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feat: implement channel helpers

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cel_crsf_channel_us_to_val() and cel_crsf_channel_val_to_us()
convert between microseconds (988-2012) and 11-bit values (172-1811)
with rounding. cel_crsf_channel_default() fills safe/disarmed values.
This commit is contained in:
portersky
2026-06-14 20:54:56 +02:00
parent a846b063f9
commit 8b181d0fcd
2 changed files with 87 additions and 16 deletions
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tests/test_crsf.c
+65
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@@ -38,6 +38,60 @@ void test_channel_clamp_mid(void) {
TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MID, cel_crsf_channel_clamp(CEL_CRSF_CH_MID));
}
void test_channel_us_to_val_min(void) {
TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MIN, cel_crsf_channel_us_to_val(988));
}
void test_channel_us_to_val_mid(void) {
TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MID, cel_crsf_channel_us_to_val(1500));
}
void test_channel_us_to_val_max(void) {
TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MAX, cel_crsf_channel_us_to_val(2012));
}
void test_channel_us_to_val_below_min(void) {
TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MIN, cel_crsf_channel_us_to_val(0));
}
void test_channel_us_to_val_above_max(void) {
TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MAX, cel_crsf_channel_us_to_val(65535));
}
void test_channel_val_to_us_min(void) {
TEST_ASSERT_EQUAL_UINT16(988, cel_crsf_channel_val_to_us(CEL_CRSF_CH_MIN));
}
void test_channel_val_to_us_mid(void) {
TEST_ASSERT_EQUAL_UINT16(1500, cel_crsf_channel_val_to_us(CEL_CRSF_CH_MID));
}
void test_channel_val_to_us_max(void) {
TEST_ASSERT_EQUAL_UINT16(2012, cel_crsf_channel_val_to_us(CEL_CRSF_CH_MAX));
}
void test_channel_default_throttle_min(void) {
int16_t ch[16];
cel_crsf_channel_default(ch);
TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MIN, ch[2]); /* throttle */
}
void test_channel_default_centered(void) {
int16_t ch[16];
cel_crsf_channel_default(ch);
TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MID, ch[0]); /* roll */
TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MID, ch[1]); /* pitch */
TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MID, ch[3]); /* yaw */
}
void test_channel_default_aux_min(void) {
int16_t ch[16];
cel_crsf_channel_default(ch);
for (int i = 4; i < 16; i++) {
TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MIN, ch[i]);
}
}
/* Frame parse tests — ELRS format: [addr][length][type][payload][crc] */
/* Build a valid test frame with known CRC */
@@ -123,6 +177,17 @@ int main(void) {
RUN_TEST(test_channel_clamp_min);
RUN_TEST(test_channel_clamp_max);
RUN_TEST(test_channel_clamp_mid);
RUN_TEST(test_channel_us_to_val_min);
RUN_TEST(test_channel_us_to_val_mid);
RUN_TEST(test_channel_us_to_val_max);
RUN_TEST(test_channel_us_to_val_below_min);
RUN_TEST(test_channel_us_to_val_above_max);
RUN_TEST(test_channel_val_to_us_min);
RUN_TEST(test_channel_val_to_us_mid);
RUN_TEST(test_channel_val_to_us_max);
RUN_TEST(test_channel_default_throttle_min);
RUN_TEST(test_channel_default_centered);
RUN_TEST(test_channel_default_aux_min);
RUN_TEST(test_parse_valid_frame);
RUN_TEST(test_parse_null_frame);
RUN_TEST(test_parse_null_buf);