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Austin Schuh812d0d12021-11-04 20:16:48 -07001// Copyright (c) FIRST and other WPILib contributors.
2// Open Source Software; you can modify and/or share it under the terms of
3// the WPILib BSD license file in the root directory of this project.
4
5#include <hal/HAL.h>
6
7#include "CrossConnects.h"
8#include "LifetimeWrappers.h"
9#include "gtest/gtest.h"
10
11using namespace hlt;
12
13class DutyCycleTest : public ::testing::TestWithParam<std::pair<int, int>> {};
14
15TEST_P(DutyCycleTest, DutyCycle) {
16 auto param = GetParam();
17
18 int32_t status = 0;
19 PWMHandle pwmHandle(param.first, &status);
20 ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
21 ASSERT_EQ(0, status);
22
23 // Ensure our PWM is disabled, and set up properly
24 HAL_SetPWMRaw(pwmHandle, 0, &status);
25 ASSERT_EQ(0, status);
26 HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
27 HAL_SetPWMConfig(pwmHandle, 5.05, 2.525, 2.525, 2.525, 0, &status);
28 ASSERT_EQ(0, status);
29 HAL_SetPWMPeriodScale(pwmHandle, 0, &status);
30 ASSERT_EQ(0, status);
31
32 DIOHandle dioHandle{param.second, true, &status};
33 ASSERT_EQ(0, status);
34
35 DutyCycleHandle dutyCycle{dioHandle, &status};
36 ASSERT_EQ(0, status);
37
38 HAL_SetPWMSpeed(pwmHandle, 0.5, &status);
39 ASSERT_EQ(0, status);
40
41 // Sleep enough time for the frequency to converge
42 usleep(3500000);
43
44 ASSERT_NEAR(1000 / 5.05,
45 (double)HAL_GetDutyCycleFrequency(dutyCycle, &status), 1);
46
47 // TODO measure output
48}
49
50INSTANTIATE_TEST_SUITE_P(DutyCycleCrossConnTests, DutyCycleTest,
51 ::testing::ValuesIn(PWMCrossConnects));