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edgetx-gx12/radio/src/tests/frsky.cpp
T
Damjan Adamic 3700047d2c Re #1409 and #1444: 
* added support for two FLVSS
* added gtests for FLVSS
2014-07-09 14:18:39 +02:00

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/*
* Authors (alphabetical order)
* - Andre Bernet <bernet.andre@gmail.com>
* - Andreas Weitl
* - Bertrand Songis <bsongis@gmail.com>
* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
* - Cameron Weeks <th9xer@gmail.com>
* - Erez Raviv
* - Gabriel Birkus
* - Jean-Pierre Parisy
* - Karl Szmutny
* - Michael Blandford
* - Michal Hlavinka
* - Pat Mackenzie
* - Philip Moss
* - Rob Thomson
* - Romolo Manfredini <romolo.manfredini@gmail.com>
* - Thomas Husterer
*
* opentx is based on code named
* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
* er9x by Erez Raviv: http://code.google.com/p/er9x/,
* and the original (and ongoing) project by
* Thomas Husterer, th9x: http://code.google.com/p/th9x/
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
*/
#include <QtCore/QDir>
#include <QtCore/QDebug>
#include <QtGui/QApplication>
#include <QtGui/QPainter>
#include <math.h>
#include <gtest/gtest.h>
#define SWAP_DEFINED
#include "opentx.h"
extern bool checkScreenshot(QString test);
#if defined(FRSKY) && !defined(FRSKY_SPORT)
extern void frskyDProcessPacket(uint8_t *packet);
TEST(FrSky, gpsNfuel)
{
g_model.frsky.usrProto = 1;
frskyData.hub.gpsFix = 1;
uint8_t pkt1[] = { 0xfd, 0x07, 0x00, 0x5e, 0x14, 0x2c, 0x00, 0x5e, 0x1c, 0x03 };
uint8_t pkt2[] = { 0xfd, 0x07, 0x00, 0x00, 0x5e, 0x13, 0x38, 0x0c, 0x5e, 0x1b };
uint8_t pkt3[] = { 0xfd, 0x07, 0x00, 0xc9, 0x06, 0x5e, 0x23, 0x4e, 0x00, 0x5e };
uint8_t pkt4[] = { 0xfd, 0x07, 0x00, 0x12, 0xef, 0x2e, 0x5e, 0x1a, 0x98, 0x26 };
uint8_t pkt5[] = { 0xfd, 0x07, 0x00, 0x5e, 0x22, 0x45, 0x00, 0x5e, 0x11, 0x02 };
uint8_t pkt6[] = { 0xfd, 0x07, 0x00, 0x00, 0x5e, 0x19, 0x93, 0x00, 0x5e, 0x04 };
uint8_t pkt7[] = { 0xfd, 0x03, 0x00, 0x64, 0x00, 0x5e };
frskyDProcessPacket(pkt1);
frskyDProcessPacket(pkt2);
frskyDProcessPacket(pkt3);
frskyDProcessPacket(pkt4);
frskyDProcessPacket(pkt5);
frskyDProcessPacket(pkt6);
frskyDProcessPacket(pkt7);
EXPECT_EQ(frskyData.hub.gpsCourse_bp, 44);
EXPECT_EQ(frskyData.hub.gpsCourse_ap, 03);
EXPECT_EQ(frskyData.hub.gpsLongitude_bp / 100, 120);
EXPECT_EQ(frskyData.hub.gpsLongitude_bp % 100, 15);
EXPECT_EQ(frskyData.hub.gpsLongitude_ap, 0x2698);
EXPECT_EQ(frskyData.hub.gpsLatitudeNS, 'N');
EXPECT_EQ(frskyData.hub.gpsLongitudeEW, 'E');
EXPECT_EQ(frskyData.hub.fuelLevel, 100);
}
TEST(FrSky, dateNtime)
{
uint8_t pkt1[] = { 0xfd, 0x07, 0x00, 0x5e, 0x15, 0x0f, 0x07, 0x5e, 0x16, 0x0b };
uint8_t pkt2[] = { 0xfd, 0x07, 0x00, 0x00, 0x5e, 0x17, 0x06, 0x12, 0x5e, 0x18 };
uint8_t pkt3[] = { 0xfd, 0x03, 0x00, 0x32, 0x00, 0x5e };
frskyDProcessPacket(pkt1);
frskyDProcessPacket(pkt2);
frskyDProcessPacket(pkt3);
EXPECT_EQ(frskyData.hub.day, 15);
EXPECT_EQ(frskyData.hub.month, 07);
EXPECT_EQ(frskyData.hub.year, 11);
EXPECT_EQ(frskyData.hub.hour, 06);
EXPECT_EQ(frskyData.hub.min, 18);
EXPECT_EQ(frskyData.hub.sec, 50);
}
#endif
#if defined(FRSKY) && defined(CPUARM)
TEST(FrSky, FrskyValueWithMinAveraging)
{
/*
The following expected[] array is filled
with values that correspond to 4 elements
long averaging buffer.
If length of averaging buffer is changed, this
values must be adjusted
*/
uint8_t expected[] = { 10, 12, 17, 25, 35, 45, 55, 65, 75, 85, 92, 97, 100, 100, 100, 100, 100};
int testPos = 0;
//test of averaging
FrskyValueWithMin testVal;
testVal.value = 0;
testVal.set(10);
EXPECT_EQ(testVal.value, expected[testPos++]);
for(int n=2; n<10; ++n) {
testVal.set(n*10);
EXPECT_EQ(testVal.value, expected[testPos++]);
}
for(int n=2; n<10; ++n) {
testVal.set(100);
EXPECT_EQ(testVal.value, expected[testPos++]);
}
}
#endif
#if defined(FRSKY_SPORT)
extern bool checkSportPacket(uint8_t *packet);
TEST(FrSkySPORT, checkCrc)
{
// uint8_t pkt[] = { 0x7E, 0x98, 0x10, 0x10, 0x00, 0x7D, 0x5E, 0x02, 0x00, 0x00, 0x5F };
uint8_t pkt[] = { 0x7E, 0x98, 0x10, 0x10, 0x00, 0x7E, 0x02, 0x00, 0x00, 0x5F };
EXPECT_EQ(checkSportPacket(pkt+1), true);
}
extern void frskySportProcessPacket(uint8_t *packet);
extern bool checkSportPacket(uint8_t *packet);
extern void frskyCalculateCellStats(void);
extern void displayVoltagesScreen();
void setSportPacketCrc(uint8_t * packet)
{
short crc = 0;
for (int i=1; i<FRSKY_SPORT_PACKET_SIZE-1; i++) {
crc += packet[i]; //0-1FF
crc += crc >> 8; //0-100
crc &= 0x00ff;
crc += crc >> 8; //0-0FF
crc &= 0x00ff;
}
packet[FRSKY_SPORT_PACKET_SIZE-1] = 0xFF - (crc & 0x00ff);
//TRACE("crc set: %x", packet[FRSKY_SPORT_PACKET_SIZE-1]);
}
void generateSportCellPacket(uint8_t * packet, uint8_t cells, uint8_t battnumber, uint16_t cell1, uint16_t cell2)
{
if (battnumber < 6) {
packet[0] = 0xA1; //DATA_ID_FLVSS;
}
else {
packet[0] = 0xA1+1; //DATA_ID_FLVSS+1;
battnumber -= 6;
}
packet[1] = 0x10; //DATA_FRAME
*((uint16_t *)(packet+2)) = 0x0300; //CELLS_FIRST_ID
uint32_t data = 0;
data += (cells << 4) + battnumber;
data += ((cell1 * 5) & 0xFFF) << 8;
data += ((cell2 * 5) & 0xFFF) << 20;
*((int32_t *)(packet+4)) = data;
setSportPacketCrc(packet);
}
#define _V(volts) (volts/TELEMETRY_CELL_VOLTAGE_MUTLIPLIER)
TEST(FrSkySPORT, frskySetCellVoltage)
{
memclear(&frskyData, sizeof(frskyData));
uint8_t packet[FRSKY_SPORT_PACKET_SIZE];
//test that simulates 3 cell battery
generateSportCellPacket(packet, 3, 0, _V(410), _V(420)); frskySportProcessPacket(packet);
EXPECT_EQ(checkSportPacket(packet), true) << "Bad CRC generation in setSportPacketCrc()";
generateSportCellPacket(packet, 3, 2, _V(430), _V( 0)); frskySportProcessPacket(packet);
generateSportCellPacket(packet, 3, 0, _V(405), _V(300)); frskySportProcessPacket(packet);
generateSportCellPacket(packet, 3, 2, _V(430), _V( 0)); frskySportProcessPacket(packet);
EXPECT_EQ(frskyData.hub.cellsCount, 3);
EXPECT_EQ(frskyData.hub.cellVolts[0], _V(405));
EXPECT_EQ(frskyData.hub.cellVolts[1], _V(300));
EXPECT_EQ(frskyData.hub.cellVolts[2], _V(430));
EXPECT_EQ(frskyData.hub.cellVolts[4], _V( 0));
EXPECT_EQ(frskyData.hub.minCellVolts, _V(300)); //current minimum cell voltage
EXPECT_EQ(frskyData.hub.minCell, _V(300)); //all time minimum cell voltage
EXPECT_EQ(frskyData.hub.minCells, _V(113)); //all time cells sum minimum
EXPECT_EQ(frskyData.hub.cellsSum, _V(113)); //current cells sum
generateSportCellPacket(packet, 3, 0, _V(405), _V(250)); frskySportProcessPacket(packet);
generateSportCellPacket(packet, 3, 2, _V(430), _V( 0)); frskySportProcessPacket(packet);
generateSportCellPacket(packet, 3, 0, _V(410), _V(420)); frskySportProcessPacket(packet);
generateSportCellPacket(packet, 3, 2, _V(430), _V( 0)); frskySportProcessPacket(packet);
EXPECT_EQ(frskyData.hub.cellsCount, 3);
EXPECT_EQ(frskyData.hub.cellVolts[0], _V(410));
EXPECT_EQ(frskyData.hub.cellVolts[1], _V(420));
EXPECT_EQ(frskyData.hub.cellVolts[2], _V(430));
EXPECT_EQ(frskyData.hub.cellVolts[4], _V( 0));
EXPECT_EQ(frskyData.hub.minCellVolts, _V(410)); //current minimum cell voltage
EXPECT_EQ(frskyData.hub.minCell, _V(250)); //all time minimum cell voltage
EXPECT_EQ(frskyData.hub.minCells, _V(108)); //all time cells sum minimum
EXPECT_EQ(frskyData.hub.cellsSum, _V(126)); //current cells sum
//add another two cells - 5 cell battery
generateSportCellPacket(packet, 5, 0, _V(418), _V(408)); frskySportProcessPacket(packet);
generateSportCellPacket(packet, 5, 2, _V(415), _V(420)); frskySportProcessPacket(packet);
generateSportCellPacket(packet, 5, 4, _V(410), _V( 0)); frskySportProcessPacket(packet);
EXPECT_EQ(frskyData.hub.cellsCount, 5);
EXPECT_EQ(frskyData.hub.cellVolts[0], _V(418));
EXPECT_EQ(frskyData.hub.cellVolts[1], _V(408));
EXPECT_EQ(frskyData.hub.cellVolts[2], _V(415));
EXPECT_EQ(frskyData.hub.cellVolts[3], _V(420));
EXPECT_EQ(frskyData.hub.cellVolts[4], _V(410));
EXPECT_EQ(frskyData.hub.cellVolts[5], _V( 0));
EXPECT_EQ(frskyData.hub.minCellVolts, _V(408)); //current minimum cell voltage
EXPECT_EQ(frskyData.hub.minCell, _V(408)); //all time minimum cell voltage
EXPECT_EQ(frskyData.hub.minCells, _V(207)); //all time cells sum minimum
EXPECT_EQ(frskyData.hub.cellsSum, _V(207)); //current cells sum
//simulate very low voltage for cell 3
generateSportCellPacket(packet, 5, 0, _V(418), _V(408)); frskySportProcessPacket(packet);
generateSportCellPacket(packet, 5, 2, _V(100), _V(420)); frskySportProcessPacket(packet);
generateSportCellPacket(packet, 5, 4, _V(410), _V( 0)); frskySportProcessPacket(packet);
EXPECT_EQ(frskyData.hub.cellsCount, 5);
EXPECT_EQ(frskyData.hub.cellVolts[0], _V(418));
EXPECT_EQ(frskyData.hub.cellVolts[1], _V(408));
EXPECT_EQ(frskyData.hub.cellVolts[2], _V(100));
EXPECT_EQ(frskyData.hub.cellVolts[3], _V(420));
EXPECT_EQ(frskyData.hub.cellVolts[4], _V(410));
EXPECT_EQ(frskyData.hub.cellVolts[5], _V( 0));
EXPECT_EQ(frskyData.hub.minCellVolts, _V(100)); //current minimum cell voltage
EXPECT_EQ(frskyData.hub.minCell, _V(100)); //all time minimum cell voltage
EXPECT_EQ(frskyData.hub.minCells, _V(175)); //all time cells sum minimum
EXPECT_EQ(frskyData.hub.cellsSum, _V(175)); //current cells sum
//back to normal (but with reversed order of packets)
generateSportCellPacket(packet, 5, 4, _V(410), _V( 0)); frskySportProcessPacket(packet);
generateSportCellPacket(packet, 5, 0, _V(418), _V(408)); frskySportProcessPacket(packet);
generateSportCellPacket(packet, 5, 2, _V(412), _V(420)); frskySportProcessPacket(packet);
EXPECT_EQ(frskyData.hub.cellsCount, 5);
EXPECT_EQ(frskyData.hub.cellVolts[0], _V(418));
EXPECT_EQ(frskyData.hub.cellVolts[1], _V(408));
EXPECT_EQ(frskyData.hub.cellVolts[2], _V(412));
EXPECT_EQ(frskyData.hub.cellVolts[3], _V(420));
EXPECT_EQ(frskyData.hub.cellVolts[4], _V(410));
EXPECT_EQ(frskyData.hub.cellVolts[5], _V( 0));
EXPECT_EQ(frskyData.hub.minCellVolts, _V(408)); //current minimum cell voltage
EXPECT_EQ(frskyData.hub.minCell, _V(100)); //all time minimum cell voltage
EXPECT_EQ(frskyData.hub.minCells, _V(175)); //all time cells sum minimum
EXPECT_EQ(frskyData.hub.cellsSum, _V(206)); //current cells sum
//display test
lcd_clear();
g_model.frsky.voltsSource = FRSKY_VOLTS_SOURCE_A1;
displayVoltagesScreen();
EXPECT_TRUE(checkScreenshot("one_sensor_votages_screen"));
}
TEST(FrSkySPORT, frskySetCellVoltageTwoSensors)
{
//telemetryReset();
memclear(&frskyData, sizeof(frskyData));
uint8_t packet[FRSKY_SPORT_PACKET_SIZE];
//sensor 1: 3 cell battery
generateSportCellPacket(packet, 3, 0, _V(418), _V(416)); frskySportProcessPacket(packet);
generateSportCellPacket(packet, 3, 2, _V(415), _V( 0)); frskySportProcessPacket(packet);
EXPECT_EQ(frskyData.hub.cellsCount, 3);
EXPECT_EQ(frskyData.hub.cellVolts[0], _V(418));
EXPECT_EQ(frskyData.hub.cellVolts[1], _V(416));
EXPECT_EQ(frskyData.hub.cellVolts[2], _V(415));
EXPECT_EQ(frskyData.hub.cellVolts[3], _V( 0));
EXPECT_EQ(frskyData.hub.minCellVolts, _V(415)); //current minimum cell voltage
EXPECT_EQ(frskyData.hub.minCell, _V(415)); //all time minimum cell voltage
EXPECT_EQ(frskyData.hub.minCells, _V(124)); //all time cells sum minimum
EXPECT_EQ(frskyData.hub.cellsSum, _V(124)); //current cells sum
//sensor 2: 4 cell battery
generateSportCellPacket(packet, 4, 6, _V(410), _V(420)); frskySportProcessPacket(packet);
generateSportCellPacket(packet, 4, 8, _V(400), _V(405)); frskySportProcessPacket(packet);
//we need to send all cells from first battery before a new calculation will be made
generateSportCellPacket(packet, 3, 0, _V(418), _V(416)); frskySportProcessPacket(packet);
generateSportCellPacket(packet, 3, 2, _V(415), _V( 0)); frskySportProcessPacket(packet);
EXPECT_EQ(frskyData.hub.cellsCount, 7);
EXPECT_EQ(frskyData.hub.cellVolts[0], _V(418));
EXPECT_EQ(frskyData.hub.cellVolts[1], _V(416));
EXPECT_EQ(frskyData.hub.cellVolts[2], _V(415));
EXPECT_EQ(frskyData.hub.cellVolts[3], _V(410));
EXPECT_EQ(frskyData.hub.cellVolts[4], _V(420));
EXPECT_EQ(frskyData.hub.cellVolts[5], _V(400));
EXPECT_EQ(frskyData.hub.cellVolts[6], _V(405));
EXPECT_EQ(frskyData.hub.cellVolts[7], _V( 0));
EXPECT_EQ(frskyData.hub.cellVolts[8], _V( 0));
EXPECT_EQ(frskyData.hub.minCellVolts, _V(400)); //current minimum cell voltage
EXPECT_EQ(frskyData.hub.minCell, _V(400)); //all time minimum cell voltage
EXPECT_EQ(frskyData.hub.minCells, _V(288)); //all time cells sum minimum
EXPECT_EQ(frskyData.hub.cellsSum, _V(288)); //current cells sum
//now change some voltages
generateSportCellPacket(packet, 3, 2, _V(415), _V( 0)); frskySportProcessPacket(packet);
generateSportCellPacket(packet, 4, 8, _V(390), _V(370)); frskySportProcessPacket(packet);
generateSportCellPacket(packet, 3, 0, _V(420), _V(410)); frskySportProcessPacket(packet);
generateSportCellPacket(packet, 4, 6, _V(410), _V(420)); frskySportProcessPacket(packet);
EXPECT_EQ(frskyData.hub.cellsCount, 7);
EXPECT_EQ(frskyData.hub.cellVolts[0], _V(420));
EXPECT_EQ(frskyData.hub.cellVolts[1], _V(410));
EXPECT_EQ(frskyData.hub.cellVolts[2], _V(415));
EXPECT_EQ(frskyData.hub.cellVolts[3], _V(410));
EXPECT_EQ(frskyData.hub.cellVolts[4], _V(420));
EXPECT_EQ(frskyData.hub.cellVolts[5], _V(390));
EXPECT_EQ(frskyData.hub.cellVolts[6], _V(370));
EXPECT_EQ(frskyData.hub.cellVolts[7],_V( 0));
EXPECT_EQ(frskyData.hub.cellVolts[8],_V( 0));
EXPECT_EQ(frskyData.hub.minCellVolts, _V(370)); //current minimum cell voltage
EXPECT_EQ(frskyData.hub.minCell, _V(370)); //all time minimum cell voltage
EXPECT_EQ(frskyData.hub.minCells, _V(283)); //all time cells sum minimum
EXPECT_EQ(frskyData.hub.cellsSum, _V(283)); //current cells sum
//display test
lcd_clear();
g_model.frsky.voltsSource = FRSKY_VOLTS_SOURCE_A1;
displayVoltagesScreen();
EXPECT_TRUE(checkScreenshot("two_sensor_votages_screen"));
}
#endif //#if defined(FRSKY_SPORT)
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