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feat: implement frame builders

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cel_crsf_build_rc_frame() packs 16 channels (11-bit) into 22 bytes.
cel_crsf_build_ping_frame() builds device ping (0x28).
cel_crsf_build_param_read_frame() and cel_crsf_build_param_write_frame()
build parameter protocol frames (0x2C/0x2D).
This commit is contained in:
portersky
2026-06-14 20:58:16 +02:00
parent 8b181d0fcd
commit b97a7c5b3a
2 changed files with 149 additions and 31 deletions
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tests/test_crsf.c
+79
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@@ -169,6 +169,76 @@ void test_parse_module_addr(void) {
TEST_ASSERT_EQUAL_UINT8(4, frame.payload_len);
}
/* Frame builder tests */
void test_build_rc_frame_null_dst(void) {
int16_t ch[16];
TEST_ASSERT_EQUAL_UINT(0, cel_crsf_build_rc_frame(NULL, ch));
}
void test_build_rc_frame_null_channels(void) {
uint8_t dst[32];
size_t len = cel_crsf_build_rc_frame(dst, NULL);
TEST_ASSERT_GREATER_THAN(0, len);
TEST_ASSERT_EQUAL_UINT8(0xC8, dst[0]);
}
void test_build_rc_frame_roundtrip(void) {
int16_t ch[16];
cel_crsf_channel_default(ch);
ch[0] = CEL_CRSF_CH_MAX;
uint8_t dst[32];
size_t len = cel_crsf_build_rc_frame(dst, ch);
cel_crsf_frame frame;
TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse(&frame, dst, len));
TEST_ASSERT_EQUAL_UINT8(CEL_CRSF_TYPE_RC_CHANNELS_PACKED, frame.type);
}
void test_build_ping_frame_null_dst(void) {
TEST_ASSERT_EQUAL_UINT(0, cel_crsf_build_ping_frame(NULL));
}
void test_build_ping_frame_valid(void) {
uint8_t dst[16];
size_t len = cel_crsf_build_ping_frame(dst);
TEST_ASSERT_GREATER_THAN(0, len);
TEST_ASSERT_EQUAL_UINT8(0xEE, dst[0]);
cel_crsf_frame frame;
TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse(&frame, dst, len));
TEST_ASSERT_EQUAL_UINT8(CEL_CRSF_TYPE_DEVICE_PING, frame.type);
}
void test_build_param_read_frame_null_dst(void) {
TEST_ASSERT_EQUAL_UINT(0, cel_crsf_build_param_read_frame(NULL, 0, 0));
}
void test_build_param_read_frame_valid(void) {
uint8_t dst[16];
size_t len = cel_crsf_build_param_read_frame(dst, 0x42, 0);
TEST_ASSERT_GREATER_THAN(0, len);
cel_crsf_frame frame;
TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse(&frame, dst, len));
TEST_ASSERT_EQUAL_UINT8(CEL_CRSF_TYPE_PARAM_READ, frame.type);
}
void test_build_param_write_frame_null_dst(void) {
TEST_ASSERT_EQUAL_UINT(0, cel_crsf_build_param_write_frame(NULL, 0, 0));
}
void test_build_param_write_frame_valid(void) {
uint8_t dst[16];
size_t len = cel_crsf_build_param_write_frame(dst, 0x42, 0xFF);
TEST_ASSERT_GREATER_THAN(0, len);
cel_crsf_frame frame;
TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse(&frame, dst, len));
TEST_ASSERT_EQUAL_UINT8(CEL_CRSF_TYPE_PARAM_WRITE, frame.type);
}
int main(void) {
UNITY_BEGIN();
RUN_TEST(test_crc_empty);
@@ -195,5 +265,14 @@ int main(void) {
RUN_TEST(test_parse_bad_crc);
RUN_TEST(test_parse_empty_payload);
RUN_TEST(test_parse_module_addr);
RUN_TEST(test_build_rc_frame_null_dst);
RUN_TEST(test_build_rc_frame_null_channels);
RUN_TEST(test_build_rc_frame_roundtrip);
RUN_TEST(test_build_ping_frame_null_dst);
RUN_TEST(test_build_ping_frame_valid);
RUN_TEST(test_build_param_read_frame_null_dst);
RUN_TEST(test_build_param_read_frame_valid);
RUN_TEST(test_build_param_write_frame_null_dst);
RUN_TEST(test_build_param_write_frame_valid);
return UNITY_END();
}