mirror of
https://github.com/betaflight/betaflight.git
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599 lines
17 KiB
C++
599 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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#include <string.h>
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extern "C" {
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#include "platform.h"
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#include "common/utils.h"
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#include "pg/pg.h"
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#include "pg/pg_ids.h"
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#include "drivers/serial.h"
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#include "io/serial.h"
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#include "io/gps.h"
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#include "flight/imu.h"
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#include "config/config.h"
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#include "fc/rc_controls.h"
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#include "telemetry/telemetry.h"
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#include "telemetry/ibus.h"
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#include "sensors/gyro.h"
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#include "sensors/battery.h"
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#include "sensors/barometer.h"
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#include "sensors/acceleration.h"
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#include "scheduler/scheduler.h"
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#include "fc/tasks.h"
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PG_REGISTER(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
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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 armingFlags = 0;
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uint8_t stateFlags = 0;
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uint16_t flightModeFlags = 0;
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uint8_t testBatteryCellCount =3;
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float rcCommand[4] = {0, 0, 0, 0};
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telemetryConfig_t telemetryConfig_System;
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batteryConfig_s batteryConfig_System;
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attitudeEulerAngles_t attitude = EULER_INITIALIZE;
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acc_t acc;
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baro_t baro;
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gpsSolutionData_t gpsSol;
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uint16_t GPS_distanceToHome;
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}
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static int16_t gyroTemperature;
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int16_t gyroGetTemperature(void)
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{
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return gyroTemperature;
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}
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static uint16_t vbat = 1000;
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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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extern "C" {
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static int32_t amperage = 100;
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static int16_t estimatedVario = 0;
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static uint8_t batteryRemaining = 0;
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static throttleStatus_e throttleStatus = THROTTLE_HIGH;
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static uint32_t definedFeatures = 0;
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static uint32_t definedSensors = SENSOR_GYRO | SENSOR_ACC | SENSOR_MAG | SENSOR_SONAR | SENSOR_GPS | SENSOR_GPSMAG;
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static uint16_t testBatteryVoltage = 1000;
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int32_t getAmperage(void)
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{
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return amperage;
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}
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int16_t getEstimatedVario(void)
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{
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return estimatedVario;
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}
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uint8_t calculateBatteryPercentageRemaining(void)
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{
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return batteryRemaining;
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}
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uint16_t getBatteryAverageCellVoltage(void)
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{
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return testBatteryVoltage / testBatteryCellCount;
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}
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int32_t getMAhDrawn(void)
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{
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return 0;
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}
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throttleStatus_e calculateThrottleStatus(void)
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{
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return throttleStatus;
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}
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bool featureIsEnabled(uint32_t mask)
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{
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return (definedFeatures & mask) != 0;
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}
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bool sensors(sensors_e sensor)
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{
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return (definedSensors & sensor) != 0;
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}
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}
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#define SERIAL_BUFFER_SIZE 256
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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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uint16_t getBatteryVoltage(void)
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{
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return testBatteryVoltage;
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}
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uint8_t getBatteryCellCount(void)
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{
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return testBatteryCellCount;
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}
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static serialPortStub_t serialWriteStub;
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static serialPortStub_t serialReadStub;
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#define SERIAL_PORT_DUMMY_IDENTIFIER (serialPortIdentifier_e)0x12
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serialPort_t serialTestInstance;
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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 serialPortConfig_t *findSerialPortConfig_stub_retval;
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static portSharing_e determinePortSharing_stub_retval;
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static bool portIsShared = false;
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static bool openSerial_called = false;
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static bool telemetryDetermineEnabledState_stub_retval;
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void rescheduleTask(taskId_e taskId, timeDelta_t newPeriodUs)
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{
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EXPECT_EQ(TASK_TELEMETRY, taskId);
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EXPECT_EQ(1000, newPeriodUs);
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}
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const serialPortConfig_t *findSerialPortConfig(serialPortFunction_e function)
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{
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EXPECT_EQ(FUNCTION_TELEMETRY_IBUS, function);
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return findSerialPortConfig_stub_retval;
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}
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portSharing_e determinePortSharing(const serialPortConfig_t *portConfig, serialPortFunction_e function)
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{
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EXPECT_EQ(findSerialPortConfig_stub_retval, portConfig);
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EXPECT_EQ(FUNCTION_TELEMETRY_IBUS, function);
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return PORTSHARING_UNUSED;
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}
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bool telemetryDetermineEnabledState(portSharing_e portSharing)
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{
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(void) portSharing;
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return telemetryDetermineEnabledState_stub_retval;
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}
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bool telemetryIsSensorEnabled(sensor_e sensor)
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{
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UNUSED(sensor);
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return true;
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}
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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(findSerialPortConfig_stub_retval, portConfig);
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EXPECT_EQ(FUNCTION_RX_SERIAL, functionMask);
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EXPECT_EQ(FUNCTION_TELEMETRY_IBUS, sharedWithFunction);
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return portIsShared;
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}
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serialPortConfig_t *findSerialPortConfig(uint16_t mask)
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{
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EXPECT_EQ(FUNCTION_TELEMETRY_IBUS, mask);
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return findSerialPortConfig_stub_retval ;
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}
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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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UNUSED(callback);
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UNUSED(callbackData);
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EXPECT_EQ(SERIAL_PORT_DUMMY_IDENTIFIER, identifier);
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EXPECT_EQ(SERIAL_BIDIR, options);
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EXPECT_EQ(FUNCTION_TELEMETRY_IBUS, function);
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EXPECT_EQ(115200, baudrate);
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EXPECT_EQ(MODE_RXTX, mode);
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return &serialTestInstance;
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}
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void closeSerialPort(serialPort_t *serialPort)
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{
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EXPECT_EQ(&serialTestInstance, serialPort);
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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(&serialTestInstance, instance);
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EXPECT_LT(serialWriteStub.pos, sizeof(serialWriteStub.buffer));
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serialWriteStub.buffer[serialWriteStub.pos++] = ch;
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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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uint32_t serialRxBytesWaiting(const serialPort_t *instance)
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{
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EXPECT_EQ(&serialTestInstance, instance);
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EXPECT_GE(serialReadStub.end, serialReadStub.pos);
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int ret = serialReadStub.end - serialReadStub.pos;
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if (ret < 0) {
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ret = 0;
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}
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//printf("serialRxBytesWaiting: %d\n", ret);
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return ret;
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}
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uint8_t serialRead(serialPort_t *instance)
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{
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EXPECT_EQ(&serialTestInstance, instance);
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EXPECT_LT(serialReadStub.pos, serialReadStub.end);
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const uint8_t ch = serialReadStub.buffer[serialReadStub.pos++];
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return ch;
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}
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void serialTestResetBuffers()
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{
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memset(&serialReadStub, 0, sizeof(serialReadStub));
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memset(&serialWriteStub, 0, sizeof(serialWriteStub));
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}
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void setTestSensors()
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{
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telemetryConfig_System.flysky_sensors[0] = 0x03;
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telemetryConfig_System.flysky_sensors[1] = 0x01;
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telemetryConfig_System.flysky_sensors[2] = 0x02;
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telemetryConfig_System.flysky_sensors[3] = 0x00;
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}
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void serialTestResetPort()
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{
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portIsShared = false;
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openSerial_called = false;
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determinePortSharing_stub_retval = PORTSHARING_UNUSED;
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telemetryDetermineEnabledState_stub_retval = true;
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serialTestResetBuffers();
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}
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class IbusTelemteryInitUnitTest : 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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setTestSensors();
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}
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};
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TEST_F(IbusTelemteryInitUnitTest, Test_IbusInitNotEnabled)
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{
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findSerialPortConfig_stub_retval = NULL;
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telemetryDetermineEnabledState_stub_retval = false;
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//given stuff in serial read
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serialReadStub.end++;
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//when initializing and polling ibus
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initIbusTelemetry();
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checkIbusTelemetryState();
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handleIbusTelemetry();
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//then nothing is read from serial port
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EXPECT_NE(serialReadStub.pos, serialReadStub.end);
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EXPECT_FALSE(openSerial_called);
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}
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TEST_F(IbusTelemteryInitUnitTest, Test_IbusInitEnabled)
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{
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findSerialPortConfig_stub_retval = &serialTestInstanceConfig;
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//given stuff in serial read
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serialReadStub.end++;
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//when initializing and polling ibus
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initIbusTelemetry();
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checkIbusTelemetryState();
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handleIbusTelemetry();
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//then all is read from serial port
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EXPECT_EQ(serialReadStub.end, serialReadStub.pos);
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EXPECT_TRUE(openSerial_called);
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}
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TEST_F(IbusTelemteryInitUnitTest, Test_IbusInitSerialRxAndTelemetryEnabled)
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{
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findSerialPortConfig_stub_retval = &serialTestInstanceConfig;
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//given stuff in serial read
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serialReadStub.end++;
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//and serial rx enabled too
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portIsShared = true;
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//when initializing and polling ibus
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initIbusTelemetry();
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checkIbusTelemetryState();
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handleIbusTelemetry();
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//then all is read from serial port
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EXPECT_NE(serialReadStub.pos, serialReadStub.end);
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EXPECT_FALSE(openSerial_called);
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}
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class IbusTelemetryProtocolUnitTestBase : 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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telemetryConfigMutable()->report_cell_voltage = false;
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serialTestResetBuffers();
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initIbusTelemetry();
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checkIbusTelemetryState();
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}
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void checkResponseToCommand(const char *rx, uint8_t rxCnt, const char *expectedTx, uint8_t expectedTxCnt)
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{
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serialTestResetBuffers();
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memcpy(serialReadStub.buffer, rx, rxCnt);
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serialReadStub.end += rxCnt;
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//when polling ibus
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for (int i = 0; i<10; i++) {
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handleIbusTelemetry();
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}
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EXPECT_EQ(expectedTxCnt, serialWriteStub.pos);
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EXPECT_EQ(0, memcmp(serialWriteStub.buffer, expectedTx, expectedTxCnt));
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}
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void setupBaseAddressOne(void)
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{
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checkResponseToCommand("\x04\x81\x7a\xff", 4, "\x04\x81\x7a\xff", 4);
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serialTestResetBuffers();
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}
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void setupBaseAddressThree(void)
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{
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checkResponseToCommand("\x04\x83\x78\xff", 4, "\x04\x83\x78\xff", 4);
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serialTestResetBuffers();
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}
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};
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class IbusTelemteryProtocolUnitTest : public ::IbusTelemetryProtocolUnitTestBase
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{
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protected:
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virtual void SetUp()
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{
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IbusTelemetryProtocolUnitTestBase::SetUp();
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setupBaseAddressOne();
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}
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};
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusNoRespondToDiscoveryCrcErr)
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{
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//Given ibus command: Hello sensor at address 1, are you there (with bad crc)?
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//then we do not respond
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checkResponseToCommand("\x04\x81\x00\x00", 4, NULL, 0);
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToDiscovery)
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{
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//Given ibus command: Hello sensor at address 1, are you there?
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//then we respond with: Yes, i'm here, hello!
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checkResponseToCommand("\x04\x81\x7a\xff", 4, "\x04\x81\x7A\xFF", 4);
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToSensorTypeQueryVbatt)
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{
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//Given ibus command: Sensor at address 1, what type are you?
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//then we respond with: I'm a voltage sensor
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checkResponseToCommand("\x04\x91\x6A\xFF", 4, "\x06\x91\x03\x02\x63\xFF", 6);
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToSensorTypeQueryTemperature)
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{
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//Given ibus command: Sensor at address 1, what type are you?
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//then we respond with: I'm a thermometer
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checkResponseToCommand("\x04\x92\x69\xFF", 4, "\x06\x92\x01\x02\x64\xFF", 6);
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToSensorTypeQueryRpm)
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{
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//Given ibus command: Sensor at address 3, what type are you?
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//then we respond with: I'm a rpm sensor
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checkResponseToCommand("\x04\x93\x68\xFF", 4, "\x06\x93\x02\x02\x62\xFF", 6);
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToGetMeasurementVbattZero)
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{
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//Given ibus command: Sensor at address 1, please send your measurement
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//then we respond with: I'm reading 0 volts
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testBatteryVoltage = 0;
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checkResponseToCommand("\x04\xA1\x5a\xff", 4, "\x06\xA1\x00\x00\x58\xFF", 6);
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToGetMeasurementVbattCellVoltage)
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{
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telemetryConfigMutable()->report_cell_voltage = true;
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//Given ibus command: Sensor at address 1, please send your measurement
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//then we respond with: I'm reading 0.1 volts
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testBatteryCellCount =3;
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testBatteryVoltage = 300;
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checkResponseToCommand("\x04\xA1\x5a\xff", 4, "\x06\xA1\x64\x00\xf4\xFe", 6);
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//Given ibus command: Sensor at address 1, please send your measurement
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//then we respond with: I'm reading 0.1 volts
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testBatteryCellCount =1;
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testBatteryVoltage = 100;
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checkResponseToCommand("\x04\xA1\x5a\xff", 4, "\x06\xA1\x64\x00\xf4\xFe", 6);
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToGetMeasurementVbattPackVoltage)
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{
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telemetryConfigMutable()->report_cell_voltage = false;
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//Given ibus command: Sensor at address 1, please send your measurement
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//then we respond with: I'm reading 0.1 volts
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testBatteryCellCount =3;
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testBatteryVoltage = 100;
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checkResponseToCommand("\x04\xA1\x5a\xff", 4, "\x06\xA1\x64\x00\xf4\xFe", 6);
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//Given ibus command: Sensor at address 1, please send your measurement
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//then we respond with: I'm reading 0.1 volts
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testBatteryCellCount =1;
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testBatteryVoltage = 100;
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checkResponseToCommand("\x04\xA1\x5a\xff", 4, "\x06\xA1\x64\x00\xf4\xFe", 6);
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToGetMeasurementTemperature)
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{
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//Given ibus command: Sensor at address 2, please send your measurement
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//then we respond
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gyroTemperature = 50;
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checkResponseToCommand("\x04\xA2\x59\xff", 4, "\x06\xA2\x84\x03\xd0\xfe", 6);
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//Given ibus command: Sensor at address 2, please send your measurement
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//then we respond
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gyroTemperature = 59; //test integer rounding
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checkResponseToCommand("\x04\xA2\x59\xff", 4, "\x06\xA2\xde\x03\x76\xfe", 6);
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//Given ibus command: Sensor at address 2, please send your measurement
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//then we respond
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gyroTemperature = 150;
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checkResponseToCommand("\x04\xA2\x59\xff", 4, "\x06\xA2\x6c\x07\xe4\xfe", 6);
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}
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TEST_F(IbusTelemteryProtocolUnitTest, Test_IbusRespondToGetMeasurementRpm)
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{
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//Given ibus command: Sensor at address 3, please send your measurement
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//then we respond with: I'm reading 0 rpm
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rcCommand[THROTTLE] = 0;
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checkResponseToCommand("\x04\xA3\x58\xff", 4, "\x06\xA3\x00\x00\x56\xFF", 6);
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|
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//Given ibus command: Sensor at address 3, please send your measurement
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//then we respond with: I'm reading 100 rpm
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rcCommand[THROTTLE] = 100;
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checkResponseToCommand("\x04\xA3\x58\xff", 4, "\x06\xA3\x64\x00\xf2\xFe", 6);
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}
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|
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class IbusTelemteryProtocolUnitTestDaisyChained : public ::IbusTelemetryProtocolUnitTestBase
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{
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protected:
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virtual void SetUp()
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{
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IbusTelemetryProtocolUnitTestBase::SetUp();
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setupBaseAddressThree();
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}
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};
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TEST_F(IbusTelemteryProtocolUnitTestDaisyChained, Test_IbusRespondToDiscoveryBaseAddressThree)
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{
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|
//Given ibus commands: Hello sensor at address 3, 4, 5 are you there?
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//then we respond with: Yes, we're here, hello!
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checkResponseToCommand("\x04\x83\x78\xff", 4, "\x04\x83\x78\xff", 4);
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checkResponseToCommand("\x04\x84\x77\xff", 4, "\x04\x84\x77\xff", 4);
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checkResponseToCommand("\x04\x85\x76\xff", 4, "\x04\x85\x76\xff", 4);
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|
}
|
|
|
|
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TEST_F(IbusTelemteryProtocolUnitTestDaisyChained, Test_IbusRespondToSensorTypeQueryWrongAddress)
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|
{
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|
//Given ibus commands: Sensor at address 1, 2, 6, what type are you?
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|
//then we do not respond
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|
checkResponseToCommand("\x04\x91\x6A\xFF", 4, "", 0);
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|
checkResponseToCommand("\x04\x92\x69\xFF", 4, "", 0);
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|
|
|
checkResponseToCommand("\x04\x96\x65\xFF", 4, "", 0);
|
|
}
|
|
|
|
|
|
TEST_F(IbusTelemteryProtocolUnitTestDaisyChained, Test_IbusRespondToSensorTypeQueryVbattBaseThree)
|
|
{
|
|
//Given ibus commands: Sensor at address 3, 4, 5, what type are you?
|
|
//then we respond with: I'm a voltage sensor
|
|
checkResponseToCommand("\x04\x93\x68\xFF", 4, "\x06\x93\x03\x02\x61\xFF", 6);
|
|
//then we respond with: I'm a thermometer
|
|
checkResponseToCommand("\x04\x94\x67\xFF", 4, "\x06\x94\x01\x02\x62\xFF", 6);
|
|
//then we respond with: I'm a rpm sensor
|
|
checkResponseToCommand("\x04\x95\x66\xFF", 4, "\x06\x95\x02\x02\x60\xFF", 6);
|
|
}
|
|
|
|
|
|
TEST_F(IbusTelemteryProtocolUnitTestDaisyChained, Test_IbusRespondToGetMeasurementsBaseThree)
|
|
{
|
|
//Given ibus command: Sensor at address 3, please send your measurement
|
|
//then we respond with: I'm reading 0.1 volts
|
|
testBatteryCellCount = 1;
|
|
testBatteryVoltage = 100;
|
|
checkResponseToCommand("\x04\xA3\x58\xff", 4, "\x06\xA3\x64\x00\xf2\xfe", 6);
|
|
|
|
//Given ibus command: Sensor at address 4, please send your measurement
|
|
//then we respond
|
|
gyroTemperature = 150;
|
|
checkResponseToCommand("\x04\xA4\x57\xff", 4, "\x06\xA4\x6c\x07\xe2\xfe", 6);
|
|
|
|
//Given ibus command: Sensor at address 5, please send your measurement
|
|
//then we respond with: I'm reading 100 rpm
|
|
rcCommand[THROTTLE] = 100;
|
|
checkResponseToCommand("\x04\xA5\x56\xff", 4, "\x06\xA5\x64\x00\xf0\xFe", 6);
|
|
}
|