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2b100e0eb540a20cc6d357ec746562595086fdae
edgetx-gx12/radio/src/tests/mixer.cpp
T
Raphael CoefficandMalte Langermann 2b100e0eb5 refact: ADC, switches and keys 
Add "hardware_defs" target to dump hardware defines from hal.h per target

Fixed hal.h definitions for switches & ADC inputs

Tools to generate hardware definitions from current hal.h

generator: add support for EXTx and analog switches

WiP

Add generated header to hardware_defs target

Add support for ADC input direction and index per GPIO port

Incredible: it compiles

Removed StdPeriph ADC driver

Works on QX7

Works on TX16S (VBat missing)

Switch driver using generated switches for stm32 targets

Switch driver with generated switches for simu

Use switch names from switch driver

Fixed single conversion handling

Fixed horus VBat reading

Added switch name

Fix warnings about bitfield offsets and GCC 4.4

This is caused by bitfields that cross type boundaries. In this particular case, it happens as the bitfield is not defined the same in `rtc_backup.cpp`.

Switches has already been moved to generic driver

Jitter measurement for each sample, not just for oversampled values

Moved periph clock init to the ADC driver

ADC & GPIOs.

Add switchInit() to init pins

Fix NV14 CMake

Fix taranis target

Fix NV14 (again)

Model audio files: use new interface for switch index

Fix X9-lite

Fix simu headers

Fix getSwitchName()

Add support for ADC switches

Fix switch warning YAML

Test only switches which are defined

Conversions tests for QX7 only on QX7

Fix X12S

Fix function switch names

Enable ADC periph clock before initialising channels

NV14: offset inputs for the sticks & fix switches

WiP: get rid of VSRCRAW and some more

Simu shall use normal ADC driver

fix x7

fix nv14

Fix 9x nav

fix 212x64

fix xlite

fix x9e

fix simu lib

fix unit tests

fix x7 tests

PWM stick values should be written directly into adcValues

... just like FlySky sticks.

fix x12s

fix nv14

Add some support for SPI ADC (only unit tests)

Remove `jq` usage

fix generate_yaml.py for newer libclang

fix pot config

fix stick names

Some YAML generator improvements

Max 16 Pots on COLORLCD

Fix some source names

Use 10 bits for switches to prevent overflow

Removed horus constants for switches & ADC inputs

Fix unit tests

Fix curve edit

Fix libsimulator

Fix function switches (tpro)

Refine ADC & analog API

Moved hardware definitions scripts and templates into own dir

cleanup API refine

Fix unit tests

Mixer: apply calibration only on required inputs

Place ADC switches after all other ADC inputs

Fix X12S

Remove useless TR_POTS_VSRCRAW, TR_SW_VSRCRAW, and TR_VSRCRAW

Cleanup redundant generated YAML parsers

Fixes Boxer rebase

Add boxer to generate-hw-defs.sh

Obsolete LUA exports

Add boxer ADC_DIRECTION

Split generate_hw_defs.py into multiple files

Some cleanup (+ LUA switches)

Fix AXIS definitions

Fixed translation strings declarations

Some rebase fixes

Remove some useless StdPeriph drivers

fix: set pin mode to reset state on usart deinit

fix: use canonical names for calibration data

fix: ADC driver does not care about unconfigured inputs

fix X12S ADC

Add support for ADC conversion chaining

Better X12S ADC implem

Moved X12S ADC driver to HAL/LL

Improve ADC driver separation

Fixed taranis & nv14

Moved PWM gimbals to HAL/LL

Removed useless TR_EXTRA_VSRCRAW

Fixed include guards

Small fixes

Renamed control inputs

Moved internal and external module pulse driver def to boards

Move more things to the generic_stm32 board

Remove STR_VMIXTRIMS

Added analog labels

Generate main control names

Misuse labels / short labels for main controls

Backward compatibility: sliders and legacy names

New keys driver

Let's get rid of StdPeriph headers in simu

Add jinja2 to CI workflows

Use `grep` instead of `sed`

chore: add python jinja2 oto msys setup script

Removed more static definitions and use dynamic ones instead

Fixes X9E

Fix x7 nav too

212 switch display

Fix default sliders

Removed NUM_STICKS

212 switch display working nicely

Surface radio 'stick' replacements

fix: switch, trim & rotary pin init

Remove old key drivers

Removed VKEYS

Removed ETX_FOURCC

Fixed SURFACE_NAME

Removed TR_VSWITCHES & TR_TRIMS_SWITCHES

Fix xpot switches

Store calibrated analogs in physical order

Use getSourceString in drawSource

Implement missing YAML read/write

Fix isSourceAvailableInInputs()

Fix isSourceAvailable()

Some surface fixes

Fix CLI debug

Ported colour UI of analog diagnostics to new ADC API

Small fixes

Better input mapping

Minor tpro fixes

Fix trims available

Remove TX mode choice on surface radio

Rename surface controls

Channel order alignement

Fix throttle warning

Fix checkTrims()

Fix pot config casting issue

Fix IS_SWITCH_FS()

Fixed input mapping

Fix fswitch auto-switch

Fixed storing / reading function switches in YAML

Fix enableVBatBridge() / disableVBatBridge()

Fix interesting mode conversion

Fix sources issues

Fix special funnction list

Proper function switch handling

128 GUI improvements

Fix compilation

Boxer cosmetics

128 hardware screen cosmetic

Fix TX12 switches

More switches fixes

Simplify CPU type handling

Fix flash size

Fixed page-up / page-down in libopenui
2023-06-25 14:32:39 +02:00

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/*
* Copyright (C) EdgeTX
*
* Based on code named
* opentx - https://github.com/opentx/opentx
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*/
#include "gtests.h"
#include "hal/adc_driver.h"
class TrimsTest : public OpenTxTest {};
class MixerTest : public OpenTxTest {};
#define CHECK_NO_MOVEMENT(channel, value, duration) \
for (int i=1; i<=(duration); i++) { \
evalFlightModeMixes(e_perout_mode_normal, 1); \
GTEST_ASSERT_EQ((value), chans[(channel)]); \
}
#define CHECK_SLOW_MOVEMENT(channel, sign, duration) \
do { \
for (int i=1; i<=(duration); i++) { \
evalFlightModeMixes(e_perout_mode_normal, 1); \
lastAct = lastAct + (sign) * (1<<19)/500; /* 100 on ARM */ \
GTEST_ASSERT_EQ(256 * (lastAct >> 8), chans[(channel)]); \
} \
} while (0)
#define CHECK_DELAY(channel, duration) \
do { \
int32_t value = chans[(channel)]; \
for (int i=1; i<=(duration); i++) { \
evalFlightModeMixes(e_perout_mode_normal, 1); \
GTEST_ASSERT_EQ(chans[(channel)], value); \
} \
} while (0)
#define CHECK_FLIGHT_MODE_TRANSITION(channel, duration, initValue, endValue) \
do { \
uint32_t delta = 0xffff / duration; \
int32_t weightInit = 0xffff; \
int32_t weightEnd = 0; \
for (int i = 0; i <= (duration); i++) { \
evalMixes(1); \
GTEST_ASSERT_LE( abs(((initValue) * weightInit + (endValue) * weightEnd) / 0xffff - channelOutputs[(channel)]), 1); \
weightInit = weightInit - delta; \
weightEnd = weightEnd + delta; \
} \
for (int i = 0; i < 100; i++) { /* be sure the transition is finished*/ \
evalMixes(1); \
} \
} while (0)
TEST_F(TrimsTest, throttleTrim)
{
g_model.thrTrim = 1;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+512);
// stick min + trim mid
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+256);
// stick min + trim min
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
// now the same tests with extended Trims
g_model.extendedTrims = 1;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+2048);
// stick min + trim mid
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+1024);
// stick min + trim min
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
}
TEST_F(TrimsTest, invertedThrottlePlusThrottleTrim)
{
g_model.throttleReversed = 1;
g_model.thrTrim = 1;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
// stick max + trim mid
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+256);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+512);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
// stick min + trim min
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
// now the same tests with extended Trims
g_model.extendedTrims = 1;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
// stick max + trim mid
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+1024);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+2048);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
// stick min + trim min
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
}
TEST_F(TrimsTest, throttleTrimWithZeroWeightOnThrottle)
{
g_model.thrTrim = 1;
// the input already exists
ExpoData *expo = expoAddress(THR_STICK);
expo->weight = 0;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 256);
// stick max + trim mid
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_LE(abs(channelOutputs[2] - 128), 1); //can't use precise comparison here because of lower precision math on 9X
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 256);
// stick min + trim mid
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_LE(abs(channelOutputs[2] - 128), 1);
// stick min + trim min
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
// now some tests with extended Trims
g_model.extendedTrims = 1;
// trim min + various stick positions = should always be same value
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
anaSetFiltered(THR_STICK, -1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaSetFiltered(THR_STICK, -300);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaSetFiltered(THR_STICK, +300);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaSetFiltered(THR_STICK, +1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
// trim max + various stick positions = should always be same value
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
anaSetFiltered(THR_STICK, -1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
anaSetFiltered(THR_STICK, -300);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
anaSetFiltered(THR_STICK, +300);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
anaSetFiltered(THR_STICK, +1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
}
TEST_F(TrimsTest, invertedThrottlePlusthrottleTrimWithZeroWeightOnThrottle)
{
g_model.throttleReversed = 1;
g_model.thrTrim = 1;
// the input already exists
ExpoData *expo = expoAddress(THR_STICK);
expo->weight = 0;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
// stick max + trim mid
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_LE(abs(channelOutputs[2] - 128), 1);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 256);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
// stick min + trim mid
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, 0);
evalMixes(1);
EXPECT_LE(abs(channelOutputs[2] - 128), 1);
// stick min + trim min
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, THR_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 256);
// now some tests with extended Trims
g_model.extendedTrims = 1;
// trim min + various stick positions = should always be same value
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MIN);
anaSetFiltered(THR_STICK, -1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
anaSetFiltered(THR_STICK, -300);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
anaSetFiltered(THR_STICK, +300);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
anaSetFiltered(THR_STICK, +1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
// trim max + various stick positions = should always be same value
setTrimValue(0, THR_STICK, TRIM_EXTENDED_MAX);
anaSetFiltered(THR_STICK, -1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaSetFiltered(THR_STICK, -300);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaSetFiltered(THR_STICK, +300);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
anaSetFiltered(THR_STICK, +1024);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 0);
}
TEST_F(TrimsTest, CopyTrimsToOffset)
{
setTrimValue(0, ELE_STICK, -100); // -100 on elevator
evalFunctions(g_model.customFn, modelFunctionsContext); // it disables all safety channels
copyTrimsToOffset(1);
EXPECT_EQ(getTrimValue(0, ELE_STICK), -100); // unchanged
EXPECT_EQ(g_model.limitData[1].offset, -195);
}
TEST_F(TrimsTest, CopySticksToOffset)
{
anaSetFiltered(ELE_STICK, -100);
evalMixes(1);
copySticksToOffset(1);
#if defined(STICK_DEAD_ZONE)
EXPECT_EQ(g_model.limitData[1].offset, -93);
#else
EXPECT_EQ(g_model.limitData[1].offset, -97);
#endif
}
TEST_F(TrimsTest, MoveTrimsToOffsets)
{
// No trim idle only
g_model.thrTrim = 0;
anaSetFiltered(THR_STICK, 0);
setTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM, 100);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, -100);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 200); // THR output value is reflecting 100 trim
moveTrimsToOffsets();
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[2].offset, 195); // value transferred
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[1].offset, -195); // value transferred
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 200); // THR output value is still reflecting 100 trim
}
TEST_F(TrimsTest, MoveTrimsToOffsetsWithTrimIdle)
{
// Trim idle only
g_model.thrTrim = 1;
anaSetFiltered(THR_STICK, -1024); // Min stick
g_model.limitData[2].offset = 0;
g_model.limitData[1].offset = 0;
setTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM, 100);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, -100);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -568); // THR output value is reflecting 100 trim idle
moveTrimsToOffsets();
// Trim affecting Throttle should not be affected
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM), 100); // unchanged
EXPECT_EQ(g_model.limitData[2].offset, 0); // unchanged
// Other trims should
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[1].offset, -195); // value transferred
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -568); // THR output value is still reflecting 100 trim idle
}
TEST_F(TrimsTest, MoveTrimsToOffsetsWithCrossTrims)
{
// No trim idle only
// Cross trims
g_model.thrTrim = 0;
g_model.limitData[2].offset = 0;
g_model.limitData[1].offset = 0;
g_model.thrTrimSw = MIXSRC_TrimEle - MIXSRC_FIRST_TRIM;
ExpoData *expo = expoAddress(THR_STICK);
expo->trimSource = TRIM_ELE;
expo = expoAddress(ELE_STICK);
expo->trimSource = TRIM_THR;
anaSetFiltered(THR_STICK, 0);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 100);
setTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM, -100);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 200); // THR output value is reflecting 100 Ele trim
moveTrimsToOffsets();
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 200); // THR output value remains unchanged
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[2].offset, 195); // value transferred
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[1].offset, -195); // value transferred
}
TEST_F(TrimsTest, MoveTrimsToOffsetsWithCrosstrimsAndTrimIdle)
{
// Trim idle only
// Cross trims
g_model.limitData[2].offset = 0;
g_model.limitData[1].offset = 0;
g_model.thrTrim = 1;
g_model.thrTrimSw = MIXSRC_TrimEle - MIXSRC_FIRST_TRIM;
ExpoData *expo = expoAddress(THR_STICK);
expo->trimSource = TRIM_ELE;
expo = expoAddress(ELE_STICK);
expo->trimSource = TRIM_THR;
anaSetFiltered(THR_STICK, -1024); // Min stick
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 100);
setTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM, -100);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -568); // THR output value is reflecting 100 ele trim idle
moveTrimsToOffsets();
// Trim affecting Throttle (now Ele because of crosstrims) should not be affected
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM), 100); // unchanged
EXPECT_EQ(g_model.limitData[2].offset, 0); // THR chan offset unchanged
// Other trims should
EXPECT_EQ(getTrimValue(0, MIXSRC_TrimThr - MIXSRC_FIRST_TRIM), 0); // back to neutral
EXPECT_EQ(g_model.limitData[1].offset, -195); // Ele chan offset transfered
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -568); // THR output value is still reflecting 100 trim idle
}
TEST_F(TrimsTest, InstantTrim)
{
anaSetFiltered(AIL_STICK, 50);
instantTrim();
#if defined(STICK_DEAD_ZONE)
EXPECT_EQ(23, getTrimValue(0, AIL_STICK));
#else
EXPECT_EQ(25, getTrimValue(0, AIL_STICK));
#endif
}
TEST_F(TrimsTest, InstantTrimNegativeCurve)
{
ExpoData *expo = expoAddress(AIL_STICK);
expo->curve.type = CURVE_REF_CUSTOM;
expo->curve.value = 1;
g_model.points[0] = -100;
g_model.points[1] = -75;
g_model.points[2] = -50;
g_model.points[3] = -25;
g_model.points[4] = 0;
anaSetFiltered(AIL_STICK, 512);
instantTrim();
#if defined(STICK_DEAD_ZONE)
EXPECT_EQ(127, getTrimValue(0, AIL_STICK));
#else
EXPECT_EQ(128, getTrimValue(0, AIL_STICK));
#endif
}
TEST(Curves, LinearIntpol)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
setModelDefaults();
for (int8_t i=-2; i<=2; i++) {
g_model.points[2+i] = 50*i;
}
EXPECT_EQ(applyCustomCurve(-1024, 0), -1024);
EXPECT_EQ(applyCustomCurve(0, 0), 0);
EXPECT_EQ(applyCustomCurve(1024, 0), 1024);
EXPECT_EQ(applyCustomCurve(-192, 0), -192);
}
TEST_F(MixerTest, InfiniteRecursiveChannels)
{
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_CH + 1;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 1;
g_model.mixData[1].srcRaw = MIXSRC_FIRST_CH + 2;
g_model.mixData[1].weight = 100;
g_model.mixData[2].destCh = 2;
g_model.mixData[2].srcRaw = MIXSRC_FIRST_CH;
g_model.mixData[2].weight = 100;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[2], 0);
EXPECT_EQ(chans[1], 0);
EXPECT_EQ(chans[0], 0);
}
TEST_F(MixerTest, BlockingChannel)
{
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_CH;
g_model.mixData[0].weight = 100;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
}
TEST_F(MixerTest, RecursiveAddChannel)
{
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 50;
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_ADD;
g_model.mixData[1].srcRaw = MIXSRC_FIRST_CH + 1;
g_model.mixData[1].weight = 100;
g_model.mixData[2].destCh = 1;
g_model.mixData[2].srcRaw = MIXSRC_FIRST_STICK;
g_model.mixData[2].weight = 100;
anaSetFiltered(0, 0);
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], 0);
}
TEST_F(MixerTest, RecursiveAddChannelAfterInactivePhase)
{
g_model.flightModeData[1].swtch = SWSRC_FIRST_SWITCH + 1;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_CH + 1;
g_model.mixData[0].flightModes = 0b11110;
g_model.mixData[0].weight = 50;
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_ADD;
g_model.mixData[1].srcRaw = MIXSRC_MAX;
g_model.mixData[1].flightModes = 0b11101;
g_model.mixData[1].weight = 50;
g_model.mixData[2].destCh = 1;
g_model.mixData[2].srcRaw = MIXSRC_MAX;
g_model.mixData[2].weight = 100;
simuSetSwitch(3, -1);
evalMixes(1);
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], CHANNEL_MAX);
simuSetSwitch(3, 0);
evalMixes(1);
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], CHANNEL_MAX);
}
TEST_F(MixerTest, SlowOnPhase)
{
g_model.flightModeData[1].swtch = SWSRC_FIRST_SWITCH;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].flightModes = 0x2 + 0x4 + 0x8 + 0x10 /*only enabled in phase 0*/;
g_model.mixData[0].speedUp = 50;
g_model.mixData[0].speedDown = 50;
s_mixer_first_run_done = true;
mixerCurrentFlightMode = 0;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
CHECK_SLOW_MOVEMENT(0, +1, 250);
mixerCurrentFlightMode = 1;
CHECK_SLOW_MOVEMENT(0, -1, 250);
}
TEST_F(MixerTest, SlowOnSwitchSource)
{
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_eeGeneral.switchConfig = 0x03;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_SWITCH;
int switchIndex = 0;
g_model.mixData[0].weight = 100;
g_model.mixData[0].speedUp = 50;
g_model.mixData[0].speedDown = 50;
s_mixer_first_run_done = true;
simuSetSwitch(switchIndex, -1);
CHECK_SLOW_MOVEMENT(0, -1, 250);
EXPECT_EQ(chans[0], -CHANNEL_MAX);
simuSetSwitch(switchIndex, 1);
CHECK_SLOW_MOVEMENT(0, +1, 500);
}
TEST_F(MixerTest, SlowDisabledOnStartup)
{
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].speedUp = 50;
g_model.mixData[0].speedDown = 50;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], CHANNEL_MAX);
}
TEST_F(MixerTest, DelayOnSwitch)
{
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[0].swtch = SWSRC_FIRST_SWITCH + 2;
int switch_index = 0;
g_model.mixData[0].delayUp = 50;
g_model.mixData[0].delayDown = 50;
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], 0);
simuSetSwitch(switch_index, 1);
CHECK_DELAY(0, 500);
evalFlightModeMixes(e_perout_mode_normal, 1);
EXPECT_EQ(chans[0], CHANNEL_MAX);
simuSetSwitch(switch_index, 0);
CHECK_DELAY(0, 500);
evalFlightModeMixes(e_perout_mode_normal, 1);
EXPECT_EQ(chans[0], 0);
}
TEST_F(MixerTest, SlowOnMultiply)
{
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_MUL;
g_model.mixData[1].srcRaw = MIXSRC_MAX;
g_model.mixData[1].weight = 100;
g_model.mixData[1].swtch = SWSRC_FIRST_SWITCH;
g_model.mixData[1].speedUp = 50;
g_model.mixData[1].speedDown = 50;
s_mixer_first_run_done = true;
simuSetSwitch(0, 1);
CHECK_SLOW_MOVEMENT(0, 1, 250);
simuSetSwitch(0, -1);
CHECK_NO_MOVEMENT(0, CHANNEL_MAX, 250);
simuSetSwitch(0, 1);
CHECK_NO_MOVEMENT(0, CHANNEL_MAX, 250);
}
TEST_F(TrimsTest, throttleTrimEle) {
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
setModelDefaults();
g_eeGeneral.templateSetup = 17;
applyDefaultTemplate();
g_model.thrTrim = 1;
// checks ELE sticks are not affected by throttleTrim
// stick max + trim min
anaSetFiltered(ELE_STICK, +1024);
setTrimValue(0, ELE_STICK, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024 - 256);
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
setModelDefaults();
g_eeGeneral.templateSetup = 0;
applyDefaultTemplate();
}
#if defined(HELI)
TEST(Heli, BasicTest)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
setModelDefaults();
g_model.swashR.collectiveSource = MIXSRC_Thr;
g_model.swashR.elevatorSource = MIXSRC_Ele;
g_model.swashR.aileronSource = MIXSRC_Ail;
g_model.swashR.collectiveWeight = 100;
g_model.swashR.elevatorWeight = 100;
g_model.swashR.aileronWeight = 100;
g_model.swashR.type = SWASH_TYPE_120;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_CYC1;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 1;
g_model.mixData[1].mltpx = MLTPX_ADD;
g_model.mixData[1].srcRaw = MIXSRC_CYC2;
g_model.mixData[1].weight = 100;
g_model.mixData[2].destCh = 2;
g_model.mixData[2].mltpx = MLTPX_ADD;
g_model.mixData[2].srcRaw = MIXSRC_CYC3;
g_model.mixData[2].weight = 100;
anaSetFiltered(ELE_STICK, 1024);
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], -CHANNEL_MAX);
EXPECT_EQ(chans[1], CHANNEL_MAX/2);
EXPECT_EQ(chans[2], CHANNEL_MAX/2);
}
TEST(Heli, Mode2Test)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
setModelDefaults();
g_eeGeneral.templateSetup = 2;
applyDefaultTemplate();
g_model.swashR.collectiveSource = MIXSRC_Thr;
g_model.swashR.elevatorSource = MIXSRC_Ele;
g_model.swashR.aileronSource = MIXSRC_Ail;
g_model.swashR.collectiveWeight = 100;
g_model.swashR.elevatorWeight = 100;
g_model.swashR.aileronWeight = 100;
g_model.swashR.type = SWASH_TYPE_120;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_CYC1;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 1;
g_model.mixData[1].mltpx = MLTPX_ADD;
g_model.mixData[1].srcRaw = MIXSRC_CYC2;
g_model.mixData[1].weight = 100;
g_model.mixData[2].destCh = 2;
g_model.mixData[2].mltpx = MLTPX_ADD;
g_model.mixData[2].srcRaw = MIXSRC_CYC3;
g_model.mixData[2].weight = 100;
anaSetFiltered(ELE_STICK, 1024);
evalFlightModeMixes(e_perout_mode_normal, 0);
EXPECT_EQ(chans[0], -CHANNEL_MAX);
EXPECT_EQ(chans[1], CHANNEL_MAX/2);
EXPECT_EQ(chans[2], CHANNEL_MAX/2);
SYSTEM_RESET();
}
#endif
TEST(Trainer, UnpluggedTest)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
setModelDefaults();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_FIRST_TRAINER;
g_model.mixData[0].weight = 100;
g_model.mixData[0].delayUp = 50;
g_model.mixData[0].delayDown = 50;
ppmInputValidityTimer = 0;
ppmInput[0] = 1024;
CHECK_DELAY(0, 5000);
}
TEST_F(MixerTest, flightModeTransition)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
setModelDefaults();
g_model.flightModeData[1].swtch = SWSRC_FIRST_SWITCH + 2;
g_model.flightModeData[0].fadeIn = 100;
g_model.flightModeData[0].fadeOut = 100;
g_model.flightModeData[1].fadeIn = 100;
g_model.flightModeData[1].fadeOut = 100;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_REPL;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].flightModes = 0b11110;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_REPL;
g_model.mixData[1].srcRaw = MIXSRC_MAX;
g_model.mixData[1].flightModes = 0b11101;
g_model.mixData[1].weight = -10;
evalMixes(1);
simuSetSwitch(0, 1);
CHECK_FLIGHT_MODE_TRANSITION(0, 1000, 1024, -102);
}
TEST_F(MixerTest, flightModeOverflow)
{
SYSTEM_RESET();
MODEL_RESET();
MIXER_RESET();
setModelDefaults();
g_model.flightModeData[1].swtch = SWSRC_FIRST_SWITCH + 2;
g_model.flightModeData[0].fadeIn = 100;
g_model.flightModeData[0].fadeOut = 100;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_REPL;
g_model.mixData[0].srcRaw = MIXSRC_MAX;
g_model.mixData[0].flightModes = 0;
g_model.mixData[0].weight = 250;
evalMixes(1);
simuSetSwitch(0, 1);
CHECK_FLIGHT_MODE_TRANSITION(0, 1000, 1024, 1024);
}
TEST_F(TrimsTest, throttleTrimWithCrossTrims)
{
g_model.thrTrim = 1;
g_model.thrTrimSw = MIXSRC_TrimEle - MIXSRC_FIRST_TRIM;
ExpoData *expo = expoAddress(THR_STICK);
expo->trimSource = TRIM_ELE;
expo = expoAddress(ELE_STICK);
expo->trimSource = TRIM_THR;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
anaSetFiltered(ELE_STICK, 0);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024 + 512);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim mid
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024 + 256);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim min
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
EXPECT_EQ(channelOutputs[1], 0);
// now the same tests with extended Trims
g_model.extendedTrims = 1;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], 1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+2048);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim mid
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim min
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
EXPECT_EQ(channelOutputs[1], 0);
}
TEST_F(TrimsTest, invertedThrottlePlusThrottleTrimWithCrossTrims)
{
g_model.throttleReversed = 1;
g_model.thrTrim = 1;
g_model.thrTrimSw = MIXSRC_TrimEle - MIXSRC_FIRST_TRIM;
ExpoData *expo = expoAddress(THR_STICK);
expo->trimSource = TRIM_ELE;
expo = expoAddress(ELE_STICK);
expo->trimSource = TRIM_THR;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
anaSetFiltered(ELE_STICK, 0);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim mid
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+256);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+512);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim min
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
EXPECT_EQ(channelOutputs[1], 0);
// now the same tests with extended Trims
g_model.extendedTrims = 1;
// stick max + trim max
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim mid
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, 0);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick max + trim min
anaSetFiltered(THR_STICK, +1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], -1024+2048);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim max
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MAX);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
EXPECT_EQ(channelOutputs[1], 0);
// stick min + trim min
anaSetFiltered(THR_STICK, -1024);
setTrimValue(0, MIXSRC_TrimEle - MIXSRC_FIRST_TRIM, TRIM_EXTENDED_MIN);
evalMixes(1);
EXPECT_EQ(channelOutputs[2], +1024);
EXPECT_EQ(channelOutputs[1], 0);
}
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