src/test/unit/gps_ublox_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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18
  19 #include "gtest/gtest.h"
  20 #include "unittest_macros.h"
  21
  22 #include <iostream>
  23 #include <string>
  24 #include <stdio.h>
  25
  26 #include "io/gps_ublox_utils.h"
  27
  28 void dumpCfg(const ubx_config_data8_t *cfg, int valuesAdded)
  29 {
  30     printf("%02x %02x %02x %02x %04x\n", cfg->header.preamble1, cfg->header.preamble2, cfg->header.msg_class, cfg->header.msg_id, cfg->header.length);
  31
  32     printf("%02x %02x %02x %02x\n", cfg->configHeader.version, cfg->configHeader.layers, cfg->configHeader.transaction, cfg->configHeader.reserved);
  33
  34     for(int i =0; i < valuesAdded; ++i) {
  35         printf("%i: %08x %02x\n", i+1, cfg->data.payload[i].key, cfg->data.payload[i].value);
  36     }
  37
  38     uint8_t *chksums = (uint8_t *)&cfg->data.payload[valuesAdded];
  39
  40     printf("%02x %02x\n", chksums[0], chksums[1]);
  41 }
  42
  43 void dumpMemory(uint8_t *mem, int size)
  44 {
  45     for(int i =0; i < size; ++i) {
  46         printf("%02x ", mem[i]);
  47     }
  48     printf("\n");
  49 }
  50
  51 TEST(GPSUbloxTest, TestUbloxCfgFillBytes)
  52 {
  53     ubx_config_data8_t cfg = {};
  54     ubx_config_data8_payload_t kvPairs[] = {
  55         { 0x10310025, 0x1},
  56         { 0x42, 0x69},
  57         { 0x04, 0x20},
  58         { 0x42, 0x69},
  59         { 0x04, 0x20},
  60         { 0x42, 0x69},
  61         { 0x04, 0x20},
  62         { 0x42, 0x69},
  63         { 0x04, 0x20},
  64         { 0x42, 0x69},
  65         { 0x04, 0x20},
  66         { 0x42, 0x69}
  67     };
  68
  69     int valuesAdded = ubloxCfgFillBytes(&cfg, kvPairs, 12);
  70
  71     EXPECT_TRUE(valuesAdded == 12);
  72
  73     dumpCfg(&cfg, valuesAdded);
  74
  75     valuesAdded = ubloxCfgFillBytes(&cfg, kvPairs, 1);
  76     EXPECT_TRUE(1 == valuesAdded);
  77
  78     // Set glonass enabled, from u-center 2
  79     const uint8_t expected[] = {0xB5, 0x62, 0x06, 0x8A, 0x09, 0x00, 0x01, 0x01, 0x00, 0x00, 0x25, 0x00, 0x31, 0x10, 0x01, 0x02, 0xA7};
  80     EXPECT_FALSE(memcmp((void *)expected, (void *)&cfg, 17));
  81
  82     printf("Expected:\n");
  83     dumpMemory((uint8_t *)expected, 17);
  84     printf("Actual:\n");
  85     dumpMemory((uint8_t *)&cfg, 17);
  86
  87     // osdFormatCentiNumber(buf, 12345, 1, 2, 3, 7);
  88     // std::cout << "'" << buf << "'" << std::endl;
  89     //EXPECT_FALSE(strcmp(buf, " 123.45"));
  90 }
  91
  92 TEST(GPSUbloxTest, navSigStructureSizes) {
  93     EXPECT_TRUE(sizeof(ubx_nav_sig_info) == 16);
  94
  95     EXPECT_TRUE(sizeof(ubx_nav_sig) == (8 + (16 * UBLOX_MAX_SIGNALS)));
  96
  97     EXPECT_TRUE(sizeof(ubx_nav_svinfo_channel) == 12);
  98
  99     EXPECT_TRUE(sizeof(ubx_nav_svinfo) == (8 + (12 * UBLOX_MAX_SIGNALS)));
 100 }