2 * This file is part of Cleanflight.
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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
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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.
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/>.
24 #include "drivers/serial.h"
25 #include "drivers/time.h"
26 #include "io/serial.h"
29 #include "telemetry/ibus_shared.h"
30 #include "telemetry/telemetry.h"
31 #include "fc/rc_controls.h"
32 #include "fc/rc_modes.h"
33 #include "sensors/battery.h"
36 #include "unittest_macros.h"
37 #include "gtest/gtest.h"
39 bool telemetryCheckRxPortShared(const serialPortConfig_t
*portConfig
)
46 serialPort_t
* telemetrySharedPort
= NULL
;
48 static uint16_t vbat
= 100;
49 uint16_t getVbat(void)
54 uint32_t microseconds_stub_value
= 0;
57 return microseconds_stub_value
;
59 uint32_t microsISR(void)
64 #define SERIAL_BUFFER_SIZE 256
65 #define SERIAL_PORT_DUMMY_IDENTIFIER (serialPortIdentifier_e)0x12
67 typedef struct serialPortStub_s
{
68 uint8_t buffer
[SERIAL_BUFFER_SIZE
];
73 static serialPort_t serialTestInstance
;
74 static serialPortConfig_t serialTestInstanceConfig
= {
76 .identifier
= SERIAL_PORT_DUMMY_IDENTIFIER
,
77 .msp_baudrateIndex
= 0,
78 .gps_baudrateIndex
= 0,
79 .blackbox_baudrateIndex
= 0,
80 .telemetry_baudrateIndex
= 0,
83 static serialReceiveCallbackPtr stub_serialRxCallback
;
84 static serialPortConfig_t
*findSerialPortConfig_stub_retval
;
85 static bool openSerial_called
= false;
86 static serialPortStub_t serialWriteStub
;
87 static bool portIsShared
= false;
89 bool isSerialPortShared(const serialPortConfig_t
*portConfig
,
90 uint16_t functionMask
,
91 serialPortFunction_e sharedWithFunction
)
93 EXPECT_EQ(portConfig
, findSerialPortConfig_stub_retval
);
94 EXPECT_EQ(functionMask
, FUNCTION_RX_SERIAL
);
95 EXPECT_EQ(sharedWithFunction
, FUNCTION_TELEMETRY_IBUS
);
99 const serialPortConfig_t
*findSerialPortConfig(serialPortFunction_e function
)
101 EXPECT_EQ(function
, FUNCTION_RX_SERIAL
);
102 return findSerialPortConfig_stub_retval
;
105 static portMode_e serialExpectedMode
= MODE_RX
;
106 static portOptions_e serialExpectedOptions
= SERIAL_UNIDIR
;
108 serialPort_t
*openSerialPort(
109 serialPortIdentifier_e identifier
,
110 serialPortFunction_e function
,
111 serialReceiveCallbackPtr callback
,
115 portOptions_e options
118 openSerial_called
= true;
119 EXPECT_FALSE(NULL
== callback
);
120 EXPECT_TRUE(NULL
== callbackData
);
121 EXPECT_EQ(identifier
, SERIAL_PORT_DUMMY_IDENTIFIER
);
122 EXPECT_EQ(options
, serialExpectedOptions
);
123 EXPECT_EQ(function
, FUNCTION_RX_SERIAL
);
124 EXPECT_EQ(baudrate
, 115200);
125 EXPECT_EQ(mode
, serialExpectedMode
);
126 stub_serialRxCallback
= callback
;
127 return &serialTestInstance
;
130 void serialWrite(serialPort_t
*instance
, uint8_t ch
)
132 EXPECT_EQ(instance
, &serialTestInstance
);
133 EXPECT_LT(serialWriteStub
.pos
, sizeof(serialWriteStub
.buffer
));
134 serialWriteStub
.buffer
[serialWriteStub
.pos
++] = ch
;
135 //TODO serialReadStub.buffer[serialReadStub.end++] = ch; //characters echoes back on the shared wire
136 //printf("w: %02d 0x%02x\n", serialWriteStub.pos, ch);
140 void serialTestResetPort()
142 openSerial_called
= false;
143 stub_serialRxCallback
= NULL
;
144 portIsShared
= false;
145 serialExpectedMode
= MODE_RX
;
146 serialExpectedOptions
= SERIAL_UNIDIR
;
150 static bool isChecksumOkReturnValue
= true;
151 bool isChecksumOkIa6b(const uint8_t *ibusPacket
, const uint8_t length
)
155 return isChecksumOkReturnValue
;
159 static bool initSharedIbusTelemetryCalled
= false;
160 void initSharedIbusTelemetry(serialPort_t
* port
)
162 EXPECT_EQ(port
, &serialTestInstance
);
163 initSharedIbusTelemetryCalled
= true;
166 static bool stubTelemetryCalled
= false;
167 static uint8_t stubTelemetryPacket
[100];
168 static uint8_t stubTelemetryIgnoreRxChars
= 0;
170 uint8_t respondToIbusRequest(uint8_t const * const ibusPacket
)
172 uint8_t len
= ibusPacket
[0];
173 EXPECT_LT(len
, sizeof(stubTelemetryPacket
));
174 memcpy(stubTelemetryPacket
, ibusPacket
, len
);
175 stubTelemetryCalled
= true;
176 return stubTelemetryIgnoreRxChars
;
179 void resetStubTelemetry(void)
181 memset(stubTelemetryPacket
, 0, sizeof(stubTelemetryPacket
));
182 stubTelemetryCalled
= false;
183 stubTelemetryIgnoreRxChars
= 0;
184 initSharedIbusTelemetryCalled
= false;
185 isChecksumOkReturnValue
= true;
189 class IbusRxInitUnitTest
: public ::testing::Test
194 serialTestResetPort();
199 TEST_F(IbusRxInitUnitTest
, Test_IbusRxNotEnabled
)
201 const rxConfig_t initialRxConfig
= {};
202 rxRuntimeState_t rxRuntimeState
= {};
203 findSerialPortConfig_stub_retval
= NULL
;
205 EXPECT_FALSE(ibusInit(&initialRxConfig
, &rxRuntimeState
));
207 //TODO: Question: I'd expect that runtime conf was not initialized unless there was a serial port to run but the implementation states otherwise
208 // EXPECT_EQ(0, rxRuntimeState.channelCount);
209 // EXPECT_EQ(0, rxRuntimeState.rxRefreshRate);
210 // EXPECT_EQ(NULL, rxRuntimeState.rcReadRawFn);
211 // EXPECT_EQ(NULL, rxRuntimeState.rcFrameStatusFn);
213 EXPECT_EQ(18, rxRuntimeState
.channelCount
);
214 EXPECT_FALSE(NULL
== rxRuntimeState
.rcReadRawFn
);
215 EXPECT_FALSE(NULL
== rxRuntimeState
.rcFrameStatusFn
);
219 TEST_F(IbusRxInitUnitTest
, Test_IbusRxEnabled
)
221 const rxConfig_t initialRxConfig
= {};
222 rxRuntimeState_t rxRuntimeState
= {};
223 findSerialPortConfig_stub_retval
= &serialTestInstanceConfig
;
225 EXPECT_TRUE(ibusInit(&initialRxConfig
, &rxRuntimeState
));
227 EXPECT_EQ(18, rxRuntimeState
.channelCount
);
228 EXPECT_FALSE(NULL
== rxRuntimeState
.rcReadRawFn
);
229 EXPECT_FALSE(NULL
== rxRuntimeState
.rcFrameStatusFn
);
231 EXPECT_TRUE(openSerial_called
);
236 class IbusRxProtocollUnitTest
: public ::testing::Test
239 rxRuntimeState_t rxRuntimeState
= {};
242 serialTestResetPort();
243 resetStubTelemetry();
245 serialExpectedOptions
= SERIAL_BIDIR
;
246 serialExpectedMode
= MODE_RXTX
;
248 const rxConfig_t initialRxConfig
= {};
249 findSerialPortConfig_stub_retval
= &serialTestInstanceConfig
;
251 EXPECT_TRUE(ibusInit(&initialRxConfig
, &rxRuntimeState
));
253 EXPECT_TRUE(initSharedIbusTelemetryCalled
);
255 //handle that internal ibus position is not set to zero at init
256 microseconds_stub_value
+= 5000;
257 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
260 virtual void receivePacket(uint8_t const * const packet
, const size_t length
)
262 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
263 for (size_t i
=0; i
< length
; i
++) {
264 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
265 stub_serialRxCallback(packet
[i
], NULL
);
271 TEST_F(IbusRxProtocollUnitTest
, Test_InitialFrameState
)
273 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
275 //TODO: is it ok to have undefined channel values after init?
279 TEST_F(IbusRxProtocollUnitTest
, Test_IA6B_OnePacketReceived
)
281 uint8_t packet
[] = {0x20, 0x00, //length and reserved (unknown) bits
282 0x00, 0xE0, 0x01, 0x00, 0x02, 0x00, 0x03, 0xF0, 0x04, 0x00, //channel 1..5 + 15 + 16
283 0x05, 0x00, 0x06, 0x00, 0x07, 0x10, 0x08, 0x00, 0x09, 0x10, //channel 6..10 + 17 + 18(lsb)
284 0x0a, 0x10, 0x0b, 0x00, 0x0c, 0x00, 0x0d, 0x00, //channel 11..14 + 18
285 0x84, 0xfd}; //checksum
287 for (size_t i
=0; i
< sizeof(packet
); i
++) {
288 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
289 stub_serialRxCallback(packet
[i
], NULL
);
292 //report frame complete once
293 EXPECT_EQ(RX_FRAME_COMPLETE
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
294 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
296 //check that channel values have been updated
297 for (int i
=0; i
<18; i
++) {
298 EXPECT_EQ(i
, rxRuntimeState
.rcReadRawFn(&rxRuntimeState
, i
));
303 TEST_F(IbusRxProtocollUnitTest
, Test_IA6B_OnePacketReceivedWithBadCrc
)
305 uint8_t packet
[] = {0x20, 0x00, //length and reserved (unknown) bits
306 0x00, 0x33, 0x01, 0x33, 0x02, 0x33, 0x03, 0x33, 0x04, 0x33, //channel 1..5
307 0x05, 0x33, 0x06, 0x33, 0x07, 0x33, 0x08, 0x33, 0x09, 0x33, //channel 6..10
308 0x0a, 0x33, 0x0b, 0x33, 0x0c, 0x33, 0x0d, 0x33, //channel 11..14
309 0x00, 0x00}; //checksum
311 isChecksumOkReturnValue
= false;
312 for (size_t i
=0; i
< sizeof(packet
); i
++) {
313 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
314 stub_serialRxCallback(packet
[i
], NULL
);
318 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
320 //check that channel values have not been updated
321 for (int i
=0; i
<14; i
++) {
322 EXPECT_NE(i
+ (0x33 << 8), rxRuntimeState
.rcReadRawFn(&rxRuntimeState
, i
));
327 TEST_F(IbusRxProtocollUnitTest
, Test_IA6B_HalfPacketReceived_then_interPacketGapReset
)
329 const uint8_t packet_half
[] = {0x20, 0x00, //length and reserved (unknown) bits
330 0x00, 0xab, 0x01, 0xab, 0x02, 0xab, 0x03, 0xab, 0x04, 0xab, //channel 1..5
332 const uint8_t packet_full
[] = {0x20, 0x00, //length and reserved (unknown) bits
333 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x04, 0x00, //channel 1..5
334 0x05, 0x00, 0x06, 0x00, 0x07, 0x00, 0x08, 0x00, 0x09, 0x00, //channel 6..10
335 0x0a, 0x00, 0x0b, 0x00, 0x0c, 0x00, 0x0d, 0x00, //channel 11..14
336 0x84, 0xff}; //checksum
338 for (size_t i
=0; i
< sizeof(packet_half
); i
++) {
339 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
340 stub_serialRxCallback(packet_half
[i
], NULL
);
343 microseconds_stub_value
+= 5000;
344 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
346 for (size_t i
=0; i
< sizeof(packet_full
); i
++) {
347 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
348 stub_serialRxCallback(packet_full
[i
], NULL
);
351 //report frame complete once
352 EXPECT_EQ(RX_FRAME_COMPLETE
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
353 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
355 //check that channel values have been updated
356 for (int i
=0; i
<14; i
++) {
357 EXPECT_EQ(i
, rxRuntimeState
.rcReadRawFn(&rxRuntimeState
, i
));
362 TEST_F(IbusRxProtocollUnitTest
, Test_IA6_OnePacketReceived
)
364 uint8_t packet
[] = {0x55, //sync character
365 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x04, 0x00, //channel 1..5
366 0x05, 0x00, 0x06, 0x00, 0x07, 0x00, 0x08, 0x00, 0x09, 0x00, //channel 6..10
367 0x0a, 0x00, 0x0b, 0x00, 0x0c, 0x00, 0x0d, 0x00, //channel 11..14
368 0x5b, 0x00}; //checksum
370 for (size_t i
=0; i
< sizeof(packet
); i
++) {
371 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
372 stub_serialRxCallback(packet
[i
], NULL
);
375 //report frame complete once
376 EXPECT_EQ(RX_FRAME_COMPLETE
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
377 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
379 //check that channel values have been updated
380 for (int i
=0; i
<14; i
++) {
381 EXPECT_EQ(i
, rxRuntimeState
.rcReadRawFn(&rxRuntimeState
, i
));
386 TEST_F(IbusRxProtocollUnitTest
, Test_IA6_OnePacketReceivedBadCrc
)
388 uint8_t packet
[] = {0x55, //sync character
389 0x00, 0x33, 0x01, 0x33, 0x02, 0x33, 0x03, 0x33, 0x04, 0x33, //channel 1..5
390 0x05, 0x33, 0x06, 0x33, 0x07, 0x33, 0x08, 0x33, 0x09, 0x33, //channel 6..10
391 0x0a, 0x33, 0x0b, 0x33, 0x0c, 0x33, 0x0d, 0x33, //channel 11..14
392 0x00, 0x00}; //checksum
394 for (size_t i
=0; i
< sizeof(packet
); i
++) {
395 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
396 stub_serialRxCallback(packet
[i
], NULL
);
400 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
402 //check that channel values have not been updated
403 for (int i
=0; i
<14; i
++) {
404 EXPECT_NE(i
+ (0x33 << 8), rxRuntimeState
.rcReadRawFn(&rxRuntimeState
, i
));
409 TEST_F(IbusRxProtocollUnitTest
, Test_IA6B_OnePacketReceived_not_shared_port
)
411 uint8_t packet
[] = {0x20, 0x00, //length and reserved (unknown) bits
412 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x04, 0x00, //channel 1..5
413 0x05, 0x00, 0x06, 0x00, 0x07, 0x00, 0x08, 0x00, 0x09, 0x00, //channel 6..10
414 0x0a, 0x00, 0x0b, 0x00, 0x0c, 0x00, 0x0d, 0x00, //channel 11..14
415 0x84, 0xff}; //checksum
419 serialTestResetPort();
420 resetStubTelemetry();
421 portIsShared
= false;
422 serialExpectedOptions
= SERIAL_NOT_INVERTED
;
423 serialExpectedMode
= MODE_RX
;
425 const rxConfig_t initialRxConfig
= {};
426 findSerialPortConfig_stub_retval
= &serialTestInstanceConfig
;
428 EXPECT_TRUE(ibusInit(&initialRxConfig
, &rxRuntimeState
));
429 EXPECT_FALSE(initSharedIbusTelemetryCalled
);
431 //handle that internal ibus position is not set to zero at init
432 microseconds_stub_value
+= 5000;
433 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
436 for (size_t i
=0; i
< sizeof(packet
); i
++) {
437 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
438 stub_serialRxCallback(packet
[i
], NULL
);
441 //report frame complete once
442 EXPECT_EQ(RX_FRAME_COMPLETE
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
443 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
445 //check that channel values have been updated
446 for (int i
=0; i
<14; i
++) {
447 EXPECT_EQ(i
, rxRuntimeState
.rcReadRawFn(&rxRuntimeState
, i
));
452 TEST_F(IbusRxProtocollUnitTest
, Test_OneTelemetryPacketReceived
)
454 uint8_t packet
[] = {0x04, 0x81, 0x7a, 0xff}; //ibus sensor discovery
455 resetStubTelemetry();
457 receivePacket(packet
, sizeof(packet
));
459 //no frame complete signal to rx system, but telemetry system is called
460 EXPECT_EQ(RX_FRAME_PENDING
, rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
));
461 EXPECT_TRUE(stubTelemetryCalled
);
462 EXPECT_TRUE( 0 == memcmp( stubTelemetryPacket
, packet
, sizeof(packet
)));
466 TEST_F(IbusRxProtocollUnitTest
, Test_OneTelemetryIgnoreTxEchoToRx
)
468 uint8_t packet
[] = {0x04, 0x81, 0x7a, 0xff}; //ibus sensor discovery
469 resetStubTelemetry();
470 stubTelemetryIgnoreRxChars
= 4;
472 //given one packet received, that will respond with four characters to be ignored
473 receivePacket(packet
, sizeof(packet
));
474 rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
);
475 EXPECT_TRUE(stubTelemetryCalled
);
477 //when those four bytes are sent and looped back
478 resetStubTelemetry();
479 rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
);
480 receivePacket(packet
, sizeof(packet
));
482 //then they are ignored
483 EXPECT_FALSE(stubTelemetryCalled
);
485 //and then next packet can be received
486 receivePacket(packet
, sizeof(packet
));
487 rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
);
488 EXPECT_TRUE(stubTelemetryCalled
);
492 TEST_F(IbusRxProtocollUnitTest
, Test_OneTelemetryShouldNotIgnoreTxEchoAfterInterFrameGap
)
494 uint8_t packet
[] = {0x04, 0x81, 0x7a, 0xff}; //ibus sensor discovery
495 resetStubTelemetry();
496 stubTelemetryIgnoreRxChars
= 4;
498 //given one packet received, that will respond with four characters to be ignored
499 receivePacket(packet
, sizeof(packet
));
500 rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
);
501 EXPECT_TRUE(stubTelemetryCalled
);
503 //when there is an interPacketGap
504 microseconds_stub_value
+= 5000;
505 resetStubTelemetry();
506 rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
);
508 //then next packet can be received
509 receivePacket(packet
, sizeof(packet
));
510 rxRuntimeState
.rcFrameStatusFn(&rxRuntimeState
);
511 EXPECT_TRUE(stubTelemetryCalled
);