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Code Issues Wiki Activity

support channel resolution configuration for 0x17

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This commit is contained in:
tbs-fpv 2021-04-28 11:21:30 +08:00
parent 4d8845b8da
commit fbd01551ff
3 changed files with 166 additions and 33 deletions
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47
src/test/unit/rx_crsf_unittest.cc
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@ -220,6 +220,7 @@ TEST(CrossFireTest, TestCrsfFrameStatusUnpacking)
EXPECT_EQ(0, crsfChannelData[15]);
}
// example of 0x16 RC frame
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,
@ -279,6 +280,52 @@ TEST(CrossFireTest, TestCapturedData)
EXPECT_EQ(crc, crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE]);
}
// example of 0x17 Subset RC frame
/* Notes of Frame Contents
* frame type = 0x17 Subset RC Frame
* first channel packed = 4, bits 0-4
* channel resolution = 0x01 = 11-bit, bits 5-6
* reserved configuration = 0, bit 7
* first channel packed (Ch4) = 0 = 0x000, 000 0000 0000, bits 8 - 18
* second channel packed (Ch5) = 820 = 0x334, 011 0011 0100, bits 19 - 29
* third channel packed (Ch6) = 1959 = 0x7A7, 111 1010 0111, bits 30 - 40
* fourth channel packed (Ch7) = 2047 = 0x7FF, 111 1111 1111, bits 41 - 51
*/
const uint8_t capturedSubsetData[] = {
0xC8,0x09,0x17,0x24,0x00,0xA0,0xD9,0xE9,0xFF,0x0F,0xD1
};
TEST(CrossFireTest, TestCapturedSubsetData)
{
crsfFrame = *(const crsfFrame_t*)capturedSubsetData;
crsfFrameDone = true;
memcpy(&crsfChannelDataFrame, &crsfFrame, sizeof(crsfFrame));
uint8_t status = crsfFrameStatus();
EXPECT_EQ(RX_FRAME_COMPLETE, status);
EXPECT_FALSE(crsfFrameDone);
EXPECT_EQ(CRSF_SYNC_BYTE, crsfFrame.frame.deviceAddress);
EXPECT_EQ(CRSF_FRAMETYPE_SUBSET_RC_CHANNELS_PACKED, crsfFrame.frame.type);
uint8_t crc = crsfFrameCRC();
uint8_t startChannel = crsfFrame.frame.payload[0] & CRSF_SUBSET_RC_STARTING_CHANNEL_MASK;
uint8_t channelRes = (crsfFrame.frame.payload[0] >> CRSF_SUBSET_RC_STARTING_CHANNEL_BITS) & CRSF_SUBSET_RC_RES_CONFIGURATION_MASK;
uint8_t reservedBit = (crsfFrame.frame.payload[0] >> (CRSF_SUBSET_RC_STARTING_CHANNEL_BITS + CRSF_SUBSET_RC_RES_CONFIGURATION_MASK)) & CRSF_SUBSET_RC_RESERVED_CONFIGURATION_BITS;
EXPECT_EQ(crc, crsfFrame.frame.payload[crsfFrame.frame.frameLength - 2]);
EXPECT_EQ(4, startChannel);
EXPECT_EQ(1, channelRes);
EXPECT_EQ(0, reservedBit);
EXPECT_EQ(0, crsfChannelData[4]);
EXPECT_EQ(820, crsfChannelData[5]);
EXPECT_EQ(1959, crsfChannelData[6]);
EXPECT_EQ(2047, crsfChannelData[7]);
EXPECT_EQ(988, (uint16_t)crsfReadRawRC(NULL, 4));
EXPECT_EQ(1398, (uint16_t)crsfReadRawRC(NULL, 5));
EXPECT_EQ(1967, (uint16_t)crsfReadRawRC(NULL, 6));
EXPECT_EQ(2011, (uint16_t)crsfReadRawRC(NULL, 7));
}
TEST(CrossFireTest, TestCrsfDataReceive)
{