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Add the first unit test for the mixer.
See cleanflight#16
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| /* | ||
| * This file is part of Cleanflight. | ||
| * | ||
| * Cleanflight is free software: you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation, either version 3 of the License, or | ||
| * (at your option) any later version. | ||
| * | ||
| * Cleanflight 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. | ||
| * | ||
| * You should have received a copy of the GNU General Public License | ||
| * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. | ||
| */ | ||
|
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| #include <stdint.h> | ||
| #include <stdbool.h> | ||
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| #include <limits.h> | ||
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| extern "C" { | ||
| #include "platform.h" | ||
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| #include "common/axis.h" | ||
| #include "common/maths.h" | ||
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| #include "drivers/sensor.h" | ||
| #include "drivers/accgyro.h" | ||
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| #include "sensors/sensors.h" | ||
| #include "sensors/acceleration.h" | ||
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| #include "rx/rx.h" | ||
| #include "flight/pid.h" | ||
| #include "flight/imu.h" | ||
| #include "flight/mixer.h" | ||
| #include "flight/lowpass.h" | ||
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| #include "io/rc_controls.h" | ||
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| extern uint8_t servoCount; | ||
| void forwardAuxChannelsToServos(void); | ||
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| } | ||
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| #include "unittest_macros.h" | ||
| #include "gtest/gtest.h" | ||
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| typedef struct motor_s { | ||
| uint16_t value; | ||
| } motor_t; | ||
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| typedef struct servo_s { | ||
| uint16_t value; | ||
| } servo_t; | ||
|
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| motor_t motors[MAX_SUPPORTED_MOTORS]; | ||
| servo_t servos[MAX_SUPPORTED_SERVOS]; | ||
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| uint8_t lastOneShotUpdateMotorCount; | ||
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| TEST(FlightMixerTest, TestForwardAuxChannelsToServosWithNoServos) | ||
| { | ||
| // given | ||
| memset(&motors, 0, sizeof(motors)); | ||
| memset(&servos, 0, sizeof(servos)); | ||
| servoCount = 0; | ||
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| rcData[AUX1] = 1500; | ||
| rcData[AUX2] = 1500; | ||
| rcData[AUX3] = 1500; | ||
| rcData[AUX4] = 1500; | ||
|
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| // when | ||
| forwardAuxChannelsToServos(); | ||
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| // then | ||
| for (uint8_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) { | ||
| EXPECT_EQ(servos[i].value, 0); | ||
| } | ||
| } | ||
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| // STUBS | ||
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| extern "C" { | ||
| rollAndPitchInclination_t inclination; | ||
| rxRuntimeConfig_t rxRuntimeConfig; | ||
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| int16_t axisPID[XYZ_AXIS_COUNT]; | ||
| int16_t rcCommand[4]; | ||
| int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; | ||
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| uint32_t rcModeActivationMask; | ||
| int16_t debug[4]; | ||
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| uint8_t stateFlags; | ||
| uint16_t flightModeFlags; | ||
| uint8_t armingFlags; | ||
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| void delay(uint32_t) {} | ||
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| bool feature(uint32_t) { | ||
| return true; | ||
| } | ||
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| int32_t lowpassFixed(lowpass_t *, int32_t, int16_t) { | ||
| return 0; | ||
| } | ||
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| void pwmWriteMotor(uint8_t index, uint16_t value) { | ||
| motors[index].value = value; | ||
| } | ||
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| void pwmCompleteOneshotMotorUpdate(uint8_t motorCount) { | ||
| lastOneShotUpdateMotorCount = motorCount; | ||
| } | ||
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| void pwmWriteServo(uint8_t index, uint16_t value) { | ||
| servos[index].value = value; | ||
| } | ||
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| } |