Fixed baud rate and inversion. Added more tests

src/main/rx/crsf.c

@@ -37,6 +37,7 @@
 #include "fc/fc_debug.h"
 #endif
 
+#include "build/build_config.h"
 #include "build/debug.h"
 
 #include "common/utils.h"
@@ -54,14 +55,13 @@
 
 #define CRSF_TIME_NEEDED_PER_FRAME_US 1500 //!! this needs checking
 
-#define CRSF_MAX_CHANNEL        16
-
 #define CRSF_DIGITAL_CHANNEL_MIN 172
 #define CRSF_DIGITAL_CHANNEL_MAX 1811
 
-static bool crsfFrameDone = false;
+STATIC_UNIT_TESTED bool crsfFrameDone = false;
+STATIC_UNIT_TESTED crsfFrame_t crsfFrame;
 
-static uint32_t crsfChannelData[CRSF_MAX_CHANNEL];
+STATIC_UNIT_TESTED uint32_t crsfChannelData[CRSF_MAX_CHANNEL];
 
 /*
 Structure
@@ -101,19 +101,6 @@ struct crsfPayloadRcChannelsPacked_s {
 
 typedef struct crsfPayloadRcChannelsPacked_s crsfPayloadRcChannelsPacked_t;
 
-typedef union crsfFrameDef_s {
-    uint8_t deviceAddress;
-    uint8_t frameLength;
-    uint8_t type;
-    uint8_t payload[CRSF_PAYLOAD_SIZE_MAX + 1]; // +1 for CRC at end of payload
-} crsfFrameDef_t;
-
-typedef union crsfFrame_u {
-    uint8_t bytes[CRSF_FRAME_SIZE_MAX];
-    crsfFrameDef_t frame;
-} crsfFrame_t;
-
-static crsfFrame_t crsfFrame;
 
 // Receive ISR callback, called back from serial port
 static void crsfDataReceive(uint16_t c)
@@ -123,7 +110,9 @@ static void crsfDataReceive(uint16_t c)
     const uint32_t now = micros();
 
     const int32_t crsfFrameTime = now - crsfFrameStartAt;
-    DEBUG_SET(DEBUG_CRSF, 2, crsfFrameTime);
+#ifdef DEBUG_CRSF_PACKETS
+        debug[2] = crsfFrameTime;
+#endif
 
     if (crsfFrameTime > (long)(CRSF_TIME_NEEDED_PER_FRAME_US + 500)) {
         crsfFramePosition = 0;
@@ -146,6 +135,7 @@ uint8_t crsfFrameStatus(void)
     if (crsfFrameDone) {
         crsfFrameDone = false;
         if (crsfFrame.frame.type == CRSF_FRAMETYPE_RC_CHANNELS_PACKED) {
+            crsfFrame.frame.frameLength = CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC;
             // unpack the RC channels
             const crsfPayloadRcChannelsPacked_t* rcChannels = (crsfPayloadRcChannelsPacked_t*)&crsfFrame.frame.payload;
             crsfChannelData[0] = rcChannels->chan0;

src/main/rx/crsf.h

@@ -17,8 +17,10 @@
 
 #pragma once
 
-#define CRSF_BAUDRATE           400000
+#define CRSF_BAUDRATE           420000
-#define CRSF_PORT_OPTIONS       (SERIAL_INVERTED | SERIAL_STOPBITS_1 | SERIAL_PARITY_NO)
+#define CRSF_PORT_OPTIONS       (SERIAL_STOPBITS_1 | SERIAL_PARITY_NO)
+
+#define CRSF_MAX_CHANNEL        16
 
 typedef enum {
     CRSF_FRAMETYPE_GPS = 0x02,
@@ -45,6 +47,18 @@ enum {
 #define CRSF_PAYLOAD_SIZE_MAX   32 // !!TODO needs checking
 #define CRSF_FRAME_SIZE_MAX     (CRSF_PAYLOAD_SIZE_MAX + 4)
 
+typedef struct crsfFrameDef_s {
+    uint8_t deviceAddress;
+    uint8_t frameLength;
+    uint8_t type;
+    uint8_t payload[CRSF_PAYLOAD_SIZE_MAX + 1]; // +1 for CRC at end of payload
+} crsfFrameDef_t;
+
+typedef union crsfFrame_u {
+    uint8_t bytes[CRSF_FRAME_SIZE_MAX];
+    crsfFrameDef_t frame;
+} crsfFrame_t;
+
 uint8_t crsfFrameStatus(void);
 struct rxConfig_s;
 struct rxRuntimeConfig_s;

src/test/Makefile

@@ -490,6 +490,31 @@ $(OBJECT_DIR)/rx_rx_unittest : \
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
+$(OBJECT_DIR)/rx/crsf.o : \
+	$(USER_DIR)/rx/crsf.c \
+	$(USER_DIR)/rx/crsf.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/rx/crsf.c -o $@
+
+$(OBJECT_DIR)/rx_crsf_unittest.o : \
+	$(TEST_DIR)/rx_crsf_unittest.cc \
+	$(USER_DIR)/rx/crsf.h \
+	$(USER_DIR)/rx/crsf.c \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rx_crsf_unittest.cc -o $@
+
+$(OBJECT_DIR)/rx_crsf_unittest : \
+	$(OBJECT_DIR)/rx/crsf.o \
+	$(OBJECT_DIR)/rx_crsf_unittest.o \
+	$(OBJECT_DIR)/common/maths.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
 $(OBJECT_DIR)/telemetry/crsf.o : \
 	$(USER_DIR)/telemetry/crsf.c \
 	$(USER_DIR)/telemetry/crsf.h \
@@ -521,39 +546,6 @@ $(OBJECT_DIR)/telemetry_crsf_unittest : \
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
-$(OBJECT_DIR)/rx/crsf.o : \
-	$(USER_DIR)/rx/crsf.c \
-	$(USER_DIR)/rx/crsf.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/rx/crsf.c -o $@
-
-$(OBJECT_DIR)/telemetry/crsf.o : \
-	$(USER_DIR)/telemetry/crsf.c \
-	$(USER_DIR)/telemetry/crsf.h \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/telemetry/crsf.c -o $@
-
-$(OBJECT_DIR)/rx_crsf_unittest.o : \
-	$(TEST_DIR)/rx_crsf_unittest.cc \
-	$(USER_DIR)/rx/crsf.h \
-	$(USER_DIR)/rx/crsf.c \
-	$(GTEST_HEADERS)
-
-	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/rx_crsf_unittest.cc -o $@
-
-$(OBJECT_DIR)/rx_crsf_unittest : \
-	$(OBJECT_DIR)/rx/crsf.o \
-	$(OBJECT_DIR)/common/maths.o \
-	$(OBJECT_DIR)/rx_crsf_unittest.o \
-	$(OBJECT_DIR)/gtest_main.a
-
-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
-
 $(OBJECT_DIR)/rx_ranges_unittest.o : \
 	$(TEST_DIR)/rx_ranges_unittest.cc \
 	$(USER_DIR)/rx/rx.h \

src/test/unit/platform.h

@@ -65,6 +65,11 @@ uint8_t DMA_GetFlagStatus(void *);
 void DMA_Cmd(DMA_Channel_TypeDef*, FunctionalState );
 void DMA_ClearFlag(uint32_t);
 
+typedef struct
+{
+    void* test;
+} USART_TypeDef;
+
 #define WS2811_DMA_TC_FLAG (void *)1
 #define WS2811_DMA_HANDLER_IDENTIFER 0
 

src/test/unit/rx_crsf_unittest.cc

@@ -24,14 +24,19 @@
 extern "C" {
     #include <platform.h>
 
-    #include "config/parameter_group.h"
+    #include "build/debug.h"
-    #include "config/parameter_group_ids.h"
 
-    #include "rx/rx.h"
-    #include "fc/rc_controls.h"
     #include "common/maths.h"
     #include "common/utils.h"
 
+    #include "io/serial.h"
+
+    #include "rx/rx.h"
+    #include "rx/crsf.h"
+
+    extern bool crsfFrameDone;
+    extern crsfFrame_t crsfFrame;
+    extern uint32_t crsfChannelData[CRSF_MAX_CHANNEL];
 }
 
 #include "unittest_macros.h"
@@ -95,5 +100,92 @@ TEST(CrossFireTest, CRC)
     EXPECT_EQ(crc1, crc2);
 }
 
+TEST(CrossFireTest, TestCrsfFrameStatus)
+{
+    crsfFrameDone = true;
+    crsfFrame.frame.deviceAddress = CRSF_RECEIVER_ADDRESS;
+    crsfFrame.frame.frameLength = 0;
+    crsfFrame.frame.type = CRSF_FRAMETYPE_RC_CHANNELS_PACKED;
+    memset(crsfFrame.frame.payload, 0, CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE);
+
+    const uint8_t status = crsfFrameStatus();
+    EXPECT_EQ(RX_FRAME_COMPLETE, status);
+    EXPECT_EQ(false, crsfFrameDone);
+
+    EXPECT_EQ(CRSF_RECEIVER_ADDRESS, 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);
+    for (int ii = 0; ii < CRSF_MAX_CHANNEL; ++ii) {
+        EXPECT_EQ(0, crsfChannelData[ii]);
+    }
+}
+
+TEST(CrossFireTest, TestCrsfFrameStatusUnpacking)
+{
+    crsfFrameDone = true;
+    crsfFrame.frame.deviceAddress = CRSF_RECEIVER_ADDRESS;
+    crsfFrame.frame.frameLength = 0;
+    crsfFrame.frame.type = CRSF_FRAMETYPE_RC_CHANNELS_PACKED;
+    // 16 11-bit channels packed into 22 bytes of data
+    crsfFrame.frame.payload[0] = 0xFF;
+    crsfFrame.frame.payload[1] = 0xFF;
+    // !!TODO add more test data
+    crsfFrame.frame.payload[2] = 0;
+    crsfFrame.frame.payload[3] = 0;
+    crsfFrame.frame.payload[4] = 0;
+    crsfFrame.frame.payload[5] = 0;
+    crsfFrame.frame.payload[6] = 0;
+    crsfFrame.frame.payload[7] = 0;
+    crsfFrame.frame.payload[8] = 0;
+    crsfFrame.frame.payload[9] = 0;
+    crsfFrame.frame.payload[10] = 0;
+    crsfFrame.frame.payload[11] = 0;
+    crsfFrame.frame.payload[12] = 0;
+    crsfFrame.frame.payload[13] = 0;
+    crsfFrame.frame.payload[14] = 0;
+    crsfFrame.frame.payload[15] = 0;
+    crsfFrame.frame.payload[16] = 0;
+    crsfFrame.frame.payload[17] = 0;
+    crsfFrame.frame.payload[18] = 0;
+    crsfFrame.frame.payload[19] = 0;
+    crsfFrame.frame.payload[20] = 0;
+    crsfFrame.frame.payload[21] = 0;
+
+    const uint8_t status = crsfFrameStatus();
+    EXPECT_EQ(RX_FRAME_COMPLETE, status);
+    EXPECT_EQ(false, crsfFrameDone);
+
+    EXPECT_EQ(CRSF_RECEIVER_ADDRESS, 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);
+    EXPECT_EQ(0x7ff, crsfChannelData[0]);
+    EXPECT_EQ(0x1f, crsfChannelData[1]);
+    EXPECT_EQ(0, crsfChannelData[2]);
+    EXPECT_EQ(0, crsfChannelData[3]);
+    EXPECT_EQ(0, crsfChannelData[4]);
+    EXPECT_EQ(0, crsfChannelData[5]);
+    EXPECT_EQ(0, crsfChannelData[6]);
+    EXPECT_EQ(0, crsfChannelData[7]);
+    EXPECT_EQ(0, crsfChannelData[8]);
+    EXPECT_EQ(0, crsfChannelData[9]);
+    EXPECT_EQ(0, crsfChannelData[10]);
+    EXPECT_EQ(0, crsfChannelData[11]);
+    EXPECT_EQ(0, crsfChannelData[12]);
+    EXPECT_EQ(0, crsfChannelData[13]);
+    EXPECT_EQ(0, crsfChannelData[14]);
+    EXPECT_EQ(0, crsfChannelData[15]);
+}
 // STUBS
 
+extern "C" {
+
+int16_t debug[DEBUG16_VALUE_COUNT];
+uint32_t micros(void) {return 0;}
+serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, uint32_t, portMode_t, portOptions_t)
+{
+    return NULL;
+}
+serialPortConfig_t *findSerialPortConfig(serialPortFunction_e ) {return NULL;}
+bool telemetryCheckRxPortShared(const serialPortConfig_t *) {return false;}
+serialPort_t *telemetrySharedPort = NULL;
+}

src/test/unit/target.h

@@ -23,6 +23,7 @@
 #define BARO
 #define GPS
 #define DISPLAY
+#define SERIAL_RX
 #define TELEMETRY
 #define LED_STRIP
 #define USE_SERVOS