radio/src/tests/frsky.cpp

   1 /*
   2  * Copyright (C) OpenTX
   3  *
   4  * Based on code named
   5  *   th9x - http://code.google.com/p/th9x
   6  *   er9x - http://code.google.com/p/er9x
   7  *   gruvin9x - http://code.google.com/p/gruvin9x
   8  *
   9  * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
  10  *
  11  * This program is free software; you can redistribute it and/or modify
  12  * it under the terms of the GNU General Public License version 2 as
  13  * published by the Free Software Foundation.
  14  *
  15  * This program is distributed in the hope that it will be useful,
  16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  18  * GNU General Public License for more details.
  19  */
  20
  21 #include "gtests.h"
  22
  23 void frskyDProcessPacket(const uint8_t *packet);
  24 bool checkSportPacket(const uint8_t *packet);
  25 void sportProcessTelemetryPacket(const uint8_t * packet);
  26 bool checkSportPacket(const uint8_t *packet);
  27
  28 TEST(FrSky, TelemetryValueWithMinAveraging)
  29 {
  30   /*
  31     The following expected[] array is filled
  32     with values that correspond to 4 elements
  33     long averaging buffer.
  34     If length of averaging buffer is changed, this
  35     values must be adjusted
  36   */
  37   uint8_t expected[] = { 10, 12, 17, 25, 35, 45, 55, 65, 75, 85, 92, 97, 100, 100, 100, 100, 100};
  38   int testPos = 0;
  39   //test of averaging
  40   TelemetryMinDecorator<TelemetryFilterDecorator<TelemetryValue>> testVal;
  41   testVal.reset();
  42   testVal.set(10);
  43   EXPECT_EQ(testVal.value(), expected[testPos++]);
  44   for (int n = 2; n < 10; ++n) {
  45     testVal.set(n * 10);
  46     EXPECT_EQ(testVal.value(), expected[testPos++]);
  47   }
  48   for (int n = 2; n < 10; ++n) {
  49     testVal.set(100);
  50     EXPECT_EQ(testVal.value(), expected[testPos++]);
  51   }
  52 }
  53
  54 TEST(FrSky, Vfas_0x39_HiPrecision)
  55 {
  56   MODEL_RESET();
  57   TELEMETRY_RESET();
  58   EXPECT_EQ(telemetryItems[0].value, 0);
  59   telemetryStreaming = TELEMETRY_TIMEOUT10ms;
  60   telemetryData.telemetryValid = 0x07;
  61   allowNewSensors = true;
  62
  63   // normal precision, resolution 0.1V
  64   processHubPacket(VFAS_ID, 1234);  // set value of 123.4V
  65   EXPECT_EQ(telemetryItems[0].value, 12340);      // stored value has resolution of 0.01V
  66
  67   // now high precision, resolution 0.01V
  68   processHubPacket(VFAS_ID, VFAS_D_HIPREC_OFFSET);  // set value of 0V
  69   EXPECT_EQ(telemetryItems[0].value, 0);
  70   processHubPacket(VFAS_ID, VFAS_D_HIPREC_OFFSET + 12345);  // set value of 123.45V
  71   EXPECT_EQ(telemetryItems[0].value, 12345);
  72   processHubPacket(VFAS_ID, VFAS_D_HIPREC_OFFSET + 30012);  // set value of 300.12V
  73   EXPECT_EQ(telemetryItems[0].value, 30012);
  74 }
  75
  76 TEST(FrSky, HubAltNegative)
  77 {
  78   MODEL_RESET();
  79   TELEMETRY_RESET();
  80   EXPECT_EQ(telemetryItems[0].value, 0);
  81   telemetryStreaming = TELEMETRY_TIMEOUT10ms;
  82   telemetryData.telemetryValid = 0x07;
  83   allowNewSensors = true;
  84
  85   // altimeter auto offset
  86   processHubPacket(BARO_ALT_BP_ID, 0);
  87   processHubPacket(BARO_ALT_AP_ID, 0);
  88   EXPECT_EQ(telemetryItems[0].value, 0);
  89
  90   // low precision altimeter, bp always less than 10
  91   processHubPacket(BARO_ALT_BP_ID, 12);  // set value of 12.3m
  92   processHubPacket(BARO_ALT_AP_ID, 3);
  93   EXPECT_EQ(telemetryItems[0].value, 123);      // altitude stored has resolution of 0.1m
  94
  95   processHubPacket(BARO_ALT_BP_ID, -12);  // set value of -12.3m
  96   processHubPacket(BARO_ALT_AP_ID, 3);
  97   EXPECT_EQ(telemetryItems[0].value, -123);
  98
  99   // hi precision altimeter, bp can be two decimals
 100   MODEL_RESET();
 101   TELEMETRY_RESET();
 102
 103   // altimeter auto offset
 104   processHubPacket(BARO_ALT_BP_ID, 0);
 105   processHubPacket(BARO_ALT_AP_ID, 0);
 106   EXPECT_EQ(telemetryItems[0].value, 0);
 107
 108   // first trigger hi precision, by setting AP above 9
 109   processHubPacket(BARO_ALT_BP_ID, -1);  // set value of -1.35m
 110   processHubPacket(BARO_ALT_AP_ID, 35);
 111   EXPECT_EQ(telemetryItems[0].value, -13);
 112
 113   processHubPacket(BARO_ALT_BP_ID, 12);  // set value of 12.35m
 114   processHubPacket(BARO_ALT_AP_ID, 35);
 115   EXPECT_EQ(telemetryItems[0].value, 123);
 116
 117   // now test with the AP less than 10 to check if hiprecision is still active
 118   processHubPacket(BARO_ALT_BP_ID, 12);  // set value of 12.05m
 119   processHubPacket(BARO_ALT_AP_ID, 05);
 120   EXPECT_EQ(telemetryItems[0].value, 120);
 121 }
 122
 123 TEST(FrSky, Gps)
 124 {
 125   MODEL_RESET();
 126   TELEMETRY_RESET();
 127   telemetryStreaming = TELEMETRY_TIMEOUT10ms;
 128   telemetryData.telemetryValid = 0x07;
 129   allowNewSensors = true;
 130
 131   EXPECT_EQ(telemetryItems[0].value, 0);
 132
 133   // latitude 15 degrees north, 30.5000 minutes = 15.508333333333333 degrees
 134   processHubPacket(GPS_LAT_BP_ID, 1530);  // DDDMM.
 135   processHubPacket(GPS_LAT_AP_ID, 5000);  // .MMMM
 136   processHubPacket(GPS_LAT_NS_ID, 'N');
 137
 138   // longitude 45 degrees west, 20.5000 minutes = 45.34166666666667 degrees
 139   processHubPacket(GPS_LONG_BP_ID, 4520);
 140   processHubPacket(GPS_LONG_AP_ID, 5000);
 141   processHubPacket(GPS_LONG_EW_ID, 'E');
 142
 143   EXPECT_EQ(telemetryItems[0].gps.latitude, 15508333);
 144   EXPECT_EQ(telemetryItems[0].gps.longitude, 45341666);
 145 }
 146
 147 TEST(FrSkySPORT, checkCrc)
 148 {
 149   // Packet downstream
 150   uint8_t pkt1[] = { 0x7E, 0x98, 0x10, 0x10, 0x00, 0x7E, 0x02, 0x00, 0x00, 0x5F };
 151   EXPECT_EQ(checkSportPacket(pkt1+1), true);
 152   // Packet upstream
 153   uint8_t pkt2[] = { 0x7E, 0x1C, 0x31, 0x00, 0x10, 0x85, 0x64, 0x00, 0x00, 0xD4 };
 154   EXPECT_EQ(checkSportPacket(pkt2+1), true);
 155 }
 156
 157 void setSportPacketCrc(uint8_t * packet)
 158 {
 159   short crc = 0;
 160   for (int i=1; i<FRSKY_SPORT_PACKET_SIZE-1; i++) {
 161     crc += packet[i]; //0-1FF
 162     crc += crc >> 8; //0-100
 163     crc &= 0x00ff;
 164     crc += crc >> 8; //0-0FF
 165     crc &= 0x00ff;
 166   }
 167   packet[FRSKY_SPORT_PACKET_SIZE-1] = 0xFF - (crc & 0x00ff);
 168   //TRACE("crc set: %x", packet[FRSKY_SPORT_PACKET_SIZE-1]);
 169 }
 170
 171 void generateSportCellPacket(uint8_t * packet, uint8_t cells, uint8_t battnumber, uint16_t cell1, uint16_t cell2, uint8_t sensorId=DATA_ID_FLVSS)
 172 {
 173   packet[0] = sensorId;
 174   packet[1] = 0x10; //DATA_FRAME
 175   *((uint16_t *)(packet+2)) = 0x0300; //CELLS_FIRST_ID
 176   uint32_t data = 0;
 177   data += (cells << 4) + battnumber;
 178   data += ((cell1 * 5) & 0xFFF) << 8;
 179   data += ((cell2 * 5) & 0xFFF) << 20;
 180   *((int32_t *)(packet+4)) = data;
 181   setSportPacketCrc(packet);
 182 }
 183
 184 TEST(FrSkySPORT, FrSkyDCells)
 185 {
 186   MODEL_RESET();
 187   TELEMETRY_RESET();
 188   telemetryStreaming = TELEMETRY_TIMEOUT10ms;
 189   telemetryData.telemetryValid = 0x07;
 190   allowNewSensors = true;
 191
 192   uint8_t pkt1[] = { 0x7E, 0x98, 0x10, 0x06, 0x00, 0x07, 0xD0, 0x00, 0x00, 0x12 };
 193   EXPECT_EQ(checkSportPacket(pkt1+1), true);
 194   sportProcessTelemetryPacket(pkt1+1);
 195   uint8_t pkt2[] = { 0x7E, 0x98, 0x10, 0x06, 0x00, 0x17, 0xD0, 0x00, 0x00, 0x02 };
 196   EXPECT_EQ(checkSportPacket(pkt2+1), true);
 197   sportProcessTelemetryPacket(pkt2+1);
 198   uint8_t pkt3[] = { 0x7E, 0x98, 0x10, 0x06, 0x00, 0x27, 0xD0, 0x00, 0x00, 0xF1 };
 199   EXPECT_EQ(checkSportPacket(pkt3+1), true);
 200   sportProcessTelemetryPacket(pkt3+1);
 201   sportProcessTelemetryPacket(pkt1+1);
 202   sportProcessTelemetryPacket(pkt2+1);
 203   sportProcessTelemetryPacket(pkt3+1);
 204   EXPECT_EQ(telemetryItems[0].cells.count, 3);
 205   EXPECT_EQ(telemetryItems[0].value, 1200);
 206   for (int i=0; i<3; i++) {
 207     EXPECT_EQ(telemetryItems[0].cells.values[i].state, 1);
 208     EXPECT_EQ(telemetryItems[0].cells.values[i].value, 400);
 209   }
 210 }
 211
 212 TEST(FrSkySPORT, frskySetCellVoltage)
 213 {
 214   uint8_t packet[FRSKY_SPORT_PACKET_SIZE];
 215
 216   MODEL_RESET();
 217   TELEMETRY_RESET();
 218   telemetryStreaming = TELEMETRY_TIMEOUT10ms;
 219   telemetryData.telemetryValid = 0x07;
 220   allowNewSensors = true;
 221
 222   // test that simulates 3 cell battery
 223   generateSportCellPacket(packet, 3, 0, 410, 420); sportProcessTelemetryPacket(packet);
 224   EXPECT_EQ(checkSportPacket(packet), true) << "Bad CRC generation in setSportPacketCrc()";
 225   generateSportCellPacket(packet, 3, 2, 430,   0); sportProcessTelemetryPacket(packet);
 226
 227   generateSportCellPacket(packet, 3, 0, 405, 300); sportProcessTelemetryPacket(packet);
 228   generateSportCellPacket(packet, 3, 2, 430,   0); sportProcessTelemetryPacket(packet);
 229
 230   EXPECT_EQ(telemetryItems[0].cells.count, 3);
 231   EXPECT_EQ(telemetryItems[0].cells.values[0].value, 405);
 232   EXPECT_EQ(telemetryItems[0].cells.values[1].value, 300);
 233   EXPECT_EQ(telemetryItems[0].cells.values[2].value, 430);
 234   EXPECT_EQ(telemetryItems[0].cells.values[4].value, 0);
 235   EXPECT_EQ(telemetryItems[0].value, 1135);
 236   EXPECT_EQ(telemetryItems[0].valueMin, 1135);
 237   EXPECT_EQ(telemetryItems[0].valueMax, 1260);
 238
 239   generateSportCellPacket(packet, 3, 0, 405, 250); sportProcessTelemetryPacket(packet);
 240   generateSportCellPacket(packet, 3, 2, 430,   0); sportProcessTelemetryPacket(packet);
 241
 242   generateSportCellPacket(packet, 3, 0, 410, 420); sportProcessTelemetryPacket(packet);
 243   generateSportCellPacket(packet, 3, 2, 430,   0); sportProcessTelemetryPacket(packet);
 244
 245   EXPECT_EQ(telemetryItems[0].cells.count, 3);
 246   EXPECT_EQ(telemetryItems[0].cells.values[0].value, 410);
 247   EXPECT_EQ(telemetryItems[0].cells.values[1].value, 420);
 248   EXPECT_EQ(telemetryItems[0].cells.values[2].value, 430);
 249   EXPECT_EQ(telemetryItems[0].cells.values[4].value, 0);
 250   EXPECT_EQ(telemetryItems[0].value, 1260);
 251   EXPECT_EQ(telemetryItems[0].valueMin, 1085);
 252   EXPECT_EQ(telemetryItems[0].valueMax, 1260);
 253
 254   //add another two cells - 5 cell battery
 255   generateSportCellPacket(packet, 5, 0, 418, 408); sportProcessTelemetryPacket(packet);
 256   generateSportCellPacket(packet, 5, 2, 415, 420); sportProcessTelemetryPacket(packet);
 257   generateSportCellPacket(packet, 5, 4, 410,   0); sportProcessTelemetryPacket(packet);
 258
 259   EXPECT_EQ(telemetryItems[0].cells.count, 5);
 260   EXPECT_EQ(telemetryItems[0].cells.values[0].value, 418);
 261   EXPECT_EQ(telemetryItems[0].cells.values[1].value, 408);
 262   EXPECT_EQ(telemetryItems[0].cells.values[2].value, 415);
 263   EXPECT_EQ(telemetryItems[0].cells.values[3].value, 420);
 264   EXPECT_EQ(telemetryItems[0].cells.values[4].value, 410);
 265   EXPECT_EQ(telemetryItems[0].cells.values[5].value, 0);
 266   EXPECT_EQ(telemetryItems[0].value, 2071);
 267   EXPECT_EQ(telemetryItems[0].valueMin, 2071);
 268   EXPECT_EQ(telemetryItems[0].valueMax, 2071);
 269
 270   //simulate very low voltage for cell 3
 271   generateSportCellPacket(packet, 5, 0, 418, 408); sportProcessTelemetryPacket(packet);
 272   generateSportCellPacket(packet, 5, 2, 100, 420); sportProcessTelemetryPacket(packet);
 273   generateSportCellPacket(packet, 5, 4, 410,   0); sportProcessTelemetryPacket(packet);
 274
 275   EXPECT_EQ(telemetryItems[0].cells.count, 5);
 276   EXPECT_EQ(telemetryItems[0].cells.values[0].value, 418);
 277   EXPECT_EQ(telemetryItems[0].cells.values[1].value, 408);
 278   EXPECT_EQ(telemetryItems[0].cells.values[2].value, 100);
 279   EXPECT_EQ(telemetryItems[0].cells.values[3].value, 420);
 280   EXPECT_EQ(telemetryItems[0].cells.values[4].value, 410);
 281   EXPECT_EQ(telemetryItems[0].cells.values[5].value, 0);
 282   EXPECT_EQ(telemetryItems[0].value, 1756);
 283   EXPECT_EQ(telemetryItems[0].valueMin, 1756);
 284   EXPECT_EQ(telemetryItems[0].valueMax, 2071);
 285
 286   //back to normal (but with reversed order of packets)
 287   generateSportCellPacket(packet, 5, 4, 410,   0); sportProcessTelemetryPacket(packet);
 288   generateSportCellPacket(packet, 5, 0, 418, 408); sportProcessTelemetryPacket(packet);
 289   generateSportCellPacket(packet, 5, 2, 412, 420); sportProcessTelemetryPacket(packet);
 290   generateSportCellPacket(packet, 5, 4, 410,   0); sportProcessTelemetryPacket(packet);
 291
 292   EXPECT_EQ(telemetryItems[0].cells.count, 5);
 293   EXPECT_EQ(telemetryItems[0].cells.values[0].value, 418);
 294   EXPECT_EQ(telemetryItems[0].cells.values[1].value, 408);
 295   EXPECT_EQ(telemetryItems[0].cells.values[2].value, 412);
 296   EXPECT_EQ(telemetryItems[0].cells.values[3].value, 420);
 297   EXPECT_EQ(telemetryItems[0].cells.values[4].value, 410);
 298   EXPECT_EQ(telemetryItems[0].cells.values[5].value, 0);
 299   EXPECT_EQ(telemetryItems[0].value, 2068);
 300   EXPECT_EQ(telemetryItems[0].valueMin, 1756);
 301   EXPECT_EQ(telemetryItems[0].valueMax, 2071);
 302
 303   //display test
 304   lcdClear();
 305 }
 306
 307 TEST(FrSkySPORT, StrangeCellsBug)
 308 {
 309   MODEL_RESET();
 310   TELEMETRY_RESET();
 311   telemetryStreaming = TELEMETRY_TIMEOUT10ms;
 312   telemetryData.telemetryValid = 0x07;
 313   allowNewSensors = true;
 314
 315   uint8_t pkt[] = { 0x7E, 0x48, 0x10, 0x00, 0x03, 0x30, 0x15, 0x50, 0x81, 0xD5 };
 316   EXPECT_EQ(checkSportPacket(pkt+1), true);
 317   sportProcessTelemetryPacket(pkt+1);
 318   EXPECT_EQ(telemetryItems[0].cells.count, 3);
 319   EXPECT_EQ(telemetryItems[0].cells.values[0].value, 0); // now we ignore such low values
 320   EXPECT_EQ(telemetryItems[0].cells.values[1].value, 413);
 321 }
 322
 323 TEST(FrSkySPORT, frskySetCellVoltageTwoSensors)
 324 {
 325   uint8_t packet[FRSKY_SPORT_PACKET_SIZE];
 326
 327   MODEL_RESET();
 328   TELEMETRY_RESET();
 329   telemetryStreaming = TELEMETRY_TIMEOUT10ms;
 330   telemetryData.telemetryValid = 0x07;
 331   allowNewSensors = true;
 332
 333   //sensor 1: 3 cell battery
 334   generateSportCellPacket(packet, 3, 0, 418, 416); sportProcessTelemetryPacket(packet);
 335   generateSportCellPacket(packet, 3, 2, 415,   0); sportProcessTelemetryPacket(packet);
 336
 337   EXPECT_EQ(telemetryItems[0].cells.count, 3);
 338   EXPECT_EQ(telemetryItems[0].cells.values[0].value, 418);
 339   EXPECT_EQ(telemetryItems[0].cells.values[1].value, 416);
 340   EXPECT_EQ(telemetryItems[0].cells.values[2].value, 415);
 341   EXPECT_EQ(telemetryItems[0].cells.values[3].value, 0);
 342   EXPECT_EQ(telemetryItems[0].value, 1249);
 343   EXPECT_EQ(telemetryItems[0].valueMin, 1249);
 344   EXPECT_EQ(telemetryItems[0].valueMax, 1249);
 345
 346   //sensor 2: 4 cell battery
 347   generateSportCellPacket(packet, 4, 0, 410, 420, DATA_ID_FLVSS+1); sportProcessTelemetryPacket(packet);
 348   generateSportCellPacket(packet, 4, 2, 400, 405, DATA_ID_FLVSS+1); sportProcessTelemetryPacket(packet);
 349
 350   EXPECT_EQ(telemetryItems[1].cells.count, 4);
 351   EXPECT_EQ(telemetryItems[1].cells.values[0].value, 410);
 352   EXPECT_EQ(telemetryItems[1].cells.values[1].value, 420);
 353   EXPECT_EQ(telemetryItems[1].cells.values[2].value, 400);
 354   EXPECT_EQ(telemetryItems[1].cells.values[3].value, 405);
 355   EXPECT_EQ(telemetryItems[1].value, 1635);
 356   EXPECT_EQ(telemetryItems[1].valueMin, 1635);
 357   EXPECT_EQ(telemetryItems[1].valueMax, 1635);
 358
 359   g_model.telemetrySensors[2].type = TELEM_TYPE_CALCULATED;
 360   g_model.telemetrySensors[2].formula = TELEM_FORMULA_ADD;
 361   g_model.telemetrySensors[2].prec = 1;
 362   g_model.telemetrySensors[2].calc.sources[0] = 1;
 363   g_model.telemetrySensors[2].calc.sources[1] = 2;
 364
 365   telemetryWakeup();
 366
 367   EXPECT_EQ(telemetryItems[2].value, 287);
 368   EXPECT_EQ(telemetryItems[2].valueMin, 287);
 369   EXPECT_EQ(telemetryItems[2].valueMax, 287);
 370
 371   //now change some voltages
 372   generateSportCellPacket(packet, 3, 2, 415,   0); sportProcessTelemetryPacket(packet);
 373   generateSportCellPacket(packet, 4, 2, 390, 370, DATA_ID_FLVSS+1); sportProcessTelemetryPacket(packet);
 374   generateSportCellPacket(packet, 3, 0, 420, 410); sportProcessTelemetryPacket(packet);
 375   generateSportCellPacket(packet, 4, 0, 410, 420, DATA_ID_FLVSS+1); sportProcessTelemetryPacket(packet);
 376
 377   telemetryWakeup();
 378
 379   EXPECT_EQ(telemetryItems[2].value, 283);
 380   EXPECT_EQ(telemetryItems[2].valueMin, 283);
 381   EXPECT_EQ(telemetryItems[2].valueMax, 287);
 382
 383   //display test
 384   lcdClear();
 385 }
 386
 387 void generateSportFasVoltagePacket(uint8_t * packet, uint32_t voltage)
 388 {
 389   packet[0] = 0x22; //DATA_ID_FAS
 390   packet[1] = 0x10; //DATA_FRAME
 391   *((uint16_t *)(packet+2)) = 0x0210; //VFAS_FIRST_ID
 392   *((int32_t *)(packet+4)) = voltage;  // unit 10mV
 393   setSportPacketCrc(packet);
 394 }
 395
 396 TEST(FrSkySPORT, frskyVfas)
 397 {
 398   uint8_t packet[FRSKY_SPORT_PACKET_SIZE];
 399
 400   MODEL_RESET();
 401   TELEMETRY_RESET();
 402   telemetryStreaming = TELEMETRY_TIMEOUT10ms;
 403   telemetryData.telemetryValid = 0x07;
 404   allowNewSensors = true;
 405
 406   // tests for Vfas
 407   generateSportFasVoltagePacket(packet, 5000); sportProcessTelemetryPacket(packet);
 408   EXPECT_EQ(telemetryItems[0].value, 5000);
 409   EXPECT_EQ(telemetryItems[0].valueMin, 5000);
 410   EXPECT_EQ(telemetryItems[0].valueMax, 5000);
 411
 412   generateSportFasVoltagePacket(packet, 6524); sportProcessTelemetryPacket(packet);
 413   EXPECT_EQ(telemetryItems[0].value, 6524);
 414   EXPECT_EQ(telemetryItems[0].valueMin, 6524); // the batt was changed (val > old max)
 415   EXPECT_EQ(telemetryItems[0].valueMax, 6524);
 416
 417   generateSportFasVoltagePacket(packet, 1248); sportProcessTelemetryPacket(packet);
 418   EXPECT_EQ(telemetryItems[0].value, 1248);
 419   EXPECT_EQ(telemetryItems[0].valueMin, 1248);
 420   EXPECT_EQ(telemetryItems[0].valueMax, 6524);
 421
 422   generateSportFasVoltagePacket(packet, 2248); sportProcessTelemetryPacket(packet);
 423   EXPECT_EQ(telemetryItems[0].value, 2248);
 424   EXPECT_EQ(telemetryItems[0].valueMin, 1248);
 425   EXPECT_EQ(telemetryItems[0].valueMax, 6524);
 426 }
 427
 428 void generateSportFasCurrentPacket(uint8_t * packet, uint32_t current)
 429 {
 430   packet[0] = 0x22; //DATA_ID_FAS
 431   packet[1] = 0x10; //DATA_FRAME
 432   *((uint16_t *)(packet+2)) = 0x0200; //CURR_FIRST_ID
 433   *((int32_t *)(packet+4)) = current;
 434   setSportPacketCrc(packet);
 435 }
 436
 437 TEST(FrSkySPORT, frskyCurrent)
 438 {
 439   uint8_t packet[FRSKY_SPORT_PACKET_SIZE];
 440
 441   MODEL_RESET();
 442   TELEMETRY_RESET();
 443   telemetryStreaming = TELEMETRY_TIMEOUT10ms;
 444   telemetryData.telemetryValid = 0x07;
 445   allowNewSensors = true;
 446
 447   // tests for Curr
 448   generateSportFasCurrentPacket(packet, 0);
 449   sportProcessTelemetryPacket(packet);
 450   g_model.telemetrySensors[0].custom.offset = -5;  /* unit: 1/10 amps */
 451   generateSportFasCurrentPacket(packet, 0); sportProcessTelemetryPacket(packet);
 452   EXPECT_EQ(telemetryItems[0].value, 0);
 453   EXPECT_EQ(telemetryItems[0].valueMin, 0);
 454   EXPECT_EQ(telemetryItems[0].valueMax, 0);
 455
 456   // measured current less then offset - value should be zero
 457   generateSportFasCurrentPacket(packet, 4); sportProcessTelemetryPacket(packet);
 458   EXPECT_EQ(telemetryItems[0].value, 0);
 459   EXPECT_EQ(telemetryItems[0].valueMin, 0);
 460   EXPECT_EQ(telemetryItems[0].valueMax, 0);
 461
 462   generateSportFasCurrentPacket(packet, 10); sportProcessTelemetryPacket(packet);
 463   EXPECT_EQ(telemetryItems[0].value, 5);
 464   EXPECT_EQ(telemetryItems[0].valueMin, 0);
 465   EXPECT_EQ(telemetryItems[0].valueMax, 5);
 466
 467   generateSportFasCurrentPacket(packet, 500); sportProcessTelemetryPacket(packet);
 468   EXPECT_EQ(telemetryItems[0].value, 495);
 469   EXPECT_EQ(telemetryItems[0].valueMin, 0);
 470   EXPECT_EQ(telemetryItems[0].valueMax, 495);
 471
 472   generateSportFasCurrentPacket(packet, 200); sportProcessTelemetryPacket(packet);
 473   EXPECT_EQ(telemetryItems[0].value, 195);
 474   EXPECT_EQ(telemetryItems[0].valueMin, 0);
 475   EXPECT_EQ(telemetryItems[0].valueMax, 495);
 476
 477   // test with positive offset
 478   TELEMETRY_RESET();
 479   telemetryStreaming = TELEMETRY_TIMEOUT10ms;
 480   telemetryData.telemetryValid = 0x07;
 481   g_model.telemetrySensors[0].custom.offset = +5;  /* unit: 1/10 amps */
 482
 483   generateSportFasCurrentPacket(packet, 0); sportProcessTelemetryPacket(packet);
 484   EXPECT_EQ(telemetryItems[0].value, 5);
 485   EXPECT_EQ(telemetryItems[0].valueMin, 5);
 486   EXPECT_EQ(telemetryItems[0].valueMax, 5);
 487
 488   generateSportFasCurrentPacket(packet, 500); sportProcessTelemetryPacket(packet);
 489   EXPECT_EQ(telemetryItems[0].value, 505);
 490   EXPECT_EQ(telemetryItems[0].valueMin, 5);
 491   EXPECT_EQ(telemetryItems[0].valueMax, 505);
 492
 493   generateSportFasCurrentPacket(packet, 200); sportProcessTelemetryPacket(packet);
 494   EXPECT_EQ(telemetryItems[0].value, 205);
 495   EXPECT_EQ(telemetryItems[0].valueMin, 5);
 496   EXPECT_EQ(telemetryItems[0].valueMax, 505);
 497 }
 498