forked from Archive/PX4-Autopilot
64 lines
1.3 KiB
C++
64 lines
1.3 KiB
C++
#include <stdio.h>
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#include <unistd.h>
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#include <string.h>
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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#include <rc/st24.h>
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#include "../../src/systemcmds/tests/tests.h"
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#include "gtest/gtest.h"
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TEST(ST24Test, ST24)
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{
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const char *filepath = "testdata/st24_data.txt";
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//warnx("loading data from: %s", filepath);
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FILE *fp;
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fp = fopen(filepath, "rt");
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ASSERT_TRUE(fp);
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float f;
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unsigned x;
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int ret;
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// Trash the first 20 lines
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for (unsigned i = 0; i < 20; i++) {
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char buf[200];
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(void)fgets(buf, sizeof(buf), fp);
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}
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float last_time = 0;
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while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
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if (((f - last_time) * 1000 * 1000) > 3000) {
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// warnx("FRAME RESET\n\n");
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}
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uint8_t b = static_cast<uint8_t>(x);
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last_time = f;
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// Pipe the data into the parser
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//hrt_abstime now = hrt_absolute_time();
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uint8_t rssi;
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uint8_t rx_count;
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uint16_t channel_count;
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uint16_t channels[20];
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if (!st24_decode(b, &rssi, &rx_count, &channel_count, channels, sizeof(channels) / sizeof(channels[0]))) {
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//warnx("decoded: %u channels (converted to PPM range)", (unsigned)channel_count);
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for (unsigned i = 0; i < channel_count; i++) {
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//int16_t val = channels[i];
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//warnx("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
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}
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}
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}
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ASSERT_EQ(EOF, ret);
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}
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