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MSP_over_CRSF changed with support of MSVv2 and Jumbo

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This commit is contained in:
Vladimir Kulbashevsky 2021-12-06 09:59:33 +02:00
parent 95589e0fc9
commit 222a607e3c
12 changed files with 316 additions and 239 deletions
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98
src/test/unit/telemetry_crsf_msp_unittest.cc
View file

@ -51,6 +51,7 @@ extern "C" {
#include "io/gps.h"
#include "msp/msp.h"
#include "msp/msp_serial.h"
#include "rx/rx.h"
#include "rx/crsf.h"
@ -64,7 +65,7 @@ extern "C" {
#include "sensors/acceleration.h"
rssiSource_e rssiSource;
bool handleMspFrame(uint8_t *frameStart, int frameLength, uint8_t *skipsBeforeResponse);
bool handleMspFrame(uint8_t *frameStart, uint8_t frameLength, uint8_t *skipsBeforeResponse);
bool sendMspReply(uint8_t payloadSize, mspResponseFnPtr responseFn);
uint8_t sbufReadU8(sbuf_t *src);
int sbufBytesRemaining(sbuf_t *buf);
@ -72,7 +73,7 @@ extern "C" {
uint16_t testBatteryVoltage = 0;
int32_t testAmperage = 0;
uint8_t mspTxData[64]; //max frame size
uint8_t mspTxData[64]; // max frame size
sbuf_t mspTxDataBuf;
uint8_t crsfFrameOut[CRSF_FRAME_SIZE_MAX];
uint8_t payloadOutput[64];
@ -87,8 +88,9 @@ extern "C" {
extern bool crsfFrameDone;
extern crsfFrame_t crsfFrame;
extern mspPackage_t mspPackage;
extern uint8_t checksum;
extern uint8_t requestBuffer[MSP_PORT_INBUF_SIZE];
extern struct mspPacket_s requestPacket;
extern struct mspPacket_s responsePacket;
uint32_t dummyTimeUs;
@ -140,16 +142,17 @@ TEST(CrossFireMSPTest, ResponsePacketTest)
uint8_t *frameStart = (uint8_t *)&crsfFrame.frame.payload + 2;
handleMspFrame(frameStart, CRSF_FRAME_RX_MSP_FRAME_SIZE, NULL);
for (unsigned int ii=1; ii<30; ii++) {
EXPECT_EQ(ii, sbufReadU8(&mspPackage.responsePacket->buf));
EXPECT_EQ(ii, sbufReadU8(&responsePacket.buf));
}
sbufSwitchToReader(&mspPackage.responsePacket->buf, mspPackage.responseBuffer);
}
const uint8_t crsfPidWrite1[] = {0x00,0x0D,0x7C,0xC8,0xEA,0x31,0x1E,0xCA,0x29,0x28,0x1E,0x3A,0x32};
const uint8_t crsfPidWrite2[] = {0x00,0x0D,0x7C,0xC8,0xEA,0x22,0x23,0x46,0x2D,0x14,0x32,0x00,0x00};
const uint8_t crsfPidWrite3[] = {0x00,0x0D,0x7C,0xC8,0xEA,0x23,0x0F,0x00,0x00,0x22,0x0E,0x35,0x19};
const uint8_t crsfPidWrite4[] = {0x00,0x0D,0x7C,0xC8,0xEA,0x24,0x21,0x53,0x32,0x32,0x4B,0x28,0x00};
const uint8_t crsfPidWrite5[] = {0x00,0x0D,0x7C,0xC8,0xEA,0x25,0x00,0x37,0x37,0x4B,0xF8,0x00,0x00};
// | crsf | msp
// sync size type to from stts size fn 0 1 2 3 4
const uint8_t crsfPidWrite1[] = {0x00,0x0C,0x7A,0xC8,0xEA,0x31,0x1E,0xCA,0x29,0x28,0x1E,0x3A,0x32};
const uint8_t crsfPidWrite2[] = {0x00,0x0C,0x7A,0xC8,0xEA,0x22,0x23,0x46,0x2D,0x14,0x32,0x00,0x00};
const uint8_t crsfPidWrite3[] = {0x00,0x0C,0x7A,0xC8,0xEA,0x23,0x0F,0x00,0x00,0x22,0x0E,0x35,0x19};
const uint8_t crsfPidWrite4[] = {0x00,0x0C,0x7A,0xC8,0xEA,0x24,0x21,0x53,0x32,0x32,0x4B,0x28,0x00};
const uint8_t crsfPidWrite5[] = {0x00,0x0C,0x7A,0xC8,0xEA,0x25,0x00,0x37,0x37,0x4B,0xF8,0x00,0x00};
TEST(CrossFireMSPTest, WriteResponseTest)
{
@ -159,12 +162,12 @@ TEST(CrossFireMSPTest, WriteResponseTest)
crsfFrameDone = true;
uint8_t *frameStart = (uint8_t *)&crsfFrame.frame.payload + 2;
bool pending1 = handleMspFrame(frameStart, CRSF_FRAME_RX_MSP_FRAME_SIZE, NULL);
EXPECT_FALSE(pending1); // not done yet*/
EXPECT_EQ(0x29, mspPackage.requestBuffer[0]);
EXPECT_EQ(0x28, mspPackage.requestBuffer[1]);
EXPECT_EQ(0x1E, mspPackage.requestBuffer[2]);
EXPECT_EQ(0x3A, mspPackage.requestBuffer[3]);
EXPECT_EQ(0x32, mspPackage.requestBuffer[4]);
EXPECT_FALSE(pending1); // not done yet
EXPECT_EQ(0x29, requestBuffer[0]);
EXPECT_EQ(0x28, requestBuffer[1]);
EXPECT_EQ(0x1E, requestBuffer[2]);
EXPECT_EQ(0x3A, requestBuffer[3]);
EXPECT_EQ(0x32, requestBuffer[4]);
const crsfMspFrame_t *framePtr2 = (const crsfMspFrame_t*)crsfPidWrite2;
crsfFrame = *(const crsfFrame_t*)framePtr2;
@ -172,13 +175,13 @@ TEST(CrossFireMSPTest, WriteResponseTest)
uint8_t *frameStart2 = (uint8_t *)&crsfFrame.frame.payload + 2;
bool pending2 = handleMspFrame(frameStart2, CRSF_FRAME_RX_MSP_FRAME_SIZE, NULL);
EXPECT_FALSE(pending2); // not done yet
EXPECT_EQ(0x23, mspPackage.requestBuffer[5]);
EXPECT_EQ(0x46, mspPackage.requestBuffer[6]);
EXPECT_EQ(0x2D, mspPackage.requestBuffer[7]);
EXPECT_EQ(0x14, mspPackage.requestBuffer[8]);
EXPECT_EQ(0x32, mspPackage.requestBuffer[9]);
EXPECT_EQ(0x00, mspPackage.requestBuffer[10]);
EXPECT_EQ(0x00, mspPackage.requestBuffer[11]);
EXPECT_EQ(0x23, requestBuffer[5]);
EXPECT_EQ(0x46, requestBuffer[6]);
EXPECT_EQ(0x2D, requestBuffer[7]);
EXPECT_EQ(0x14, requestBuffer[8]);
EXPECT_EQ(0x32, requestBuffer[9]);
EXPECT_EQ(0x00, requestBuffer[10]);
EXPECT_EQ(0x00, requestBuffer[11]);
const crsfMspFrame_t *framePtr3 = (const crsfMspFrame_t*)crsfPidWrite3;
crsfFrame = *(const crsfFrame_t*)framePtr3;
@ -186,13 +189,13 @@ TEST(CrossFireMSPTest, WriteResponseTest)
uint8_t *frameStart3 = (uint8_t *)&crsfFrame.frame.payload + 2;
bool pending3 = handleMspFrame(frameStart3, CRSF_FRAME_RX_MSP_FRAME_SIZE, NULL);
EXPECT_FALSE(pending3); // not done yet
EXPECT_EQ(0x0F, mspPackage.requestBuffer[12]);
EXPECT_EQ(0x00, mspPackage.requestBuffer[13]);
EXPECT_EQ(0x00, mspPackage.requestBuffer[14]);
EXPECT_EQ(0x22, mspPackage.requestBuffer[15]);
EXPECT_EQ(0x0E, mspPackage.requestBuffer[16]);
EXPECT_EQ(0x35, mspPackage.requestBuffer[17]);
EXPECT_EQ(0x19, mspPackage.requestBuffer[18]);
EXPECT_EQ(0x0F, requestBuffer[12]);
EXPECT_EQ(0x00, requestBuffer[13]);
EXPECT_EQ(0x00, requestBuffer[14]);
EXPECT_EQ(0x22, requestBuffer[15]);
EXPECT_EQ(0x0E, requestBuffer[16]);
EXPECT_EQ(0x35, requestBuffer[17]);
EXPECT_EQ(0x19, requestBuffer[18]);
const crsfMspFrame_t *framePtr4 = (const crsfMspFrame_t*)crsfPidWrite4;
crsfFrame = *(const crsfFrame_t*)framePtr4;
@ -200,14 +203,13 @@ TEST(CrossFireMSPTest, WriteResponseTest)
uint8_t *frameStart4 = (uint8_t *)&crsfFrame.frame.payload + 2;
bool pending4 = handleMspFrame(frameStart4, CRSF_FRAME_RX_MSP_FRAME_SIZE, NULL);
EXPECT_FALSE(pending4); // not done yet
EXPECT_EQ(0x21, mspPackage.requestBuffer[19]);
EXPECT_EQ(0x53, mspPackage.requestBuffer[20]);
EXPECT_EQ(0x32, mspPackage.requestBuffer[21]);
EXPECT_EQ(0x32, mspPackage.requestBuffer[22]);
EXPECT_EQ(0x4B, mspPackage.requestBuffer[23]);
EXPECT_EQ(0x28, mspPackage.requestBuffer[24]);
EXPECT_EQ(0x00, mspPackage.requestBuffer[25]);
//EXPECT_EQ(0xB3,checksum);
EXPECT_EQ(0x21, requestBuffer[19]);
EXPECT_EQ(0x53, requestBuffer[20]);
EXPECT_EQ(0x32, requestBuffer[21]);
EXPECT_EQ(0x32, requestBuffer[22]);
EXPECT_EQ(0x4B, requestBuffer[23]);
EXPECT_EQ(0x28, requestBuffer[24]);
EXPECT_EQ(0x00, requestBuffer[25]);
const crsfMspFrame_t *framePtr5 = (const crsfMspFrame_t*)crsfPidWrite5;
crsfFrame = *(const crsfFrame_t*)framePtr5;
@ -215,15 +217,14 @@ TEST(CrossFireMSPTest, WriteResponseTest)
uint8_t *frameStart5 = (uint8_t *)&crsfFrame.frame.payload + 2;
bool pending5 = handleMspFrame(frameStart5, CRSF_FRAME_RX_MSP_FRAME_SIZE, NULL);
EXPECT_TRUE(pending5); // not done yet
EXPECT_EQ(0x00, mspPackage.requestBuffer[26]);
EXPECT_EQ(0x37, mspPackage.requestBuffer[27]);
EXPECT_EQ(0x37, mspPackage.requestBuffer[28]);
EXPECT_EQ(0x4B, mspPackage.requestBuffer[29]);
EXPECT_EQ(0xF8,checksum);
EXPECT_EQ(0x00, requestBuffer[26]);
EXPECT_EQ(0x37, requestBuffer[27]);
EXPECT_EQ(0x37, requestBuffer[28]);
EXPECT_EQ(0x4B, requestBuffer[29]);
}
void testSendMspResponse(uint8_t *payload) {
void testSendMspResponse(uint8_t *payload, const uint8_t ) {
sbuf_t *plOut = sbufInit(&payloadOutputBuf, payloadOutput, payloadOutput + 64);
sbufWriteData(plOut, payload, *payload + 64);
sbufSwitchToReader(&payloadOutputBuf, payloadOutput);
@ -239,12 +240,12 @@ TEST(CrossFireMSPTest, SendMspReply) {
EXPECT_TRUE(handled);
bool replyPending = sendMspReply(64, &testSendMspResponse);
EXPECT_FALSE(replyPending);
EXPECT_EQ(0x10, sbufReadU8(&payloadOutputBuf));
EXPECT_EQ(0x1E, sbufReadU8(&payloadOutputBuf));
EXPECT_EQ(0x30, sbufReadU8(&payloadOutputBuf)); // status (MSPv1 + #0)
EXPECT_EQ(0x1E, sbufReadU8(&payloadOutputBuf)); // payload size
EXPECT_EQ(0x70, sbufReadU8(&payloadOutputBuf)); // function ID
for (unsigned int ii=1; ii<=30; ii++) {
EXPECT_EQ(ii, sbufReadU8(&payloadOutputBuf));
}
EXPECT_EQ(0x71, sbufReadU8(&payloadOutputBuf)); // CRC
}
// STUBS
@ -253,6 +254,7 @@ extern "C" {
gpsSolutionData_t gpsSol;
attitudeEulerAngles_t attitude = { { 0, 0, 0 } };
uint8_t mspSerialOutBuf[MSP_PORT_OUTBUF_SIZE];
uint32_t micros(void) {return dummyTimeUs;}
uint32_t microsISR(void) {return micros();}

3
src/test/unit/telemetry_crsf_unittest.cc
View file

@ -373,8 +373,7 @@ int32_t getMAhDrawn(void){
}
bool sendMspReply(uint8_t, mspResponseFnPtr) { return false; }
bool handleMspFrame(uint8_t *, int, uint8_t *) { return false; }
void crsfScheduleMspResponse(void) {};
bool handleMspFrame(uint8_t *, uint8_t, uint8_t *) { return false; }
bool isBatteryVoltageConfigured(void) { return true; }
bool isAmperageConfigured(void) { return true; }
timeUs_t rxFrameTimeUs(void) { return 0; }