mirror of https://github.com/ArduPilot/ardupilot
218 lines
9.3 KiB
C++
218 lines
9.3 KiB
C++
#include <AP_gtest.h>
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#include <AP_HAL/HAL.h>
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#include <AP_HAL/RCOutput.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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enum Type {
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DSHOT,
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DSHOT_S,
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NEOPIXEL,
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NONE
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};
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class PrescalerParameterizedTestFixture :public ::testing::TestWithParam<uint32_t> {
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protected:
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struct TestResult {
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uint32_t clock, target, rate, prescaler;
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Type type;
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};
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static TestResult test_results[];
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static uint32_t test_index;
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void test_prescaler(uint32_t clock, uint32_t target_rate, bool at_least_freq)
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{
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const uint32_t prescaler = AP_HAL::RCOutput::calculate_bitrate_prescaler(clock, target_rate, at_least_freq);
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// we would like at most a 1% discrepancy in target versus actual
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const float rate_delta = fabsf(float(clock / (prescaler + 1)) - target_rate) / target_rate;
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// with low prescaler values accuracy is compromised
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const float expected_delta = prescaler == 2 ? 0.3 : prescaler >= 12 ? 0.03f : 0.09f;
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::printf("Clock: %uMHz, Target: %uKHz, Rate: %uKHz, prescaler: %u, error: %.1f%%, at-least: %i\n",
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clock/1000000, target_rate/1000, (clock/(prescaler+1))/1000, prescaler, rate_delta * 100.f, at_least_freq);
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// assert the output of expected results
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EXPECT_EQ(test_results[test_index].clock, clock);
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EXPECT_EQ(test_results[test_index].target, target_rate);
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EXPECT_EQ(test_results[test_index].rate, clock/(prescaler+1));
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EXPECT_EQ(test_results[test_index].prescaler, prescaler);
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EXPECT_TRUE(at_least_freq ? test_results[test_index].type == DSHOT_S :
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(test_results[test_index].type == DSHOT || test_results[test_index].type == NONE));
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test_index++;
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EXPECT_TRUE(rate_delta < expected_delta);
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if (test_results[test_index].type == DSHOT) {
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EXPECT_TRUE(fabs(clock/(prescaler+1.0f)-target_rate) < fabsf(clock/(prescaler+2.0f)-target_rate));
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EXPECT_TRUE(fabs(clock/(float(prescaler))-target_rate) > fabsf(clock/(prescaler+1.0f)-target_rate));
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} else if(test_results[test_index].type == DSHOT_S) {
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EXPECT_TRUE(fabs(clock/float(prescaler)) > target_rate);
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}
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}
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void test_prescaler_neopixel(uint32_t clock)
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{
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const uint32_t target_rate = 800000 * AP_HAL::RCOutput::NEOP_BIT_WIDTH_TICKS;
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const uint32_t prescaler = AP_HAL::RCOutput::calculate_bitrate_prescaler(clock, target_rate, false);
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const uint32_t actual_rate = clock / prescaler;
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::printf("NeoPixel Clock: %uMHz, Target: %uKHz, Rate: %uKHz, prescaler: %u\n",
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clock/1000000, target_rate/1000, (clock/(prescaler+1))/1000, prescaler);
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const float bit_1_width_us = 1000000.0f * AP_HAL::RCOutput::NEOP_BIT_1_TICKS / actual_rate;
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const float bit_0_width_us = 1000000.0f * AP_HAL::RCOutput::NEOP_BIT_0_TICKS / actual_rate;
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// assert the output of expected results
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EXPECT_EQ(test_results[test_index].clock, clock);
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EXPECT_EQ(test_results[test_index].target, target_rate);
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EXPECT_EQ(test_results[test_index].rate, clock/(prescaler+1));
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EXPECT_EQ(test_results[test_index].prescaler, prescaler);
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EXPECT_EQ(test_results[test_index].type, NEOPIXEL);
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test_index++;
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// timing requirements from WS2812B spec
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EXPECT_TRUE(bit_1_width_us < (0.85f + 0.15f) && bit_1_width_us > (0.85f - 0.15f));
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EXPECT_TRUE(bit_0_width_us < (0.4f + 0.15f) && bit_0_width_us > (0.4f - 0.15f));
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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));
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}
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};
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TEST_P(PrescalerParameterizedTestFixture, DShot150) {
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test_prescaler(GetParam(), 150000 * AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS, false);
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}
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TEST_P(PrescalerParameterizedTestFixture, DShot300) {
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test_prescaler(GetParam(), 300000 * AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS, false);
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}
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TEST_P(PrescalerParameterizedTestFixture, DShot600) {
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test_prescaler(GetParam(), 600000 * AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS, false);
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}
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TEST_P(PrescalerParameterizedTestFixture, DShot1200) {
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test_prescaler(GetParam(), 1200000 * AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS, false);
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}
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TEST_P(PrescalerParameterizedTestFixture, Passthrough) {
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test_prescaler(GetParam(), 19200 * 10, false);
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}
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TEST_P(PrescalerParameterizedTestFixture, NeoPixel) {
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test_prescaler_neopixel(GetParam());
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}
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TEST_P(PrescalerParameterizedTestFixture, ProfiLED) {
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test_prescaler(GetParam(), 1500000 * AP_HAL::RCOutput::NEOP_BIT_WIDTH_TICKS, false);
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}
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TEST_P(PrescalerParameterizedTestFixture, DShot150_S) {
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test_prescaler(GetParam(), 150000 * AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS_S, true);
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}
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TEST_P(PrescalerParameterizedTestFixture, DShot300_S) {
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test_prescaler(GetParam(), 300000 * AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS_S, true);
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}
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TEST_P(PrescalerParameterizedTestFixture, DShot600_S) {
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test_prescaler(GetParam(), 600000 * AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS_S, true);
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}
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TEST_P(PrescalerParameterizedTestFixture, DShot1200_S) {
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test_prescaler(GetParam(), 1200000 * AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS_S, true);
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}
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INSTANTIATE_TEST_CASE_P(
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prescaler_Test,
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PrescalerParameterizedTestFixture,
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::testing::Values(
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200000000, // H743
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216000000, // F745
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108000000, // F745
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84000000, // F405
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168000000, // F405
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50000000, // CUAV_GPS
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80000000 // L431
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));
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AP_GTEST_MAIN()
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uint32_t PrescalerParameterizedTestFixture::test_index = 0;
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PrescalerParameterizedTestFixture::TestResult PrescalerParameterizedTestFixture::test_results[] = {
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{ 200000000, 1200000, 1197604, 166, DSHOT },
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{ 216000000, 1200000, 1200000, 179, DSHOT },
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{ 108000000, 1200000, 1200000, 89, DSHOT },
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{ 84000000, 1200000, 1200000, 69, DSHOT },
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{ 168000000, 1200000, 1200000, 139, DSHOT },
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{ 50000000, 1200000, 1190476, 41, DSHOT },
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{ 80000000, 1200000, 1194029, 66, DSHOT },
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{ 200000000, 2400000, 2409638, 82, DSHOT },
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{ 216000000, 2400000, 2400000, 89, DSHOT },
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{ 108000000, 2400000, 2400000, 44, DSHOT },
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{ 84000000, 2400000, 2400000, 34, DSHOT },
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{ 168000000, 2400000, 2400000, 69, DSHOT },
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{ 50000000, 2400000, 2380952, 20, DSHOT },
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{ 80000000, 2400000, 2424242, 32, DSHOT },
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{ 200000000, 4800000, 4761904, 41, DSHOT },
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{ 216000000, 4800000, 4800000, 44, DSHOT },
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{ 108000000, 4800000, 4695652, 22, DSHOT },
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{ 84000000, 4800000, 4666666, 17, DSHOT },
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{ 168000000, 4800000, 4800000, 34, DSHOT },
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{ 50000000, 4800000, 5000000, 9, DSHOT },
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{ 80000000, 4800000, 4705882, 16, DSHOT },
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{ 200000000, 9600000, 9523809, 20, DSHOT },
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{ 216000000, 9600000, 9391304, 22, DSHOT },
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{ 108000000, 9600000, 9818181, 10, DSHOT },
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{ 84000000, 9600000, 9333333, 8, DSHOT },
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{ 168000000, 9600000, 9333333, 17, DSHOT },
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{ 50000000, 9600000, 10000000, 4, DSHOT },
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{ 80000000, 9600000, 10000000, 7, DSHOT },
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{ 200000000, 192000, 191938, 1041, NONE },
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{ 216000000, 192000, 192000, 1124, NONE },
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{ 108000000, 192000, 191829, 562, NONE },
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{ 84000000, 192000, 191780, 437, NONE },
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{ 168000000, 192000, 192000, 874, NONE },
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{ 50000000, 192000, 192307, 259, NONE },
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{ 80000000, 192000, 191846, 416, NONE },
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{ 200000000, 6400000, 6451612, 30, NEOPIXEL },
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{ 216000000, 6400000, 6352941, 33, NEOPIXEL },
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{ 108000000, 6400000, 6352941, 16, NEOPIXEL },
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{ 84000000, 6400000, 6461538, 12, NEOPIXEL },
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{ 168000000, 6400000, 6461538, 25, NEOPIXEL },
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{ 50000000, 6400000, 6250000, 7, NEOPIXEL },
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{ 80000000, 6400000, 6153846, 12, NEOPIXEL },
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{ 200000000, 12000000, 11764705, 16, NONE },
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{ 216000000, 12000000, 12000000, 17, NONE },
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{ 108000000, 12000000, 12000000, 8, NONE },
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{ 84000000, 12000000, 12000000, 6, NONE },
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{ 168000000, 12000000, 12000000, 13, NONE },
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{ 50000000, 12000000, 12500000, 3, NONE },
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{ 80000000, 12000000, 11428571, 6, NONE },
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// BLHeli_S bitwidth 11
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{ 200000000, 1650000, 1652892, 120, DSHOT_S },
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{ 216000000, 1650000, 1661538, 129, DSHOT_S },
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{ 108000000, 1650000, 1661538, 64, DSHOT_S },
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{ 84000000, 1650000, 1680000, 49, DSHOT_S },
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{ 168000000, 1650000, 1663366, 100, DSHOT_S },
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{ 50000000, 1650000, 1666666, 29, DSHOT_S },
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{ 80000000, 1650000, 1666666, 47, DSHOT_S },
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{ 200000000, 3300000, 3333333, 59, DSHOT_S },
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{ 216000000, 3300000, 3323076, 64, DSHOT_S },
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{ 108000000, 3300000, 3375000, 31, DSHOT_S },
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{ 84000000, 3300000, 3360000, 24, DSHOT_S },
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{ 168000000, 3300000, 3360000, 49, DSHOT_S },
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{ 50000000, 3300000, 3333333, 14, DSHOT_S },
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{ 80000000, 3300000, 3333333, 23, DSHOT_S },
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{ 200000000, 6600000, 6666666, 29, DSHOT_S },
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{ 216000000, 6600000, 6750000, 31, DSHOT_S },
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{ 108000000, 6600000, 6750000, 15, DSHOT_S },
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{ 84000000, 6600000, 7000000, 11, DSHOT_S },
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{ 168000000, 6600000, 6720000, 24, DSHOT_S },
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{ 50000000, 6600000, 7142857, 6, DSHOT_S },
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{ 80000000, 6600000, 6666666, 11, DSHOT_S },
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{ 200000000, 13200000, 13333333, 14, DSHOT_S },
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{ 216000000, 13200000, 13500000, 15, DSHOT_S },
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{ 108000000, 13200000, 13500000, 7, DSHOT_S },
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{ 84000000, 13200000, 14000000, 5, DSHOT_S },
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{ 168000000, 13200000, 14000000, 11, DSHOT_S },
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{ 50000000, 13200000, 16666666, 2, DSHOT_S },
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{ 80000000, 13200000, 13333333, 5, DSHOT_S }
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}; |