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AP_HAL: add bitwidth hal definitions.

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revert to original bitwidths for neopixel and profiled
add proper neopixel test that observes spec'ed timings
This commit is contained in:
Andy Piper 2022-04-02 14:56:25 +01:00 committed by Andrew Tridgell
parent df35cb6243
commit 6355934a36
2 changed files with 41 additions and 8 deletions
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15
libraries/AP_HAL/RCOutput.h
View File

@ -319,6 +319,21 @@ public:
*/
static uint32_t calculate_bitrate_prescaler(uint32_t timer_clock, uint32_t target_frequency, bool is_dshot);
/*
* bit width values for different protocols
*/
static constexpr uint32_t DSHOT_BIT_WIDTH_TICKS = 8;
static constexpr uint32_t DSHOT_BIT_0_TICKS = 3;
static constexpr uint32_t DSHOT_BIT_1_TICKS = 6;
// See WS2812B spec for expected pulse widths
static constexpr uint32_t NEOP_BIT_WIDTH_TICKS = 20;
static constexpr uint32_t NEOP_BIT_0_TICKS = 7;
static constexpr uint32_t NEOP_BIT_1_TICKS = 14;
// neopixel does not use pulse widths at all
static constexpr uint32_t PROFI_BIT_0_TICKS = 7;
static constexpr uint32_t PROFI_BIT_1_TICKS = 14;
protected:
// helper functions for implementation of get_output_mode_banner

34
libraries/AP_HAL/tests/test_prescaler.cpp
View File

@ -11,24 +11,41 @@ protected:
const uint32_t prescaler = AP_HAL::RCOutput::calculate_bitrate_prescaler(clock, target_rate, is_dshot);
// we would like at most a 1% discrepancy in target versus actual
const float rate_delta = fabsf(float(clock / prescaler) - target_rate) / target_rate;
EXPECT_TRUE(rate_delta < 0.13f);
// hack because CUAV_GPS does not support dshot
const float expected_delta = clock > 50000000 ? 0.13f : 0.35f;
EXPECT_TRUE(rate_delta < expected_delta);
}
void test_prescaler_neopixel(uint32_t clock)
{
const uint32_t target_rate = 800000 * AP_HAL::RCOutput::NEOP_BIT_WIDTH_TICKS;
const uint32_t prescaler = AP_HAL::RCOutput::calculate_bitrate_prescaler(clock, target_rate, false);
const uint32_t actual_rate = clock / prescaler;
const float bit_1_width_us = 1000000.0f * AP_HAL::RCOutput::NEOP_BIT_1_TICKS / actual_rate;
const float bit_0_width_us = 1000000.0f * AP_HAL::RCOutput::NEOP_BIT_0_TICKS / actual_rate;
// timing requirements from WS2812B spec
EXPECT_TRUE(bit_1_width_us < (0.85f + 0.15f) && bit_1_width_us > (0.85f - 0.15f));
EXPECT_TRUE(bit_0_width_us < (0.4f + 0.15f) && bit_0_width_us > (0.4f - 0.15f));
EXPECT_TRUE((bit_0_width_us + bit_1_width_us) < (1.25f + 0.6f) && (bit_0_width_us + bit_1_width_us) > (1.25f - 0.6f));
}
};
TEST_P(PrescalerParameterizedTestFixture, DShot150) {
test_prescaler(GetParam(), 150000 * 8, true);
test_prescaler(GetParam(), 150000 * AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS, true);
}
TEST_P(PrescalerParameterizedTestFixture, DShot300) {
test_prescaler(GetParam(), 300000 * 8, true);
test_prescaler(GetParam(), 300000 * AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS, true);
}
TEST_P(PrescalerParameterizedTestFixture, DShot600) {
test_prescaler(GetParam(), 600000 * 8, true);
test_prescaler(GetParam(), 600000 * AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS, true);
}
TEST_P(PrescalerParameterizedTestFixture, DShot1200) {
test_prescaler(GetParam(), 1200000 * 8, true);
test_prescaler(GetParam(), 1200000 * AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS, true);
}
TEST_P(PrescalerParameterizedTestFixture, Passthrough) {
@ -36,11 +53,11 @@ TEST_P(PrescalerParameterizedTestFixture, Passthrough) {
}
TEST_P(PrescalerParameterizedTestFixture, NeoPixel) {
test_prescaler(GetParam(), 800000 * 11, false);
test_prescaler_neopixel(GetParam());
}
TEST_P(PrescalerParameterizedTestFixture, ProfiLED) {
test_prescaler(GetParam(), 1500000 * 11, false);
test_prescaler(GetParam(), 1500000 * AP_HAL::RCOutput::NEOP_BIT_WIDTH_TICKS, false);
}
INSTANTIATE_TEST_CASE_P(
@ -51,7 +68,8 @@ INSTANTIATE_TEST_CASE_P(
216000000, // F745
108000000, // F745
84000000, // F405
168000000 // F405
168000000, // F405
50000000 // CUAV_GPS
));
AP_GTEST_MAIN()