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Code Issues Wiki Activity

Cosmetics and fixed tests

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This commit is contained in:
phobos- 2022-08-02 10:54:23 +02:00
parent 7a23793c16
commit 392ebdcdf4
5 changed files with 101 additions and 91 deletions
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6
src/main/rx/expresslrs.c
View file

@ -600,7 +600,7 @@ static void processRFMspPacket(volatile elrsOtaPacket_t const * const otaPktPtr)
// Always examine MSP packets for bind information if in bind mode // Always examine MSP packets for bind information if in bind mode
// [1] is the package index, first packet of the MSP // [1] is the package index, first packet of the MSP
if (receiver.inBindingMode && otaPktPtr->msp_ul.packageIndex == 1 && otaPktPtr->msp_ul.payload[0] == ELRS_MSP_BIND) { if (receiver.inBindingMode && otaPktPtr->msp_ul.packageIndex == 1 && otaPktPtr->msp_ul.payload[0] == ELRS_MSP_BIND) {
unpackBindPacket((uint8_t *)&otaPktPtr->msp_ul.payload[1]); //onELRSBindMSP unpackBindPacket((uint8_t *) &otaPktPtr->msp_ul.payload[1]); //onELRSBindMSP
return; return;
} }
@ -687,7 +687,7 @@ static bool processRFSyncPacket(volatile elrsOtaPacket_t const * const otaPktPtr
static bool validatePacketCrcStd(volatile elrsOtaPacket_t * const otaPktPtr) static bool validatePacketCrcStd(volatile elrsOtaPacket_t * const otaPktPtr)
{ {
uint16_t const inCRC = ((uint16_t)otaPktPtr->crcHigh << 8) + otaPktPtr->crcLow; uint16_t const inCRC = ((uint16_t) otaPktPtr->crcHigh << 8) + otaPktPtr->crcLow;
// For smHybrid the CRC only has the packet type in byte 0 // For smHybrid the CRC only has the packet type in byte 0
// For smWide the FHSS slot is added to the CRC in byte 0 on PACKET_TYPE_RCDATAs // For smWide the FHSS slot is added to the CRC in byte 0 on PACKET_TYPE_RCDATAs
if (otaPktPtr->type == ELRS_RC_DATA_PACKET && rxExpressLrsSpiConfig()->switchMode == SM_HYBRID_WIDE) { if (otaPktPtr->type == ELRS_RC_DATA_PACKET && rxExpressLrsSpiConfig()->switchMode == SM_HYBRID_WIDE) {
@ -727,7 +727,7 @@ rx_spi_received_e processRFPacket(volatile uint8_t *payload, uint32_t timeStampU
} else { } else {
confirmCurrentTelemetryPayload(otaPktPtr->rc.switches & (1 << 6)); confirmCurrentTelemetryPayload(otaPktPtr->rc.switches & (1 << 6));
} }
memcpy((uint8_t *)payload, (uint8_t *)dmaBuffer, ELRS_RX_TX_BUFF_SIZE); // stick data handling is done in expressLrsSetRcDataFromPayload memcpy((uint8_t *) payload, (uint8_t *) dmaBuffer, ELRS_RX_TX_BUFF_SIZE); // stick data handling is done in expressLrsSetRcDataFromPayload
} }
break; break;
case ELRS_MSP_DATA_PACKET: case ELRS_MSP_DATA_PACKET:

4
src/main/rx/expresslrs_common.h
View file

@ -147,8 +147,8 @@ typedef struct elrsFhssConfig_s {
typedef struct elrsOtaPacket_s { typedef struct elrsOtaPacket_s {
// The packet type must always be the low two bits of the first byte of the // The packet type must always be the low two bits of the first byte of the
// packet to match the same placement in OTA_Packet8_s // packet to match the same placement in OTA_Packet8_s
uint8_t type: 2, uint8_t type : 2,
crcHigh: 6; crcHigh : 6;
union { union {
/** PACKET_TYPE_RCDATA **/ /** PACKET_TYPE_RCDATA **/
struct { struct {

5
src/main/rx/expresslrs_telemetry.c
View file

@ -159,11 +159,12 @@ void confirmCurrentTelemetryPayload(const bool telemetryConfirmValue)
// A 0th packet is always requred so the reciver can // A 0th packet is always requred so the reciver can
// differentiate a new send from a resend, if this is // differentiate a new send from a resend, if this is
// the first packet acked, send another, else IDLE // the first packet acked, send another, else IDLE
if (currentPackage == 1) if (currentPackage == 1) {
nextSenderState = ELRS_WAIT_UNTIL_NEXT_CONFIRM; nextSenderState = ELRS_WAIT_UNTIL_NEXT_CONFIRM;
else } else {
nextSenderState = ELRS_SENDER_IDLE; nextSenderState = ELRS_SENDER_IDLE;
} }
}
currentPackage++; currentPackage++;
waitUntilTelemetryConfirm = !waitUntilTelemetryConfirm; waitUntilTelemetryConfirm = !waitUntilTelemetryConfirm;

39
src/test/unit/rx_spi_expresslrs_telemetry_unittest.cc
View file

@ -84,30 +84,29 @@ TEST(RxSpiExpressLrsTelemetryUnitTest, TestInit)
static void testSetDataToTransmit(uint8_t payloadSize, uint8_t *payload) static void testSetDataToTransmit(uint8_t payloadSize, uint8_t *payload)
{ {
uint8_t *data; uint8_t data[ELRS_TELEMETRY_BYTES_PER_CALL] = {0};
uint8_t maxLength; uint8_t maxPackageIndex = (payloadSize - 1) / ELRS_TELEMETRY_BYTES_PER_CALL;
uint8_t packageIndex; uint8_t nextPackageIndex;
bool confirmValue = true; bool confirmValue = true;
setTelemetryDataToTransmit(payloadSize, payload, ELRS_TELEMETRY_BYTES_PER_CALL); setTelemetryDataToTransmit(payloadSize, payload);
for (int j = 0; j < (1 + ((payloadSize - 1) / ELRS_TELEMETRY_BYTES_PER_CALL)); j++) { for (int j = 0; j <= maxPackageIndex; j++) {
getCurrentTelemetryPayload(&packageIndex, &maxLength, &data); nextPackageIndex = getCurrentTelemetryPayload(data);
EXPECT_LE(maxLength, 5); if (j != maxPackageIndex) {
EXPECT_EQ(1 + j, packageIndex); EXPECT_EQ(1 + j, nextPackageIndex);
for(int i = 0; i < maxLength; i++) { } else {
EXPECT_EQ(0, nextPackageIndex); //back to start
}
uint8_t maxLength = (j == maxPackageIndex) ? payloadSize % ELRS_TELEMETRY_BYTES_PER_CALL : ELRS_TELEMETRY_BYTES_PER_CALL;
for (int i = 0; i < maxLength; i++) {
EXPECT_EQ(payload[i + j * ELRS_TELEMETRY_BYTES_PER_CALL], data[i]); EXPECT_EQ(payload[i + j * ELRS_TELEMETRY_BYTES_PER_CALL], data[i]);
} }
EXPECT_EQ(true, isTelemetrySenderActive());
confirmCurrentTelemetryPayload(confirmValue); confirmCurrentTelemetryPayload(confirmValue);
confirmValue = !confirmValue; confirmValue = !confirmValue;
} }
getCurrentTelemetryPayload(&packageIndex, &maxLength, &data);
EXPECT_EQ(0, packageIndex);
EXPECT_EQ(true, isTelemetrySenderActive());
confirmCurrentTelemetryPayload(!confirmValue);
EXPECT_EQ(true, isTelemetrySenderActive());
confirmCurrentTelemetryPayload(confirmValue);
EXPECT_EQ(false, isTelemetrySenderActive()); EXPECT_EQ(false, isTelemetrySenderActive());
} }
@ -240,7 +239,7 @@ TEST(RxSpiExpressLrsTelemetryUnitTest, TestMspVersionRequest)
initTelemetry(); initTelemetry();
initSharedMsp(); initSharedMsp();
setMspDataToReceive(15, mspBuffer, ELRS_MSP_BYTES_PER_CALL); setMspDataToReceive(15, mspBuffer);
receiveMspData(data1[0], data1 + 1); receiveMspData(data1[0], data1 + 1);
receiveMspData(data2[0], data2 + 1); receiveMspData(data2[0], data2 + 1);
receiveMspData(data3[0], data3 + 1); receiveMspData(data3[0], data3 + 1);
@ -279,7 +278,7 @@ TEST(RxSpiExpressLrsTelemetryUnitTest, TestMspPidRequest)
initTelemetry(); initTelemetry();
initSharedMsp(); initSharedMsp();
setMspDataToReceive(sizeof(mspBuffer), mspBuffer, ELRS_MSP_BYTES_PER_CALL); setMspDataToReceive(sizeof(mspBuffer), mspBuffer);
receiveMspData(data1[0], data1 + 1); receiveMspData(data1[0], data1 + 1);
EXPECT_FALSE(hasFinishedMspData()); EXPECT_FALSE(hasFinishedMspData());
receiveMspData(data2[0], data2 + 1); receiveMspData(data2[0], data2 + 1);
@ -328,7 +327,7 @@ TEST(RxSpiExpressLrsTelemetryUnitTest, TestMspVtxRequest)
initTelemetry(); initTelemetry();
initSharedMsp(); initSharedMsp();
setMspDataToReceive(sizeof(mspBuffer), mspBuffer, ELRS_MSP_BYTES_PER_CALL); setMspDataToReceive(sizeof(mspBuffer), mspBuffer);
receiveMspData(data1[0], data1 + 1); receiveMspData(data1[0], data1 + 1);
receiveMspData(data2[0], data2 + 1); receiveMspData(data2[0], data2 + 1);
receiveMspData(data3[0], data3 + 1); receiveMspData(data3[0], data3 + 1);
@ -364,10 +363,10 @@ TEST(RxSpiExpressLrsTelemetryUnitTest, TestDeviceInfoResp)
initTelemetry(); initTelemetry();
initSharedMsp(); initSharedMsp();
setMspDataToReceive(sizeof(mspBuffer), mspBuffer, ELRS_MSP_BYTES_PER_CALL); setMspDataToReceive(sizeof(mspBuffer), mspBuffer);
receiveMspData(pingData[0], pingData + 1); receiveMspData(pingData[0], pingData + 1);
EXPECT_FALSE(hasFinishedMspData()); EXPECT_FALSE(hasFinishedMspData());
receiveMspData(0, 0); receiveMspData(0, pingData + 1);
EXPECT_TRUE(hasFinishedMspData()); EXPECT_TRUE(hasFinishedMspData());
EXPECT_FALSE(deviceInfoReplyPending); EXPECT_FALSE(deviceInfoReplyPending);

138
src/test/unit/rx_spi_expresslrs_unittest.cc
View file

@ -105,71 +105,84 @@ TEST(RxSpiExpressLrsUnitTest, TestCrc14)
} }
} }
static void printFhssSequence(uint8_t *seq)
{
for (int i = 0; i < ELRS_NR_SEQUENCE_ENTRIES; i++) {
printf("%d, ", seq[i]);
if (i % 10 == 9) {
printf("\n");
}
}
printf("\n\n");
}
TEST(RxSpiExpressLrsUnitTest, TestFHSSTable) TEST(RxSpiExpressLrsUnitTest, TestFHSSTable)
{ {
const uint8_t UID[6] = {1, 2, 3, 4, 5, 6}; const uint8_t UID[6] = {1, 2, 3, 4, 5, 6};
const uint8_t expectedSequence[2][ELRS_NR_SEQUENCE_ENTRIES] = { const uint8_t expectedSequence[2][ELRS_NR_SEQUENCE_ENTRIES] = {
{ {
40, 43, 39, 18, 52, 19, 36, 7, 1, 12, 41, 39, 72, 45, 76, 48, 3, 79, 55, 66,
71, 5, 42, 46, 50, 28, 49, 33, 76, 51, 68, 13, 65, 20, 15, 43, 21, 54, 46, 37,
60, 70, 47, 61, 0, 55, 72, 37, 53, 25, 60, 29, 50, 40, 34, 61, 69, 64, 10, 70,
3, 11, 41, 13, 35, 27, 9, 75, 48, 77, 16, 2, 0, 38, 36, 30, 47, 8, 59, 35,
73, 74, 69, 58, 14, 31, 10, 59, 66, 4, 4, 71, 73, 11, 9, 51, 32, 1, 18, 12,
78, 17, 44, 54, 29, 57, 21, 64, 22, 67, 22, 26, 49, 25, 6, 7, 77, 62, 42, 57,
62, 56, 15, 79, 6, 34, 23, 30, 32, 2, 53, 74, 14, 31, 28, 75, 78, 23, 24, 27,
68, 8, 63, 65, 45, 20, 24, 26, 16, 38, 17, 44, 67, 33, 19, 5, 52, 56, 58, 63,
40, 8, 52, 29, 57, 10, 6, 26, 19, 75, 41, 24, 21, 5, 58, 3, 70, 76, 59, 67,
21, 24, 1, 9, 50, 32, 69, 67, 2, 59, 15, 78, 26, 10, 2, 27, 7, 23, 48, 31,
28, 48, 77, 60, 41, 49, 68, 4, 5, 3, 72, 13, 56, 45, 51, 50, 44, 54, 39, 53,
44, 78, 58, 31, 16, 62, 35, 45, 73, 11, 22, 71, 9, 47, 55, 36, 49, 43, 4, 40,
33, 46, 42, 36, 64, 7, 34, 53, 17, 25, 52, 25, 60, 28, 34, 74, 6, 29, 62, 14,
37, 38, 54, 55, 15, 76, 18, 43, 23, 12, 8, 0, 19, 17, 79, 46, 42, 77, 37, 18,
39, 51, 22, 79, 74, 63, 27, 66, 65, 47, 66, 38, 30, 75, 32, 63, 1, 33, 69, 12,
70, 0, 30, 61, 13, 56, 14, 72, 71, 20, 61, 57, 35, 65, 11, 64, 20, 73, 68, 16,
40, 71, 68, 12, 57, 45, 10, 53, 21, 15, 41, 75, 76, 17, 26, 22, 25, 60, 53, 43,
69, 26, 54, 55, 73, 47, 35, 77, 1, 31, 72, 50, 38, 24, 79, 77, 49, 33, 15, 8,
20, 0, 38, 76, 5, 60, 6, 79, 3, 16, 14, 59, 42, 64, 1, 30, 29, 35, 39, 56,
50, 17, 52, 62, 18, 46, 28, 39, 29, 51, 40, 36, 74, 18, 47, 73, 62, 13, 61, 58,
43, 34, 49, 56, 32, 61, 74, 58, 25, 44, 44, 71, 0, 37, 19, 16, 48, 63, 65, 20,
2, 19, 65, 4, 13, 67, 11, 30, 66, 64, 69, 54, 52, 70, 31, 3, 12, 21, 57, 10,
36, 24, 75, 33, 59, 7, 41, 70, 48, 14, 5, 7, 28, 55, 27, 6, 11, 9, 78, 45,
42, 37, 8, 23, 78, 63, 22, 9, 72, 27 68, 66, 2, 67, 51, 32, 34, 23, 4, 46
}, },
{ {
20, 37, 1, 3, 7, 26, 36, 29, 15, 35, 21, 7, 12, 6, 11, 27, 35, 9, 18, 28,
33, 24, 10, 34, 13, 31, 22, 9, 28, 23, 13, 1, 24, 32, 30, 38, 14, 5, 2, 23,
17, 38, 6, 27, 0, 32, 11, 5, 18, 25, 37, 26, 17, 3, 25, 29, 39, 36, 0, 4,
2, 4, 12, 19, 16, 8, 30, 14, 21, 39, 33, 10, 16, 31, 34, 22, 8, 19, 15, 20,
20, 2, 14, 7, 13, 33, 32, 28, 21, 11, 21, 33, 11, 13, 26, 6, 1, 7, 2, 0,
25, 17, 22, 9, 3, 4, 0, 31, 35, 38, 9, 28, 19, 18, 23, 10, 29, 14, 25, 3,
10, 34, 26, 39, 36, 6, 19, 16, 30, 27, 30, 15, 35, 38, 5, 39, 22, 8, 20, 24,
15, 24, 18, 1, 23, 37, 29, 8, 12, 5, 34, 27, 37, 36, 31, 12, 4, 16, 32, 17,
20, 19, 24, 29, 27, 2, 22, 14, 0, 3, 21, 20, 30, 37, 11, 5, 26, 3, 18, 32,
23, 13, 12, 35, 4, 25, 38, 18, 33, 36, 35, 13, 38, 9, 15, 2, 16, 34, 22, 29,
21, 16, 5, 31, 9, 32, 11, 1, 6, 7, 7, 24, 10, 39, 28, 8, 31, 1, 23, 0,
10, 15, 26, 34, 39, 37, 28, 17, 30, 8, 12, 36, 19, 4, 27, 17, 6, 25, 33, 14,
20, 7, 4, 24, 19, 16, 8, 13, 15, 10, 21, 8, 32, 16, 15, 20, 30, 29, 5, 7,
14, 36, 34, 0, 17, 12, 28, 21, 39, 22, 31, 33, 28, 9, 36, 34, 13, 1, 0, 12,
3, 2, 32, 33, 27, 6, 37, 18, 31, 38, 35, 26, 25, 39, 22, 19, 11, 2, 37, 23,
23, 25, 26, 30, 9, 1, 35, 5, 11, 29, 10, 14, 6, 3, 17, 27, 18, 38, 4, 24,
20, 1, 35, 22, 0, 10, 11, 27, 18, 37, 21, 12, 25, 32, 9, 8, 6, 28, 38, 17,
21, 31, 9, 19, 30, 17, 5, 38, 29, 36, 2, 31, 10, 16, 20, 24, 13, 22, 39, 29,
3, 2, 25, 34, 23, 6, 15, 4, 16, 26, 26, 5, 7, 18, 19, 11, 14, 30, 35, 4,
12, 24, 14, 13, 39, 8, 32, 7, 28, 33, 37, 15, 0, 34, 33, 23, 27, 1, 36, 3,
20, 36, 13, 5, 39, 37, 15, 8, 9, 4, 21, 36, 5, 31, 17, 32, 10, 34, 1, 3,
22, 12, 1, 6, 32, 25, 17, 18, 27, 28, 7, 2, 28, 38, 13, 4, 22, 29, 0, 23,
23, 19, 26, 3, 38, 16, 2, 34, 14, 30, 20, 26, 25, 16, 30, 11, 35, 6, 19, 24,
10, 11, 7, 0, 35, 24, 21, 33, 31, 29 8, 18, 33, 15, 37, 12, 14, 39, 27, 9
} }
}; };
fhssGenSequence(UID, ISM2400); fhssGenSequence(UID, ISM2400);
printFhssSequence(fhssSequence);
for (int i = 0; i < ELRS_NR_SEQUENCE_ENTRIES; i++) { for (int i = 0; i < ELRS_NR_SEQUENCE_ENTRIES; i++) {
EXPECT_EQ(expectedSequence[0][i], fhssSequence[i]); EXPECT_EQ(expectedSequence[0][i], fhssSequence[i]);
} }
fhssGenSequence(UID, FCC915); fhssGenSequence(UID, FCC915);
printFhssSequence(fhssSequence);
for (int i = 0; i < ELRS_NR_SEQUENCE_ENTRIES; i++) { for (int i = 0; i < ELRS_NR_SEQUENCE_ENTRIES; i++) {
EXPECT_EQ(expectedSequence[1][i], fhssSequence[i]); EXPECT_EQ(expectedSequence[1][i], fhssSequence[i]);
} }
@ -194,13 +207,13 @@ TEST(RxSpiExpressLrsUnitTest, TestInitUnbound)
EXPECT_EQ(0, receiver.lastValidPacketMs); EXPECT_EQ(0, receiver.lastValidPacketMs);
const uint32_t initialFrequencies[7] = { const uint32_t initialFrequencies[7] = {
FREQ_HZ_TO_REG_VAL_900(433920000), FREQ_HZ_TO_REG_VAL_900(434420000),
FREQ_HZ_TO_REG_VAL_900(921500000), FREQ_HZ_TO_REG_VAL_900(922100000),
FREQ_HZ_TO_REG_VAL_900(433925000), FREQ_HZ_TO_REG_VAL_900(434450000),
FREQ_HZ_TO_REG_VAL_900(866425000), FREQ_HZ_TO_REG_VAL_900(867783300),
FREQ_HZ_TO_REG_VAL_900(866425000), FREQ_HZ_TO_REG_VAL_900(866949900),
FREQ_HZ_TO_REG_VAL_900(915500000), FREQ_HZ_TO_REG_VAL_900(916100000),
FREQ_HZ_TO_REG_VAL_24(2440400000) FREQ_HZ_TO_REG_VAL_24(2441400000)
}; };
for (int i = 0; i < 7; i++) { for (int i = 0; i < 7; i++) {
@ -363,13 +376,6 @@ TEST(RxSpiExpressLrsUnitTest, Test4bSwitchDecode)
EXPECT_EQ(1500, convertSwitchNb(255, 15)); EXPECT_EQ(1500, convertSwitchNb(255, 15));
} }
TEST(RxSpiExpressLrsUnitTest, TestAnalogDecode)
{
EXPECT_EQ(988, convertAnalog(172));
EXPECT_EQ(1500, convertAnalog(992));
EXPECT_EQ(2012, convertAnalog(1811));
}
// STUBS // STUBS
extern "C" { extern "C" {
@ -464,9 +470,13 @@ extern "C" {
void initTelemetry(void) {} void initTelemetry(void) {}
bool getNextTelemetryPayload(uint8_t *, uint8_t **) { return false; } bool getNextTelemetryPayload(uint8_t *, uint8_t **) { return false; }
void setTelemetryDataToTransmit(const uint8_t , uint8_t* , const uint8_t ) {} void setTelemetryDataToTransmit(const uint8_t , uint8_t* ) {}
bool isTelemetrySenderActive(void) { return false; } bool isTelemetrySenderActive(void) { return false; }
void getCurrentTelemetryPayload(uint8_t *, uint8_t *, uint8_t **) {} uint8_t getCurrentTelemetryPayload(uint8_t * ) { return 0; }
void confirmCurrentTelemetryPayload(const bool ) {} void confirmCurrentTelemetryPayload(const bool ) {}
void updateTelemetryRate(const uint16_t , const uint8_t , const uint8_t ) {} void updateTelemetryRate(const uint16_t , const uint8_t , const uint8_t ) {}
void meanAccumulatorAdd(meanAccumulator_t * , const int8_t ) {};
int8_t meanAccumulatorMean(meanAccumulator_t * , const int8_t defaultValue) { return defaultValue; };
void meanAccumulatorInit(meanAccumulator_t * ) {};
} }