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AP_RCProtocol: expand test suite for multi-frame protocols

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This commit is contained in:
Andrew Tridgell 2020-01-09 14:57:11 +11:00
parent 6218537ff7
commit 39b738e407
1 changed files with 35 additions and 12 deletions
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47
libraries/AP_RCProtocol/examples/RCProtocolTest/RCProtocolTest.cpp
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@ -70,11 +70,15 @@ static bool check_result(const char *name, bool bytes, const uint16_t *values, u
static bool test_byte_protocol(const char *name, uint32_t baudrate,
const uint8_t *bytes, uint8_t nbytes,
const uint16_t *values, uint8_t nvalues,
uint8_t repeats)
uint8_t repeats,
int8_t pause_at)
{
bool ret = true;
for (uint8_t repeat=0; repeat<repeats+4; repeat++) {
for (uint8_t i=0; i<nbytes; i++) {
if (pause_at >= 0 && i == pause_at) {
hal.scheduler->delay(10);
}
rcprot->process_byte(bytes[i], baudrate);
}
hal.scheduler->delay(10);
@ -132,25 +136,35 @@ static void send_byte(uint8_t b, uint32_t baudrate)
}
}
/*
add a gap in bits
*/
static void send_pause(uint8_t b, uint32_t baudrate, uint32_t pause_us)
{
uint32_t nbits = pause_us * 1e6 / baudrate;
for (uint32_t i=0; i<nbits; i++) {
send_bit(b, baudrate);
}
}
/*
test a byte protocol handler
*/
static bool test_pulse_protocol(const char *name, uint32_t baudrate,
const uint8_t *bytes, uint8_t nbytes,
const uint16_t *values, uint8_t nvalues,
uint8_t repeats)
uint8_t repeats, int8_t pause_at)
{
bool ret = true;
for (uint8_t repeat=0; repeat<repeats+4; repeat++) {
for (uint16_t i=0; i<8000; i++) {
send_bit(1, baudrate);
}
send_pause(1, baudrate, 6000);
for (uint8_t i=0; i<nbytes; i++) {
if (pause_at >= 0 && i == pause_at) {
send_pause(1, baudrate, 10000);
}
send_byte(bytes[i], baudrate);
}
for (uint16_t i=0; i<8000; i++) {
send_bit(1, baudrate);
}
send_pause(1, baudrate, 6000);
if (repeat > repeats) {
ret &= check_result(name, false, values, nvalues);
}
@ -164,18 +178,19 @@ static bool test_pulse_protocol(const char *name, uint32_t baudrate,
static bool test_protocol(const char *name, uint32_t baudrate,
const uint8_t *bytes, uint8_t nbytes,
const uint16_t *values, uint8_t nvalues,
uint8_t repeats=1)
uint8_t repeats=1,
int8_t pause_at=0)
{
bool ret = true;
rcprot = new AP_RCProtocol();
rcprot->init();
ret &= test_byte_protocol(name, baudrate, bytes, nbytes, values, nvalues, repeats);
ret &= test_byte_protocol(name, baudrate, bytes, nbytes, values, nvalues, repeats, pause_at);
delete rcprot;
rcprot = new AP_RCProtocol();
rcprot->init();
ret &= test_pulse_protocol(name, baudrate, bytes, nbytes, values, nvalues, repeats);
ret &= test_pulse_protocol(name, baudrate, bytes, nbytes, values, nvalues, repeats, pause_at);
delete rcprot;
return ret;
@ -200,6 +215,13 @@ void loop()
0xff, 0xff, 0xff, 0xff, 0xff};
const uint16_t dsm_output[] = {1010, 1020, 1000, 1030, 1040, 1050, 1060, 1070};
const uint8_t dsm_bytes2[] = {0x00, 0xb2, 0x80, 0x94, 0x3c, 0x02, 0x1b, 0xfe,
0x44, 0x00, 0x4c, 0x00, 0x5c, 0x00, 0xff, 0xff,
0x00, 0xb2, 0x0c, 0x03, 0x2e, 0xaa, 0x14, 0x00,
0x21, 0x56, 0x34, 0x02, 0x54, 0x00, 0xff, 0xff};
const uint16_t dsm_output2[] = {1501, 1500, 985, 1499, 1099, 1901, 1501, 1501, 1500, 1500, 1500, 1500};
const uint8_t sumd_bytes[] = {0xA8, 0x01, 0x08, 0x2F, 0x50, 0x31, 0xE8, 0x21, 0xA0,
0x2F, 0x50, 0x22, 0x60, 0x22, 0x60, 0x2E, 0xE0, 0x2E,
0xE0, 0x87, 0xC6};
@ -229,7 +251,8 @@ void loop()
test_protocol("SBUS", 100000, sbus_bytes, sizeof(sbus_bytes), sbus_output, ARRAY_SIZE(sbus_output), 3);
// DSM needs 8 repeats, 5 to guess the format, then 3 to pass the RCProtocol 3 frames test
test_protocol("DSM", 115200, dsm_bytes, sizeof(dsm_bytes), dsm_output, ARRAY_SIZE(dsm_output), 9);
test_protocol("DSM", 115200, dsm_bytes, sizeof(dsm_bytes), dsm_output, ARRAY_SIZE(dsm_output), 9);
test_protocol("DSM2", 115200, dsm_bytes2, sizeof(dsm_bytes2), dsm_output2, ARRAY_SIZE(dsm_output2), 9, 16);
}
AP_HAL_MAIN();