mirror of https://github.com/ArduPilot/ardupilot
47 lines
1.4 KiB
C++
47 lines
1.4 KiB
C++
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/*
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test that SBUS decoding matches SBUS encoding
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*/
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#include <AP_gtest.h>
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#include <AP_SBusOut/AP_SBusOut.h>
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#include <AP_RCProtocol/AP_RCProtocol.h>
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#include <AP_RCProtocol/AP_RCProtocol_SBUS.h>
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#define SBUS_RANGE_MIN 200
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#define SBUS_RANGE_MAX 1800
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#define SBUS_RANGE_RANGE (SBUS_RANGE_MAX - SBUS_RANGE_MIN)
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#define SBUS_TARGET_MIN 1000
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#define SBUS_TARGET_MAX 2000
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#define SBUS_TARGET_RANGE (SBUS_TARGET_MAX - SBUS_TARGET_MIN)
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// this is 875
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#define SBUS_SCALE_OFFSET (SBUS_TARGET_MIN - ((SBUS_TARGET_RANGE * SBUS_RANGE_MIN / SBUS_RANGE_RANGE)))
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TEST(SBUSEncodeDecode, test_sbus_encode_decode)
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{
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const uint8_t num_channels = 8;
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uint16_t values_in[num_channels];
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uint16_t values_out[num_channels];
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uint8_t frame[25];
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for (uint16_t v=875;v<2155; v++) {
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for (uint8_t i=0; i<num_channels; i++) {
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values_in[i] = v;
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}
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AP_SBusOut::sbus_format_frame(values_in, num_channels, frame);
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uint16_t num_values = 0;
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bool sbus_failsafe=false;
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AP_RCProtocol_SBUS::sbus_decode(frame, values_out, &num_values, sbus_failsafe, num_channels);
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EXPECT_EQ(sbus_failsafe, values_in[0] == 875);
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for (uint8_t i=0; i<num_channels; i++) {
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if (values_in[i] != values_out[i]) {
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EXPECT_EQ(values_in[i], values_out[i]);
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}
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}
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}
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}
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AP_GTEST_MAIN()
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int hal = 0;
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