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feat: implement cel_crsf_param_ping and cel_crsf_param_read

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Ping sends DEVICE_PING frame and waits for DEVICE_INFO response.
Read sends PARAM_READ frame and waits for matching PARAM_ENTRY.
Both use cel_crsf_stream_feed() with a clock-based timeout loop.
This commit is contained in:
portersky
2026-06-14 22:08:51 +02:00
parent 8c4045e2a4
commit 7b3905084e
3 changed files with 231 additions and 15 deletions
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celrs/crsf_param.c
+77 -15
View File
@@ -1,27 +1,89 @@
#include "celrs/crsf_param.h"
#include <string.h>
#include <time.h>
int cel_crsf_param_ping(cel_serial_port* port, float timeout_sec) {
/* TODO: send ping frame, wait for DEVICE_INFO (0x29) response.
* Use cel_crsf_build_ping_frame() + cel_serial_write().
* Read loop with timeout using cel_serial_read().
* Use cel_crsf_stream_feed() to parse responses.
* Return 0 when DEVICE_INFO received, -1 on timeout. */
(void)port;
(void)timeout_sec;
if (port == NULL) return -1;
/* Send ping frame */
uint8_t frame[16];
size_t len = cel_crsf_build_ping_frame(frame);
if (len == 0) return -1;
size_t written = cel_serial_write(port, frame, len);
if (written != len) return -1;
/* Wait for DEVICE_INFO response */
cel_crsf_stream* stream = cel_crsf_stream_create();
if (stream == NULL) return -1;
clock_t start = clock();
clock_t limit = (clock_t)(timeout_sec * CLOCKS_PER_SEC);
while ((clock() - start) < limit) {
uint8_t buf[256];
size_t n = cel_serial_read(port, buf, sizeof(buf));
if (n > 0) {
cel_crsf_frame frames[4];
int count = cel_crsf_stream_feed(stream, buf, n, frames, sizeof(frames) / sizeof(frames[0]));
if (count > 0) {
for (int i = 0; i < count; i++) {
if (frames[i].type == CEL_CRSF_TYPE_DEVICE_INFO) {
cel_crsf_stream_destroy(stream);
return 0;
}
}
}
}
}
cel_crsf_stream_destroy(stream);
return -1;
}
int cel_crsf_param_read(cel_serial_port* port, uint8_t index,
cel_crsf_param* out, float timeout_sec) {
/* TODO: send param read frame for index, wait for PARAM_ENTRY (0x2B).
* Use cel_crsf_build_param_read_frame() + cel_serial_write().
* Read loop with timeout, parse with cel_crsf_stream_feed().
* When PARAM_ENTRY with matching index arrives, parse payload and return. */
(void)port;
(void)index;
(void)out;
(void)timeout_sec;
if (port == NULL || out == NULL) return -1;
/* Send param read frame */
uint8_t frame[16];
size_t len = cel_crsf_build_param_read_frame(frame, index, 0);
if (len == 0) return -1;
size_t written = cel_serial_write(port, frame, len);
if (written != len) return -1;
/* Wait for PARAM_ENTRY response with matching index */
cel_crsf_stream* stream = cel_crsf_stream_create();
if (stream == NULL) return -1;
clock_t start = clock();
clock_t limit = (clock_t)(timeout_sec * CLOCKS_PER_SEC);
while ((clock() - start) < limit) {
uint8_t buf[256];
size_t n = cel_serial_read(port, buf, sizeof(buf));
if (n > 0) {
cel_crsf_frame frames[4];
int count = cel_crsf_stream_feed(stream, buf, n, frames, sizeof(frames) / sizeof(frames[0]));
if (count > 0) {
for (int i = 0; i < count; i++) {
if (frames[i].type == CEL_CRSF_TYPE_PARAM_ENTRY) {
if (cel_crsf_param_parse(out, frames[i].payload,
frames[i].payload_len) == 0)
{
if (out->index == index) {
cel_crsf_stream_destroy(stream);
return 0;
}
}
}
}
}
}
}
cel_crsf_stream_destroy(stream);
return -1;
}
tests/cmock.yml
+1
View File
@@ -5,3 +5,4 @@
:plugins:
- :ignore_arg
- :expect_any_args
- :callback
tests/test_crsf_param.c
+153
View File
@@ -2,9 +2,30 @@
#include "celrs/crsf_param.h"
#include "Mockserial_internal.h"
#include <string.h>
#include <time.h>
/* Global state for mock read callbacks */
static uint8_t s_mock_read_buf[260];
static size_t s_mock_read_len = 0;
static int s_mock_read_calls = 0;
static int s_mock_read_zero_until = 0; /* return 0 for first N calls */
static size_t mock_read_cb(cel_serial_platform_handle handle,
uint8_t* buf, size_t len, int call_instance) {
(void)handle;
(void)call_instance;
s_mock_read_calls++;
if (s_mock_read_calls <= s_mock_read_zero_until) return 0;
size_t to_copy = s_mock_read_len < len ? s_mock_read_len : len;
if (to_copy > 0) memcpy(buf, s_mock_read_buf, to_copy);
return to_copy;
}
void setUp(void) {
Mockserial_internal_Init();
s_mock_read_calls = 0;
s_mock_read_zero_until = 0;
s_mock_read_len = 0;
}
void tearDown(void) {
@@ -12,6 +33,19 @@ void tearDown(void) {
Mockserial_internal_Destroy();
}
/* Helper: build a valid CRSF frame (payload includes dest+src+data) */
static size_t build_frame(uint8_t* dst, uint8_t type,
uint8_t const* payload, uint8_t payload_len) {
uint8_t length = 1 + payload_len + 1;
dst[0] = CEL_CRSF_FRAME_HEADER;
dst[1] = length;
dst[2] = type;
memcpy(dst + 3, payload, payload_len);
uint8_t crc = cel_crsf_crc(dst + 2, 1 + payload_len);
dst[2 + length - 1] = crc;
return 2 + length;
}
/* cel_crsf_param_parse tests */
void test_param_parse_null_args(void) {
@@ -200,6 +234,118 @@ void test_param_write_partial_write(void) {
cel_serial_close(port);
}
/* cel_crsf_param_ping tests */
void test_param_ping_null_port(void) {
TEST_ASSERT_EQUAL_INT(-1, cel_crsf_param_ping(NULL, 1.0f));
}
void test_param_ping_success(void) {
/* Build a DEVICE_INFO frame (type 0x29) */
uint8_t payload[] = {0x10, 0xEE, 0x00}; /* dest, src, type */
size_t frame_len = build_frame(s_mock_read_buf,
CEL_CRSF_TYPE_DEVICE_INFO, payload, sizeof(payload));
s_mock_read_len = frame_len;
s_mock_read_zero_until = 0;
cel_serial_platform_open_ExpectAndReturn("COM3", 400000,
(cel_serial_platform_handle)42);
cel_serial_port* port = cel_serial_open("COM3", 400000);
TEST_ASSERT_NOT_NULL(port);
cel_serial_platform_write_ExpectAnyArgsAndReturn(6);
cel_serial_platform_read_StubWithCallback(mock_read_cb);
TEST_ASSERT_EQUAL_INT(0, cel_crsf_param_ping(port, 1.0f));
cel_serial_platform_close_Expect((cel_serial_platform_handle)42);
cel_serial_close(port);
}
void test_param_ping_timeout(void) {
cel_serial_platform_open_ExpectAndReturn("COM3", 400000,
(cel_serial_platform_handle)42);
cel_serial_port* port = cel_serial_open("COM3", 400000);
TEST_ASSERT_NOT_NULL(port);
cel_serial_platform_write_ExpectAnyArgsAndReturn(6);
cel_serial_platform_read_StubWithCallback(mock_read_cb);
/* mock_read_cb always returns 0 since s_mock_read_zero_until defaults to 0
* and s_mock_read_len is 0 */
/* Use a short timeout so test doesn't hang */
TEST_ASSERT_EQUAL_INT(-1, cel_crsf_param_ping(port, 0.05f));
cel_serial_platform_close_Expect((cel_serial_platform_handle)42);
cel_serial_close(port);
}
/* cel_crsf_param_read tests */
void test_param_read_null_port(void) {
cel_crsf_param param;
TEST_ASSERT_EQUAL_INT(-1, cel_crsf_param_read(NULL, 0, &param, 1.0f));
}
void test_param_read_null_out(void) {
cel_serial_platform_open_ExpectAndReturn("COM3", 400000,
(cel_serial_platform_handle)42);
cel_serial_port* port = cel_serial_open("COM3", 400000);
TEST_ASSERT_NOT_NULL(port);
/* No write expected since out is NULL */
TEST_ASSERT_EQUAL_INT(-1, cel_crsf_param_read(port, 5, NULL, 1.0f));
cel_serial_platform_close_Expect((cel_serial_platform_handle)42);
cel_serial_close(port);
}
void test_param_read_success(void) {
/* Build a PARAM_ENTRY frame (type 0x2B) matching index 5 */
uint8_t payload[] = {
0x10, 0xEE, 0x05, 0x00, 0x00, 0x00, /* dest,src,idx,chunks,parent,type */
'V', 'a', 'l', '\0', /* name */
0x00, 0xFF, 0x80, 0x42, /* min,max,default,value */
};
size_t frame_len = build_frame(s_mock_read_buf,
CEL_CRSF_TYPE_PARAM_ENTRY, payload, sizeof(payload));
s_mock_read_len = frame_len;
s_mock_read_zero_until = 0;
cel_serial_platform_open_ExpectAndReturn("COM3", 400000,
(cel_serial_platform_handle)42);
cel_serial_port* port = cel_serial_open("COM3", 400000);
TEST_ASSERT_NOT_NULL(port);
cel_serial_platform_write_ExpectAnyArgsAndReturn(8);
cel_serial_platform_read_StubWithCallback(mock_read_cb);
cel_crsf_param param;
TEST_ASSERT_EQUAL_INT(0, cel_crsf_param_read(port, 5, &param, 1.0f));
TEST_ASSERT_EQUAL_UINT8(5, param.index);
TEST_ASSERT_EQUAL_STRING("Val", param.name);
TEST_ASSERT_EQUAL_UINT8(0x42, param.value);
cel_serial_platform_close_Expect((cel_serial_platform_handle)42);
cel_serial_close(port);
}
void test_param_read_timeout(void) {
cel_serial_platform_open_ExpectAndReturn("COM3", 400000,
(cel_serial_platform_handle)42);
cel_serial_port* port = cel_serial_open("COM3", 400000);
TEST_ASSERT_NOT_NULL(port);
cel_serial_platform_write_ExpectAnyArgsAndReturn(8);
cel_serial_platform_read_StubWithCallback(mock_read_cb);
cel_crsf_param param;
TEST_ASSERT_EQUAL_INT(-1, cel_crsf_param_read(port, 5, &param, 0.05f));
cel_serial_platform_close_Expect((cel_serial_platform_handle)42);
cel_serial_close(port);
}
int main(void) {
UNITY_BEGIN();
RUN_TEST(test_param_parse_null_args);
@@ -214,5 +360,12 @@ int main(void) {
RUN_TEST(test_param_write_null_port);
RUN_TEST(test_param_write_success);
RUN_TEST(test_param_write_partial_write);
RUN_TEST(test_param_ping_null_port);
RUN_TEST(test_param_ping_success);
RUN_TEST(test_param_ping_timeout);
RUN_TEST(test_param_read_null_port);
RUN_TEST(test_param_read_null_out);
RUN_TEST(test_param_read_success);
RUN_TEST(test_param_read_timeout);
return UNITY_END();
}