src/test/unit/gimbal_serial_unittest.cc

   1 /*
   2  * This file is part of INAV.
   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 INAV.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <iostream>
  19 #include <string>
  20 #include <stdio.h>
  21 #include <stdint.h>
  22
  23 #include "gtest/gtest.h"
  24 #include "unittest_macros.h"
  25
  26 #include "io/gimbal_serial.h"
  27 #include "drivers/headtracker_common.h"
  28
  29 void dumpMemory(uint8_t *mem, int size)
  30 {
  31     for(int i =0; i < size; ++i) {
  32         printf("%02x ", mem[i]);
  33     }
  34     printf("\n");
  35 }
  36
  37 TEST(GimbalSerialTest, TestGimbalSerialScale)
  38 {
  39     int16_t res16 = gimbal_scale12(1000, 2000, 2000);
  40     EXPECT_TRUE(res16 == 2047);
  41     res16 = gimbal_scale12(1000, 2000, 1000);
  42     printf("res16: %i\n", res16);
  43     EXPECT_TRUE(res16 == -2048);
  44     res16 = gimbal_scale12(1000, 2000, 1500);
  45     printf("res16: %i\n", res16);
  46     EXPECT_TRUE(res16 == -1);
  47     res16 = gimbal_scale12(1000, 2000, 1501);
  48     printf("res16: %i\n", res16);
  49     EXPECT_TRUE(res16 == 3);
  50 }