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57 lines
1.7 KiB
57 lines
1.7 KiB
#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() |