portersky
cd7d411332
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116 lines
3.7 KiB
C
116 lines
3.7 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 */
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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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/* CRSF heartbeat frame data (dest+src+type+size+payload):
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* {0x10, 0x80, 0x03, 0x02, 0x80, 0x01}
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* Known CRC for this sequence */
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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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/* Verify idempotency */
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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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/* Frame parse tests */
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void test_parse_invalid_header(void) {
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cel_crsf_frame frame;
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uint8_t buf[8] = {0x00, 0x10, 0x80, 0x03, 0x02, 0x80, 0x01, 0x00};
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TEST_ASSERT_EQUAL_INT(-1, cel_crsf_frame_parse(&frame, buf, 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, 0x10};
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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_null_frame(void) {
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uint8_t buf[8] = {0xC8, 0x10, 0x80, 0x03, 0x02, 0x80, 0x01, 0x00};
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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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/* Frame build tests */
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void test_build_heartbeat(void) {
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uint8_t dst[256];
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uint8_t payload[2] = {0x80, 0x01};
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size_t len = cel_crsf_frame_build(dst, 0x00, 0x80, 0x03, payload, 2);
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TEST_ASSERT_GREATER_THAN(0, len);
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TEST_ASSERT_EQUAL_UINT8(CEL_CRSF_FRAME_HEADER, dst[0]);
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TEST_ASSERT_EQUAL_UINT8(0x00, dst[1]); /* destination */
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TEST_ASSERT_EQUAL_UINT8(0x80, dst[2]); /* source */
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TEST_ASSERT_EQUAL_UINT8(0x03, dst[3]); /* type: heartbeat */
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TEST_ASSERT_EQUAL_UINT8(0x02, dst[4]); /* size */
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TEST_ASSERT_EQUAL_UINT8(0x80, dst[5]); /* payload[0] */
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TEST_ASSERT_EQUAL_UINT8(0x01, dst[6]); /* payload[1] */
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}
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void test_build_roundtrip(void) {
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uint8_t dst[256];
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uint8_t payload[4] = {0xAA, 0xBB, 0xCC, 0xDD};
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size_t len = cel_crsf_frame_build(dst, 0x10, 0x80, 0x01, payload, 4);
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/* Parse the built frame back */
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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(0x10, frame.destination);
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TEST_ASSERT_EQUAL_UINT8(0x80, frame.source);
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TEST_ASSERT_EQUAL_UINT8(0x01, frame.type);
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TEST_ASSERT_EQUAL_UINT8(4, frame.size);
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TEST_ASSERT_EQUAL_UINT8(0xAA, frame.payload[0]);
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TEST_ASSERT_EQUAL_UINT8(0xDD, frame.payload[3]);
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}
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void test_build_null_dst(void) {
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uint8_t payload[2] = {0x01, 0x02};
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TEST_ASSERT_EQUAL_UINT(0, cel_crsf_frame_build(NULL, 0x00, 0x80, 0x03, payload, 2));
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}
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void test_build_null_payload(void) {
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uint8_t dst[256];
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size_t len = cel_crsf_frame_build(dst, 0x10, 0x80, 0x03, NULL, 0);
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TEST_ASSERT_GREATER_THAN(0, len);
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/* Should still have valid CRC for empty payload */
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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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}
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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_parse_invalid_header);
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RUN_TEST(test_parse_too_short);
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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_build_heartbeat);
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RUN_TEST(test_build_roundtrip);
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RUN_TEST(test_build_null_dst);
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RUN_TEST(test_build_null_payload);
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return UNITY_END();
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}
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