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refactor: remove unused legacy frame format code

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The old [0xC8][dest][src][type][size][payload][crc] format was never
used with real hardware. Remove cel_crsf_frame_legacy, *_legacy()
functions, and update tests/tools accordingly.
This commit is contained in:
portersky
2026-06-14 20:49:45 +02:00
parent df3d399610
commit dde27ab566
4 changed files with 18 additions and 222 deletions
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celrs/crsf.c
+2 -47
View File
@@ -133,52 +133,7 @@ void cel_crsf_channel_default(int16_t channels[16]) {
}
/* --------------------------------------------------------------------------- */
/* Deprecated (old frame format) */
/* Telemetry parsing */
/* --------------------------------------------------------------------------- */
int cel_crsf_frame_validate(cel_crsf_frame_legacy const* frame) {
uint8_t data[260];
size_t offset = 0;
data[offset++] = frame->destination;
data[offset++] = frame->source;
data[offset++] = frame->type;
data[offset++] = frame->size;
memcpy(data + offset, frame->payload, frame->size);
offset += frame->size;
uint8_t calc_crc = cel_crsf_crc(data, offset);
return calc_crc == frame->crc ? 0 : -1;
}
int cel_crsf_frame_parse_legacy(cel_crsf_frame_legacy* frame, uint8_t const* buf,
size_t len) {
if (frame == NULL || buf == NULL) return -1;
if (len < 5) return -1;
if (buf[0] != CEL_CRSF_FRAME_HEADER) return -1;
frame->destination = buf[1];
frame->source = buf[2];
frame->type = buf[3];
frame->size = buf[4];
uint8_t size = buf[4];
size_t total = 6 + size;
if (len < total) return -1;
memcpy(frame->payload, buf + 5, size);
frame->crc = buf[5 + size];
return cel_crsf_frame_validate(frame);
}
size_t cel_crsf_frame_build_legacy(uint8_t* dst, uint8_t destination,
uint8_t source, uint8_t type,
uint8_t const* payload, uint8_t size) {
if (dst == NULL) return 0;
dst[0] = CEL_CRSF_FRAME_HEADER;
dst[1] = destination;
dst[2] = source;
dst[3] = type;
dst[4] = size;
if (payload != NULL && size > 0) {
memcpy(dst + 5, payload, size);
}
uint8_t crc = cel_crsf_crc(dst + 1, 3 + 1 + size);
dst[5 + size] = crc;
return 1 + 3 + 1 + size + 1;
}
/* See crsf_telemetry.c */
celrs/crsf.h
-19
View File
@@ -109,22 +109,3 @@ void cel_crsf_channel_default(int16_t channels[16]);
/* Parameter protocol — see crsf_param.h */
#include "celrs/crsf_param.h"
/* --- Deprecated (old frame format: [0xC8][dest][src][type][size][payload][crc]) --- */
/* Deprecated frame structure (old format). Use cel_crsf_frame instead. */
typedef struct {
uint8_t destination;
uint8_t source;
uint8_t type;
uint8_t size;
uint8_t payload[255];
uint8_t crc;
} cel_crsf_frame_legacy;
int cel_crsf_frame_validate(cel_crsf_frame_legacy const* frame);
int cel_crsf_frame_parse_legacy(cel_crsf_frame_legacy* frame, uint8_t const* buf,
size_t len);
size_t cel_crsf_frame_build_legacy(uint8_t* dst, uint8_t destination,
uint8_t source, uint8_t type,
uint8_t const* payload, uint8_t size);
tests/test_crsf.c
+10 -78
View File
@@ -26,80 +26,17 @@ void test_crc_known_value(void) {
TEST_ASSERT_EQUAL_UINT8(crc, crc2);
}
/* TODO: rewrite parse/build tests for new ELRS frame format.
* New format: [addr][length][type][payload...][crc]
* Old tests below use legacy functions for backward compat. */
/* Frame parse tests (legacy format) */
void test_parse_legacy_invalid_header(void) {
cel_crsf_frame_legacy frame;
uint8_t buf[8] = {0x00, 0x10, 0x80, 0x03, 0x02, 0x80, 0x01, 0x00};
TEST_ASSERT_EQUAL_INT(-1, cel_crsf_frame_parse_legacy(&frame, buf, 8));
/* Channel helper tests */
void test_channel_clamp_min(void) {
TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MIN, cel_crsf_channel_clamp(0));
}
void test_parse_legacy_too_short(void) {
cel_crsf_frame_legacy frame;
uint8_t buf[2] = {0xC8, 0x10};
TEST_ASSERT_EQUAL_INT(-1, cel_crsf_frame_parse_legacy(&frame, buf, 2));
void test_channel_clamp_max(void) {
TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MAX, cel_crsf_channel_clamp(2048));
}
void test_parse_legacy_null_frame(void) {
uint8_t buf[8] = {0xC8, 0x10, 0x80, 0x03, 0x02, 0x80, 0x01, 0x00};
TEST_ASSERT_EQUAL_INT(-1, cel_crsf_frame_parse_legacy(NULL, buf, 8));
}
void test_parse_legacy_null_buf(void) {
cel_crsf_frame_legacy frame;
TEST_ASSERT_EQUAL_INT(-1, cel_crsf_frame_parse_legacy(&frame, NULL, 8));
}
/* Frame build tests (legacy format) */
void test_build_legacy_heartbeat(void) {
uint8_t dst[256];
uint8_t payload[2] = {0x80, 0x01};
size_t len = cel_crsf_frame_build_legacy(dst, 0x00, 0x80, 0x03,
payload, 2);
TEST_ASSERT_GREATER_THAN(0, len);
TEST_ASSERT_EQUAL_UINT8(CEL_CRSF_FRAME_HEADER, dst[0]);
TEST_ASSERT_EQUAL_UINT8(0x00, dst[1]); /* destination */
TEST_ASSERT_EQUAL_UINT8(0x80, dst[2]); /* source */
TEST_ASSERT_EQUAL_UINT8(0x03, dst[3]); /* type: heartbeat */
TEST_ASSERT_EQUAL_UINT8(0x02, dst[4]); /* size */
TEST_ASSERT_EQUAL_UINT8(0x80, dst[5]); /* payload[0] */
TEST_ASSERT_EQUAL_UINT8(0x01, dst[6]); /* payload[1] */
}
void test_build_legacy_roundtrip(void) {
uint8_t dst[256];
uint8_t payload[4] = {0xAA, 0xBB, 0xCC, 0xDD};
size_t len = cel_crsf_frame_build_legacy(dst, 0x10, 0x80, 0x01,
payload, 4);
/* Parse the built frame back */
cel_crsf_frame_legacy frame;
TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse_legacy(&frame, dst, len));
TEST_ASSERT_EQUAL_UINT8(0x10, frame.destination);
TEST_ASSERT_EQUAL_UINT8(0x80, frame.source);
TEST_ASSERT_EQUAL_UINT8(0x01, frame.type);
TEST_ASSERT_EQUAL_UINT8(4, frame.size);
TEST_ASSERT_EQUAL_UINT8(0xAA, frame.payload[0]);
TEST_ASSERT_EQUAL_UINT8(0xDD, frame.payload[3]);
}
void test_build_legacy_null_dst(void) {
uint8_t payload[2] = {0x01, 0x02};
TEST_ASSERT_EQUAL_UINT(0, cel_crsf_frame_build_legacy(NULL, 0x00, 0x80,
0x03, payload, 2));
}
void test_build_legacy_null_payload(void) {
uint8_t dst[256];
size_t len = cel_crsf_frame_build_legacy(dst, 0x10, 0x80, 0x03, NULL, 0);
TEST_ASSERT_GREATER_THAN(0, len);
/* Should still have valid CRC for empty payload */
cel_crsf_frame_legacy frame;
TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse_legacy(&frame, dst, len));
void test_channel_clamp_mid(void) {
TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MID, cel_crsf_channel_clamp(CEL_CRSF_CH_MID));
}
int main(void) {
@@ -107,13 +44,8 @@ int main(void) {
RUN_TEST(test_crc_empty);
RUN_TEST(test_crc_single_byte);
RUN_TEST(test_crc_known_value);
RUN_TEST(test_parse_legacy_invalid_header);
RUN_TEST(test_parse_legacy_too_short);
RUN_TEST(test_parse_legacy_null_frame);
RUN_TEST(test_parse_legacy_null_buf);
RUN_TEST(test_build_legacy_heartbeat);
RUN_TEST(test_build_legacy_roundtrip);
RUN_TEST(test_build_legacy_null_dst);
RUN_TEST(test_build_legacy_null_payload);
RUN_TEST(test_channel_clamp_min);
RUN_TEST(test_channel_clamp_max);
RUN_TEST(test_channel_clamp_mid);
return UNITY_END();
}
tools/telemetry.c
+6 -78
View File
@@ -11,32 +11,6 @@
#include <time.h>
#endif
/* TX power index to dBm mapping (ELRS standard) */
static int const s_tx_power_dbm[] = {
0, 20, 26, 30, 32, 34, 36, 38,
0, 0, 0, 0, 0, 0, 0, 0
};
/* Parse link telemetry payload (5 bytes) from CRSF frame type 0x02 */
static int telemetry_parse_link(int16_t* rssi, uint8_t* link_quality,
int8_t* snr, int* tx_power_dbm,
uint8_t* rssi_rc,
uint8_t const* payload, size_t len) {
if (rssi == NULL || payload == NULL) return -1;
if (len < 5) return -1;
*rssi = (int16_t)payload[0]; /* 0-100% */
*link_quality = payload[1]; /* 0-100% */
*snr = (int8_t)payload[2]; /* signed dB */
uint8_t power_idx = payload[3];
*tx_power_dbm = (power_idx < sizeof(s_tx_power_dbm) / sizeof(s_tx_power_dbm[0]))
? s_tx_power_dbm[power_idx]
: 0;
*rssi_rc = payload[4]; /* 0-100% */
return 0;
}
static void sleep_ms(int ms) {
#ifdef _WIN32
Sleep((DWORD)ms);
@@ -106,58 +80,12 @@ int main(int argc, char const* argv[]) {
snprintf(msg, sizeof(msg), "Connected to %s (%d baud)", port_path, baud_rate);
cel_log_info(msg);
/* TODO: update for new ELRS frame format.
* New format uses cel_crsf_build_rc_frame() and cel_crsf_stream_feed(). */
/* Send heartbeat to establish CRSF link (legacy format) */
uint8_t hb_payload[2] = {CEL_CRSF_ADDRESS_TBS_GROUND_STATION, 0x01};
uint8_t hb_frame[256];
size_t hb_len = cel_crsf_frame_build_legacy(hb_frame,
CEL_CRSF_ADDRESS_FC_BROADCAST,
CEL_CRSF_ADDRESS_TBS_GROUND_STATION,
0x03, hb_payload, 2);
cel_serial_write(port, hb_frame, hb_len);
printf("RX\tLINK\tSNR\tTXP\tRSSI_RC\n");
/* Read loop */
uint8_t buf[256];
int frames = 0, errors = 0;
for (int i = 0; i < 20; i++) { /* read up to 20 telemetry frames */
size_t n = cel_serial_read(port, buf, sizeof(buf));
if (n == 0) {
sleep_ms(interval_ms);
continue;
}
cel_crsf_frame_legacy frame;
if (cel_crsf_frame_parse_legacy(&frame, buf, n) != 0) {
errors++;
continue;
}
if (frame.type != 0x02) {
continue; /* skip non-telemetry frames */
}
int16_t rssi;
uint8_t link_quality;
int8_t snr;
int tx_power;
uint8_t rssi_rc;
if (telemetry_parse_link(&rssi, &link_quality, &snr,
&tx_power, &rssi_rc,
frame.payload, frame.size) == 0) {
frames++;
printf("%d\t%d\t%d\t%d\t%d\n",
rssi, link_quality, snr, tx_power, rssi_rc);
}
}
snprintf(msg, sizeof(msg), "Frames: %d, Errors: %d", frames, errors);
cel_log_info(msg);
/* TODO: implement telemetry read loop.
* 1. Use cel_crsf_stream_create() for incremental parsing.
* 2. Read raw bytes with cel_serial_read().
* 3. Feed to cel_crsf_stream_feed() to extract frames.
* 4. Parse telemetry with cel_crsf_telemetry_parse().
* 5. Print link stats, battery, GPS, etc. */
cel_serial_close(port);
return 0;