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Added test code

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This commit is contained in:
Martin Budden 2016-11-15 09:56:23 +00:00
parent 2a420d94f8
commit e7928fc019
2 changed files with 76 additions and 15 deletions
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20
src/main/rx/crsf.c
View file

@ -117,16 +117,24 @@ static void crsfDataReceive(uint16_t c)
} }
} }
uint8_t crsfFrameStatus(void) STATIC_UNIT_TESTED uint8_t crsfFrameCRC(void)
{
// CRC includes type and payload
uint8_t crc = crc8_dvb_s2(0, crsfFrame.frame.type);
for (int ii = 0; ii < crsfFrame.frame.frameLength - CRSF_FRAME_LENGTH_TYPE_CRC; ++ii) {
crc = crc8_dvb_s2(crc, crsfFrame.frame.payload[ii]);
}
return crc;
}
STATIC_UNIT_TESTED uint8_t crsfFrameStatus(void)
{ {
if (crsfFrameDone) { if (crsfFrameDone) {
crsfFrameDone = false; crsfFrameDone = false;
if (crsfFrame.frame.type == CRSF_FRAMETYPE_RC_CHANNELS_PACKED) { if (crsfFrame.frame.type == CRSF_FRAMETYPE_RC_CHANNELS_PACKED) {
// CRC includes type and payload of each frame // CRC includes type and payload of each frame
uint8_t crc = crc8_dvb_s2(0, crsfFrame.frame.type); const uint8_t crc = crsfFrameCRC();
for (int ii = 0; ii < CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE; ++ii) {
crc = crc8_dvb_s2(crc, crsfFrame.frame.payload[ii]);
}
if (crc != crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE]) { if (crc != crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE]) {
return RX_FRAME_PENDING; return RX_FRAME_PENDING;
} }
@ -155,7 +163,7 @@ uint8_t crsfFrameStatus(void)
return RX_FRAME_PENDING; return RX_FRAME_PENDING;
} }
static uint16_t crsfReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan) STATIC_UNIT_TESTED uint16_t crsfReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
{ {
UNUSED(rxRuntimeConfig); UNUSED(rxRuntimeConfig);
/* conversion from RC value to PWM /* conversion from RC value to PWM

71
src/test/unit/rx_crsf_unittest.cc
View file

@ -34,6 +34,9 @@ extern "C" {
#include "rx/rx.h" #include "rx/rx.h"
#include "rx/crsf.h" #include "rx/crsf.h"
uint8_t crsfFrameCRC(void);
uint16_t crsfReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan);
extern bool crsfFrameDone; extern bool crsfFrameDone;
extern crsfFrame_t crsfFrame; extern crsfFrame_t crsfFrame;
extern uint32_t crsfChannelData[CRSF_MAX_CHANNEL]; extern uint32_t crsfChannelData[CRSF_MAX_CHANNEL];
@ -107,10 +110,7 @@ TEST(CrossFireTest, TestCrsfFrameStatus)
crsfFrame.frame.frameLength = 0; crsfFrame.frame.frameLength = 0;
crsfFrame.frame.type = CRSF_FRAMETYPE_RC_CHANNELS_PACKED; crsfFrame.frame.type = CRSF_FRAMETYPE_RC_CHANNELS_PACKED;
memset(crsfFrame.frame.payload, 0, CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE); memset(crsfFrame.frame.payload, 0, CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE);
uint8_t crc = crc8_dvb_s2(0, crsfFrame.frame.type); const uint8_t crc = crsfFrameCRC();
for (int ii = 0; ii < CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE; ++ii) {
crc = crc8_dvb_s2(crc, crsfFrame.frame.payload[ii]);
}
crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE] = crc; crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE] = crc;
const uint8_t status = crsfFrameStatus(); const uint8_t status = crsfFrameStatus();
@ -136,7 +136,7 @@ TEST(CrossFireTest, TestCrsfFrameStatusUnpacking)
{ {
crsfFrameDone = true; crsfFrameDone = true;
crsfFrame.frame.deviceAddress = CRSF_ADDRESS_CRSF_RECEIVER; crsfFrame.frame.deviceAddress = CRSF_ADDRESS_CRSF_RECEIVER;
crsfFrame.frame.frameLength = 0; crsfFrame.frame.frameLength = CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC;;
crsfFrame.frame.type = CRSF_FRAMETYPE_RC_CHANNELS_PACKED; crsfFrame.frame.type = CRSF_FRAMETYPE_RC_CHANNELS_PACKED;
// 16 11-bit channels packed into 22 bytes of data // 16 11-bit channels packed into 22 bytes of data
crsfFrame.frame.payload[0] = 0xFF; // bits 0-7 crsfFrame.frame.payload[0] = 0xFF; // bits 0-7
@ -161,10 +161,7 @@ TEST(CrossFireTest, TestCrsfFrameStatusUnpacking)
crsfFrame.frame.payload[19] = 0; crsfFrame.frame.payload[19] = 0;
crsfFrame.frame.payload[20] = 0; crsfFrame.frame.payload[20] = 0;
crsfFrame.frame.payload[21] = 0; crsfFrame.frame.payload[21] = 0;
uint8_t crc = crc8_dvb_s2(0, crsfFrame.frame.type); const uint8_t crc = crsfFrameCRC();
for (int ii = 0; ii < CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE; ++ii) {
crc = crc8_dvb_s2(crc, crsfFrame.frame.payload[ii]);
}
crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE] = crc; crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE] = crc;
const uint8_t status = crsfFrameStatus(); const uint8_t status = crsfFrameStatus();
@ -192,6 +189,62 @@ TEST(CrossFireTest, TestCrsfFrameStatusUnpacking)
EXPECT_EQ(0, crsfChannelData[15]); EXPECT_EQ(0, crsfChannelData[15]);
} }
const uint8_t capturedData[] = {
0x00,0x18,0x16,0xBD,0x08,0x9F,0xF4,0xAE,0xF7,0xBD,0xEF,0x7D,0xEF,0xFB,0xAD,0xFD,0x45,0x2B,0x5A,0x01,0x00,0x00,0x00,0x00,0x00,0x6C,
0x00,0x18,0x16,0xBD,0x08,0x9F,0xF4,0xAA,0xF7,0xBD,0xEF,0x7D,0xEF,0xFB,0xAD,0xFD,0x45,0x2B,0x5A,0x01,0x00,0x00,0x00,0x00,0x00,0x94,
};
typedef struct crsfRcChannelsFrame_s {
uint8_t deviceAddress;
uint8_t frameLength;
uint8_t type;
uint8_t payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_CRC];
} crsfRcChannelsFrame_t;
TEST(CrossFireTest, TestCapturedData)
{
//const int frameCount = sizeof(capturedData) / sizeof(crsfRcChannelsFrame_t);
const crsfRcChannelsFrame_t *framePtr = (const crsfRcChannelsFrame_t*)capturedData;
crsfFrame = *(const crsfFrame_t*)framePtr;
crsfFrameDone = true;
uint8_t status = crsfFrameStatus();
EXPECT_EQ(RX_FRAME_COMPLETE, status);
EXPECT_EQ(false, crsfFrameDone);
EXPECT_EQ(RX_FRAME_COMPLETE, status);
EXPECT_EQ(false, crsfFrameDone);
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);
EXPECT_EQ(189, crsfChannelData[0]);
EXPECT_EQ(993, crsfChannelData[1]);
EXPECT_EQ(978, crsfChannelData[2]);
EXPECT_EQ(983, crsfChannelData[3]);
uint8_t crc = crsfFrameCRC();
EXPECT_EQ(crc, crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE]);
EXPECT_EQ(999, crsfReadRawRC(NULL, 0));
EXPECT_EQ(1501, crsfReadRawRC(NULL, 1));
EXPECT_EQ(1492, crsfReadRawRC(NULL, 2));
EXPECT_EQ(1495, crsfReadRawRC(NULL, 3));
++framePtr;
crsfFrame = *(const crsfFrame_t*)framePtr;
crsfFrameDone = true;
status = crsfFrameStatus();
EXPECT_EQ(RX_FRAME_COMPLETE, status);
EXPECT_EQ(false, crsfFrameDone);
EXPECT_EQ(RX_FRAME_COMPLETE, status);
EXPECT_EQ(false, crsfFrameDone);
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);
EXPECT_EQ(189, crsfChannelData[0]);
EXPECT_EQ(993, crsfChannelData[1]);
EXPECT_EQ(978, crsfChannelData[2]);
EXPECT_EQ(981, crsfChannelData[3]);
crc = crsfFrameCRC();
EXPECT_EQ(crc, crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE]);
}
// STUBS // STUBS
extern "C" { extern "C" {