src/main/config/config_unittest.h

   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 #pragma once
  19
  20 #ifdef SRC_MAIN_SCHEDULER_C_
  21 #ifdef UNIT_TEST
  22
  23 cfTask_t *unittest_scheduler_selectedTask;
  24 uint8_t unittest_scheduler_selectedTaskDynamicPriority;
  25 uint16_t unittest_scheduler_waitingTasks;
  26 uint32_t unittest_scheduler_timeToNextRealtimeTask;
  27 bool unittest_outsideRealtimeGuardInterval;
  28
  29 #define GET_SCHEDULER_LOCALS() \
  30     { \
  31     unittest_scheduler_selectedTask = selectedTask; \
  32     unittest_scheduler_selectedTaskDynamicPriority = selectedTaskDynamicPriority; \
  33     unittest_scheduler_waitingTasks = waitingTasks; \
  34     unittest_scheduler_timeToNextRealtimeTask = timeToNextRealtimeTask; \
  35     unittest_outsideRealtimeGuardInterval = outsideRealtimeGuardInterval; \
  36     }
  37
  38 #else
  39
  40 #define GET_SCHEDULER_LOCALS() {}
  41
  42 #endif
  43 #endif
  44
  45
  46 #ifdef SRC_MAIN_FLIGHT_PID_C_
  47 #ifdef UNIT_TEST
  48
  49 float unittest_pidLuxFloat_lastErrorForDelta[3];
  50 float unittest_pidLuxFloat_delta1[3];
  51 float unittest_pidLuxFloat_delta2[3];
  52 float unittest_pidLuxFloat_PTerm[3];
  53 float unittest_pidLuxFloat_ITerm[3];
  54 float unittest_pidLuxFloat_DTerm[3];
  55
  56 #define SET_PID_LUX_FLOAT_LOCALS(axis) \
  57     { \
  58         lastErrorForDelta[axis] = unittest_pidLuxFloat_lastErrorForDelta[axis]; \
  59         delta1[axis] = unittest_pidLuxFloat_delta1[axis]; \
  60         delta2[axis] = unittest_pidLuxFloat_delta2[axis]; \
  61     }
  62
  63 #define GET_PID_LUX_FLOAT_LOCALS(axis) \
  64     { \
  65         unittest_pidLuxFloat_lastErrorForDelta[axis] = lastErrorForDelta[axis]; \
  66         unittest_pidLuxFloat_delta1[axis] = delta1[axis]; \
  67         unittest_pidLuxFloat_delta2[axis] = delta2[axis]; \
  68         unittest_pidLuxFloat_PTerm[axis] = PTerm; \
  69         unittest_pidLuxFloat_ITerm[axis] = ITerm; \
  70         unittest_pidLuxFloat_DTerm[axis] = DTerm; \
  71     }
  72
  73 int32_t unittest_pidMultiWiiRewrite_lastErrorForDelta[3];
  74 int32_t unittest_pidMultiWiiRewrite_PTerm[3];
  75 int32_t unittest_pidMultiWiiRewrite_ITerm[3];
  76 int32_t unittest_pidMultiWiiRewrite_DTerm[3];
  77
  78 #define SET_PID_MULTI_WII_REWRITE_LOCALS(axis) \
  79     { \
  80     lastErrorForDelta[axis] = unittest_pidMultiWiiRewrite_lastErrorForDelta[axis]; \
  81     }
  82
  83 #define GET_PID_MULTI_WII_REWRITE_LOCALS(axis) \
  84     { \
  85         unittest_pidMultiWiiRewrite_lastErrorForDelta[axis] = lastErrorForDelta[axis]; \
  86         unittest_pidMultiWiiRewrite_PTerm[axis] = PTerm; \
  87         unittest_pidMultiWiiRewrite_ITerm[axis] = ITerm; \
  88         unittest_pidMultiWiiRewrite_DTerm[axis] = DTerm; \
  89     }
  90
  91 #else
  92
  93 #define SET_PID_LUX_FLOAT_LOCALS(axis) {}
  94 #define GET_PID_LUX_FLOAT_LOCALS(axis) {}
  95 #define SET_PID_MULTI_WII_REWRITE_LOCALS(axis) {}
  96 #define GET_PID_MULTI_WII_REWRITE_LOCALS(axis) {}
  97
  98 #endif // UNIT_TEST
  99 #endif // SRC_MAIN_FLIGHT_PID_C_
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