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fix: timers throttle condition on surface radio #4502

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merged 4 commits into from
Jan 2, 2024
Merged

fix: timers throttle condition on surface radio #4502

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87f139e
fix: fix timers condition on surface radio
Jan 1, 2024
e5a54c1
fix: non surface timers
3djc Jan 1, 2024
317c07f
fix: fix timer tests for MT12
Jan 2, 2024
3d56235
chore: simplify code
Jan 2, 2024
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36 changes: 22 additions & 14 deletions radio/src/tests/timers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,9 +21,17 @@

#include "gtests.h"

#define THR_100 128 // approximately 10% full throttle
#define THR_50 64 // approximately 10% full throttle
#if defined(SURFACE_RADIO)
#define THR_100 128 // approximately 100% full throttle
#define THR_50 96 // approximately 50% full throttle
#define THR_10 71 // approximately 10% full throttle
#define THR_0 64 // approximately 0% full throttle
#else
#define THR_100 128 // approximately 100% full throttle
#define THR_50 64 // approximately 50% full throttle
#define THR_10 13 // approximately 10% full throttle
#define THR_0 0 // approximately 0% full throttle
#endif

#define TEST_AB_EQUAL(a, b) if (a != b) { return ::testing::AssertionFailure() << \
#a "= " << (uint32_t)a << ", " << #b "= " << (uint32_t)b; };
Expand Down Expand Up @@ -113,7 +121,7 @@ TEST(Timers, timerAbsolute)

EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_100, 0, TMR_RUNNING, 1));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_100, 0, TMR_RUNNING, 101));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, 0, 0, TMR_RUNNING, 201));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_0, 0, TMR_RUNNING, 201));

// max timer value test
timerSet(0, TIMER_MAX-10);
Expand All @@ -135,16 +143,16 @@ TEST(Timers, timerThrottle)
initModelTimer(0, TMRMODE_THR, 0);
timerReset(0);

EXPECT_TRUE(evalTimersForNSecondsAndTest(1, 0, 0, TMR_RUNNING, 0));
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_0, 0, TMR_RUNNING, 0));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_100, 0, TMR_RUNNING, 100));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_10, 0, TMR_RUNNING, 200));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, 0, 0, TMR_RUNNING, 200));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_0, 0, TMR_RUNNING, 200));

// test down-running
g_model.timers[0].start = 200;
timerReset(0);
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_100, 0, TMR_RUNNING, 199));
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, 0, 0, TMR_RUNNING, 199));
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_0, 0, TMR_RUNNING, 199));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_100, 0, TMR_RUNNING, 99));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_50, 0, TMR_NEGATIVE, -1));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_100, 0, TMR_STOPPED,-101));
Expand All @@ -155,17 +163,17 @@ TEST(Timers, timerThrottleRelative)
initModelTimer(0, TMRMODE_THR_REL, 0);

timerReset(0);
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, 0, 0, TMR_RUNNING, 0));
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_0, 0, TMR_RUNNING, 0));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_100, 0, TMR_RUNNING, 100));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_50, 0, TMR_RUNNING, 150)); // 50% throttle == 50s
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_10, 0, TMR_RUNNING, 160)); // 10% throttle == 10s
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, 0, 0, TMR_RUNNING, 160));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_0, 0, TMR_RUNNING, 160));

// test down-running
initModelTimer(0, TMRMODE_THR_REL, 200);
timerReset(0);
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_100, 0, TMR_RUNNING, 199));
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, 0, 0, TMR_RUNNING, 199));
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_0, 0, TMR_RUNNING, 199));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_100, 0, TMR_RUNNING, 99));
EXPECT_TRUE(evalTimersForNSecondsAndTest(200, THR_50, 0, TMR_NEGATIVE, -1)); // 50% throttle == 100s
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_10, 0, TMR_NEGATIVE,-11)); // 10% throttle == 10s
Expand All @@ -177,19 +185,19 @@ TEST(Timers, timerThrottleTriggered)
initModelTimer(0, TMRMODE_THR_START, 0);

timerReset(0);
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, 0, 0, TMR_OFF, 0));
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_0, 0, TMR_OFF, 0));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_10-1, 0, TMR_OFF, 0)); // below threshold
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_50, 0, TMR_RUNNING, 100));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_100, 0, TMR_RUNNING, 200));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, 0, 0, TMR_RUNNING, 300));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_0, 0, TMR_RUNNING, 300));

// test down-running
initModelTimer(0, TMRMODE_THR_START, 200);
timerReset(0);
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, 0, 0, TMR_OFF, 200));
EXPECT_TRUE(evalTimersForNSecondsAndTest(1, THR_0, 0, TMR_OFF, 200));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_10-1, 0, TMR_OFF, 200)); // below threshold
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_100, 0, TMR_RUNNING, 100));
EXPECT_TRUE(evalTimersForNSecondsAndTest(101, THR_50, 0, TMR_NEGATIVE, -1));
EXPECT_TRUE(evalTimersForNSecondsAndTest(10, 0, 0, TMR_NEGATIVE,-11));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, 0, 0, TMR_STOPPED,-111));
EXPECT_TRUE(evalTimersForNSecondsAndTest(10, THR_0, 0, TMR_NEGATIVE,-11));
EXPECT_TRUE(evalTimersForNSecondsAndTest(100, THR_0, 0, TMR_STOPPED,-111));
}
5 changes: 5 additions & 0 deletions radio/src/timers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,11 @@ void saveTimers()

void evalTimers(int16_t throttle, uint8_t tick10ms)
{

#if defined(SURFACE_RADIO)
// For surface radio throttle off position is at 0%
throttle = 2 * abs(throttle - (RESX >> (RESX_SHIFT-6)));
#endif
for (uint8_t i=0; i<TIMERS; i++) {
tmrmode_t timerMode = g_model.timers[i].mode;
tmrstart_t timerStart = g_model.timers[i].start;
Expand Down