mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 08:15:30 +03:00
516 lines
17 KiB
C++
516 lines
17 KiB
C++
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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extern "C" {
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#include "platform.h"
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#include "pg/pg.h"
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#include "pg/rx.h"
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#include "drivers/serial.h"
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#include "drivers/time.h"
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#include "io/serial.h"
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#include "rx/rx.h"
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#include "rx/ibus.h"
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#include "telemetry/ibus_shared.h"
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#include "telemetry/telemetry.h"
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#include "fc/rc_controls.h"
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#include "fc/rc_modes.h"
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#include "sensors/barometer.h"
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#include "sensors/battery.h"
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}
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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extern "C" {
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uint8_t batteryCellCount = 3;
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float rcCommand[4] = {0, 0, 0, 0};
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int16_t telemTemperature1 = 0;
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baro_t baro = { .baroTemperature = 50 };
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telemetryConfig_t telemetryConfig_System;
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}
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bool telemetryCheckRxPortShared(const serialPortConfig_t *portConfig)
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{
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//TODO: implement
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(void) portConfig;
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return false;
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}
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serialPort_t * telemetrySharedPort = NULL;
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static uint16_t vbat = 100;
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uint16_t getVbat(void)
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{
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return vbat;
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}
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uint32_t microseconds_stub_value = 0;
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uint32_t micros(void)
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{
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return microseconds_stub_value;
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}
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#define SERIAL_BUFFER_SIZE 256
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#define SERIAL_PORT_DUMMY_IDENTIFIER (serialPortIdentifier_e)0x1234
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typedef struct serialPortStub_s {
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uint8_t buffer[SERIAL_BUFFER_SIZE];
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int pos = 0;
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int end = 0;
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} serialPortStub_t;
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static serialPort_t serialTestInstance;
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static serialPortConfig_t serialTestInstanceConfig = {
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.identifier = SERIAL_PORT_DUMMY_IDENTIFIER,
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.functionMask = 0
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};
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static serialReceiveCallbackPtr stub_serialRxCallback;
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static serialPortConfig_t *findSerialPortConfig_stub_retval;
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static bool openSerial_called = false;
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static serialPortStub_t serialWriteStub;
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static bool portIsShared = false;
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bool isSerialPortShared(const serialPortConfig_t *portConfig,
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uint16_t functionMask,
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serialPortFunction_e sharedWithFunction)
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{
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EXPECT_EQ(portConfig, findSerialPortConfig_stub_retval);
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EXPECT_EQ(functionMask, FUNCTION_RX_SERIAL);
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EXPECT_EQ(sharedWithFunction, FUNCTION_TELEMETRY_IBUS);
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return portIsShared;
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}
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serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function)
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{
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EXPECT_EQ(function, FUNCTION_RX_SERIAL);
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return findSerialPortConfig_stub_retval;
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}
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static portMode_e serialExpectedMode = MODE_RX;
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static portOptions_e serialExpectedOptions = SERIAL_UNIDIR;
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serialPort_t *openSerialPort(
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serialPortIdentifier_e identifier,
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serialPortFunction_e function,
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serialReceiveCallbackPtr callback,
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void *callbackData,
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uint32_t baudrate,
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portMode_e mode,
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portOptions_e options
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)
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{
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openSerial_called = true;
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EXPECT_FALSE(NULL == callback);
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EXPECT_TRUE(NULL == callbackData);
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EXPECT_EQ(identifier, SERIAL_PORT_DUMMY_IDENTIFIER);
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EXPECT_EQ(options, serialExpectedOptions);
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EXPECT_EQ(function, FUNCTION_RX_SERIAL);
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EXPECT_EQ(baudrate, 115200);
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EXPECT_EQ(mode, serialExpectedMode);
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stub_serialRxCallback = callback;
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return &serialTestInstance;
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}
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void serialWrite(serialPort_t *instance, uint8_t ch)
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{
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EXPECT_EQ(instance, &serialTestInstance);
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EXPECT_LT(serialWriteStub.pos, sizeof(serialWriteStub.buffer));
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serialWriteStub.buffer[serialWriteStub.pos++] = ch;
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//TODO serialReadStub.buffer[serialReadStub.end++] = ch; //characters echoes back on the shared wire
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//printf("w: %02d 0x%02x\n", serialWriteStub.pos, ch);
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}
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void serialTestResetPort()
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{
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openSerial_called = false;
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stub_serialRxCallback = NULL;
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portIsShared = false;
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serialExpectedMode = MODE_RX;
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serialExpectedOptions = SERIAL_UNIDIR;
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}
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static bool isChecksumOkReturnValue = true;
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bool isChecksumOkIa6b(const uint8_t *ibusPacket, const uint8_t length)
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{
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(void) ibusPacket;
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(void) length;
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return isChecksumOkReturnValue;
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}
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static bool initSharedIbusTelemetryCalled = false;
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void initSharedIbusTelemetry(serialPort_t * port)
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{
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EXPECT_EQ(port, &serialTestInstance);
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initSharedIbusTelemetryCalled = true;
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}
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static bool stubTelemetryCalled = false;
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static uint8_t stubTelemetryPacket[100];
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static uint8_t stubTelemetryIgnoreRxChars = 0;
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uint8_t respondToIbusRequest(uint8_t const * const ibusPacket) {
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uint8_t len = ibusPacket[0];
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EXPECT_LT(len, sizeof(stubTelemetryPacket));
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memcpy(stubTelemetryPacket, ibusPacket, len);
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stubTelemetryCalled = true;
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return stubTelemetryIgnoreRxChars;
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}
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void resetStubTelemetry(void)
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{
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memset(stubTelemetryPacket, 0, sizeof(stubTelemetryPacket));
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stubTelemetryCalled = false;
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stubTelemetryIgnoreRxChars = 0;
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initSharedIbusTelemetryCalled = false;
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isChecksumOkReturnValue = true;
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}
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class IbusRxInitUnitTest : public ::testing::Test
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{
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protected:
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virtual void SetUp()
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{
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serialTestResetPort();
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}
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};
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TEST_F(IbusRxInitUnitTest, Test_IbusRxNotEnabled)
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{
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const rxConfig_t initialRxConfig = {};
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rxRuntimeConfig_t rxRuntimeConfig = {};
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findSerialPortConfig_stub_retval = NULL;
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EXPECT_FALSE(ibusInit(&initialRxConfig, &rxRuntimeConfig));
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//TODO: Question: I'd expect that runtime conf was not initialized unless there was a serial port to run but the implementation states otherwise
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// EXPECT_EQ(0, rxRuntimeConfig.channelCount);
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// EXPECT_EQ(0, rxRuntimeConfig.rxRefreshRate);
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// EXPECT_EQ(NULL, rxRuntimeConfig.rcReadRawFn);
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// EXPECT_EQ(NULL, rxRuntimeConfig.rcFrameStatusFn);
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EXPECT_EQ(14, rxRuntimeConfig.channelCount);
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EXPECT_EQ(20000, rxRuntimeConfig.rxRefreshRate);
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EXPECT_FALSE(NULL == rxRuntimeConfig.rcReadRawFn);
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EXPECT_FALSE(NULL == rxRuntimeConfig.rcFrameStatusFn);
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}
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TEST_F(IbusRxInitUnitTest, Test_IbusRxEnabled)
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{
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const rxConfig_t initialRxConfig = {};
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rxRuntimeConfig_t rxRuntimeConfig = {};
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findSerialPortConfig_stub_retval = &serialTestInstanceConfig;
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EXPECT_TRUE(ibusInit(&initialRxConfig, &rxRuntimeConfig));
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EXPECT_EQ(14, rxRuntimeConfig.channelCount);
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EXPECT_EQ(20000, rxRuntimeConfig.rxRefreshRate);
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EXPECT_FALSE(NULL == rxRuntimeConfig.rcReadRawFn);
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EXPECT_FALSE(NULL == rxRuntimeConfig.rcFrameStatusFn);
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EXPECT_TRUE(openSerial_called);
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}
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class IbusRxProtocollUnitTest : public ::testing::Test
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{
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protected:
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rxRuntimeConfig_t rxRuntimeConfig = {};
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virtual void SetUp()
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{
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serialTestResetPort();
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resetStubTelemetry();
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portIsShared = true;
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serialExpectedOptions = SERIAL_BIDIR;
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serialExpectedMode = MODE_RXTX;
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const rxConfig_t initialRxConfig = {};
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findSerialPortConfig_stub_retval = &serialTestInstanceConfig;
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EXPECT_TRUE(ibusInit(&initialRxConfig, &rxRuntimeConfig));
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EXPECT_TRUE(initSharedIbusTelemetryCalled);
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//handle that internal ibus position is not set to zero at init
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microseconds_stub_value += 5000;
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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}
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virtual void receivePacket(uint8_t const * const packet, const size_t length)
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{
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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for (size_t i=0; i < length; i++) {
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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stub_serialRxCallback(packet[i], NULL);
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}
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}
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};
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TEST_F(IbusRxProtocollUnitTest, Test_InitialFrameState)
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{
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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//TODO: is it ok to have undefined channel values after init?
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}
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TEST_F(IbusRxProtocollUnitTest, Test_IA6B_OnePacketReceived)
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{
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uint8_t packet[] = {0x20, 0x00, //length and reserved (unknown) bits
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0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x04, 0x00, //channel 1..5
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0x05, 0x00, 0x06, 0x00, 0x07, 0x00, 0x08, 0x00, 0x09, 0x00, //channel 6..10
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0x0a, 0x00, 0x0b, 0x00, 0x0c, 0x00, 0x0d, 0x00, //channel 11..14
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0x84, 0xff}; //checksum
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for (size_t i=0; i < sizeof(packet); i++) {
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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stub_serialRxCallback(packet[i], NULL);
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}
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//report frame complete once
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EXPECT_EQ(RX_FRAME_COMPLETE, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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//check that channel values have been updated
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for (int i=0; i<14; i++) {
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ASSERT_EQ(i, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
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}
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}
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TEST_F(IbusRxProtocollUnitTest, Test_IA6B_OnePacketReceivedWithBadCrc)
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{
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uint8_t packet[] = {0x20, 0x00, //length and reserved (unknown) bits
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0x00, 0x33, 0x01, 0x33, 0x02, 0x33, 0x03, 0x33, 0x04, 0x33, //channel 1..5
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0x05, 0x33, 0x06, 0x33, 0x07, 0x33, 0x08, 0x33, 0x09, 0x33, //channel 6..10
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0x0a, 0x33, 0x0b, 0x33, 0x0c, 0x33, 0x0d, 0x33, //channel 11..14
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0x00, 0x00}; //checksum
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isChecksumOkReturnValue = false;
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for (size_t i=0; i < sizeof(packet); i++) {
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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stub_serialRxCallback(packet[i], NULL);
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}
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//no frame complete
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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//check that channel values have not been updated
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for (int i=0; i<14; i++) {
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ASSERT_NE(i + (0x33 << 8), rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
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}
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}
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TEST_F(IbusRxProtocollUnitTest, Test_IA6B_HalfPacketReceived_then_interPacketGapReset)
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{
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const uint8_t packet_half[] = {0x20, 0x00, //length and reserved (unknown) bits
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0x00, 0xab, 0x01, 0xab, 0x02, 0xab, 0x03, 0xab, 0x04, 0xab, //channel 1..5
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0x05, 0xab};
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const uint8_t packet_full[] = {0x20, 0x00, //length and reserved (unknown) bits
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0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x04, 0x00, //channel 1..5
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0x05, 0x00, 0x06, 0x00, 0x07, 0x00, 0x08, 0x00, 0x09, 0x00, //channel 6..10
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0x0a, 0x00, 0x0b, 0x00, 0x0c, 0x00, 0x0d, 0x00, //channel 11..14
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0x84, 0xff}; //checksum
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for (size_t i=0; i < sizeof(packet_half); i++) {
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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stub_serialRxCallback(packet_half[i], NULL);
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}
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microseconds_stub_value += 5000;
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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for (size_t i=0; i < sizeof(packet_full); i++) {
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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stub_serialRxCallback(packet_full[i], NULL);
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}
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//report frame complete once
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EXPECT_EQ(RX_FRAME_COMPLETE, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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//check that channel values have been updated
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for (int i=0; i<14; i++) {
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ASSERT_EQ(i, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
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}
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}
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TEST_F(IbusRxProtocollUnitTest, Test_IA6_OnePacketReceived)
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{
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uint8_t packet[] = {0x55, //sync character
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0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x04, 0x00, //channel 1..5
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0x05, 0x00, 0x06, 0x00, 0x07, 0x00, 0x08, 0x00, 0x09, 0x00, //channel 6..10
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0x0a, 0x00, 0x0b, 0x00, 0x0c, 0x00, 0x0d, 0x00, //channel 11..14
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0x5b, 0x00}; //checksum
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for (size_t i=0; i < sizeof(packet); i++) {
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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stub_serialRxCallback(packet[i], NULL);
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}
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//report frame complete once
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EXPECT_EQ(RX_FRAME_COMPLETE, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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//check that channel values have been updated
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for (int i=0; i<14; i++) {
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ASSERT_EQ(i, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
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}
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}
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TEST_F(IbusRxProtocollUnitTest, Test_IA6_OnePacketReceivedBadCrc)
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{
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uint8_t packet[] = {0x55, //sync character
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0x00, 0x33, 0x01, 0x33, 0x02, 0x33, 0x03, 0x33, 0x04, 0x33, //channel 1..5
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0x05, 0x33, 0x06, 0x33, 0x07, 0x33, 0x08, 0x33, 0x09, 0x33, //channel 6..10
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0x0a, 0x33, 0x0b, 0x33, 0x0c, 0x33, 0x0d, 0x33, //channel 11..14
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0x00, 0x00}; //checksum
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for (size_t i=0; i < sizeof(packet); i++) {
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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stub_serialRxCallback(packet[i], NULL);
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}
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//no frame complete
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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//check that channel values have not been updated
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for (int i=0; i<14; i++) {
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ASSERT_NE(i + (0x33 << 8), rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
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}
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}
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TEST_F(IbusRxProtocollUnitTest, Test_IA6B_OnePacketReceived_not_shared_port)
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{
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uint8_t packet[] = {0x20, 0x00, //length and reserved (unknown) bits
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0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x04, 0x00, //channel 1..5
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0x05, 0x00, 0x06, 0x00, 0x07, 0x00, 0x08, 0x00, 0x09, 0x00, //channel 6..10
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0x0a, 0x00, 0x0b, 0x00, 0x0c, 0x00, 0x0d, 0x00, //channel 11..14
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0x84, 0xff}; //checksum
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{
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serialTestResetPort();
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resetStubTelemetry();
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portIsShared = false;
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serialExpectedOptions = SERIAL_NOT_INVERTED;
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serialExpectedMode = MODE_RX;
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const rxConfig_t initialRxConfig = {};
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findSerialPortConfig_stub_retval = &serialTestInstanceConfig;
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EXPECT_TRUE(ibusInit(&initialRxConfig, &rxRuntimeConfig));
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EXPECT_FALSE(initSharedIbusTelemetryCalled);
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//handle that internal ibus position is not set to zero at init
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microseconds_stub_value += 5000;
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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}
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for (size_t i=0; i < sizeof(packet); i++) {
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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stub_serialRxCallback(packet[i], NULL);
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}
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//report frame complete once
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EXPECT_EQ(RX_FRAME_COMPLETE, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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//check that channel values have been updated
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for (int i=0; i<14; i++) {
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ASSERT_EQ(i, rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, i));
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}
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}
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TEST_F(IbusRxProtocollUnitTest, Test_OneTelemetryPacketReceived)
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{
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uint8_t packet[] = {0x04, 0x81, 0x7a, 0xff}; //ibus sensor discovery
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resetStubTelemetry();
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|
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|
receivePacket(packet, sizeof(packet));
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|
|
|
//no frame complete signal to rx system, but telemetry system is called
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EXPECT_EQ(RX_FRAME_PENDING, rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig));
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EXPECT_TRUE(stubTelemetryCalled);
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EXPECT_TRUE( 0 == memcmp( stubTelemetryPacket, packet, sizeof(packet)));
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|
}
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|
|
|
|
|
TEST_F(IbusRxProtocollUnitTest, Test_OneTelemetryIgnoreTxEchoToRx)
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|
{
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|
uint8_t packet[] = {0x04, 0x81, 0x7a, 0xff}; //ibus sensor discovery
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|
resetStubTelemetry();
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|
stubTelemetryIgnoreRxChars = 4;
|
|
|
|
//given one packet received, that will respond with four characters to be ignored
|
|
receivePacket(packet, sizeof(packet));
|
|
rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig);
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|
EXPECT_TRUE(stubTelemetryCalled);
|
|
|
|
//when those four bytes are sent and looped back
|
|
resetStubTelemetry();
|
|
rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig);
|
|
receivePacket(packet, sizeof(packet));
|
|
|
|
//then they are ignored
|
|
EXPECT_FALSE(stubTelemetryCalled);
|
|
|
|
//and then next packet can be received
|
|
receivePacket(packet, sizeof(packet));
|
|
rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig);
|
|
EXPECT_TRUE(stubTelemetryCalled);
|
|
}
|
|
|
|
|
|
TEST_F(IbusRxProtocollUnitTest, Test_OneTelemetryShouldNotIgnoreTxEchoAfterInterFrameGap)
|
|
{
|
|
uint8_t packet[] = {0x04, 0x81, 0x7a, 0xff}; //ibus sensor discovery
|
|
resetStubTelemetry();
|
|
stubTelemetryIgnoreRxChars = 4;
|
|
|
|
//given one packet received, that will respond with four characters to be ignored
|
|
receivePacket(packet, sizeof(packet));
|
|
rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig);
|
|
EXPECT_TRUE(stubTelemetryCalled);
|
|
|
|
//when there is an interPacketGap
|
|
microseconds_stub_value += 5000;
|
|
resetStubTelemetry();
|
|
rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig);
|
|
|
|
//then next packet can be received
|
|
receivePacket(packet, sizeof(packet));
|
|
rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig);
|
|
EXPECT_TRUE(stubTelemetryCalled);
|
|
}
|