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Fixed up CRSF CRC checking. Fixed telemetry port mask

This commit is contained in:
Martin Budden 2016-11-15 12:32:58 +00:00
parent de694386ba
commit c987f268b7
4 changed files with 34 additions and 9 deletions
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11
src/main/rx/crsf.c
View File

@ -90,7 +90,7 @@ typedef struct crsfPayloadRcChannelsPacked_s crsfPayloadRcChannelsPacked_t;
// Receive ISR callback, called back from serial port
static void crsfDataReceive(uint16_t c)
STATIC_UNIT_TESTED void crsfDataReceive(uint16_t c)
{
static uint8_t crsfFramePosition = 0;
static uint32_t crsfFrameStartAt = 0;
@ -98,7 +98,7 @@ static void crsfDataReceive(uint16_t c)
const int32_t crsfFrameTime = now - crsfFrameStartAt;
#ifdef DEBUG_CRSF_PACKETS
debug[2] = crsfFrameTime;
debug[2] = crsfFrameTime;
#endif
if (crsfFrameTime > (long)(CRSF_TIME_NEEDED_PER_FRAME_US + 500)) {
@ -109,11 +109,12 @@ static void crsfDataReceive(uint16_t c)
crsfFrameStartAt = now;
}
// assume frame is 5 bytes long until we have received the frame length
const int frameLength = crsfFramePosition < 3 ? 5 : crsfFrame.frame.frameLength;
// full frame length includes the length of the address and framelength fields
const int fullFrameLength = crsfFramePosition < 3 ? 5 : crsfFrame.frame.frameLength + CRSF_FRAME_LENGTH_ADDRESS + CRSF_FRAME_LENGTH_FRAMELENGTH;
if (crsfFramePosition < frameLength) {
if (crsfFramePosition < fullFrameLength) {
crsfFrame.bytes[crsfFramePosition++] = (uint8_t)c;
crsfFrameDone = crsfFramePosition < frameLength ? false : true;
crsfFrameDone = crsfFramePosition < fullFrameLength ? false : true;
}
}

2
src/main/rx/crsf.h
View File

@ -37,6 +37,8 @@ enum {
CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10,
CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = 22, // 11 bits per channel * 16 channels = 22 bytes.
CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6,
CRSF_FRAME_LENGTH_ADDRESS = 1, // length of ADDRESS field
CRSF_FRAME_LENGTH_FRAMELENGTH = 1, // length of FRAMELENGTH field
CRSF_FRAME_LENGTH_TYPE = 1, // length of TYPE field
CRSF_FRAME_LENGTH_CRC = 1, // length of CRC field
CRSF_FRAME_LENGTH_TYPE_CRC = 2 // length of TYPE and CRC fields combined

3
src/main/telemetry/telemetry.h
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@ -59,5 +59,4 @@ bool telemetryDetermineEnabledState(portSharing_e portSharing);
void telemetryUseConfig(telemetryConfig_t *telemetryConfig);
#define TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_LTM)
#define TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_CRSF)

27
src/test/unit/rx_crsf_unittest.cc
View File

@ -34,6 +34,7 @@ extern "C" {
#include "rx/rx.h"
#include "rx/crsf.h"
void crsfDataReceive(uint16_t c);
uint8_t crsfFrameCRC(void);
uint8_t crsfFrameStatus(void);
uint16_t crsfReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan);
@ -41,6 +42,8 @@ extern "C" {
extern bool crsfFrameDone;
extern crsfFrame_t crsfFrame;
extern uint32_t crsfChannelData[CRSF_MAX_CHANNEL];
uint32_t dummyTimeUs;
}
#include "unittest_macros.h"
@ -209,7 +212,7 @@ TEST(CrossFireTest, TestCapturedData)
const crsfRcChannelsFrame_t *framePtr = (const crsfRcChannelsFrame_t*)capturedData;
crsfFrame = *(const crsfFrame_t*)framePtr;
crsfFrameDone = true;
uint8_t status = crsfFrameStatus();
uint8_t status = crsfFrameStatus();
EXPECT_EQ(RX_FRAME_COMPLETE, status);
EXPECT_EQ(false, crsfFrameDone);
EXPECT_EQ(RX_FRAME_COMPLETE, status);
@ -246,12 +249,32 @@ TEST(CrossFireTest, TestCapturedData)
crc = crsfFrameCRC();
EXPECT_EQ(crc, crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE]);
}
TEST(CrossFireTest, TestcrsfDataReceive)
{
crsfFrameDone = false;
const uint8_t *pData = capturedData;
for (unsigned int ii = 0; ii < sizeof(crsfRcChannelsFrame_t); ++ii) {
crsfDataReceive(*pData++);
}
EXPECT_EQ(true, crsfFrameDone);
EXPECT_EQ(CRSF_ADDRESS_BROADCAST, crsfFrame.frame.deviceAddress);
EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength);
EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type);
uint8_t crc = crsfFrameCRC();
for (int ii = 0; ii < CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE; ++ii) {
EXPECT_EQ(capturedData[ii + 3], crsfFrame.frame.payload[ii]);
}
EXPECT_EQ(crc, crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE]);
}
// STUBS
extern "C" {
int16_t debug[DEBUG16_VALUE_COUNT];
uint32_t micros(void) {return 0;}
uint32_t micros(void) {return dummyTimeUs;}
serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, uint32_t, portMode_t, portOptions_t)
{
return NULL;