src/test/unit/flight_mixer_unittest.cc

   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 "common/axis.h"
  27     #include "common/maths.h"
  28
  29     #include "drivers/sensor.h"
  30     #include "drivers/accgyro.h"
  31
  32     #include "sensors/sensors.h"
  33     #include "sensors/acceleration.h"
  34
  35     #include "rx/rx.h"
  36     #include "flight/pid.h"
  37     #include "flight/imu.h"
  38     #include "flight/mixer.h"
  39     #include "flight/lowpass.h"
  40
  41     #include "io/rc_controls.h"
  42
  43     extern uint8_t servoCount;
  44     void forwardAuxChannelsToServos(void);
  45
  46 }
  47
  48 #include "unittest_macros.h"
  49 #include "gtest/gtest.h"
  50
  51 typedef struct motor_s {
  52     uint16_t value;
  53 } motor_t;
  54
  55 typedef struct servo_s {
  56     uint16_t value;
  57 } servo_t;
  58
  59 motor_t motors[MAX_SUPPORTED_MOTORS];
  60 servo_t servos[MAX_SUPPORTED_SERVOS];
  61
  62 uint8_t lastOneShotUpdateMotorCount;
  63
  64
  65 TEST(FlightMixerTest, TestForwardAuxChannelsToServosWithNoServos)
  66 {
  67     // given
  68     memset(&motors, 0, sizeof(motors));
  69     memset(&servos, 0, sizeof(servos));
  70     servoCount = 0;
  71
  72     rcData[AUX1] = 1500;
  73     rcData[AUX2] = 1500;
  74     rcData[AUX3] = 1500;
  75     rcData[AUX4] = 1500;
  76
  77     // when
  78     forwardAuxChannelsToServos();
  79
  80     // then
  81     for (uint8_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
  82         EXPECT_EQ(servos[i].value, 0);
  83     }
  84 }
  85
  86 // STUBS
  87
  88 extern "C" {
  89 rollAndPitchInclination_t inclination;
  90 rxRuntimeConfig_t rxRuntimeConfig;
  91
  92 int16_t axisPID[XYZ_AXIS_COUNT];
  93 int16_t rcCommand[4];
  94 int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
  95
  96 uint32_t rcModeActivationMask;
  97 int16_t debug[4];
  98
  99 uint8_t stateFlags;
 100 uint16_t flightModeFlags;
 101 uint8_t armingFlags;
 102
 103 void delay(uint32_t) {}
 104
 105 bool feature(uint32_t) {
 106     return true;
 107 }
 108
 109 int32_t lowpassFixed(lowpass_t *, int32_t, int16_t) {
 110     return 0;
 111 }
 112
 113 void pwmWriteMotor(uint8_t index, uint16_t value) {
 114     motors[index].value = value;
 115 }
 116
 117 void pwmCompleteOneshotMotorUpdate(uint8_t motorCount) {
 118     lastOneShotUpdateMotorCount = motorCount;
 119 }
 120
 121 void pwmWriteServo(uint8_t index, uint16_t value) {
 122     servos[index].value = value;
 123 }
 124
 125 }