mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.7 KiB
C++
57 lines
1.7 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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class PrescalerParameterizedTestFixture :public ::testing::TestWithParam<uint32_t> {
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protected:
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void test_prescaler(uint32_t clock, uint32_t target_rate, bool is_dshot)
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{
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const uint32_t prescaler = AP_HAL::RCOutput::calculate_bitrate_prescaler(clock, target_rate, is_dshot);
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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) - target_rate) / target_rate;
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EXPECT_TRUE(rate_delta < 0.13f);
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}
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};
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TEST_P(PrescalerParameterizedTestFixture, DShot150) {
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test_prescaler(GetParam(), 150000 * 8, true);
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}
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TEST_P(PrescalerParameterizedTestFixture, DShot300) {
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test_prescaler(GetParam(), 300000 * 8, true);
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}
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TEST_P(PrescalerParameterizedTestFixture, DShot600) {
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test_prescaler(GetParam(), 600000 * 8, true);
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}
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TEST_P(PrescalerParameterizedTestFixture, DShot1200) {
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test_prescaler(GetParam(), 1200000 * 8, true);
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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(GetParam(), 800000 * 11, false);
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}
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TEST_P(PrescalerParameterizedTestFixture, ProfiLED) {
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test_prescaler(GetParam(), 1500000 * 11, false);
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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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));
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AP_GTEST_MAIN() |