forked from Archive/PX4-Autopilot
70 lines
1.5 KiB
C++
70 lines
1.5 KiB
C++
#include <stdio.h>
|
|
#include <string.h>
|
|
#include <unistd.h>
|
|
|
|
#include "../../src/systemcmds/tests/tests.h"
|
|
#include <drivers/drv_hrt.h>
|
|
#include <px4iofirmware/px4io.h>
|
|
#include <systemlib/err.h>
|
|
#include <systemlib/mixer/mixer.h>
|
|
|
|
#include "gtest/gtest.h"
|
|
|
|
TEST(SBUS2Test, SBUS2)
|
|
{
|
|
const char *filepath = "testdata/sbus2_r7008SB.txt";
|
|
|
|
FILE *fp;
|
|
fp = fopen(filepath, "rt");
|
|
|
|
ASSERT_TRUE(fp);
|
|
warnx("loading data from: %s", filepath);
|
|
|
|
float f;
|
|
unsigned x;
|
|
int ret;
|
|
|
|
// Trash the first 20 lines
|
|
for (unsigned i = 0; i < 20; i++) {
|
|
char buf[200];
|
|
(void)fgets(buf, sizeof(buf), fp);
|
|
}
|
|
|
|
// Init the parser
|
|
uint8_t frame[30];
|
|
unsigned partial_frame_count = 0;
|
|
uint16_t rc_values[18];
|
|
uint16_t num_values;
|
|
bool sbus_failsafe;
|
|
bool sbus_frame_drop;
|
|
uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
|
|
|
|
float last_time = 0;
|
|
|
|
while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
|
|
if (((f - last_time) * 1000 * 1000) > 3000) {
|
|
partial_frame_count = 0;
|
|
//warnx("FRAME RESET\n\n");
|
|
}
|
|
|
|
frame[partial_frame_count] = x;
|
|
partial_frame_count++;
|
|
|
|
//warnx("%f: 0x%02x, first: 0x%02x, last: 0x%02x, pcount: %u", (double)f, x, frame[0], frame[24], partial_frame_count);
|
|
|
|
if (partial_frame_count == sizeof(frame)) {
|
|
partial_frame_count = 0;
|
|
}
|
|
|
|
last_time = f;
|
|
|
|
// Pipe the data into the parser
|
|
hrt_abstime now = hrt_absolute_time();
|
|
|
|
//if (partial_frame_count % 25 == 0)
|
|
//sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels);
|
|
}
|
|
|
|
ASSERT_EQ(ret, EOF);
|
|
}
|