Merge pull request #1433 from bitcraze/toverumar/remove_rpm_test

Remove the RPM test from the exp deck driver completely
bitcraze · Nov 4, 2024 · 200db5d · 200db5d
2 parents bf168d4 + 61dd6e2
commit 200db5d
Showing 1 changed file with 8 additions and 99 deletions.
diff --git a/src/deck/drivers/src/test/exptestCfBl.c b/src/deck/drivers/src/test/exptestCfBl.c
@@ -81,12 +81,6 @@ typedef struct _etGpio {
   char              name[6];
 } EtGpio;
 
-typedef struct {
-  logVarId_t m1;
-  logVarId_t m2;
-  logVarId_t m3;
-  logVarId_t m4;
-} motorRpmParams_t;
 
 static EtGpio etGpioIn[ET_NBR_PINS] = {
   {ET_GPIO_PORT_TX1,  ET_GPIO_PIN_TX1, "TX1"},
@@ -101,8 +95,6 @@ static EtGpio etGpioIn[ET_NBR_PINS] = {
 
 static bool isInit;
 const DeckDriver *bcRpm = NULL;
-static motorRpmParams_t motorRpm = {0};
-static uint32_t rpmResult[4] = {0,0,0,0};
 
 static void expCfBlTestInit(DeckInfo *info)
 {
@@ -113,96 +105,20 @@ static void expCfBlTestInit(DeckInfo *info)
 
   // Initialize the VL53L0 sensor using the zRanger deck driver
   bcRpm = deckFindDriverByName("bcRpm");
-  motorsInit(platformConfigGetMotorMapping());
-  motorRpm.m1 = logGetVarId("rpm", "m1");
-  motorRpm.m2 = logGetVarId("rpm", "m2");
-  motorRpm.m3 = logGetVarId("rpm", "m3");
-  motorRpm.m4 = logGetVarId("rpm", "m4");
-  isInit = true;
-}
-
-static int getMotorRpm(uint16_t motorIdx)
-{
-  uint16_t ret = 0xFF;
-  switch (motorIdx) {
-    case MOTOR_M1:
-      ret =  logGetInt(motorRpm.m1);
-      break;
-
-    case MOTOR_M2:
-      ret =  logGetInt(motorRpm.m2);
-      break;
-
-    case MOTOR_M3:
-      ret = logGetInt(motorRpm.m3);
-      break;
-
-    case MOTOR_M4:
-      ret = logGetInt(motorRpm.m4);
-      break;
-
-    default:
-      break;
-    }
-  return ret;
-}
-
-static void setMotorsPwm(uint32_t pwm)
-{
-  for (int i = 0; i<NBR_OF_MOTORS; i++) {
-    motorsSetRatio(i, pwm);
+  if (bcRpm != NULL) {
+    isInit = true;
+  } else {
+    DEBUG_PRINT("bcRpm driver not found\n");
   }
 }
 
-static void runMotors()
-{
-    #ifdef CONFIG_MOTORS_ESC_PROTOCOL_DSHOT
-    motorsBurstDshot();
-    #endif
-    vTaskDelay(MOTOR_FEED_SIGNAL_INTVL);
-}
-
-
-
-static bool rpmTestRun(void)
-{
-  uint16_t testTime = MOTOR_TEST_TIME_MILLIS;
-  int32_t waitTime = MOTOR_TEST_TIME_MILLIS;
-  uint32_t rpmSamples[] = {0,0,0,0};
-  setMotorsPwm(0);
-  while (waitTime) { //We need to wait until all ESCs are started. We need to feed a signal continuosly so they dont go to sleep
-    runMotors();
-    waitTime -= MOTOR_FEED_SIGNAL_INTVL;
-  }
-
-  setMotorsPwm(MOTOR_TEST_PWM);
-  while(testTime) {
-    runMotors();
-    testTime -= MOTOR_FEED_SIGNAL_INTVL;
-    for (int i = 0; i<NBR_OF_MOTORS; i++) {
-      rpmSamples[i] += getMotorRpm(i);
-    }
-  }
-
-  setMotorsPwm(0);
-  for (int i = 0; i<NBR_OF_MOTORS; i++) {
-    uint32_t rpmAvg = rpmSamples[i] / MOTOR_RPM_NBR_SAMPLES;
-    rpmResult[i] = rpmAvg;
-  }
-
-  return true; //Return True here regardless. This should be checked externally
-}
-
 static bool expCfBlTestRun(void)
 {
   int i;
   volatile int delay;
   bool status = true;
   GPIO_InitTypeDef GPIO_InitStructure;
   GpioRegBuf gpioSaved;
-
-  isInit = true;
-
   status &= sensorsManufacturingTest();
 
 
@@ -246,13 +162,12 @@ static bool expCfBlTestRun(void)
 
   decktestRestoreGPIOStatesABC(&gpioSaved);
 
-  //Run rpm test
-  if(status) {
+  if(status && isInit) {
     if(bcRpm->init) {
-    bcRpm->init(NULL);
+      bcRpm->init(NULL);
+    } else {
+      status &= false;
     }
-
-    status = rpmTestRun();
   }
   return status;
 }
@@ -271,10 +186,4 @@ static const DeckDriver expCfBltest_deck = {
   .test = expCfBlTestRun
 };
 
-PARAM_GROUP_START(prodTestRpm)
-PARAM_ADD(PARAM_UINT32 | PARAM_RONLY, m1, &rpmResult[0])
-PARAM_ADD(PARAM_UINT32 | PARAM_RONLY, m2, &rpmResult[1])
-PARAM_ADD(PARAM_UINT32 | PARAM_RONLY, m3, &rpmResult[2])
-PARAM_ADD(PARAM_UINT32 | PARAM_RONLY, m4, &rpmResult[3])
-PARAM_GROUP_STOP(prodTestRpm)
 DECK_DRIVER(expCfBltest_deck);