portersky
f58eb0d976
cel_crsf_build_rc_frame tagged RC channel frames with 0x01, which is not a valid CRSF frame type. The TX module's CRSF parser never recognized these as channel updates, so it had no RC data to forward over RF and the receiver could never report link quality. Use CEL_CRSF_TYPE_RC_CHANNELS (0x16), the spec-correct RC Channels Packed type. Drop the bogus 0x01 enum value.
279 lines
8.7 KiB
C
279 lines
8.7 KiB
C
#include "unity.h"
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#include "celrs/crsf.h"
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#include <string.h>
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void setUp(void) {}
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void tearDown(void) {}
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/* CRC tests — CRC8/DVB-S2 (poly 0xD5) */
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void test_crc_empty(void) {
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uint8_t data[1] = {0};
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TEST_ASSERT_EQUAL_UINT8(0x00, cel_crsf_crc(data, 0));
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}
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void test_crc_single_byte(void) {
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uint8_t data[1] = {0x01};
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uint8_t crc = cel_crsf_crc(data, 1);
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TEST_ASSERT_TRUE(crc != 0); /* non-trivial */
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}
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void test_crc_known_value(void) {
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uint8_t data[6] = {0x10, 0x80, 0x03, 0x02, 0x80, 0x01};
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uint8_t crc = cel_crsf_crc(data, 6);
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TEST_ASSERT_TRUE(crc != 0);
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uint8_t crc2 = cel_crsf_crc(data, 6);
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TEST_ASSERT_EQUAL_UINT8(crc, crc2);
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}
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/* Channel helper tests */
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void test_channel_clamp_min(void) {
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TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MIN, cel_crsf_channel_clamp(0));
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}
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void test_channel_clamp_max(void) {
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TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MAX, cel_crsf_channel_clamp(2048));
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}
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void test_channel_clamp_mid(void) {
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TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MID, cel_crsf_channel_clamp(CEL_CRSF_CH_MID));
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}
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void test_channel_us_to_val_min(void) {
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TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MIN, cel_crsf_channel_us_to_val(988));
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}
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void test_channel_us_to_val_mid(void) {
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TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MID, cel_crsf_channel_us_to_val(1500));
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}
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void test_channel_us_to_val_max(void) {
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TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MAX, cel_crsf_channel_us_to_val(2012));
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}
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void test_channel_us_to_val_below_min(void) {
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TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MIN, cel_crsf_channel_us_to_val(0));
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}
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void test_channel_us_to_val_above_max(void) {
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TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MAX, cel_crsf_channel_us_to_val(65535));
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}
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void test_channel_val_to_us_min(void) {
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TEST_ASSERT_EQUAL_UINT16(988, cel_crsf_channel_val_to_us(CEL_CRSF_CH_MIN));
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}
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void test_channel_val_to_us_mid(void) {
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TEST_ASSERT_EQUAL_UINT16(1500, cel_crsf_channel_val_to_us(CEL_CRSF_CH_MID));
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}
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void test_channel_val_to_us_max(void) {
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TEST_ASSERT_EQUAL_UINT16(2012, cel_crsf_channel_val_to_us(CEL_CRSF_CH_MAX));
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}
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void test_channel_default_throttle_min(void) {
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int16_t ch[16];
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cel_crsf_channel_default(ch);
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TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MIN, ch[2]); /* throttle */
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}
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void test_channel_default_centered(void) {
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int16_t ch[16];
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cel_crsf_channel_default(ch);
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TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MID, ch[0]); /* roll */
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TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MID, ch[1]); /* pitch */
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TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MID, ch[3]); /* yaw */
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}
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void test_channel_default_aux_min(void) {
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int16_t ch[16];
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cel_crsf_channel_default(ch);
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for (int i = 4; i < 16; i++) {
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TEST_ASSERT_EQUAL_INT16(CEL_CRSF_CH_MIN, ch[i]);
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}
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}
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/* Frame parse tests — ELRS format: [addr][length][type][payload][crc] */
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/* Build a valid test frame with known CRC */
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static void build_test_frame(uint8_t* dst, uint8_t addr, uint8_t type,
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uint8_t const* payload, uint8_t payload_len) {
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uint8_t length = 1 + payload_len + 1; /* type + payload + crc */
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dst[0] = addr;
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dst[1] = length;
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dst[2] = type;
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memcpy(dst + 3, payload, payload_len);
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uint8_t crc = cel_crsf_crc(dst + 2, 1 + payload_len);
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dst[2 + length - 1] = crc;
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}
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void test_parse_valid_frame(void) {
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uint8_t buf[32];
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uint8_t payload[2] = {0x80, 0x01};
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build_test_frame(buf, 0xC8, CEL_CRSF_TYPE_HEARTBEAT, payload, 2);
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cel_crsf_frame frame;
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TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse(&frame, buf, sizeof(buf)));
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TEST_ASSERT_EQUAL_UINT8(0xC8, frame.addr);
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TEST_ASSERT_EQUAL_UINT8(CEL_CRSF_TYPE_HEARTBEAT, frame.type);
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TEST_ASSERT_EQUAL_UINT8(2, frame.payload_len);
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TEST_ASSERT_EQUAL_UINT8(0x80, frame.payload[0]);
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TEST_ASSERT_EQUAL_UINT8(0x01, frame.payload[1]);
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}
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void test_parse_null_frame(void) {
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uint8_t buf[8];
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TEST_ASSERT_EQUAL_INT(-1, cel_crsf_frame_parse(NULL, buf, 8));
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}
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void test_parse_null_buf(void) {
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cel_crsf_frame frame;
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TEST_ASSERT_EQUAL_INT(-1, cel_crsf_frame_parse(&frame, NULL, 8));
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}
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void test_parse_too_short(void) {
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cel_crsf_frame frame;
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uint8_t buf[2] = {0xC8, 0x03};
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TEST_ASSERT_EQUAL_INT(-1, cel_crsf_frame_parse(&frame, buf, 2));
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}
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void test_parse_bad_crc(void) {
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uint8_t buf[32];
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uint8_t payload[2] = {0x80, 0x01};
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build_test_frame(buf, 0xC8, CEL_CRSF_TYPE_HEARTBEAT, payload, 2);
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buf[5] ^= 0xFF; /* corrupt the CRC */
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cel_crsf_frame frame;
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TEST_ASSERT_EQUAL_INT(-1, cel_crsf_frame_parse(&frame, buf, sizeof(buf)));
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}
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void test_parse_empty_payload(void) {
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uint8_t buf[32];
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build_test_frame(buf, 0xEE, CEL_CRSF_TYPE_HEARTBEAT, NULL, 0);
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cel_crsf_frame frame;
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TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse(&frame, buf, sizeof(buf)));
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TEST_ASSERT_EQUAL_UINT8(0xEE, frame.addr);
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TEST_ASSERT_EQUAL_UINT8(CEL_CRSF_TYPE_HEARTBEAT, frame.type);
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TEST_ASSERT_EQUAL_UINT8(0, frame.payload_len);
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}
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void test_parse_module_addr(void) {
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uint8_t buf[32];
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uint8_t payload[4] = {0xAA, 0xBB, 0xCC, 0xDD};
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build_test_frame(buf, 0xEE, CEL_CRSF_TYPE_GPS, payload, 4);
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cel_crsf_frame frame;
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TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse(&frame, buf, sizeof(buf)));
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TEST_ASSERT_EQUAL_UINT8(0xEE, frame.addr);
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TEST_ASSERT_EQUAL_UINT8(CEL_CRSF_TYPE_GPS, frame.type);
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TEST_ASSERT_EQUAL_UINT8(4, frame.payload_len);
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}
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/* Frame builder tests */
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void test_build_rc_frame_null_dst(void) {
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int16_t ch[16];
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TEST_ASSERT_EQUAL_UINT(0, cel_crsf_build_rc_frame(NULL, ch));
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}
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void test_build_rc_frame_null_channels(void) {
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uint8_t dst[32];
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size_t len = cel_crsf_build_rc_frame(dst, NULL);
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TEST_ASSERT_GREATER_THAN(0, len);
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TEST_ASSERT_EQUAL_UINT8(0xC8, dst[0]);
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}
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void test_build_rc_frame_roundtrip(void) {
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int16_t ch[16];
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cel_crsf_channel_default(ch);
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ch[0] = CEL_CRSF_CH_MAX;
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uint8_t dst[32];
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size_t len = cel_crsf_build_rc_frame(dst, ch);
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cel_crsf_frame frame;
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TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse(&frame, dst, len));
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TEST_ASSERT_EQUAL_UINT8(CEL_CRSF_TYPE_RC_CHANNELS, frame.type);
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}
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void test_build_ping_frame_null_dst(void) {
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TEST_ASSERT_EQUAL_UINT(0, cel_crsf_build_ping_frame(NULL));
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}
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void test_build_ping_frame_valid(void) {
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uint8_t dst[16];
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size_t len = cel_crsf_build_ping_frame(dst);
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TEST_ASSERT_GREATER_THAN(0, len);
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TEST_ASSERT_EQUAL_UINT8(0xEE, dst[0]);
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cel_crsf_frame frame;
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TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse(&frame, dst, len));
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TEST_ASSERT_EQUAL_UINT8(CEL_CRSF_TYPE_DEVICE_PING, frame.type);
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}
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void test_build_param_read_frame_null_dst(void) {
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TEST_ASSERT_EQUAL_UINT(0, cel_crsf_build_param_read_frame(NULL, 0, 0));
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}
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void test_build_param_read_frame_valid(void) {
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uint8_t dst[16];
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size_t len = cel_crsf_build_param_read_frame(dst, 0x42, 0);
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TEST_ASSERT_GREATER_THAN(0, len);
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cel_crsf_frame frame;
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TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse(&frame, dst, len));
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TEST_ASSERT_EQUAL_UINT8(CEL_CRSF_TYPE_PARAM_READ, frame.type);
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}
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void test_build_param_write_frame_null_dst(void) {
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TEST_ASSERT_EQUAL_UINT(0, cel_crsf_build_param_write_frame(NULL, 0, 0));
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}
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void test_build_param_write_frame_valid(void) {
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uint8_t dst[16];
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size_t len = cel_crsf_build_param_write_frame(dst, 0x42, 0xFF);
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TEST_ASSERT_GREATER_THAN(0, len);
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cel_crsf_frame frame;
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TEST_ASSERT_EQUAL_INT(0, cel_crsf_frame_parse(&frame, dst, len));
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TEST_ASSERT_EQUAL_UINT8(CEL_CRSF_TYPE_PARAM_WRITE, frame.type);
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}
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int main(void) {
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UNITY_BEGIN();
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RUN_TEST(test_crc_empty);
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RUN_TEST(test_crc_single_byte);
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RUN_TEST(test_crc_known_value);
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RUN_TEST(test_channel_clamp_min);
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RUN_TEST(test_channel_clamp_max);
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RUN_TEST(test_channel_clamp_mid);
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RUN_TEST(test_channel_us_to_val_min);
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RUN_TEST(test_channel_us_to_val_mid);
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RUN_TEST(test_channel_us_to_val_max);
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RUN_TEST(test_channel_us_to_val_below_min);
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RUN_TEST(test_channel_us_to_val_above_max);
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RUN_TEST(test_channel_val_to_us_min);
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RUN_TEST(test_channel_val_to_us_mid);
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RUN_TEST(test_channel_val_to_us_max);
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RUN_TEST(test_channel_default_throttle_min);
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RUN_TEST(test_channel_default_centered);
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RUN_TEST(test_channel_default_aux_min);
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RUN_TEST(test_parse_valid_frame);
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RUN_TEST(test_parse_null_frame);
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RUN_TEST(test_parse_null_buf);
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RUN_TEST(test_parse_too_short);
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RUN_TEST(test_parse_bad_crc);
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RUN_TEST(test_parse_empty_payload);
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RUN_TEST(test_parse_module_addr);
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RUN_TEST(test_build_rc_frame_null_dst);
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RUN_TEST(test_build_rc_frame_null_channels);
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RUN_TEST(test_build_rc_frame_roundtrip);
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RUN_TEST(test_build_ping_frame_null_dst);
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RUN_TEST(test_build_ping_frame_valid);
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RUN_TEST(test_build_param_read_frame_null_dst);
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RUN_TEST(test_build_param_read_frame_valid);
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RUN_TEST(test_build_param_write_frame_null_dst);
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RUN_TEST(test_build_param_write_frame_valid);
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return UNITY_END();
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}
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