mirror of https://github.com/ArduPilot/ardupilot
253 lines
10 KiB
C
253 lines
10 KiB
C
/** @file
|
|
* @brief MAVLink comm protocol testsuite generated from ardupilotmega.xml
|
|
* @see http://qgroundcontrol.org/mavlink/
|
|
*/
|
|
#ifndef ARDUPILOTMEGA_TESTSUITE_H
|
|
#define ARDUPILOTMEGA_TESTSUITE_H
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
#ifndef MAVLINK_TEST_ALL
|
|
#define MAVLINK_TEST_ALL
|
|
static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
|
|
static void mavlink_test_ardupilotmega(uint8_t, uint8_t, mavlink_message_t *last_msg);
|
|
|
|
static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
|
{
|
|
mavlink_test_common(system_id, component_id, last_msg);
|
|
mavlink_test_ardupilotmega(system_id, component_id, last_msg);
|
|
}
|
|
#endif
|
|
|
|
#include "../common/testsuite.h"
|
|
|
|
|
|
static void mavlink_test_sensor_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
|
{
|
|
mavlink_message_t msg;
|
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
|
uint16_t i;
|
|
mavlink_sensor_offsets_t packet_in = {
|
|
17.0,
|
|
963497672,
|
|
963497880,
|
|
101.0,
|
|
129.0,
|
|
157.0,
|
|
185.0,
|
|
213.0,
|
|
241.0,
|
|
19107,
|
|
19211,
|
|
19315,
|
|
};
|
|
mavlink_sensor_offsets_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.mag_declination = packet_in.mag_declination;
|
|
packet1.raw_press = packet_in.raw_press;
|
|
packet1.raw_temp = packet_in.raw_temp;
|
|
packet1.gyro_cal_x = packet_in.gyro_cal_x;
|
|
packet1.gyro_cal_y = packet_in.gyro_cal_y;
|
|
packet1.gyro_cal_z = packet_in.gyro_cal_z;
|
|
packet1.accel_cal_x = packet_in.accel_cal_x;
|
|
packet1.accel_cal_y = packet_in.accel_cal_y;
|
|
packet1.accel_cal_z = packet_in.accel_cal_z;
|
|
packet1.mag_ofs_x = packet_in.mag_ofs_x;
|
|
packet1.mag_ofs_y = packet_in.mag_ofs_y;
|
|
packet1.mag_ofs_z = packet_in.mag_ofs_z;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_sensor_offsets_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_sensor_offsets_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_sensor_offsets_pack(system_id, component_id, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
|
|
mavlink_msg_sensor_offsets_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_sensor_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
|
|
mavlink_msg_sensor_offsets_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_to_send_buffer(buffer, &msg);
|
|
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
|
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
|
}
|
|
mavlink_msg_sensor_offsets_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_sensor_offsets_send(MAVLINK_COMM_1 , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
|
|
mavlink_msg_sensor_offsets_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_set_mag_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
|
{
|
|
mavlink_message_t msg;
|
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
|
uint16_t i;
|
|
mavlink_set_mag_offsets_t packet_in = {
|
|
17235,
|
|
17339,
|
|
17443,
|
|
151,
|
|
218,
|
|
};
|
|
mavlink_set_mag_offsets_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.mag_ofs_x = packet_in.mag_ofs_x;
|
|
packet1.mag_ofs_y = packet_in.mag_ofs_y;
|
|
packet1.mag_ofs_z = packet_in.mag_ofs_z;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_mag_offsets_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_mag_offsets_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
|
|
mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_mag_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
|
|
mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_to_send_buffer(buffer, &msg);
|
|
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
|
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
|
}
|
|
mavlink_msg_set_mag_offsets_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_mag_offsets_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
|
|
mavlink_msg_set_mag_offsets_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_meminfo(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
|
{
|
|
mavlink_message_t msg;
|
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
|
uint16_t i;
|
|
mavlink_meminfo_t packet_in = {
|
|
17235,
|
|
17339,
|
|
};
|
|
mavlink_meminfo_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.brkval = packet_in.brkval;
|
|
packet1.freemem = packet_in.freemem;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_meminfo_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_meminfo_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_meminfo_pack(system_id, component_id, &msg , packet1.brkval , packet1.freemem );
|
|
mavlink_msg_meminfo_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_meminfo_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.brkval , packet1.freemem );
|
|
mavlink_msg_meminfo_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_to_send_buffer(buffer, &msg);
|
|
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
|
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
|
}
|
|
mavlink_msg_meminfo_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_meminfo_send(MAVLINK_COMM_1 , packet1.brkval , packet1.freemem );
|
|
mavlink_msg_meminfo_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_ap_adc(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
|
{
|
|
mavlink_message_t msg;
|
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
|
uint16_t i;
|
|
mavlink_ap_adc_t packet_in = {
|
|
17235,
|
|
17339,
|
|
17443,
|
|
17547,
|
|
17651,
|
|
17755,
|
|
};
|
|
mavlink_ap_adc_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.adc1 = packet_in.adc1;
|
|
packet1.adc2 = packet_in.adc2;
|
|
packet1.adc3 = packet_in.adc3;
|
|
packet1.adc4 = packet_in.adc4;
|
|
packet1.adc5 = packet_in.adc5;
|
|
packet1.adc6 = packet_in.adc6;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_ap_adc_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_ap_adc_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_ap_adc_pack(system_id, component_id, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
|
|
mavlink_msg_ap_adc_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_ap_adc_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
|
|
mavlink_msg_ap_adc_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_to_send_buffer(buffer, &msg);
|
|
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
|
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
|
}
|
|
mavlink_msg_ap_adc_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_ap_adc_send(MAVLINK_COMM_1 , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
|
|
mavlink_msg_ap_adc_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
|
{
|
|
mavlink_test_sensor_offsets(system_id, component_id, last_msg);
|
|
mavlink_test_set_mag_offsets(system_id, component_id, last_msg);
|
|
mavlink_test_meminfo(system_id, component_id, last_msg);
|
|
mavlink_test_ap_adc(system_id, component_id, last_msg);
|
|
}
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif // __cplusplus
|
|
#endif // ARDUPILOTMEGA_TESTSUITE_H
|