ardupilot/libraries/AP_HAL/tests/test_prescaler.cpp

75 lines
2.9 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;
// 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 * AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS, true);
}
TEST_P(PrescalerParameterizedTestFixture, DShot300) {
test_prescaler(GetParam(), 300000 * AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS, true);
}
TEST_P(PrescalerParameterizedTestFixture, DShot600) {
test_prescaler(GetParam(), 600000 * AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS, true);
}
TEST_P(PrescalerParameterizedTestFixture, DShot1200) {
test_prescaler(GetParam(), 1200000 * AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS, true);
}
TEST_P(PrescalerParameterizedTestFixture, Passthrough) {
test_prescaler(GetParam(), 19200 * 10, false);
}
TEST_P(PrescalerParameterizedTestFixture, NeoPixel) {
test_prescaler_neopixel(GetParam());
}
TEST_P(PrescalerParameterizedTestFixture, ProfiLED) {
test_prescaler(GetParam(), 1500000 * AP_HAL::RCOutput::NEOP_BIT_WIDTH_TICKS, false);
}
INSTANTIATE_TEST_CASE_P(
prescaler_Test,
PrescalerParameterizedTestFixture,
::testing::Values(
200000000, // H743
216000000, // F745
108000000, // F745
84000000, // F405
168000000, // F405
50000000 // CUAV_GPS
));
AP_GTEST_MAIN()