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Cosmetics and fixed tests
This commit is contained in:
parent
7a23793c16
commit
392ebdcdf4
5 changed files with 101 additions and 91 deletions
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@ -600,7 +600,7 @@ static void processRFMspPacket(volatile elrsOtaPacket_t const * const otaPktPtr)
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// Always examine MSP packets for bind information if in bind mode
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// Always examine MSP packets for bind information if in bind mode
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// [1] is the package index, first packet of the MSP
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// [1] is the package index, first packet of the MSP
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if (receiver.inBindingMode && otaPktPtr->msp_ul.packageIndex == 1 && otaPktPtr->msp_ul.payload[0] == ELRS_MSP_BIND) {
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if (receiver.inBindingMode && otaPktPtr->msp_ul.packageIndex == 1 && otaPktPtr->msp_ul.payload[0] == ELRS_MSP_BIND) {
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unpackBindPacket((uint8_t *)&otaPktPtr->msp_ul.payload[1]); //onELRSBindMSP
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unpackBindPacket((uint8_t *) &otaPktPtr->msp_ul.payload[1]); //onELRSBindMSP
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return;
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return;
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}
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}
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@ -687,7 +687,7 @@ static bool processRFSyncPacket(volatile elrsOtaPacket_t const * const otaPktPtr
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static bool validatePacketCrcStd(volatile elrsOtaPacket_t * const otaPktPtr)
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static bool validatePacketCrcStd(volatile elrsOtaPacket_t * const otaPktPtr)
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{
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{
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uint16_t const inCRC = ((uint16_t)otaPktPtr->crcHigh << 8) + otaPktPtr->crcLow;
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uint16_t const inCRC = ((uint16_t) otaPktPtr->crcHigh << 8) + otaPktPtr->crcLow;
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// For smHybrid the CRC only has the packet type in byte 0
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// For smHybrid the CRC only has the packet type in byte 0
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// For smWide the FHSS slot is added to the CRC in byte 0 on PACKET_TYPE_RCDATAs
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// For smWide the FHSS slot is added to the CRC in byte 0 on PACKET_TYPE_RCDATAs
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if (otaPktPtr->type == ELRS_RC_DATA_PACKET && rxExpressLrsSpiConfig()->switchMode == SM_HYBRID_WIDE) {
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if (otaPktPtr->type == ELRS_RC_DATA_PACKET && rxExpressLrsSpiConfig()->switchMode == SM_HYBRID_WIDE) {
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@ -727,7 +727,7 @@ rx_spi_received_e processRFPacket(volatile uint8_t *payload, uint32_t timeStampU
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} else {
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} else {
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confirmCurrentTelemetryPayload(otaPktPtr->rc.switches & (1 << 6));
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confirmCurrentTelemetryPayload(otaPktPtr->rc.switches & (1 << 6));
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}
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}
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memcpy((uint8_t *)payload, (uint8_t *)dmaBuffer, ELRS_RX_TX_BUFF_SIZE); // stick data handling is done in expressLrsSetRcDataFromPayload
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memcpy((uint8_t *) payload, (uint8_t *) dmaBuffer, ELRS_RX_TX_BUFF_SIZE); // stick data handling is done in expressLrsSetRcDataFromPayload
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}
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}
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break;
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break;
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case ELRS_MSP_DATA_PACKET:
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case ELRS_MSP_DATA_PACKET:
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@ -147,8 +147,8 @@ typedef struct elrsFhssConfig_s {
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typedef struct elrsOtaPacket_s {
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typedef struct elrsOtaPacket_s {
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// The packet type must always be the low two bits of the first byte of the
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// The packet type must always be the low two bits of the first byte of the
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// packet to match the same placement in OTA_Packet8_s
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// packet to match the same placement in OTA_Packet8_s
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uint8_t type: 2,
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uint8_t type : 2,
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crcHigh: 6;
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crcHigh : 6;
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union {
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union {
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/** PACKET_TYPE_RCDATA **/
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/** PACKET_TYPE_RCDATA **/
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struct {
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struct {
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@ -159,10 +159,11 @@ void confirmCurrentTelemetryPayload(const bool telemetryConfirmValue)
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// A 0th packet is always requred so the reciver can
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// A 0th packet is always requred so the reciver can
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// differentiate a new send from a resend, if this is
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// differentiate a new send from a resend, if this is
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// the first packet acked, send another, else IDLE
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// the first packet acked, send another, else IDLE
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if (currentPackage == 1)
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if (currentPackage == 1) {
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nextSenderState = ELRS_WAIT_UNTIL_NEXT_CONFIRM;
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nextSenderState = ELRS_WAIT_UNTIL_NEXT_CONFIRM;
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else
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} else {
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nextSenderState = ELRS_SENDER_IDLE;
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nextSenderState = ELRS_SENDER_IDLE;
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}
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}
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}
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currentPackage++;
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currentPackage++;
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@ -84,30 +84,29 @@ TEST(RxSpiExpressLrsTelemetryUnitTest, TestInit)
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static void testSetDataToTransmit(uint8_t payloadSize, uint8_t *payload)
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static void testSetDataToTransmit(uint8_t payloadSize, uint8_t *payload)
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{
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{
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uint8_t *data;
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uint8_t data[ELRS_TELEMETRY_BYTES_PER_CALL] = {0};
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uint8_t maxLength;
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uint8_t maxPackageIndex = (payloadSize - 1) / ELRS_TELEMETRY_BYTES_PER_CALL;
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uint8_t packageIndex;
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uint8_t nextPackageIndex;
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bool confirmValue = true;
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bool confirmValue = true;
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setTelemetryDataToTransmit(payloadSize, payload, ELRS_TELEMETRY_BYTES_PER_CALL);
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setTelemetryDataToTransmit(payloadSize, payload);
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for (int j = 0; j < (1 + ((payloadSize - 1) / ELRS_TELEMETRY_BYTES_PER_CALL)); j++) {
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for (int j = 0; j <= maxPackageIndex; j++) {
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getCurrentTelemetryPayload(&packageIndex, &maxLength, &data);
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nextPackageIndex = getCurrentTelemetryPayload(data);
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EXPECT_LE(maxLength, 5);
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if (j != maxPackageIndex) {
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EXPECT_EQ(1 + j, packageIndex);
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EXPECT_EQ(1 + j, nextPackageIndex);
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for(int i = 0; i < maxLength; i++) {
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} else {
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EXPECT_EQ(0, nextPackageIndex); //back to start
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}
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uint8_t maxLength = (j == maxPackageIndex) ? payloadSize % ELRS_TELEMETRY_BYTES_PER_CALL : ELRS_TELEMETRY_BYTES_PER_CALL;
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for (int i = 0; i < maxLength; i++) {
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EXPECT_EQ(payload[i + j * ELRS_TELEMETRY_BYTES_PER_CALL], data[i]);
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EXPECT_EQ(payload[i + j * ELRS_TELEMETRY_BYTES_PER_CALL], data[i]);
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}
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}
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EXPECT_EQ(true, isTelemetrySenderActive());
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confirmCurrentTelemetryPayload(confirmValue);
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confirmCurrentTelemetryPayload(confirmValue);
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confirmValue = !confirmValue;
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confirmValue = !confirmValue;
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}
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}
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getCurrentTelemetryPayload(&packageIndex, &maxLength, &data);
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EXPECT_EQ(0, packageIndex);
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EXPECT_EQ(true, isTelemetrySenderActive());
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confirmCurrentTelemetryPayload(!confirmValue);
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EXPECT_EQ(true, isTelemetrySenderActive());
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confirmCurrentTelemetryPayload(confirmValue);
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EXPECT_EQ(false, isTelemetrySenderActive());
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EXPECT_EQ(false, isTelemetrySenderActive());
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}
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}
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@ -240,7 +239,7 @@ TEST(RxSpiExpressLrsTelemetryUnitTest, TestMspVersionRequest)
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initTelemetry();
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initTelemetry();
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initSharedMsp();
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initSharedMsp();
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setMspDataToReceive(15, mspBuffer, ELRS_MSP_BYTES_PER_CALL);
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setMspDataToReceive(15, mspBuffer);
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receiveMspData(data1[0], data1 + 1);
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receiveMspData(data1[0], data1 + 1);
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receiveMspData(data2[0], data2 + 1);
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receiveMspData(data2[0], data2 + 1);
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receiveMspData(data3[0], data3 + 1);
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receiveMspData(data3[0], data3 + 1);
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@ -279,7 +278,7 @@ TEST(RxSpiExpressLrsTelemetryUnitTest, TestMspPidRequest)
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initTelemetry();
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initTelemetry();
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initSharedMsp();
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initSharedMsp();
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setMspDataToReceive(sizeof(mspBuffer), mspBuffer, ELRS_MSP_BYTES_PER_CALL);
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setMspDataToReceive(sizeof(mspBuffer), mspBuffer);
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receiveMspData(data1[0], data1 + 1);
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receiveMspData(data1[0], data1 + 1);
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EXPECT_FALSE(hasFinishedMspData());
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EXPECT_FALSE(hasFinishedMspData());
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receiveMspData(data2[0], data2 + 1);
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receiveMspData(data2[0], data2 + 1);
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@ -328,7 +327,7 @@ TEST(RxSpiExpressLrsTelemetryUnitTest, TestMspVtxRequest)
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initTelemetry();
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initTelemetry();
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initSharedMsp();
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initSharedMsp();
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setMspDataToReceive(sizeof(mspBuffer), mspBuffer, ELRS_MSP_BYTES_PER_CALL);
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setMspDataToReceive(sizeof(mspBuffer), mspBuffer);
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receiveMspData(data1[0], data1 + 1);
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receiveMspData(data1[0], data1 + 1);
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receiveMspData(data2[0], data2 + 1);
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receiveMspData(data2[0], data2 + 1);
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receiveMspData(data3[0], data3 + 1);
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receiveMspData(data3[0], data3 + 1);
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@ -364,10 +363,10 @@ TEST(RxSpiExpressLrsTelemetryUnitTest, TestDeviceInfoResp)
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initTelemetry();
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initTelemetry();
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initSharedMsp();
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initSharedMsp();
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setMspDataToReceive(sizeof(mspBuffer), mspBuffer, ELRS_MSP_BYTES_PER_CALL);
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setMspDataToReceive(sizeof(mspBuffer), mspBuffer);
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receiveMspData(pingData[0], pingData + 1);
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receiveMspData(pingData[0], pingData + 1);
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EXPECT_FALSE(hasFinishedMspData());
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EXPECT_FALSE(hasFinishedMspData());
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receiveMspData(0, 0);
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receiveMspData(0, pingData + 1);
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EXPECT_TRUE(hasFinishedMspData());
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EXPECT_TRUE(hasFinishedMspData());
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EXPECT_FALSE(deviceInfoReplyPending);
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EXPECT_FALSE(deviceInfoReplyPending);
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@ -105,71 +105,84 @@ TEST(RxSpiExpressLrsUnitTest, TestCrc14)
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}
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}
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}
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}
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static void printFhssSequence(uint8_t *seq)
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{
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for (int i = 0; i < ELRS_NR_SEQUENCE_ENTRIES; i++) {
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printf("%d, ", seq[i]);
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if (i % 10 == 9) {
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printf("\n");
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}
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}
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printf("\n\n");
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}
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TEST(RxSpiExpressLrsUnitTest, TestFHSSTable)
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TEST(RxSpiExpressLrsUnitTest, TestFHSSTable)
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{
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{
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const uint8_t UID[6] = {1, 2, 3, 4, 5, 6};
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const uint8_t UID[6] = {1, 2, 3, 4, 5, 6};
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const uint8_t expectedSequence[2][ELRS_NR_SEQUENCE_ENTRIES] = {
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const uint8_t expectedSequence[2][ELRS_NR_SEQUENCE_ENTRIES] = {
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{
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{
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40, 43, 39, 18, 52, 19, 36, 7, 1, 12,
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41, 39, 72, 45, 76, 48, 3, 79, 55, 66,
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71, 5, 42, 46, 50, 28, 49, 33, 76, 51,
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68, 13, 65, 20, 15, 43, 21, 54, 46, 37,
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60, 70, 47, 61, 0, 55, 72, 37, 53, 25,
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60, 29, 50, 40, 34, 61, 69, 64, 10, 70,
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3, 11, 41, 13, 35, 27, 9, 75, 48, 77,
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16, 2, 0, 38, 36, 30, 47, 8, 59, 35,
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73, 74, 69, 58, 14, 31, 10, 59, 66, 4,
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4, 71, 73, 11, 9, 51, 32, 1, 18, 12,
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78, 17, 44, 54, 29, 57, 21, 64, 22, 67,
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22, 26, 49, 25, 6, 7, 77, 62, 42, 57,
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62, 56, 15, 79, 6, 34, 23, 30, 32, 2,
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53, 74, 14, 31, 28, 75, 78, 23, 24, 27,
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68, 8, 63, 65, 45, 20, 24, 26, 16, 38,
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17, 44, 67, 33, 19, 5, 52, 56, 58, 63,
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40, 8, 52, 29, 57, 10, 6, 26, 19, 75,
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41, 24, 21, 5, 58, 3, 70, 76, 59, 67,
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21, 24, 1, 9, 50, 32, 69, 67, 2, 59,
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15, 78, 26, 10, 2, 27, 7, 23, 48, 31,
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28, 48, 77, 60, 41, 49, 68, 4, 5, 3,
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72, 13, 56, 45, 51, 50, 44, 54, 39, 53,
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44, 78, 58, 31, 16, 62, 35, 45, 73, 11,
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22, 71, 9, 47, 55, 36, 49, 43, 4, 40,
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33, 46, 42, 36, 64, 7, 34, 53, 17, 25,
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52, 25, 60, 28, 34, 74, 6, 29, 62, 14,
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37, 38, 54, 55, 15, 76, 18, 43, 23, 12,
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8, 0, 19, 17, 79, 46, 42, 77, 37, 18,
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39, 51, 22, 79, 74, 63, 27, 66, 65, 47,
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66, 38, 30, 75, 32, 63, 1, 33, 69, 12,
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70, 0, 30, 61, 13, 56, 14, 72, 71, 20,
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61, 57, 35, 65, 11, 64, 20, 73, 68, 16,
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40, 71, 68, 12, 57, 45, 10, 53, 21, 15,
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41, 75, 76, 17, 26, 22, 25, 60, 53, 43,
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69, 26, 54, 55, 73, 47, 35, 77, 1, 31,
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72, 50, 38, 24, 79, 77, 49, 33, 15, 8,
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20, 0, 38, 76, 5, 60, 6, 79, 3, 16,
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14, 59, 42, 64, 1, 30, 29, 35, 39, 56,
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50, 17, 52, 62, 18, 46, 28, 39, 29, 51,
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40, 36, 74, 18, 47, 73, 62, 13, 61, 58,
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43, 34, 49, 56, 32, 61, 74, 58, 25, 44,
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44, 71, 0, 37, 19, 16, 48, 63, 65, 20,
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2, 19, 65, 4, 13, 67, 11, 30, 66, 64,
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69, 54, 52, 70, 31, 3, 12, 21, 57, 10,
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36, 24, 75, 33, 59, 7, 41, 70, 48, 14,
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5, 7, 28, 55, 27, 6, 11, 9, 78, 45,
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42, 37, 8, 23, 78, 63, 22, 9, 72, 27
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68, 66, 2, 67, 51, 32, 34, 23, 4, 46
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},
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},
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{
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{
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20, 37, 1, 3, 7, 26, 36, 29, 15, 35,
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21, 7, 12, 6, 11, 27, 35, 9, 18, 28,
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33, 24, 10, 34, 13, 31, 22, 9, 28, 23,
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13, 1, 24, 32, 30, 38, 14, 5, 2, 23,
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17, 38, 6, 27, 0, 32, 11, 5, 18, 25,
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37, 26, 17, 3, 25, 29, 39, 36, 0, 4,
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2, 4, 12, 19, 16, 8, 30, 14, 21, 39,
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33, 10, 16, 31, 34, 22, 8, 19, 15, 20,
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20, 2, 14, 7, 13, 33, 32, 28, 21, 11,
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21, 33, 11, 13, 26, 6, 1, 7, 2, 0,
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25, 17, 22, 9, 3, 4, 0, 31, 35, 38,
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9, 28, 19, 18, 23, 10, 29, 14, 25, 3,
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10, 34, 26, 39, 36, 6, 19, 16, 30, 27,
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30, 15, 35, 38, 5, 39, 22, 8, 20, 24,
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15, 24, 18, 1, 23, 37, 29, 8, 12, 5,
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34, 27, 37, 36, 31, 12, 4, 16, 32, 17,
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20, 19, 24, 29, 27, 2, 22, 14, 0, 3,
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21, 20, 30, 37, 11, 5, 26, 3, 18, 32,
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23, 13, 12, 35, 4, 25, 38, 18, 33, 36,
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35, 13, 38, 9, 15, 2, 16, 34, 22, 29,
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21, 16, 5, 31, 9, 32, 11, 1, 6, 7,
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7, 24, 10, 39, 28, 8, 31, 1, 23, 0,
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10, 15, 26, 34, 39, 37, 28, 17, 30, 8,
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12, 36, 19, 4, 27, 17, 6, 25, 33, 14,
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20, 7, 4, 24, 19, 16, 8, 13, 15, 10,
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21, 8, 32, 16, 15, 20, 30, 29, 5, 7,
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14, 36, 34, 0, 17, 12, 28, 21, 39, 22,
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31, 33, 28, 9, 36, 34, 13, 1, 0, 12,
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3, 2, 32, 33, 27, 6, 37, 18, 31, 38,
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35, 26, 25, 39, 22, 19, 11, 2, 37, 23,
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23, 25, 26, 30, 9, 1, 35, 5, 11, 29,
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10, 14, 6, 3, 17, 27, 18, 38, 4, 24,
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20, 1, 35, 22, 0, 10, 11, 27, 18, 37,
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21, 12, 25, 32, 9, 8, 6, 28, 38, 17,
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21, 31, 9, 19, 30, 17, 5, 38, 29, 36,
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2, 31, 10, 16, 20, 24, 13, 22, 39, 29,
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3, 2, 25, 34, 23, 6, 15, 4, 16, 26,
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26, 5, 7, 18, 19, 11, 14, 30, 35, 4,
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12, 24, 14, 13, 39, 8, 32, 7, 28, 33,
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37, 15, 0, 34, 33, 23, 27, 1, 36, 3,
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20, 36, 13, 5, 39, 37, 15, 8, 9, 4,
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21, 36, 5, 31, 17, 32, 10, 34, 1, 3,
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22, 12, 1, 6, 32, 25, 17, 18, 27, 28,
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7, 2, 28, 38, 13, 4, 22, 29, 0, 23,
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23, 19, 26, 3, 38, 16, 2, 34, 14, 30,
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20, 26, 25, 16, 30, 11, 35, 6, 19, 24,
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10, 11, 7, 0, 35, 24, 21, 33, 31, 29
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8, 18, 33, 15, 37, 12, 14, 39, 27, 9
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}
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}
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};
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};
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fhssGenSequence(UID, ISM2400);
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fhssGenSequence(UID, ISM2400);
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printFhssSequence(fhssSequence);
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for (int i = 0; i < ELRS_NR_SEQUENCE_ENTRIES; i++) {
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for (int i = 0; i < ELRS_NR_SEQUENCE_ENTRIES; i++) {
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EXPECT_EQ(expectedSequence[0][i], fhssSequence[i]);
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EXPECT_EQ(expectedSequence[0][i], fhssSequence[i]);
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}
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}
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fhssGenSequence(UID, FCC915);
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fhssGenSequence(UID, FCC915);
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printFhssSequence(fhssSequence);
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for (int i = 0; i < ELRS_NR_SEQUENCE_ENTRIES; i++) {
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for (int i = 0; i < ELRS_NR_SEQUENCE_ENTRIES; i++) {
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EXPECT_EQ(expectedSequence[1][i], fhssSequence[i]);
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EXPECT_EQ(expectedSequence[1][i], fhssSequence[i]);
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}
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}
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@ -194,13 +207,13 @@ TEST(RxSpiExpressLrsUnitTest, TestInitUnbound)
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EXPECT_EQ(0, receiver.lastValidPacketMs);
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EXPECT_EQ(0, receiver.lastValidPacketMs);
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const uint32_t initialFrequencies[7] = {
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const uint32_t initialFrequencies[7] = {
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FREQ_HZ_TO_REG_VAL_900(433920000),
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FREQ_HZ_TO_REG_VAL_900(434420000),
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FREQ_HZ_TO_REG_VAL_900(921500000),
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FREQ_HZ_TO_REG_VAL_900(922100000),
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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 * ) {};
|
||||||
}
|
}
|
||||||
|
|
Loading…
Add table
Add a link
Reference in a new issue