Merged master into st24

3 files changed, 76 insertions, 2 deletions

diff --git a/Tools/tests-host/.gitignore b/Tools/tests-host/.gitignore
index b06f99815..37e923b5e 100644
--- a/Tools/tests-host/.gitignore
+++ b/Tools/tests-host/.gitignore
@@ -1,5 +1,6 @@
 ./obj/*
 mixer_test
+sf0x_test
 sbus2_test
 autodeclination_test
 st24_test
diff --git a/Tools/tests-host/Makefile b/Tools/tests-host/Makefile
index f44f18be6..8742e2f7c 100644
--- a/Tools/tests-host/Makefile
+++ b/Tools/tests-host/Makefile
@@ -3,7 +3,7 @@ CC=g++
 CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \
 	-I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm
 
-all: mixer_test sbus2_test autodeclination_test st24_test
+all: mixer_test sbus2_test autodeclination_test st24_test sf0x_test
 
 MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \
 		../../src/systemcmds/tests/test_conv.cpp \
@@ -24,6 +24,11 @@ ST24_FILES=../../src/lib/rc/st24.c \
 		hrt.cpp \
 		st24_test.cpp
 
+SF0X_FILES= \
+		hrt.cpp \
+		sf0x_test.cpp \
+		../../src/drivers/sf0x/sf0x_parser.cpp
+
 AUTODECLINATION_FILES= ../../src/lib/geo_lookup/geo_mag_declination.c \
 		hrt.cpp \
 		autodeclination_test.cpp
@@ -34,6 +39,9 @@ mixer_test: $(MIXER_FILES)
 sbus2_test: $(SBUS2_FILES)
 	$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
 
+sf0x_test: $(SF0X_FILES)
+	$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
+
 autodeclination_test: $(SBUS2_FILES)
 	$(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
 
@@ -43,4 +51,4 @@ st24_test: $(ST24_FILES)
 .PHONY: clean
 
 clean:
-	rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test st24_test
\ No newline at end of file
+	rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test st24_test sf0x_test
diff --git a/Tools/tests-host/sf0x_test.cpp b/Tools/tests-host/sf0x_test.cpp
new file mode 100644
index 000000000..82d19fcbe
--- /dev/null
+++ b/Tools/tests-host/sf0x_test.cpp
@@ -0,0 +1,65 @@
+
+#include <unistd.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+
+#include <drivers/sf0x/sf0x_parser.h>
+
+int main(int argc, char *argv[])
+{
+	warnx("SF0X test started");
+
+	int ret = 0;
+
+	const char LINE_MAX = 20;
+	char _linebuf[LINE_MAX];
+	_linebuf[0] = '\0';
+
+	const char *lines[] = {"0.01\r\n",
+			       "0.02\r\n",
+			       "0.03\r\n",
+			       "0.04\r\n",
+			       "0",
+			       ".",
+			       "0",
+			       "5",
+			       "\r",
+			       "\n",
+			       "0",
+			       "3\r",
+			       "\n"
+			       "\r\n",
+			       "0.06",
+			       "\r\n"
+			      };
+
+	enum SF0X_PARSE_STATE state = SF0X_PARSE_STATE0_UNSYNC;
+	float dist_m;
+	char _parserbuf[LINE_MAX];
+	unsigned _parsebuf_index = 0;
+
+	for (unsigned l = 0; l < sizeof(lines) / sizeof(lines[0]); l++) {
+
+		printf("\n%s", _linebuf);
+
+		int parse_ret;
+
+		for (int i = 0; i < strlen(lines[l]); i++) {
+			parse_ret = sf0x_parser(lines[l][i], _parserbuf, &_parsebuf_index, &state, &dist_m);
+
+			if (parse_ret == 0) {
+				printf("\nparsed: %f %s\n", dist_m, (parse_ret == 0) ? "OK" : "");
+			}
+		}
+
+		printf("%s", lines[l]);
+
+	}
+
+	warnx("test finished");
+
+	return ret;
+}