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feat: adopt ELRS USB CRSF frame format, add skeleton modules

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Switch CRC from CCITT (0x07) to DVB-S2 (0xD5) to match ELRS.
Adopt ELRS USB frame format: [addr][length][type][payload][crc].
Update frame type constants to match current ELRS protocol values.

New skeleton modules (stub implementations with TODO comments):
  - crsf_telemetry.h/.c: telemetry decoders (GPS, battery, link..)
  - crsf_stream.h/.c: incremental streaming frame reader
  - crsf_param.h/.c: parameter protocol (read/write/set_power)

Retained old frame format as *_legacy functions for backward
compatibility with existing telemetry tool and tests.

Add cel_serial_find_elrs_port() and cel_serial_open_probe()
stubs to serial module for port auto-detection and baud probing.
This commit is contained in:
portersky
2026-06-14 20:47:56 +02:00
parent c42ec407da
commit df3d399610
16 changed files with 919 additions and 156 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tests/test_crsf.c
+42 -38
View File
@@ -5,7 +5,7 @@
void setUp(void) {}
void tearDown(void) {}
/* CRC tests */
/* CRC tests — CRC8/DVB-S2 (poly 0xD5) */
void test_crc_empty(void) {
uint8_t data[1] = {0};
TEST_ASSERT_EQUAL_UINT8(0x00, cel_crsf_crc(data, 0));
@@ -18,45 +18,47 @@ void test_crc_single_byte(void) {
}
void test_crc_known_value(void) {
/* CRSF heartbeat frame data (dest+src+type+size+payload):
* {0x10, 0x80, 0x03, 0x02, 0x80, 0x01}
* Known CRC for this sequence */
/* Verify CRC is deterministic */
uint8_t data[6] = {0x10, 0x80, 0x03, 0x02, 0x80, 0x01};
uint8_t crc = cel_crsf_crc(data, 6);
TEST_ASSERT_TRUE(crc != 0);
/* Verify idempotency */
uint8_t crc2 = cel_crsf_crc(data, 6);
TEST_ASSERT_EQUAL_UINT8(crc, crc2);
}
/* Frame parse tests */
void test_parse_invalid_header(void) {
cel_crsf_frame frame;
/* 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(&frame, buf, 8));
TEST_ASSERT_EQUAL_INT(-1, cel_crsf_frame_parse_legacy(&frame, buf, 8));
}
void test_parse_too_short(void) {
cel_crsf_frame frame;
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(&frame, buf, 2));
TEST_ASSERT_EQUAL_INT(-1, cel_crsf_frame_parse_legacy(&frame, buf, 2));
}
void test_parse_null_frame(void) {
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(NULL, buf, 8));
TEST_ASSERT_EQUAL_INT(-1, cel_crsf_frame_parse_legacy(NULL, buf, 8));
}
void test_parse_null_buf(void) {
cel_crsf_frame frame;
TEST_ASSERT_EQUAL_INT(-1, cel_crsf_frame_parse(&frame, NULL, 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 */
void test_build_heartbeat(void) {
/* 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(dst, 0x00, 0x80, 0x03, payload, 2);
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]);
@@ -68,14 +70,15 @@ void test_build_heartbeat(void) {
TEST_ASSERT_EQUAL_UINT8(0x01, dst[6]); /* payload[1] */
}
void test_build_roundtrip(void) {
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(dst, 0x10, 0x80, 0x01, payload, 4);
size_t len = cel_crsf_frame_build_legacy(dst, 0x10, 0x80, 0x01,
payload, 4);
/* Parse the built frame back */
cel_crsf_frame frame;
TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse(&frame, dst, len));
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);
@@ -84,18 +87,19 @@ void test_build_roundtrip(void) {
TEST_ASSERT_EQUAL_UINT8(0xDD, frame.payload[3]);
}
void test_build_null_dst(void) {
void test_build_legacy_null_dst(void) {
uint8_t payload[2] = {0x01, 0x02};
TEST_ASSERT_EQUAL_UINT(0, cel_crsf_frame_build(NULL, 0x00, 0x80, 0x03, payload, 2));
TEST_ASSERT_EQUAL_UINT(0, cel_crsf_frame_build_legacy(NULL, 0x00, 0x80,
0x03, payload, 2));
}
void test_build_null_payload(void) {
void test_build_legacy_null_payload(void) {
uint8_t dst[256];
size_t len = cel_crsf_frame_build(dst, 0x10, 0x80, 0x03, NULL, 0);
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 frame;
TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse(&frame, dst, len));
cel_crsf_frame_legacy frame;
TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse_legacy(&frame, dst, len));
}
int main(void) {
@@ -103,13 +107,13 @@ int main(void) {
RUN_TEST(test_crc_empty);
RUN_TEST(test_crc_single_byte);
RUN_TEST(test_crc_known_value);
RUN_TEST(test_parse_invalid_header);
RUN_TEST(test_parse_too_short);
RUN_TEST(test_parse_null_frame);
RUN_TEST(test_parse_null_buf);
RUN_TEST(test_build_heartbeat);
RUN_TEST(test_build_roundtrip);
RUN_TEST(test_build_null_dst);
RUN_TEST(test_build_null_payload);
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);
return UNITY_END();
}