TEST(Mixer, RecursiveAddChannelAfterInactivePhase)
{
MODEL_RESET();
MIXER_RESET();
g_model.flightModeData[1].swtch = SWSRC_ID1;
g_model.mixData[0].destCh = 0;
g_model.mixData[0].mltpx = MLTPX_ADD;
g_model.mixData[0].srcRaw = MIXSRC_CH2;
g_model.mixData[0].flightModes = 0b11110;
g_model.mixData[0].weight = 50;
g_model.mixData[1].destCh = 0;
g_model.mixData[1].mltpx = MLTPX_ADD;
g_model.mixData[1].srcRaw = MIXSRC_MAX;
g_model.mixData[1].flightModes = 0b11101;
g_model.mixData[1].weight = 50;
g_model.mixData[2].destCh = 1;
g_model.mixData[2].srcRaw = MIXSRC_MAX;
g_model.mixData[2].weight = 100;
simuSetSwitch(3, -1);
#if defined(CPUARM)
doMixerCalculations();
#else
perMain();
#endif
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], CHANNEL_MAX);
simuSetSwitch(3, 0);
#if defined(CPUARM)
doMixerCalculations();
#else
perMain();
#endif
EXPECT_EQ(chans[0], CHANNEL_MAX/2);
EXPECT_EQ(chans[1], CHANNEL_MAX);
}
void mixerTask(void * pdata)
{
s_pulses_paused = true;
while(1) {
if (!s_pulses_paused) {
uint16_t t0 = getTmr2MHz();
CoEnterMutexSection(mixerMutex);
doMixerCalculations();
CoLeaveMutexSection(mixerMutex);
#if defined(FRSKY) || defined(MAVLINK)
telemetryWakeup();
#endif
if (heartbeat == HEART_WDT_CHECK) {
wdt_reset();
heartbeat = 0;
}
t0 = getTmr2MHz() - t0;
if (t0 > maxMixerDuration) maxMixerDuration = t0 ;
}
CoTickDelay(1); // 2ms for now
}
}
TEST(getSwitch, inputWithTrim)
{
MODEL_RESET();
modelDefault(0);
MIXER_RESET();
g_model.logicalSw[0] = { LS_FUNC_VPOS, MIXSRC_FIRST_INPUT, 0, 0 };
doMixerCalculations();
evalLogicalSwitches();
EXPECT_EQ(getSwitch(SWSRC_SW1), false);
setTrimValue(0, 0, 32);
doMixerCalculations();
evalLogicalSwitches();
EXPECT_EQ(getSwitch(SWSRC_SW1), true);
}
TEST(Trims, CopySticksToOffset)
{
MODEL_RESET();
modelDefault(0);
anaInValues[ELE_STICK] = -100;
#if defined(CPUARM)
doMixerCalculations();
#else
perMain();
#endif
copySticksToOffset(1);
EXPECT_EQ(g_model.limitData[1].offset, -97);
}
TEST(Mixer, Cascaded5Channels)
{
MODEL_RESET();
MIXER_RESET();
g_model.mixData[0].destCh = 0;
g_model.mixData[0].srcRaw = MIXSRC_CH2;
g_model.mixData[0].weight = 100;
g_model.mixData[1].destCh = 1;
g_model.mixData[1].srcRaw = MIXSRC_CH3;
g_model.mixData[1].weight = 100;
g_model.mixData[2].destCh = 2;
g_model.mixData[2].srcRaw = MIXSRC_CH4;
g_model.mixData[2].weight = 100;
g_model.mixData[3].destCh = 3;
g_model.mixData[3].srcRaw = MIXSRC_CH5;
g_model.mixData[3].weight = 100;
g_model.mixData[4].destCh = 4;
g_model.mixData[4].srcRaw = MIXSRC_THR;
g_model.mixData[4].weight = 100;
for (uint8_t i=0; i<10; i++) {
simuSetSwitch(0, 1);
doMixerCalculations();
EXPECT_EQ(chans[0], CHANNEL_MAX);
EXPECT_EQ(chans[1], CHANNEL_MAX);
EXPECT_EQ(chans[2], CHANNEL_MAX);
EXPECT_EQ(chans[3], CHANNEL_MAX);
EXPECT_EQ(chans[4], CHANNEL_MAX);
simuSetSwitch(0, 0);
doMixerCalculations();
EXPECT_EQ(chans[0], -CHANNEL_MAX);
EXPECT_EQ(chans[1], -CHANNEL_MAX);
EXPECT_EQ(chans[2], -CHANNEL_MAX);
EXPECT_EQ(chans[3], -CHANNEL_MAX);
EXPECT_EQ(chans[4], -CHANNEL_MAX);
}
}
void perMain()
{
#if defined(SIMU)
doMixerCalculations();
#endif
#if defined(LCD_ST7920)
uint8_t lcdstate=0;
#endif
uint16_t t0 = getTmr16KHz();
int16_t delta = (nextMixerEndTime - lastMixerDuration) - t0;
if (delta > 0 && delta < MAX_MIXER_DELTA) {
#if defined(PCBSTD) && defined(ROTARY_ENCODER_NAVIGATION)
rotencPoll();
#endif
// @@@ open.20.fsguruh
// SLEEP(); // wouldn't that make sense? should save a lot of battery power!!!
/* for future use; currently very very beta... */
#if defined(POWER_SAVE)
ADCSRA&=0x7F; // disable ADC for power saving
ACSR&=0xF7; // disable ACIE Interrupts
ACSR|=0x80; // disable Analog Comparator
// maybe we disable here a lot more hardware components in future to save even more power
MCUCR|=0x20; // enable Sleep (bit5)
// MCUCR|=0x28; // enable Sleep (bit5) enable ADC Noise Reduction (bit3)
// first tests showed: simple sleep would reduce cpu current from 40.5mA to 32.0mA
// noise reduction sleep would reduce it down to 28.5mA; However this would break pulses in theory
// however with standard module, it will need about 95mA. Therefore the drop to 88mA is not much noticable
do {
asm volatile(" sleep \n\t"); // if _SLEEP() is not defined use this
t0=getTmr16KHz();
delta= (nextMixerEndTime - lastMixerDuration) - t0;
} while ((delta>0) && (delta<MAX_MIXER_DELTA));
// reenabling of the hardware components needed here
MCUCR&=0x00; // disable sleep
ADCSRA|=0x80; // enable ADC
#endif
return;
}
