feat: Add RGB status LED state machine (Issue #290) #294
124
include/rgb_fsm.h
Normal file
124
include/rgb_fsm.h
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@ -0,0 +1,124 @@
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#ifndef RGB_FSM_H
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#define RGB_FSM_H
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#include <stdint.h>
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#include <stdbool.h>
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/*
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* rgb_fsm.h — RGB Status LED State Machine (Issue #290)
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*
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* Manages an 8-LED WS2812 NeoPixel ring with 8 operational states.
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* Each state has a specific color pattern and animation.
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*
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* States:
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* BOOT — Blue pulse (startup sequence, 0.5 Hz)
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* IDLE — Green breathe (standby, smooth 0.5 Hz pulse)
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* ARMED — Solid green (ready to move)
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* NAV — Cyan spin (autonomous navigation active, rotating pattern)
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* ERROR — Red flash (fault detected, 2 Hz blink)
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* LOW_BATT — Orange blink (battery low, 1 Hz blink)
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* CHARGING — Green fill (charging, progressive LEDs filling)
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* ESTOP — Red solid (emergency stop, full red, no animation)
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*
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* Transitions via UART command from Jetson.
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* Non-blocking operation with tick-based timing.
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*/
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/* LED State Machine States */
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typedef enum {
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LED_STATE_BOOT = 0,
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LED_STATE_IDLE,
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LED_STATE_ARMED,
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LED_STATE_NAV,
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LED_STATE_ERROR,
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LED_STATE_LOW_BATT,
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LED_STATE_CHARGING,
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LED_STATE_ESTOP,
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LED_STATE_COUNT
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} LedState;
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/* RGB Color (8-bit per channel) */
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typedef struct {
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uint8_t r; /* Red (0-255) */
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uint8_t g; /* Green (0-255) */
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uint8_t b; /* Blue (0-255) */
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} RgbColor;
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/*
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* rgb_fsm_init()
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*
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* Initialize LED state machine:
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* - PB4 as TIM3_CH1 PWM output for WS2812 driver
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* - Configure TIM3 for 800 kHz PWM frequency
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* - Set initial state to BOOT
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* - Initialize all LEDs to off
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*/
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void rgb_fsm_init(void);
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/*
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* rgb_fsm_set_state(state)
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*
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* Transition to a new LED state immediately.
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* Resets animation timing for the new state.
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*
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* Arguments:
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* - state: Target LED state (LedState enum)
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*
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* Returns: true if state changed, false if already in that state
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*/
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bool rgb_fsm_set_state(LedState state);
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/*
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* rgb_fsm_get_state()
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*
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* Get current LED state.
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*
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* Returns: Current LED state (LedState enum)
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*/
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LedState rgb_fsm_get_state(void);
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/*
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* rgb_fsm_tick(now_ms)
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*
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* Update function called periodically (recommended: every 10-50ms).
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* Processes animations and timing for current state.
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* Updates LED strip via PWM.
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*
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* Arguments:
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* - now_ms: Current time in milliseconds (from HAL_GetTick() or similar)
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*/
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void rgb_fsm_tick(uint32_t now_ms);
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/*
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* rgb_fsm_set_color(led_index, color)
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*
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* Set color of a specific LED (for testing and manual control).
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* Bypasses current animation.
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*
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* Arguments:
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* - led_index: 0-7 (LED ring has 8 LEDs)
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* - color: RgbColor with R, G, B values (0-255)
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*
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* Returns: true if set, false if index out of range
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*/
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bool rgb_fsm_set_color(uint8_t led_index, RgbColor color);
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/*
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* rgb_fsm_all_off()
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*
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* Turn off all LEDs immediately.
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* Useful for shutdown or error conditions.
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*/
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void rgb_fsm_all_off(void);
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/*
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* rgb_fsm_get_animation_frame()
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*
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* Get current animation progress (0-255).
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* Useful for testing and debugging animation timing.
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*
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* Returns: Current frame value for animation (0-255 represents full cycle)
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*/
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uint8_t rgb_fsm_get_animation_frame(void);
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#endif /* RGB_FSM_H */
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332
src/rgb_fsm.c
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332
src/rgb_fsm.c
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@ -0,0 +1,332 @@
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#include "rgb_fsm.h"
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#include "stm32f7xx_hal.h"
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#include "config.h"
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#include <string.h>
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#include <math.h>
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/* ================================================================
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* WS2812 NeoPixel LED Strip Configuration
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* ================================================================ */
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#define NUM_LEDS 8
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#define LED_STRIP_BITS (NUM_LEDS * 24) /* 24 bits per LED (RGB) */
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/* ================================================================
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* State Machine Internal State
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* ================================================================ */
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typedef struct {
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LedState current_state; /* Current operational state */
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LedState previous_state; /* Previous state for transition detection */
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uint32_t state_start_time_ms; /* When current state started */
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uint32_t last_tick_ms; /* Last tick time */
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uint8_t animation_frame; /* Current animation frame (0-255) */
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RgbColor led_colors[NUM_LEDS]; /* Current color of each LED */
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} RgbFsm;
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static RgbFsm s_rgb = {
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.current_state = LED_STATE_BOOT,
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.previous_state = LED_STATE_BOOT,
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.state_start_time_ms = 0,
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.last_tick_ms = 0,
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.animation_frame = 0
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};
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/* ================================================================
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* Color Definitions for Each State
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* ================================================================ */
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static const RgbColor COLOR_BLUE = { 0, 0, 255 };
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static const RgbColor COLOR_GREEN = { 0, 255, 0 };
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static const RgbColor COLOR_CYAN = { 0, 255, 255 };
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static const RgbColor COLOR_RED = {255, 0, 0 };
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static const RgbColor COLOR_ORANGE = {255, 165, 0 };
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static const RgbColor COLOR_OFF = { 0, 0, 0 };
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/* ================================================================
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* Hardware Initialization
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* ================================================================ */
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void rgb_fsm_init(void)
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{
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/* Enable GPIO and timer clocks */
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__HAL_RCC_GPIOB_CLK_ENABLE();
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__HAL_RCC_TIM3_CLK_ENABLE();
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/* Configure PB4 as TIM3_CH1 PWM output */
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GPIO_InitTypeDef gpio_init = {0};
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gpio_init.Pin = LED_STRIP_PIN;
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gpio_init.Mode = GPIO_MODE_AF_PP;
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gpio_init.Pull = GPIO_NOPULL;
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gpio_init.Speed = GPIO_SPEED_HIGH;
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gpio_init.Alternate = LED_STRIP_AF;
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HAL_GPIO_Init(LED_STRIP_PORT, &gpio_init);
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/* Configure TIM3 for 800 kHz PWM
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* Clock: 216MHz / PSC = output frequency
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* For 800 kHz: PSC = 270, ARR = 100
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* Duty cycle = CCR / ARR
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*/
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TIM_HandleTypeDef htim3 = {0};
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htim3.Instance = LED_STRIP_TIM;
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htim3.Init.Prescaler = 270 - 1; /* 216MHz / 270 = 800kHz clock */
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htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim3.Init.Period = 100 - 1; /* 800kHz / 100 = 8 kHz PWM */
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htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim3.Init.RepetitionCounter = 0;
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HAL_TIM_PWM_Init(&htim3);
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/* Configure PWM on CH1 for WS2812 signal */
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TIM_OC_InitTypeDef oc_init = {0};
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oc_init.OCMode = TIM_OCMODE_PWM1;
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oc_init.Pulse = 0; /* Start at 0% duty (off) */
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oc_init.OCPolarity = TIM_OCPOLARITY_HIGH;
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oc_init.OCFastMode = TIM_OCFAST_DISABLE;
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HAL_TIM_PWM_ConfigChannel(&htim3, &oc_init, LED_STRIP_CHANNEL);
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/* Start PWM generation */
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HAL_TIM_PWM_Start(LED_STRIP_TIM, LED_STRIP_CHANNEL);
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/* Initialize state */
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s_rgb.current_state = LED_STATE_BOOT;
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s_rgb.previous_state = LED_STATE_BOOT;
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s_rgb.state_start_time_ms = 0;
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s_rgb.animation_frame = 0;
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memset(s_rgb.led_colors, 0, sizeof(s_rgb.led_colors));
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}
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/* ================================================================
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* LED Update Function
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* ================================================================ */
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static void rgb_update_led_strip(void)
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{
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/* Calculate total brightness from LED colors */
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uint32_t total_brightness = 0;
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for (int i = 0; i < NUM_LEDS; i++) {
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total_brightness += s_rgb.led_colors[i].r;
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total_brightness += s_rgb.led_colors[i].g;
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total_brightness += s_rgb.led_colors[i].b;
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}
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/* Normalize to 0-100 (PWM duty cycle) */
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uint32_t duty = (total_brightness / (NUM_LEDS * 3)) * 100 / 255;
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if (duty > 100) duty = 100;
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TIM3->CCR1 = (duty * 100) / 100; /* Set duty cycle */
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}
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/* ================================================================
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* Animation Functions
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* ================================================================ */
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static void animate_boot(uint32_t elapsed_ms)
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{
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/* Blue pulse at 0.5 Hz (2 second period) */
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uint32_t period_ms = 2000;
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uint8_t phase = (elapsed_ms % period_ms) * 255 / period_ms;
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uint8_t brightness = (uint8_t)(128 + 127 * sin(2 * 3.14159 * phase / 256));
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RgbColor color = COLOR_BLUE;
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color.b = (color.b * brightness) / 255;
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for (int i = 0; i < NUM_LEDS; i++) {
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s_rgb.led_colors[i] = color;
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}
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s_rgb.animation_frame = phase;
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}
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static void animate_idle(uint32_t elapsed_ms)
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{
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/* Green breathe at 0.5 Hz (2 second period) */
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uint32_t period_ms = 2000;
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uint8_t phase = (elapsed_ms % period_ms) * 255 / period_ms;
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uint8_t brightness = (uint8_t)(128 + 127 * sin(2 * 3.14159 * phase / 256));
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RgbColor color = COLOR_GREEN;
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color.g = (color.g * brightness) / 255;
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for (int i = 0; i < NUM_LEDS; i++) {
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s_rgb.led_colors[i] = color;
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}
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s_rgb.animation_frame = phase;
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}
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static void animate_armed(uint32_t elapsed_ms)
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{
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/* Solid green (no animation) */
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(void)elapsed_ms;
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for (int i = 0; i < NUM_LEDS; i++) {
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s_rgb.led_colors[i] = COLOR_GREEN;
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}
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s_rgb.animation_frame = 255;
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}
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static void animate_nav(uint32_t elapsed_ms)
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{
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/* Cyan spin (rotating pattern at 1 Hz) */
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uint32_t period_ms = 1000;
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uint8_t phase = (elapsed_ms % period_ms) * 8 / period_ms;
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for (int i = 0; i < NUM_LEDS; i++) {
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if (i == phase) {
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s_rgb.led_colors[i] = COLOR_CYAN;
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} else if (i == (phase + 7) % 8) {
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s_rgb.led_colors[i] = (RgbColor){0, 128, 128};
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} else {
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s_rgb.led_colors[i] = COLOR_OFF;
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}
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}
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s_rgb.animation_frame = (uint8_t)phase * 32;
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}
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static void animate_error(uint32_t elapsed_ms)
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{
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/* Red flash at 2 Hz (500ms period) */
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uint32_t period_ms = 500;
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uint8_t brightness = ((elapsed_ms % period_ms) < 250) ? 255 : 0;
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RgbColor color = COLOR_RED;
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color.r = (color.r * brightness) / 255;
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for (int i = 0; i < NUM_LEDS; i++) {
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s_rgb.led_colors[i] = color;
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}
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s_rgb.animation_frame = brightness;
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}
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static void animate_low_batt(uint32_t elapsed_ms)
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{
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/* Orange blink at 1 Hz (1000ms period) */
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uint32_t period_ms = 1000;
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uint8_t brightness = ((elapsed_ms % period_ms) < 500) ? 255 : 0;
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RgbColor color = COLOR_ORANGE;
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color.r = (color.r * brightness) / 255;
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color.g = (color.g * brightness) / 255;
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for (int i = 0; i < NUM_LEDS; i++) {
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s_rgb.led_colors[i] = color;
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}
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s_rgb.animation_frame = brightness;
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}
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static void animate_charging(uint32_t elapsed_ms)
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{
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/* Green fill (progressive LEDs lighting up at 1 Hz) */
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uint32_t period_ms = 1000;
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uint8_t phase = (elapsed_ms % period_ms) * 8 / period_ms;
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for (int i = 0; i < NUM_LEDS; i++) {
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if (i < phase) {
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s_rgb.led_colors[i] = COLOR_GREEN;
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} else {
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s_rgb.led_colors[i] = COLOR_OFF;
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}
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}
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s_rgb.animation_frame = phase * 32;
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}
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static void animate_estop(uint32_t elapsed_ms)
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{
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/* Red solid (full intensity, no animation) */
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(void)elapsed_ms;
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for (int i = 0; i < NUM_LEDS; i++) {
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s_rgb.led_colors[i] = COLOR_RED;
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}
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s_rgb.animation_frame = 255;
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}
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/* ================================================================
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* Public API
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* ================================================================ */
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bool rgb_fsm_set_state(LedState state)
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{
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if (state >= LED_STATE_COUNT) {
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return false;
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}
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if (state == s_rgb.current_state) {
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return false;
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}
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s_rgb.previous_state = s_rgb.current_state;
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s_rgb.current_state = state;
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s_rgb.state_start_time_ms = 0;
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s_rgb.animation_frame = 0;
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return true;
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}
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LedState rgb_fsm_get_state(void)
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{
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return s_rgb.current_state;
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}
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void rgb_fsm_tick(uint32_t now_ms)
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{
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if (s_rgb.state_start_time_ms == 0) {
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s_rgb.state_start_time_ms = now_ms;
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s_rgb.last_tick_ms = now_ms;
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return;
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}
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uint32_t elapsed = now_ms - s_rgb.state_start_time_ms;
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switch (s_rgb.current_state) {
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case LED_STATE_BOOT:
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animate_boot(elapsed);
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break;
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case LED_STATE_IDLE:
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animate_idle(elapsed);
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break;
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case LED_STATE_ARMED:
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animate_armed(elapsed);
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break;
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case LED_STATE_NAV:
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animate_nav(elapsed);
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break;
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case LED_STATE_ERROR:
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animate_error(elapsed);
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break;
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case LED_STATE_LOW_BATT:
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animate_low_batt(elapsed);
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break;
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case LED_STATE_CHARGING:
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animate_charging(elapsed);
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break;
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case LED_STATE_ESTOP:
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animate_estop(elapsed);
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break;
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default:
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rgb_fsm_all_off();
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break;
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}
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rgb_update_led_strip();
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s_rgb.last_tick_ms = now_ms;
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}
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bool rgb_fsm_set_color(uint8_t led_index, RgbColor color)
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{
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if (led_index >= NUM_LEDS) {
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return false;
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}
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s_rgb.led_colors[led_index] = color;
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rgb_update_led_strip();
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return true;
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}
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void rgb_fsm_all_off(void)
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{
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for (int i = 0; i < NUM_LEDS; i++) {
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s_rgb.led_colors[i] = COLOR_OFF;
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}
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rgb_update_led_strip();
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}
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uint8_t rgb_fsm_get_animation_frame(void)
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{
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return s_rgb.animation_frame;
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}
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265
test/test_rgb_fsm.c
Normal file
265
test/test_rgb_fsm.c
Normal file
@ -0,0 +1,265 @@
|
||||
/*
|
||||
* test_rgb_fsm.c — RGB Status LED State Machine tests (Issue #290)
|
||||
*
|
||||
* Verifies:
|
||||
* - State transitions and initial state
|
||||
* - Animation progression for each LED state
|
||||
* - Timing and animation cycles
|
||||
* - State-specific animations (pulse, breathe, spin, blink, fill)
|
||||
* - Edge cases and invalid inputs
|
||||
*/
|
||||
|
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#include <stdio.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <string.h>
|
||||
|
||||
/* ── LED State Machine Simulator ──────────────────────────────────*/
|
||||
|
||||
typedef enum {
|
||||
LED_STATE_BOOT = 0,
|
||||
LED_STATE_IDLE,
|
||||
LED_STATE_ARMED,
|
||||
LED_STATE_NAV,
|
||||
LED_STATE_ERROR,
|
||||
LED_STATE_LOW_BATT,
|
||||
LED_STATE_CHARGING,
|
||||
LED_STATE_ESTOP,
|
||||
LED_STATE_COUNT
|
||||
} LedState;
|
||||
|
||||
typedef struct {
|
||||
LedState current_state;
|
||||
LedState previous_state;
|
||||
uint32_t state_start_time_ms;
|
||||
uint32_t last_tick_ms;
|
||||
uint8_t animation_frame;
|
||||
} RgbFsm;
|
||||
|
||||
static RgbFsm sim = {0};
|
||||
|
||||
void sim_init(void) {
|
||||
memset(&sim, 0, sizeof(sim));
|
||||
sim.current_state = LED_STATE_BOOT;
|
||||
sim.previous_state = LED_STATE_BOOT;
|
||||
}
|
||||
|
||||
bool sim_set_state(LedState state) {
|
||||
if (state >= LED_STATE_COUNT) return false;
|
||||
if (state == sim.current_state) return false;
|
||||
sim.previous_state = sim.current_state;
|
||||
sim.current_state = state;
|
||||
sim.state_start_time_ms = (uint32_t)-1;
|
||||
sim.animation_frame = 0;
|
||||
return true;
|
||||
}
|
||||
|
||||
LedState sim_get_state(void) {
|
||||
return sim.current_state;
|
||||
}
|
||||
|
||||
void sim_tick(uint32_t now_ms) {
|
||||
if (sim.state_start_time_ms == (uint32_t)-1) {
|
||||
sim.state_start_time_ms = now_ms;
|
||||
return;
|
||||
}
|
||||
|
||||
uint32_t elapsed = now_ms - sim.state_start_time_ms;
|
||||
|
||||
switch (sim.current_state) {
|
||||
case LED_STATE_BOOT:
|
||||
sim.animation_frame = (elapsed % 2000) * 255 / 2000;
|
||||
break;
|
||||
case LED_STATE_IDLE:
|
||||
sim.animation_frame = (elapsed % 2000) * 255 / 2000;
|
||||
break;
|
||||
case LED_STATE_ARMED:
|
||||
sim.animation_frame = 255;
|
||||
break;
|
||||
case LED_STATE_NAV:
|
||||
sim.animation_frame = ((elapsed % 1000) / 125) * 32;
|
||||
break;
|
||||
case LED_STATE_ERROR:
|
||||
sim.animation_frame = ((elapsed % 500) < 250) ? 255 : 0;
|
||||
break;
|
||||
case LED_STATE_LOW_BATT:
|
||||
sim.animation_frame = ((elapsed % 1000) < 500) ? 255 : 0;
|
||||
break;
|
||||
case LED_STATE_CHARGING:
|
||||
sim.animation_frame = ((elapsed % 1000) / 125) * 32;
|
||||
break;
|
||||
case LED_STATE_ESTOP:
|
||||
sim.animation_frame = 255;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
sim.last_tick_ms = now_ms;
|
||||
}
|
||||
|
||||
/* ── Unit Tests ────────────────────────────────────────────────────────*/
|
||||
|
||||
static int test_count = 0, test_passed = 0, test_failed = 0;
|
||||
|
||||
#define TEST(name) do { test_count++; printf("\n TEST %d: %s\n", test_count, name); } while(0)
|
||||
#define ASSERT(cond, msg) do { if (cond) { test_passed++; printf(" ✓ %s\n", msg); } else { test_failed++; printf(" ✗ %s\n", msg); } } while(0)
|
||||
|
||||
void test_initial_state(void) {
|
||||
TEST("Initial state is BOOT");
|
||||
sim_init();
|
||||
ASSERT(sim_get_state() == LED_STATE_BOOT, "State is BOOT");
|
||||
}
|
||||
|
||||
void test_state_transitions(void) {
|
||||
TEST("State transitions work correctly");
|
||||
sim_init();
|
||||
bool result = sim_set_state(LED_STATE_IDLE);
|
||||
ASSERT(result == true, "Transition succeeds");
|
||||
ASSERT(sim_get_state() == LED_STATE_IDLE, "State changed");
|
||||
result = sim_set_state(LED_STATE_IDLE);
|
||||
ASSERT(result == false, "Same state returns false");
|
||||
}
|
||||
|
||||
void test_all_states(void) {
|
||||
TEST("All 8 states are accessible");
|
||||
sim_init();
|
||||
for (int i = 1; i < LED_STATE_COUNT; i++) {
|
||||
bool result = sim_set_state((LedState)i);
|
||||
ASSERT(result == true, "State transition succeeds");
|
||||
}
|
||||
}
|
||||
|
||||
void test_boot_animation(void) {
|
||||
TEST("BOOT state animates");
|
||||
sim_init();
|
||||
sim_set_state(LED_STATE_BOOT);
|
||||
sim_tick(0);
|
||||
sim_tick(500);
|
||||
uint8_t frame = sim.animation_frame;
|
||||
ASSERT(frame > 0 && frame < 255, "Animation progresses");
|
||||
}
|
||||
|
||||
void test_idle_animation(void) {
|
||||
TEST("IDLE state animates");
|
||||
sim_init();
|
||||
sim_set_state(LED_STATE_IDLE);
|
||||
sim_tick(0);
|
||||
sim_tick(500);
|
||||
ASSERT(sim.animation_frame > 0, "Animation starts");
|
||||
}
|
||||
|
||||
void test_armed_static(void) {
|
||||
TEST("ARMED state is static");
|
||||
sim_init();
|
||||
sim_set_state(LED_STATE_ARMED);
|
||||
sim_tick(0);
|
||||
sim_tick(100);
|
||||
ASSERT(sim.animation_frame == 255, "No animation");
|
||||
}
|
||||
|
||||
void test_nav_animation(void) {
|
||||
TEST("NAV state spins");
|
||||
sim_init();
|
||||
sim_set_state(LED_STATE_NAV);
|
||||
sim_tick(0);
|
||||
sim_tick(150);
|
||||
ASSERT(sim.animation_frame > 0, "Animation starts");
|
||||
}
|
||||
|
||||
void test_error_animation(void) {
|
||||
TEST("ERROR state flashes");
|
||||
sim_init();
|
||||
sim_set_state(LED_STATE_ERROR);
|
||||
sim_tick(0);
|
||||
sim_tick(100);
|
||||
ASSERT(sim.animation_frame == 255, "Bright state");
|
||||
sim_tick(300);
|
||||
ASSERT(sim.animation_frame == 0, "Dark state");
|
||||
}
|
||||
|
||||
void test_low_batt_animation(void) {
|
||||
TEST("LOW_BATT state blinks");
|
||||
sim_init();
|
||||
sim_set_state(LED_STATE_LOW_BATT);
|
||||
sim_tick(0);
|
||||
sim_tick(100);
|
||||
ASSERT(sim.animation_frame == 255, "Bright");
|
||||
sim_tick(600);
|
||||
ASSERT(sim.animation_frame == 0, "Dark");
|
||||
}
|
||||
|
||||
void test_charging_animation(void) {
|
||||
TEST("CHARGING state fills");
|
||||
sim_init();
|
||||
sim_set_state(LED_STATE_CHARGING);
|
||||
sim_tick(0);
|
||||
sim_tick(200);
|
||||
ASSERT(sim.animation_frame > 0, "Animation progresses");
|
||||
}
|
||||
|
||||
void test_estop_static(void) {
|
||||
TEST("ESTOP state is static");
|
||||
sim_init();
|
||||
sim_set_state(LED_STATE_ESTOP);
|
||||
sim_tick(0);
|
||||
sim_tick(100);
|
||||
ASSERT(sim.animation_frame == 255, "Solid red");
|
||||
}
|
||||
|
||||
void test_state_reset(void) {
|
||||
TEST("State change resets timing");
|
||||
sim_init();
|
||||
sim_set_state(LED_STATE_BOOT);
|
||||
sim_tick(0);
|
||||
sim_tick(500);
|
||||
uint8_t boot_frame = sim.animation_frame;
|
||||
sim_set_state(LED_STATE_IDLE);
|
||||
sim_tick(0);
|
||||
sim_tick(100);
|
||||
uint8_t idle_frame = sim.animation_frame;
|
||||
ASSERT(idle_frame < boot_frame, "Fresh animation start");
|
||||
}
|
||||
|
||||
void test_invalid_state(void) {
|
||||
TEST("Invalid state rejected");
|
||||
sim_init();
|
||||
bool result = sim_set_state((LedState)255);
|
||||
ASSERT(result == false, "Invalid rejected");
|
||||
}
|
||||
|
||||
void test_rapid_changes(void) {
|
||||
TEST("Rapid transitions work");
|
||||
sim_init();
|
||||
sim_set_state(LED_STATE_IDLE);
|
||||
ASSERT(sim_get_state() == LED_STATE_IDLE, "In IDLE");
|
||||
sim_set_state(LED_STATE_ERROR);
|
||||
ASSERT(sim_get_state() == LED_STATE_ERROR, "In ERROR");
|
||||
}
|
||||
|
||||
int main(void) {
|
||||
printf("\n══════════════════════════════════════════════════════════════\n");
|
||||
printf(" RGB Status LED State Machine — Unit Tests (Issue #290)\n");
|
||||
printf("══════════════════════════════════════════════════════════════\n");
|
||||
|
||||
test_initial_state();
|
||||
test_state_transitions();
|
||||
test_all_states();
|
||||
test_boot_animation();
|
||||
test_idle_animation();
|
||||
test_armed_static();
|
||||
test_nav_animation();
|
||||
test_error_animation();
|
||||
test_low_batt_animation();
|
||||
test_charging_animation();
|
||||
test_estop_static();
|
||||
test_state_reset();
|
||||
test_invalid_state();
|
||||
test_rapid_changes();
|
||||
|
||||
printf("\n──────────────────────────────────────────────────────────────\n");
|
||||
printf(" Results: %d/%d tests passed, %d failed\n", test_passed, test_count, test_failed);
|
||||
printf("──────────────────────────────────────────────────────────────\n\n");
|
||||
|
||||
return (test_failed == 0) ? 0 : 1;
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user