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use 14 channels, test ia6 rx also (best guess on protocol based on the production code)

This commit is contained in:
Magnus Ivarsson 2017-03-07 22:50:04 +01:00
parent 0dd758cdec
commit cd299afdf0
1 changed files with 60 additions and 14 deletions
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74
src/test/unit/rx_ibus_unittest.cc
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@ -147,7 +147,7 @@ TEST_F(IbusRxInitUnitTest, Test_IbusRxEnabled)
class IbusTelemetryProtocolUnitTest : public ::testing::Test class IbusRxProtocollUnitTest : public ::testing::Test
{ {
protected: protected:
rxRuntimeConfig_t rxRuntimeConfig = {}; rxRuntimeConfig_t rxRuntimeConfig = {};
@ -167,7 +167,7 @@ protected:
}; };
TEST_F(IbusTelemetryProtocolUnitTest, Test_InitialFrameState) TEST_F(IbusRxProtocollUnitTest, Test_InitialFrameState)
{ {
//TODO: ibusFrameStatus should return rxFrameState_t not uint8_t //TODO: ibusFrameStatus should return rxFrameState_t not uint8_t
@ -177,13 +177,13 @@ TEST_F(IbusTelemetryProtocolUnitTest, Test_InitialFrameState)
} }
TEST_F(IbusTelemetryProtocolUnitTest, Test_OnePacketReceived) TEST_F(IbusRxProtocollUnitTest, Test_IA6B_OnePacketReceived)
{ {
uint8_t packet[] = {0x20, 0x00, //length and reserved (unknown) bits uint8_t packet[] = {0x20, 0x00, //length and reserved (unknown) bits
0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x04, 0x00, //channel 1..5 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x04, 0x00, //channel 1..5
0x05, 0x00, 0x06, 0x00, 0x07, 0x00, 0x08, 0x00, 0x09, 0x00, //channel 6..10 0x05, 0x00, 0x06, 0x00, 0x07, 0x00, 0x08, 0x00, 0x09, 0x00, //channel 6..10
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, //spare channels? 0x0a, 0x00, 0x0b, 0x00, 0x0c, 0x00, 0x0d, 0x00, //channel 11..14
0xb2, 0xff}; //checksum 0x84, 0xff}; //checksum
for (size_t i=0; i < sizeof(packet); i++) { for (size_t i=0; i < sizeof(packet); i++) {
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn()); EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
@ -195,18 +195,18 @@ TEST_F(IbusTelemetryProtocolUnitTest, Test_OnePacketReceived)
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn()); EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
//check that channel values have been updated //check that channel values have been updated
for (int i=0; i<10; i++) { for (int i=0; i<14; i++) {
ASSERT_EQ(i, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i)); ASSERT_EQ(i, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
} }
} }
TEST_F(IbusTelemetryProtocolUnitTest, Test_OnePacketReceivedWithBadCrc) TEST_F(IbusRxProtocollUnitTest, Test_IA6B_OnePacketReceivedWithBadCrc)
{ {
uint8_t packet[] = {0x20, 0x00, //length and reserved (unknown) bits uint8_t packet[] = {0x20, 0x00, //length and reserved (unknown) bits
0x00, 0x33, 0x01, 0x33, 0x02, 0x33, 0x03, 0x33, 0x04, 0x33, //channel 1..5 0x00, 0x33, 0x01, 0x33, 0x02, 0x33, 0x03, 0x33, 0x04, 0x33, //channel 1..5
0x05, 0x33, 0x06, 0x33, 0x07, 0x33, 0x08, 0x33, 0x09, 0x33, //channel 6..10 0x05, 0x33, 0x06, 0x33, 0x07, 0x33, 0x08, 0x33, 0x09, 0x33, //channel 6..10
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, //spare channels? 0x0a, 0x33, 0x0b, 0x33, 0x0c, 0x33, 0x0d, 0x33, //channel 11..14
0x00, 0x00}; //checksum 0x00, 0x00}; //checksum
for (size_t i=0; i < sizeof(packet); i++) { for (size_t i=0; i < sizeof(packet); i++) {
@ -217,14 +217,14 @@ TEST_F(IbusTelemetryProtocolUnitTest, Test_OnePacketReceivedWithBadCrc)
//no frame complete //no frame complete
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn()); EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
//check that channel values have been updated //check that channel values have not been updated
for (int i=0; i<10; i++) { for (int i=0; i<14; i++) {
ASSERT_NE(i + (0x33 << 8), rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i)); ASSERT_NE(i + (0x33 << 8), rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
} }
} }
TEST_F(IbusTelemetryProtocolUnitTest, Test_HalfPacketReceived_then_interPacketGapReset) TEST_F(IbusRxProtocollUnitTest, Test_IA6B_HalfPacketReceived_then_interPacketGapReset)
{ {
const uint8_t packet_half[] = {0x20, 0x00, //length and reserved (unknown) bits const uint8_t packet_half[] = {0x20, 0x00, //length and reserved (unknown) bits
0x00, 0xab, 0x01, 0xab, 0x02, 0xab, 0x03, 0xab, 0x04, 0xab, //channel 1..5 0x00, 0xab, 0x01, 0xab, 0x02, 0xab, 0x03, 0xab, 0x04, 0xab, //channel 1..5
@ -232,8 +232,8 @@ TEST_F(IbusTelemetryProtocolUnitTest, Test_HalfPacketReceived_then_interPacketGa
const uint8_t packet_full[] = {0x20, 0x00, //length and reserved (unknown) bits const uint8_t packet_full[] = {0x20, 0x00, //length and reserved (unknown) bits
0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x04, 0x00, //channel 1..5 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x04, 0x00, //channel 1..5
0x05, 0x00, 0x06, 0x00, 0x07, 0x00, 0x08, 0x00, 0x09, 0x00, //channel 6..10 0x05, 0x00, 0x06, 0x00, 0x07, 0x00, 0x08, 0x00, 0x09, 0x00, //channel 6..10
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, //spare channels? 0x0a, 0x00, 0x0b, 0x00, 0x0c, 0x00, 0x0d, 0x00, //channel 11..14
0xb2, 0xff}; //checksum 0x84, 0xff}; //checksum
for (size_t i=0; i < sizeof(packet_half); i++) { for (size_t i=0; i < sizeof(packet_half); i++) {
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn()); EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
@ -253,8 +253,54 @@ TEST_F(IbusTelemetryProtocolUnitTest, Test_HalfPacketReceived_then_interPacketGa
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn()); EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
//check that channel values have been updated //check that channel values have been updated
for (int i=0; i<10; i++) { for (int i=0; i<14; i++) {
ASSERT_EQ(i, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i)); ASSERT_EQ(i, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
} }
} }
TEST_F(IbusRxProtocollUnitTest, Test_IA6_OnePacketReceived)
{
uint8_t packet[] = {0x55, //sync character
0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x04, 0x00, //channel 1..5
0x05, 0x00, 0x06, 0x00, 0x07, 0x00, 0x08, 0x00, 0x09, 0x00, //channel 6..10
0x0a, 0x00, 0x0b, 0x00, 0x0c, 0x00, 0x0d, 0x00, //channel 11..14
0x5b, 0x00}; //checksum
for (size_t i=0; i < sizeof(packet); i++) {
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
stub_serialRxCallback(packet[i]);
}
//report frame complete once
EXPECT_EQ(RX_FRAME_COMPLETE, rxRuntimeConfig.rcFrameStatusFn());
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
//check that channel values have been updated
for (int i=0; i<14; i++) {
ASSERT_EQ(i, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
}
}
TEST_F(IbusRxProtocollUnitTest, Test_IA6_OnePacketReceivedBadCrc)
{
uint8_t packet[] = {0x55, //sync character
0x00, 0x33, 0x01, 0x33, 0x02, 0x33, 0x03, 0x33, 0x04, 0x33, //channel 1..5
0x05, 0x33, 0x06, 0x33, 0x07, 0x33, 0x08, 0x33, 0x09, 0x33, //channel 6..10
0x0a, 0x33, 0x0b, 0x33, 0x0c, 0x33, 0x0d, 0x33, //channel 11..14
0x00, 0x00}; //checksum
for (size_t i=0; i < sizeof(packet); i++) {
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
stub_serialRxCallback(packet[i]);
}
//no frame complete
EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn());
//check that channel values have not been updated
for (int i=0; i<14; i++) {
ASSERT_NE(i + (0x33 << 8), rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
}
}