Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 21:35:44 +03:00
Code Issues Wiki Activity

Restructure CRSF frame processing and RC channel handling

Browse source 
Prevents channel data packet corruption if other packets are receved before processing can complete.
This commit is contained in:
Bruce Luckcuck 2019-11-17 10:37:41 -05:00
parent dd0b45dc87
commit 09406ad9d9
2 changed files with 66 additions and 63 deletions
Download patch file Download diff file Expand all files Collapse all files

6
src/test/unit/rx_crsf_unittest.cc
View file

@ -50,6 +50,7 @@ extern "C" {
extern bool crsfFrameDone;
extern crsfFrame_t crsfFrame;
extern crsfFrame_t crsfChannelDataFrame;
extern uint32_t crsfChannelData[CRSF_MAX_CHANNEL];
uint32_t dummyTimeUs;
@ -178,6 +179,7 @@ TEST(CrossFireTest, TestCrsfFrameStatusUnpacking)
const uint8_t crc = crsfFrameCRC();
crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE] = crc;
memcpy(&crsfChannelDataFrame, &crsfFrame, sizeof(crsfFrame));
const uint8_t status = crsfFrameStatus();
EXPECT_EQ(RX_FRAME_COMPLETE, status);
EXPECT_EQ(false, crsfFrameDone);
@ -222,6 +224,7 @@ TEST(CrossFireTest, TestCapturedData)
const crsfRcChannelsFrame_t *framePtr = (const crsfRcChannelsFrame_t*)capturedData;
crsfFrame = *(const crsfFrame_t*)framePtr;
crsfFrameDone = true;
memcpy(&crsfChannelDataFrame, &crsfFrame, sizeof(crsfFrame));
uint8_t status = crsfFrameStatus();
EXPECT_EQ(RX_FRAME_COMPLETE, status);
EXPECT_EQ(false, crsfFrameDone);
@ -244,6 +247,7 @@ TEST(CrossFireTest, TestCapturedData)
++framePtr;
crsfFrame = *(const crsfFrame_t*)framePtr;
crsfFrameDone = true;
memcpy(&crsfChannelDataFrame, &crsfFrame, sizeof(crsfFrame));
status = crsfFrameStatus();
EXPECT_EQ(RX_FRAME_COMPLETE, status);
EXPECT_EQ(false, crsfFrameDone);
@ -268,7 +272,7 @@ TEST(CrossFireTest, TestCrsfDataReceive)
for (unsigned int ii = 0; ii < sizeof(crsfRcChannelsFrame_t); ++ii) {
crsfDataReceive(*pData++);
}
EXPECT_EQ(true, crsfFrameDone);
EXPECT_EQ(false, crsfFrameDone); // data is not a valid rc channels frame so don't expect crsfFrameDone to be true
EXPECT_EQ(CRSF_ADDRESS_BROADCAST, crsfFrame.frame.deviceAddress);
EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength);
EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type);