mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.7 KiB
C++
57 lines
1.7 KiB
C++
#include <AP_gtest.h>
|
|
#include <AP_HAL/HAL.h>
|
|
#include <AP_HAL/RCOutput.h>
|
|
|
|
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
|
|
|
|
class PrescalerParameterizedTestFixture :public ::testing::TestWithParam<uint32_t> {
|
|
protected:
|
|
void test_prescaler(uint32_t clock, uint32_t target_rate, bool is_dshot)
|
|
{
|
|
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 < 0.20f);
|
|
}
|
|
};
|
|
|
|
TEST_P(PrescalerParameterizedTestFixture, DShot150) {
|
|
test_prescaler(GetParam(), 150000 * 20, true);
|
|
}
|
|
|
|
TEST_P(PrescalerParameterizedTestFixture, DShot300) {
|
|
test_prescaler(GetParam(), 300000 * 20, true);
|
|
}
|
|
|
|
TEST_P(PrescalerParameterizedTestFixture, DShot600) {
|
|
test_prescaler(GetParam(), 600000 * 20, true);
|
|
}
|
|
|
|
TEST_P(PrescalerParameterizedTestFixture, DShot1200) {
|
|
test_prescaler(GetParam(), 1200000 * 20, true);
|
|
}
|
|
|
|
TEST_P(PrescalerParameterizedTestFixture, Passthrough) {
|
|
test_prescaler(GetParam(), 19200 * 10, false);
|
|
}
|
|
|
|
TEST_P(PrescalerParameterizedTestFixture, NeoPixel) {
|
|
test_prescaler(GetParam(), 800000 * 20, false);
|
|
}
|
|
|
|
TEST_P(PrescalerParameterizedTestFixture, ProfiLED) {
|
|
test_prescaler(GetParam(), 1500000 * 20, false);
|
|
}
|
|
|
|
INSTANTIATE_TEST_CASE_P(
|
|
prescaler_Test,
|
|
PrescalerParameterizedTestFixture,
|
|
::testing::Values(
|
|
200000000, // H743
|
|
216000000, // F745
|
|
108000000, // F745
|
|
84000000, // F405
|
|
168000000 // F405
|
|
));
|
|
|
|
AP_GTEST_MAIN() |