Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-22 15:55:48 +03:00
Code Issues Wiki Activity

Merge pull request #4210 from codecae/msp_shared_ringbuffer

Browse source 
Improved msp frame handling for CRSF
This commit is contained in:
Martin Budden 2017-10-09 15:05:56 +01:00 • committed by GitHub
commit e7bee05005
14 changed files with 120 additions and 72 deletions
Download patch file Download diff file Expand all files Collapse all files

1
src/test/unit/platform.h
View file

@ -94,5 +94,6 @@ typedef struct
#define WS2811_DMA_TC_FLAG (void *)1
#define WS2811_DMA_HANDLER_IDENTIFER 0
#define NVIC_PriorityGroup_2 0x500
#include "target.h"

2
src/test/unit/rx_crsf_unittest.cc
View file

@ -288,5 +288,5 @@ bool telemetryCheckRxPortShared(const serialPortConfig_t *) {return false;}
serialPort_t *telemetrySharedPort = NULL;
void crsfScheduleDeviceInfoResponse(void) {};
void crsfScheduleMspResponse(mspPackage_t *package) { UNUSED(package); };
bool handleMspFrame(uint8_t *, uint8_t *) { return false; }
bool bufferMspFrame(uint8_t *, int) {return true;}
}

35
src/test/unit/telemetry_crsf_msp_unittest.cc
View file

@ -26,6 +26,7 @@ extern "C" {
#include <platform.h>
#include "build/debug.h"
#include "build/atomic.h"
#include "common/crc.h"
#include "common/utils.h"
@ -37,6 +38,7 @@ extern "C" {
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/nvic.h"
#include "drivers/serial.h"
#include "drivers/system.h"
@ -61,7 +63,7 @@ extern "C" {
#include "telemetry/smartport.h"
#include "sensors/acceleration.h"
bool handleMspFrame(uint8_t *frameStart, uint8_t *frameEnd);
bool handleMspFrame(uint8_t *frameStart, int frameLength);
bool sendMspReply(uint8_t payloadSize, mspResponseFnPtr responseFn);
uint8_t sbufReadU8(sbuf_t *src);
int sbufBytesRemaining(sbuf_t *buf);
@ -99,7 +101,7 @@ typedef struct crsfMspFrame_s {
uint8_t type;
uint8_t destination;
uint8_t origin;
uint8_t payload[CRSF_FRAME_RX_MSP_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_CRC];
uint8_t payload[CRSF_FRAME_RX_MSP_FRAME_SIZE + CRSF_FRAME_LENGTH_CRC];
} crsfMspFrame_t;
const uint8_t crsfPidRequest[] = {
@ -108,17 +110,19 @@ const uint8_t crsfPidRequest[] = {
TEST(CrossFireMSPTest, RequestBufferTest)
{
atomic_BASEPRI = 0;
initSharedMsp();
const crsfMspFrame_t *framePtr = (const crsfMspFrame_t*)crsfPidRequest;
crsfFrame = *(const crsfFrame_t*)framePtr;
crsfFrameDone = true;
EXPECT_EQ(CRSF_ADDRESS_BROADCAST, crsfFrame.frame.deviceAddress);
EXPECT_EQ(CRSF_FRAME_LENGTH_ADDRESS + CRSF_FRAME_LENGTH_EXT_TYPE_CRC + CRSF_FRAME_RX_MSP_PAYLOAD_SIZE, crsfFrame.frame.frameLength);
EXPECT_EQ(CRSF_FRAME_LENGTH_ADDRESS + CRSF_FRAME_LENGTH_EXT_TYPE_CRC + CRSF_FRAME_RX_MSP_FRAME_SIZE, crsfFrame.frame.frameLength);
EXPECT_EQ(CRSF_FRAMETYPE_MSP_REQ, crsfFrame.frame.type);
uint8_t *destination = (uint8_t *)&crsfFrame.frame.payload;
uint8_t *origin = (uint8_t *)&crsfFrame.frame.payload + 1;
uint8_t *frameStart = (uint8_t *)&crsfFrame.frame.payload + 2;
uint8_t *frameEnd = (uint8_t *)&crsfFrame.frame.payload + CRSF_FRAME_RX_MSP_PAYLOAD_SIZE + 2;
uint8_t *frameEnd = (uint8_t *)&crsfFrame.frame.payload + CRSF_FRAME_RX_MSP_FRAME_SIZE + 2;
EXPECT_EQ(0xC8, *destination);
EXPECT_EQ(0xEA, *origin);
EXPECT_EQ(0x30, *frameStart);
@ -132,8 +136,7 @@ TEST(CrossFireMSPTest, ResponsePacketTest)
crsfFrame = *(const crsfFrame_t*)framePtr;
crsfFrameDone = true;
uint8_t *frameStart = (uint8_t *)&crsfFrame.frame.payload + 2;
uint8_t *frameEnd = (uint8_t *)&crsfFrame.frame.payload + CRSF_FRAME_RX_MSP_PAYLOAD_SIZE + 2;
handleMspFrame(frameStart, frameEnd);
handleMspFrame(frameStart, CRSF_FRAME_RX_MSP_FRAME_SIZE);
for (unsigned int ii=1; ii<30; ii++) {
EXPECT_EQ(ii, sbufReadU8(&mspPackage.responsePacket->buf));
}
@ -153,8 +156,7 @@ TEST(CrossFireMSPTest, WriteResponseTest)
crsfFrame = *(const crsfFrame_t*)framePtr1;
crsfFrameDone = true;
uint8_t *frameStart = (uint8_t *)&crsfFrame.frame.payload + 2;
uint8_t *frameEnd = (uint8_t *)&crsfFrame.frame.payload + CRSF_FRAME_RX_MSP_PAYLOAD_SIZE + 2;
bool pending1 = handleMspFrame(frameStart, frameEnd);
bool pending1 = handleMspFrame(frameStart, CRSF_FRAME_RX_MSP_FRAME_SIZE);
EXPECT_FALSE(pending1); // not done yet*/
EXPECT_EQ(0x29, mspPackage.requestBuffer[0]);
EXPECT_EQ(0x28, mspPackage.requestBuffer[1]);
@ -166,8 +168,7 @@ TEST(CrossFireMSPTest, WriteResponseTest)
crsfFrame = *(const crsfFrame_t*)framePtr2;
crsfFrameDone = true;
uint8_t *frameStart2 = (uint8_t *)&crsfFrame.frame.payload + 2;
uint8_t *frameEnd2 = (uint8_t *)&crsfFrame.frame.payload + CRSF_FRAME_RX_MSP_PAYLOAD_SIZE + 2;
bool pending2 = handleMspFrame(frameStart2, frameEnd2);
bool pending2 = handleMspFrame(frameStart2, CRSF_FRAME_RX_MSP_FRAME_SIZE);
EXPECT_FALSE(pending2); // not done yet
EXPECT_EQ(0x23, mspPackage.requestBuffer[5]);
EXPECT_EQ(0x46, mspPackage.requestBuffer[6]);
@ -181,8 +182,7 @@ TEST(CrossFireMSPTest, WriteResponseTest)
crsfFrame = *(const crsfFrame_t*)framePtr3;
crsfFrameDone = true;
uint8_t *frameStart3 = (uint8_t *)&crsfFrame.frame.payload + 2;
uint8_t *frameEnd3 = frameStart3 + CRSF_FRAME_RX_MSP_PAYLOAD_SIZE;
bool pending3 = handleMspFrame(frameStart3, frameEnd3);
bool pending3 = handleMspFrame(frameStart3, CRSF_FRAME_RX_MSP_FRAME_SIZE);
EXPECT_FALSE(pending3); // not done yet
EXPECT_EQ(0x0F, mspPackage.requestBuffer[12]);
EXPECT_EQ(0x00, mspPackage.requestBuffer[13]);
@ -196,8 +196,7 @@ TEST(CrossFireMSPTest, WriteResponseTest)
crsfFrame = *(const crsfFrame_t*)framePtr4;
crsfFrameDone = true;
uint8_t *frameStart4 = (uint8_t *)&crsfFrame.frame.payload + 2;
uint8_t *frameEnd4 = frameStart4 + CRSF_FRAME_RX_MSP_PAYLOAD_SIZE;
bool pending4 = handleMspFrame(frameStart4, frameEnd4);
bool pending4 = handleMspFrame(frameStart4, CRSF_FRAME_RX_MSP_FRAME_SIZE);
EXPECT_FALSE(pending4); // not done yet
EXPECT_EQ(0x21, mspPackage.requestBuffer[19]);
EXPECT_EQ(0x53, mspPackage.requestBuffer[20]);
@ -212,8 +211,7 @@ TEST(CrossFireMSPTest, WriteResponseTest)
crsfFrame = *(const crsfFrame_t*)framePtr5;
crsfFrameDone = true;
uint8_t *frameStart5 = (uint8_t *)&crsfFrame.frame.payload + 2;
uint8_t *frameEnd5 = frameStart2 + CRSF_FRAME_RX_MSP_PAYLOAD_SIZE;
bool pending5 = handleMspFrame(frameStart5, frameEnd5);
bool pending5 = handleMspFrame(frameStart5, CRSF_FRAME_RX_MSP_FRAME_SIZE);
EXPECT_TRUE(pending5); // not done yet
EXPECT_EQ(0x00, mspPackage.requestBuffer[26]);
EXPECT_EQ(0x37, mspPackage.requestBuffer[27]);
@ -235,8 +233,7 @@ TEST(CrossFireMSPTest, SendMspReply) {
crsfFrame = *(const crsfFrame_t*)framePtr;
crsfFrameDone = true;
uint8_t *frameStart = (uint8_t *)&crsfFrame.frame.payload + 2;
uint8_t *frameEnd = (uint8_t *)&crsfFrame.frame.payload + CRSF_FRAME_RX_MSP_PAYLOAD_SIZE + 2;
bool handled = handleMspFrame(frameStart, frameEnd);
bool handled = handleMspFrame(frameStart, CRSF_FRAME_RX_MSP_FRAME_SIZE);
EXPECT_TRUE(handled);
bool replyPending = sendMspReply(64, &testSendMspResponse);
EXPECT_FALSE(replyPending);
@ -278,7 +275,6 @@ extern "C" {
UNUSED(mspPostProcessFn);
sbuf_t *dst = &reply->buf;
//sbuf_t *src = &cmd->buf;
const uint8_t cmdMSP = cmd->cmd;
reply->cmd = cmd->cmd;
@ -298,5 +294,4 @@ extern "C" {
int32_t getMAhDrawn(void) {
return testmAhDrawn;
}
}

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

@ -334,6 +334,7 @@ int32_t getMAhDrawn(void){
}
bool sendMspReply(uint8_t, mspResponseFnPtr) { return false; }
bool handleMspFrame(uint8_t *, uint8_t *) { return false; }
bool handleMspFrame(uint8_t *, int) { return false; }
void crsfScheduleMspResponse(void) {};
}