, TMR_RUNNING, 199));
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, 0, 0, TMR_RUNNING, 199));
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_0, 0, TMR_RUNNING, 199));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_100, 0, TMR_RUNNING, 99));
EXPECT_TRUE(evalTimersForNSecondsAndTest(200, THR_50, 0, TMR_NEGATIVE, -1)); // 50% throttle == 100s
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_10, 0, TMR_NEGATIVE,-11)); // 10% throttle == 10s
@@ -177,19 +185,19 @@ TEST(Timers, timerThrottleTriggered)
initModelTimer(0, TMRMODE_THR_START, 0);
timerReset(0);
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, 0, 0, TMR_OFF, 0));
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_0, 0, TMR_OFF, 0));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_10-1, 0, TMR_OFF, 0)); // below threshold
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_50, 0, TMR_RUNNING, 100));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_100, 0, TMR_RUNNING, 200));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, 0, 0, TMR_RUNNING, 300));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_0, 0, TMR_RUNNING, 300));
// test down-running
initModelTimer(0, TMRMODE_THR_START, 200);
timerReset(0);
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, 0, 0, TMR_OFF, 200));
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_0, 0, TMR_OFF, 200));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_10-1, 0, TMR_OFF, 200)); // below threshold
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_100, 0, TMR_RUNNING, 100));
EXPECT_TRUE(evalTimersForNSecondsAndTest(101, THR_50, 0, TMR_NEGATIVE, -1));
EXPECT_TRUE(evalTimersForNSecondsAndTest(10, 0, 0, TMR_NEGATIVE,-11));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, 0, 0, TMR_STOPPED,-111));
EXPECT_TRUE(evalTimersForNSecondsAndTest(10, THR_0, 0, TMR_NEGATIVE,-11));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_0, 0, TMR_STOPPED,-111));
}
radio/src/timers.cpp
+5
View File
@@ -75,6 +75,11 @@ void saveTimers()
void evalTimers(int16_t throttle, uint8_t tick10ms)
{
#if defined(SURFACE_RADIO)
// For surface radio throttle off position is at 0%
throttle = 2 * abs(throttle - (RESX >> (RESX_SHIFT-6)));
#endif
for (uint8_t i=0; i<TIMERS; i++) {
tmrmode_t timerMode = g_model.timers[i].mode;
tmrstart_t timerStart = g_model.timers[i].start;