mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 16:55:36 +03:00
283 lines
11 KiB
C++
283 lines
11 KiB
C++
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <stdbool.h>
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#include <limits.h>
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#include <algorithm>
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extern "C" {
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#include <platform.h>
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#include "build/debug.h"
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#include "common/maths.h"
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#include "common/utils.h"
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#include "io/serial.h"
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#include "rx/rx.h"
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#include "rx/crsf.h"
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void crsfDataReceive(uint16_t c);
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uint8_t crsfFrameCRC(void);
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uint8_t crsfFrameStatus(void);
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uint16_t crsfReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan);
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extern bool crsfFrameDone;
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extern crsfFrame_t crsfFrame;
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extern uint32_t crsfChannelData[CRSF_MAX_CHANNEL];
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uint32_t dummyTimeUs;
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}
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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// CRC8 implementation with polynom = x^8+x^7+x^6+x^4+x^2+1 (0xD5)
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const unsigned char crc8tab[256] = {
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0x00, 0xD5, 0x7F, 0xAA, 0xFE, 0x2B, 0x81, 0x54, 0x29, 0xFC, 0x56, 0x83, 0xD7, 0x02, 0xA8, 0x7D,
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0x52, 0x87, 0x2D, 0xF8, 0xAC, 0x79, 0xD3, 0x06, 0x7B, 0xAE, 0x04, 0xD1, 0x85, 0x50, 0xFA, 0x2F,
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0xA4, 0x71, 0xDB, 0x0E, 0x5A, 0x8F, 0x25, 0xF0, 0x8D, 0x58, 0xF2, 0x27, 0x73, 0xA6, 0x0C, 0xD9,
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0xF6, 0x23, 0x89, 0x5C, 0x08, 0xDD, 0x77, 0xA2, 0xDF, 0x0A, 0xA0, 0x75, 0x21, 0xF4, 0x5E, 0x8B,
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0x9D, 0x48, 0xE2, 0x37, 0x63, 0xB6, 0x1C, 0xC9, 0xB4, 0x61, 0xCB, 0x1E, 0x4A, 0x9F, 0x35, 0xE0,
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0xCF, 0x1A, 0xB0, 0x65, 0x31, 0xE4, 0x4E, 0x9B, 0xE6, 0x33, 0x99, 0x4C, 0x18, 0xCD, 0x67, 0xB2,
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0x39, 0xEC, 0x46, 0x93, 0xC7, 0x12, 0xB8, 0x6D, 0x10, 0xC5, 0x6F, 0xBA, 0xEE, 0x3B, 0x91, 0x44,
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0x6B, 0xBE, 0x14, 0xC1, 0x95, 0x40, 0xEA, 0x3F, 0x42, 0x97, 0x3D, 0xE8, 0xBC, 0x69, 0xC3, 0x16,
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0xEF, 0x3A, 0x90, 0x45, 0x11, 0xC4, 0x6E, 0xBB, 0xC6, 0x13, 0xB9, 0x6C, 0x38, 0xED, 0x47, 0x92,
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0xBD, 0x68, 0xC2, 0x17, 0x43, 0x96, 0x3C, 0xE9, 0x94, 0x41, 0xEB, 0x3E, 0x6A, 0xBF, 0x15, 0xC0,
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0x4B, 0x9E, 0x34, 0xE1, 0xB5, 0x60, 0xCA, 0x1F, 0x62, 0xB7, 0x1D, 0xC8, 0x9C, 0x49, 0xE3, 0x36,
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0x19, 0xCC, 0x66, 0xB3, 0xE7, 0x32, 0x98, 0x4D, 0x30, 0xE5, 0x4F, 0x9A, 0xCE, 0x1B, 0xB1, 0x64,
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0x72, 0xA7, 0x0D, 0xD8, 0x8C, 0x59, 0xF3, 0x26, 0x5B, 0x8E, 0x24, 0xF1, 0xA5, 0x70, 0xDA, 0x0F,
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0x20, 0xF5, 0x5F, 0x8A, 0xDE, 0x0B, 0xA1, 0x74, 0x09, 0xDC, 0x76, 0xA3, 0xF7, 0x22, 0x88, 0x5D,
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0xD6, 0x03, 0xA9, 0x7C, 0x28, 0xFD, 0x57, 0x82, 0xFF, 0x2A, 0x80, 0x55, 0x01, 0xD4, 0x7E, 0xAB,
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0x84, 0x51, 0xFB, 0x2E, 0x7A, 0xAF, 0x05, 0xD0, 0xAD, 0x78, 0xD2, 0x07, 0x53, 0x86, 0x2C, 0xF9
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};
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uint8_t crc8_buf(const uint8_t * ptr, uint8_t len)
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{
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uint8_t crc = 0;
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for (uint8_t i=0; i<len; i++) {
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crc = crc8tab[crc ^ *ptr++];
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}
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return crc;
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}
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uint8_t crc8_dvb_s2_buf(const uint8_t * ptr, uint8_t len)
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{
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uint8_t crc = 0;
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for (uint8_t i=0; i<len; i++) {
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crc = crc8_dvb_s2(crc, *ptr++);
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}
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return crc;
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}
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TEST(CrossFireTest, CRC)
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{
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static const uint8_t buf1[] ="abcdefghijklmnopqrstuvwxyz";
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uint8_t crc1 = 0;
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uint8_t crc2 = 0;
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crc1 = crc8tab[1];
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crc2 = crc8_dvb_s2(0, 1);
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EXPECT_EQ(crc1, crc2);
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crc1 = crc8tab[2];
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crc2 = crc8_dvb_s2(0, 2);
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EXPECT_EQ(crc1, crc2);
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crc1 = crc8_buf(buf1, 26);
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crc2 = crc8_dvb_s2_buf(buf1, 26);
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EXPECT_EQ(crc1, crc2);
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}
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TEST(CrossFireTest, TestCrsfFrameStatus)
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{
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crsfFrameDone = true;
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crsfFrame.frame.deviceAddress = CRSF_ADDRESS_CRSF_RECEIVER;
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crsfFrame.frame.frameLength = 0;
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crsfFrame.frame.type = CRSF_FRAMETYPE_RC_CHANNELS_PACKED;
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memset(crsfFrame.frame.payload, 0, CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE);
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const uint8_t crc = crsfFrameCRC();
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crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE] = crc;
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const uint8_t status = crsfFrameStatus();
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EXPECT_EQ(RX_FRAME_COMPLETE, status);
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EXPECT_EQ(false, crsfFrameDone);
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EXPECT_EQ(CRSF_ADDRESS_CRSF_RECEIVER, crsfFrame.frame.deviceAddress);
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EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength);
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EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type);
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for (int ii = 0; ii < CRSF_MAX_CHANNEL; ++ii) {
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EXPECT_EQ(0, crsfChannelData[ii]);
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}
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}
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/*
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* Frame is of form
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* <Device address> <Frame length> < Type> <Payload> < CRC>
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* So RC channels frame is:
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* <0x00> <0x18> <0x16> <22-bytes payload> < CRC>
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* 26 bytes altogther.
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*/
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TEST(CrossFireTest, TestCrsfFrameStatusUnpacking)
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{
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crsfFrameDone = true;
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crsfFrame.frame.deviceAddress = CRSF_ADDRESS_CRSF_RECEIVER;
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crsfFrame.frame.frameLength = CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC;;
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crsfFrame.frame.type = CRSF_FRAMETYPE_RC_CHANNELS_PACKED;
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// 16 11-bit channels packed into 22 bytes of data
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crsfFrame.frame.payload[0] = 0xFF; // bits 0-7
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crsfFrame.frame.payload[1] = 0xFF; // bits 8-15
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crsfFrame.frame.payload[2] = 0x00; // bits 16-23
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crsfFrame.frame.payload[3] = 0x00; // bits 24-31
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crsfFrame.frame.payload[4] = 0x58; // bits 32-39 0101100.
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crsfFrame.frame.payload[5] = 0x01; // bits 40-47 ....0001
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crsfFrame.frame.payload[6] = 0x00; // bits 48-55 0.......
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crsfFrame.frame.payload[7] = 0xf0; // bits 56-64 11110000
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crsfFrame.frame.payload[8] = 0x01; // bits 65-71 ......01
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crsfFrame.frame.payload[9] = 0x60; // bits 72-79 011.....
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crsfFrame.frame.payload[10] = 0xe2; // bits 80-87 11100010
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crsfFrame.frame.payload[11] = 0;
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crsfFrame.frame.payload[12] = 0;
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crsfFrame.frame.payload[13] = 0;
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crsfFrame.frame.payload[14] = 0;
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crsfFrame.frame.payload[15] = 0;
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crsfFrame.frame.payload[16] = 0;
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crsfFrame.frame.payload[17] = 0;
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crsfFrame.frame.payload[18] = 0;
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crsfFrame.frame.payload[19] = 0;
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crsfFrame.frame.payload[20] = 0;
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crsfFrame.frame.payload[21] = 0;
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const uint8_t crc = crsfFrameCRC();
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crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE] = crc;
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const uint8_t status = crsfFrameStatus();
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EXPECT_EQ(RX_FRAME_COMPLETE, status);
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EXPECT_EQ(false, crsfFrameDone);
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EXPECT_EQ(CRSF_ADDRESS_CRSF_RECEIVER, crsfFrame.frame.deviceAddress);
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EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength);
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EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type);
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EXPECT_EQ(0x7ff, crsfChannelData[0]);
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EXPECT_EQ(0x1f, crsfChannelData[1]);
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EXPECT_EQ(0, crsfChannelData[2]);
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EXPECT_EQ(172, crsfChannelData[3]); // 172 = 0x0ac, 0001 0101100, bits 33-43
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EXPECT_EQ(0, crsfChannelData[4]);
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EXPECT_EQ(992, crsfChannelData[5]); // 992 = 0x3e0, 01 1110000 0, bits 55-65
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EXPECT_EQ(0, crsfChannelData[6]);
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EXPECT_EQ(1811, crsfChannelData[7]); // 1811 = 0x713, 1110 0010 011, bits 77-87
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EXPECT_EQ(0, crsfChannelData[8]);
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EXPECT_EQ(0, crsfChannelData[9]);
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EXPECT_EQ(0, crsfChannelData[10]);
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EXPECT_EQ(0, crsfChannelData[11]);
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EXPECT_EQ(0, crsfChannelData[12]);
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EXPECT_EQ(0, crsfChannelData[13]);
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EXPECT_EQ(0, crsfChannelData[14]);
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EXPECT_EQ(0, crsfChannelData[15]);
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}
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const uint8_t capturedData[] = {
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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,
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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,
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};
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typedef struct crsfRcChannelsFrame_s {
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uint8_t deviceAddress;
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uint8_t frameLength;
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uint8_t type;
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uint8_t payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_CRC];
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} crsfRcChannelsFrame_t;
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TEST(CrossFireTest, TestCapturedData)
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{
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//const int frameCount = sizeof(capturedData) / sizeof(crsfRcChannelsFrame_t);
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const crsfRcChannelsFrame_t *framePtr = (const crsfRcChannelsFrame_t*)capturedData;
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crsfFrame = *(const crsfFrame_t*)framePtr;
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crsfFrameDone = true;
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uint8_t status = crsfFrameStatus();
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EXPECT_EQ(RX_FRAME_COMPLETE, status);
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EXPECT_EQ(false, crsfFrameDone);
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EXPECT_EQ(RX_FRAME_COMPLETE, status);
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EXPECT_EQ(false, crsfFrameDone);
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EXPECT_EQ(CRSF_ADDRESS_BROADCAST, crsfFrame.frame.deviceAddress);
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EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength);
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EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type);
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EXPECT_EQ(189, crsfChannelData[0]);
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EXPECT_EQ(993, crsfChannelData[1]);
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EXPECT_EQ(978, crsfChannelData[2]);
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EXPECT_EQ(983, crsfChannelData[3]);
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uint8_t crc = crsfFrameCRC();
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EXPECT_EQ(crc, crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE]);
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EXPECT_EQ(999, crsfReadRawRC(NULL, 0));
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EXPECT_EQ(1501, crsfReadRawRC(NULL, 1));
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EXPECT_EQ(1492, crsfReadRawRC(NULL, 2));
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EXPECT_EQ(1495, crsfReadRawRC(NULL, 3));
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++framePtr;
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crsfFrame = *(const crsfFrame_t*)framePtr;
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crsfFrameDone = true;
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status = crsfFrameStatus();
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EXPECT_EQ(RX_FRAME_COMPLETE, status);
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EXPECT_EQ(false, crsfFrameDone);
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EXPECT_EQ(RX_FRAME_COMPLETE, status);
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EXPECT_EQ(false, crsfFrameDone);
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EXPECT_EQ(CRSF_ADDRESS_BROADCAST, crsfFrame.frame.deviceAddress);
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EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength);
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EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type);
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EXPECT_EQ(189, crsfChannelData[0]);
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EXPECT_EQ(993, crsfChannelData[1]);
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EXPECT_EQ(978, crsfChannelData[2]);
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EXPECT_EQ(981, crsfChannelData[3]);
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crc = crsfFrameCRC();
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EXPECT_EQ(crc, crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE]);
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}
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TEST(CrossFireTest, TestCrsfDataReceive)
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{
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crsfFrameDone = false;
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const uint8_t *pData = capturedData;
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for (unsigned int ii = 0; ii < sizeof(crsfRcChannelsFrame_t); ++ii) {
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crsfDataReceive(*pData++);
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}
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EXPECT_EQ(true, crsfFrameDone);
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EXPECT_EQ(CRSF_ADDRESS_BROADCAST, crsfFrame.frame.deviceAddress);
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EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength);
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EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type);
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uint8_t crc = crsfFrameCRC();
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for (int ii = 0; ii < CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE; ++ii) {
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EXPECT_EQ(capturedData[ii + 3], crsfFrame.frame.payload[ii]);
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}
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EXPECT_EQ(crc, crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE]);
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}
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// STUBS
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extern "C" {
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int16_t debug[DEBUG16_VALUE_COUNT];
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uint32_t micros(void) {return dummyTimeUs;}
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serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, uint32_t, portMode_t, portOptions_t) {return NULL;}
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serialPortConfig_t *findSerialPortConfig(serialPortFunction_e ) {return NULL;}
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void serialWriteBuf(serialPort_t *, const uint8_t *, int) {}
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bool telemetryCheckRxPortShared(const serialPortConfig_t *) {return false;}
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serialPort_t *telemetrySharedPort = NULL;
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}
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