src/test/unit/telemetry_crsf_unittest.cc

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20 #include <string.h>
  21
  22 #include <limits.h>
  23
  24 extern "C" {
  25     #include <platform.h>
  26
  27     #include "build/debug.h"
  28
  29     #include "common/axis.h"
  30     #include "common/crc.h"
  31     #include "common/filter.h"
  32     #include "common/gps_conversion.h"
  33     #include "common/maths.h"
  34     #include "common/printf.h"
  35     #include "common/typeconversion.h"
  36
  37     #include "pg/pg.h"
  38     #include "pg/pg_ids.h"
  39     #include "pg/rx.h"
  40
  41     #include "drivers/serial.h"
  42     #include "drivers/system.h"
  43
  44     #include "config/config.h"
  45     #include "fc/runtime_config.h"
  46
  47     #include "flight/pid.h"
  48     #include "flight/imu.h"
  49
  50     #include "io/gps.h"
  51     #include "io/serial.h"
  52
  53     #include "rx/rx.h"
  54     #include "rx/crsf.h"
  55
  56     #include "sensors/battery.h"
  57     #include "sensors/sensors.h"
  58     #include "sensors/acceleration.h"
  59
  60     #include "msp/msp_serial.h"
  61
  62     #include "telemetry/crsf.h"
  63     #include "telemetry/telemetry.h"
  64     #include "telemetry/msp_shared.h"
  65
  66     rssiSource_e rssiSource;
  67     bool airMode;
  68
  69     uint16_t testBatteryVoltage = 0;
  70     int32_t testAmperage = 0;
  71     int32_t testmAhDrawn = 0;
  72
  73     serialPort_t *telemetrySharedPort;
  74
  75     int getCrsfFrame(uint8_t *frame, crsfFrameType_e frameType);
  76
  77     PG_REGISTER(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 0);
  78     PG_REGISTER(telemetryConfig_t, telemetryConfig, PG_TELEMETRY_CONFIG, 0);
  79     PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
  80     PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
  81     PG_REGISTER(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0);
  82 }
  83
  84 #include "unittest_macros.h"
  85 #include "gtest/gtest.h"
  86
  87 uint8_t crfsCrc(uint8_t *frame, int frameLen)
  88 {
  89     uint8_t crc = 0;
  90     for (int ii = 2; ii < frameLen - 1; ++ii) {
  91         crc = crc8_dvb_s2(crc, frame[ii]);
  92     }
  93     return crc;
  94 }
  95
  96 /*
  97 int32_t     Latitude ( degree / 10`000`000 )
  98 int32_t     Longitude (degree / 10`000`000 )
  99 uint16_t    Groundspeed ( km/h / 10 )
 100 uint16_t    GPS heading ( degree / 100 )
 101 uint16      Altitude ( meter  1000m offset )
 102 uint8_t     Satellites in use ( counter )
 103 uint16_t GPS_distanceToHome;        // distance to home point in meters
 104 */
 105 #define FRAME_HEADER_FOOTER_LEN 4
 106
 107 TEST(TelemetryCrsfTest, TestGPS)
 108 {
 109     uint8_t frame[CRSF_FRAME_SIZE_MAX];
 110
 111     int frameLen = getCrsfFrame(frame, CRSF_FRAMETYPE_GPS);
 112     EXPECT_EQ(CRSF_FRAME_GPS_PAYLOAD_SIZE + FRAME_HEADER_FOOTER_LEN, frameLen);
 113     EXPECT_EQ(CRSF_SYNC_BYTE, frame[0]); // address
 114     EXPECT_EQ(17, frame[1]); // length
 115     EXPECT_EQ(0x02, frame[2]); // type
 116     int32_t lattitude = frame[3] << 24 | frame[4] << 16 | frame[5] << 8 | frame[6];
 117     EXPECT_EQ(0, lattitude);
 118     int32_t longitude = frame[7] << 24 | frame[8] << 16 | frame[9] << 8 | frame[10];
 119     EXPECT_EQ(0, longitude);
 120     uint16_t groundSpeed = frame[11] << 8 | frame[12];
 121     EXPECT_EQ(0, groundSpeed);
 122     uint16_t GPSheading = frame[13] << 8 | frame[14];
 123     EXPECT_EQ(0, GPSheading);
 124     uint16_t altitude = frame[15] << 8 | frame[16];
 125     EXPECT_EQ(1000, altitude);
 126     uint8_t satelliteCount = frame[17];
 127     EXPECT_EQ(0, satelliteCount);
 128     EXPECT_EQ(crfsCrc(frame, frameLen), frame[18]);
 129
 130     gpsSol.llh.lat = 56 * GPS_DEGREES_DIVIDER;
 131     gpsSol.llh.lon = 163 * GPS_DEGREES_DIVIDER;
 132     ENABLE_STATE(GPS_FIX);
 133     gpsSol.llh.altCm = 2345 * 100;            // altitude in cm / 100 + 1000m offset, so CRSF value should be 3345
 134     gpsSol.groundSpeed = 1630;                // speed in cm/s, 16.3 m/s = 58.68 km/h, so CRSF (km/h *10) value is 587
 135     gpsSol.numSat = 9;
 136     gpsSol.groundCourse = 1479;     // degrees * 10
 137     frameLen = getCrsfFrame(frame, CRSF_FRAMETYPE_GPS);
 138     lattitude = frame[3] << 24 | frame[4] << 16 | frame[5] << 8 | frame[6];
 139     EXPECT_EQ(560000000, lattitude);
 140     longitude = frame[7] << 24 | frame[8] << 16 | frame[9] << 8 | frame[10];
 141     EXPECT_EQ(1630000000, longitude);
 142     groundSpeed = frame[11] << 8 | frame[12];
 143     EXPECT_EQ(587, groundSpeed);
 144     GPSheading = frame[13] << 8 | frame[14];
 145     EXPECT_EQ(14790, GPSheading);
 146     altitude = frame[15] << 8 | frame[16];
 147     EXPECT_EQ(3345, altitude);
 148     satelliteCount = frame[17];
 149     EXPECT_EQ(9, satelliteCount);
 150     EXPECT_EQ(crfsCrc(frame, frameLen), frame[18]);
 151 }
 152
 153 TEST(TelemetryCrsfTest, TestBattery)
 154 {
 155     uint8_t frame[CRSF_FRAME_SIZE_MAX];
 156
 157     testBatteryVoltage = 0; // 0.1V units
 158     int frameLen = getCrsfFrame(frame, CRSF_FRAMETYPE_BATTERY_SENSOR);
 159     EXPECT_EQ(CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE + FRAME_HEADER_FOOTER_LEN, frameLen);
 160     EXPECT_EQ(CRSF_SYNC_BYTE, frame[0]); // address
 161     EXPECT_EQ(10, frame[1]); // length
 162     EXPECT_EQ(0x08, frame[2]); // type
 163     uint16_t voltage = frame[3] << 8 | frame[4]; // mV * 100
 164     EXPECT_EQ(0, voltage);
 165     uint16_t current = frame[5] << 8 | frame[6]; // mA * 100
 166     EXPECT_EQ(0, current);
 167     uint32_t capacity = frame[7] << 16 | frame[8] << 8 | frame [9]; // mAh
 168     EXPECT_EQ(0, capacity);
 169     uint16_t remaining = frame[10]; // percent
 170     EXPECT_EQ(67, remaining);
 171     EXPECT_EQ(crfsCrc(frame, frameLen), frame[11]);
 172
 173     testBatteryVoltage = 330; // 3.3V = 3300 mv
 174     testAmperage = 2960; // = 29.60A = 29600mA - amperage is in 0.01A steps
 175     testmAhDrawn = 1234;
 176     frameLen = getCrsfFrame(frame, CRSF_FRAMETYPE_BATTERY_SENSOR);
 177     voltage = frame[3] << 8 | frame[4]; // mV * 100
 178     EXPECT_EQ(33, voltage);
 179     current = frame[5] << 8 | frame[6]; // mA * 100
 180     EXPECT_EQ(296, current);
 181     capacity = frame[7] << 16 | frame[8] << 8 | frame [9]; // mAh
 182     EXPECT_EQ(1234, capacity);
 183     remaining = frame[10]; // percent
 184     EXPECT_EQ(67, remaining);
 185     EXPECT_EQ(crfsCrc(frame, frameLen), frame[11]);
 186 }
 187
 188 TEST(TelemetryCrsfTest, TestAttitude)
 189 {
 190     uint8_t frame[CRSF_FRAME_SIZE_MAX];
 191
 192     attitude.values.pitch = 0;
 193     attitude.values.roll = 0;
 194     attitude.values.yaw = 0;
 195     int frameLen = getCrsfFrame(frame, CRSF_FRAMETYPE_ATTITUDE);
 196     EXPECT_EQ(CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE + FRAME_HEADER_FOOTER_LEN, frameLen);
 197     EXPECT_EQ(CRSF_SYNC_BYTE, frame[0]); // address
 198     EXPECT_EQ(8, frame[1]); // length
 199     EXPECT_EQ(0x1e, frame[2]); // type
 200     int16_t pitch = frame[3] << 8 | frame[4]; // rad / 10000
 201     EXPECT_EQ(0, pitch);
 202     int16_t roll = frame[5] << 8 | frame[6];
 203     EXPECT_EQ(0, roll);
 204     int16_t yaw = frame[7] << 8 | frame[8];
 205     EXPECT_EQ(0, yaw);
 206     EXPECT_EQ(crfsCrc(frame, frameLen), frame[9]);
 207
 208     attitude.values.pitch = 678; // decidegrees == 1.183333232852155 rad
 209     attitude.values.roll = 1495; // 2.609267231731523 rad
 210     attitude.values.yaw = -1799; //3.139847324337799 rad
 211     frameLen = getCrsfFrame(frame, CRSF_FRAMETYPE_ATTITUDE);
 212     pitch = frame[3] << 8 | frame[4]; // rad / 10000
 213     EXPECT_EQ(11833, pitch);
 214     roll = frame[5] << 8 | frame[6];
 215     EXPECT_EQ(26092, roll);
 216     yaw = frame[7] << 8 | frame[8];
 217     EXPECT_EQ(-31398, yaw);
 218     EXPECT_EQ(crfsCrc(frame, frameLen), frame[9]);
 219 }
 220
 221 TEST(TelemetryCrsfTest, TestFlightMode)
 222 {
 223     uint8_t frame[CRSF_FRAME_SIZE_MAX];
 224
 225     ENABLE_STATE(GPS_FIX);
 226     ENABLE_STATE(GPS_FIX_HOME);
 227
 228     airMode = false;
 229
 230     DISABLE_ARMING_FLAG(ARMED);
 231
 232     // nothing set, so ACRO mode
 233     int frameLen = getCrsfFrame(frame, CRSF_FRAMETYPE_FLIGHT_MODE);
 234     EXPECT_EQ(6 + FRAME_HEADER_FOOTER_LEN, frameLen);
 235     EXPECT_EQ(CRSF_SYNC_BYTE, frame[0]); // address
 236     EXPECT_EQ(8, frame[1]); // length
 237     EXPECT_EQ(0x21, frame[2]); // type
 238     EXPECT_EQ('A', frame[3]);
 239     EXPECT_EQ('C', frame[4]);
 240     EXPECT_EQ('R', frame[5]);
 241     EXPECT_EQ('O', frame[6]);
 242     EXPECT_EQ('*', frame[7]);
 243     EXPECT_EQ(0, frame[8]);
 244     EXPECT_EQ(crfsCrc(frame, frameLen), frame[9]);
 245
 246     ENABLE_ARMING_FLAG(ARMED);
 247
 248     frameLen = getCrsfFrame(frame, CRSF_FRAMETYPE_FLIGHT_MODE);
 249     EXPECT_EQ(5 + FRAME_HEADER_FOOTER_LEN, frameLen);
 250     EXPECT_EQ(CRSF_SYNC_BYTE, frame[0]); // address
 251     EXPECT_EQ(7, frame[1]); // length
 252     EXPECT_EQ(0x21, frame[2]); // type
 253     EXPECT_EQ('A', frame[3]);
 254     EXPECT_EQ('C', frame[4]);
 255     EXPECT_EQ('R', frame[5]);
 256     EXPECT_EQ('O', frame[6]);
 257     EXPECT_EQ(0, frame[7]);
 258     EXPECT_EQ(crfsCrc(frame, frameLen), frame[8]);
 259
 260     enableFlightMode(ANGLE_MODE);
 261     EXPECT_EQ(ANGLE_MODE, FLIGHT_MODE(ANGLE_MODE));
 262     frameLen = getCrsfFrame(frame, CRSF_FRAMETYPE_FLIGHT_MODE);
 263     EXPECT_EQ(5 + FRAME_HEADER_FOOTER_LEN, frameLen);
 264     EXPECT_EQ(CRSF_SYNC_BYTE, frame[0]); // address
 265     EXPECT_EQ(7, frame[1]); // length
 266     EXPECT_EQ(0x21, frame[2]); // type
 267     EXPECT_EQ('S', frame[3]);
 268     EXPECT_EQ('T', frame[4]);
 269     EXPECT_EQ('A', frame[5]);
 270     EXPECT_EQ('B', frame[6]);
 271     EXPECT_EQ(0, frame[7]);
 272     EXPECT_EQ(crfsCrc(frame, frameLen), frame[8]);
 273
 274     disableFlightMode(ANGLE_MODE);
 275     enableFlightMode(HORIZON_MODE);
 276     EXPECT_EQ(HORIZON_MODE, FLIGHT_MODE(HORIZON_MODE));
 277     frameLen = getCrsfFrame(frame, CRSF_FRAMETYPE_FLIGHT_MODE);
 278     EXPECT_EQ(4 + FRAME_HEADER_FOOTER_LEN, frameLen);
 279     EXPECT_EQ(CRSF_SYNC_BYTE, frame[0]); // address
 280     EXPECT_EQ(6, frame[1]); // length
 281     EXPECT_EQ(0x21, frame[2]); // type
 282     EXPECT_EQ('H', frame[3]);
 283     EXPECT_EQ('O', frame[4]);
 284     EXPECT_EQ('R', frame[5]);
 285     EXPECT_EQ(0, frame[6]);
 286     EXPECT_EQ(crfsCrc(frame, frameLen), frame[7]);
 287
 288     disableFlightMode(HORIZON_MODE);
 289     airMode = true;
 290     frameLen = getCrsfFrame(frame, CRSF_FRAMETYPE_FLIGHT_MODE);
 291     EXPECT_EQ(4 + FRAME_HEADER_FOOTER_LEN, frameLen);
 292     EXPECT_EQ(CRSF_SYNC_BYTE, frame[0]); // address
 293     EXPECT_EQ(6, frame[1]); // length
 294     EXPECT_EQ(0x21, frame[2]); // type
 295     EXPECT_EQ('A', frame[3]);
 296     EXPECT_EQ('I', frame[4]);
 297     EXPECT_EQ('R', frame[5]);
 298     EXPECT_EQ(0, frame[6]);
 299     EXPECT_EQ(crfsCrc(frame, frameLen), frame[7]);
 300 }
 301
 302 // STUBS
 303
 304 extern "C" {
 305
 306 int16_t debug[DEBUG16_VALUE_COUNT];
 307
 308 const uint32_t baudRates[] = {0, 9600, 19200, 38400, 57600, 115200, 230400, 250000, 400000}; // see baudRate_e
 309
 310 uint16_t batteryWarningVoltage;
 311 uint8_t useHottAlarmSoundPeriod (void) { return 0; }
 312
 313 attitudeEulerAngles_t attitude = { { 0, 0, 0 } };     // absolute angle inclination in multiple of 0.1 degree    180 deg = 1800
 314
 315 uint16_t GPS_distanceToHome;        // distance to home point in meters
 316 gpsSolutionData_t gpsSol;
 317
 318 void beeperConfirmationBeeps(uint8_t beepCount) {UNUSED(beepCount);}
 319
 320 uint32_t micros(void) {return 0;}
 321 uint32_t microsISR(void) {return micros();}
 322
 323 bool featureIsEnabled(uint32_t) {return true;}
 324
 325 uint32_t serialRxBytesWaiting(const serialPort_t *) {return 0;}
 326 uint32_t serialTxBytesFree(const serialPort_t *) {return 0;}
 327 uint8_t serialRead(serialPort_t *) {return 0;}
 328 void serialWrite(serialPort_t *, uint8_t) {}
 329 void serialWriteBuf(serialPort_t *, const uint8_t *, int) {}
 330 void serialSetMode(serialPort_t *, portMode_e) {}
 331 serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, void *, uint32_t, portMode_e, portOptions_e) {return NULL;}
 332 void closeSerialPort(serialPort_t *) {}
 333 bool isSerialTransmitBufferEmpty(const serialPort_t *) { return true; }
 334
 335 const serialPortConfig_t *findSerialPortConfig(serialPortFunction_e) {return NULL;}
 336
 337 bool telemetryDetermineEnabledState(portSharing_e) {return true;}
 338 bool telemetryCheckRxPortShared(const serialPortConfig_t *, SerialRXType) {return true;}
 339 bool telemetryIsSensorEnabled(sensor_e) {return true;}
 340
 341 portSharing_e determinePortSharing(const serialPortConfig_t *, serialPortFunction_e) {return PORTSHARING_NOT_SHARED;}
 342
 343 bool airmodeIsEnabled(void) {return airMode;}
 344
 345 int32_t getAmperage(void)
 346 {
 347     return testAmperage;
 348 }
 349
 350 uint16_t getBatteryVoltage(void)
 351 {
 352     return testBatteryVoltage;
 353 }
 354
 355 uint16_t getLegacyBatteryVoltage(void)
 356 {
 357     return (testBatteryVoltage + 5) / 10;
 358 }
 359
 360 uint16_t getBatteryAverageCellVoltage(void)
 361 {
 362     return 0;
 363 }
 364
 365 batteryState_e getBatteryState(void)
 366 {
 367     return BATTERY_OK;
 368 }
 369
 370 uint8_t calculateBatteryPercentageRemaining(void)
 371 {
 372     return 67;
 373 }
 374
 375 int32_t getEstimatedAltitudeCm(void)
 376 {
 377         return gpsSol.llh.altCm;    // function returns cm not m.
 378 }
 379
 380 int32_t getMAhDrawn(void)
 381 {
 382   return testmAhDrawn;
 383 }
 384
 385 bool sendMspReply(uint8_t, mspResponseFnPtr) { return false; }
 386 bool handleMspFrame(uint8_t *, uint8_t, uint8_t *)  { return false; }
 387 bool isBatteryVoltageConfigured(void) { return true; }
 388 bool isAmperageConfigured(void) { return true; }
 389 timeUs_t rxFrameTimeUs(void) { return 0; }
 390 }