mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.9 KiB
C++
75 lines
2.9 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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// hack because CUAV_GPS does not support dshot
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const float expected_delta = clock > 50000000 ? 0.13f : 0.35f;
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EXPECT_TRUE(rate_delta < expected_delta);
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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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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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// 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, true);
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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, true);
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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, true);
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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, 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_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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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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));
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AP_GTEST_MAIN() |