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edgetx-gx12/radio/src/tests/crossfire.cpp
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/*
* Copyright (C) EdgeTX
*
* Based on code named
* opentx - https://github.com/opentx/opentx
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*/
#include "gtest/gtest.h"
#include "gtests.h"
#include "telemetry/telemetry.h"
#if defined(CROSSFIRE)
uint8_t createCrossfireChannelsFrame(uint8_t moduleIdx, uint8_t * frame, int16_t * pulses);
TEST(Crossfire, createCrossfireChannelsFrame)
{
int16_t pulsesStart[MAX_TRAINER_CHANNELS];
uint8_t crossfire[CROSSFIRE_FRAME_MAXLEN];
memset(crossfire, 0, sizeof(crossfire));
for (int i=0; i<MAX_TRAINER_CHANNELS; i++) {
pulsesStart[i] = -1024 + (2048 / MAX_TRAINER_CHANNELS) * i;
}
createCrossfireChannelsFrame(EXTERNAL_MODULE, crossfire, pulsesStart);
// TODO check
}
TEST(Crossfire, crc8)
{
uint8_t frame[] = { 0x00, 0x0C, 0x14, 0x00, 0x00, 0x00, 0x00, 0xFF, 0x01, 0x03, 0x00, 0x00, 0x00, 0xF4 };
uint8_t crc = crc8(&frame[2], frame[1]-1);
ASSERT_EQ(frame[frame[1]+1], crc);
}
#if defined(HARDWARE_EXTERNAL_MODULE)
#include "pulses/crossfire.h"
struct crsf_frame_test {
void* ctx = nullptr;
uint8_t buffer[TELEMETRY_RX_PACKET_SIZE];
uint8_t len = 0;
crsf_frame_test()
{
ctx = CrossfireDriver.init(EXTERNAL_MODULE);
if (!luaInputTelemetryFifo) {
luaInputTelemetryFifo =
new Fifo<uint8_t, LUA_TELEMETRY_INPUT_FIFO_SIZE>();
assert(luaInputTelemetryFifo != nullptr);
} else {
luaInputTelemetryFifo->clear();
}
}
template<unsigned Len>
void process(uint8_t (&frame)[Len]) {
CrossfireDriver.processFrame(ctx, frame, Len, buffer, &len);
}
~crsf_frame_test()
{
if (ctx != nullptr) {
CrossfireDriver.deinit(ctx);
}
}
};
static uint8_t incomplete_frame[] = {
// first frame
0xEA, 0x14, 0xFF, 0x11, 0xFD, 0x05, 0x00, 0x00, 0x13, 0x01, 0x01,
0x2A, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x5D, 0x98, 0xB4,
// second frame
0xEA, 0x21, 0xFF, 0x1E, 0xFD, 0x12, 0x00, 0x00, 0x14, 0x01, 0x01,
0x4A, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x8F, 0xC2, 0x35, 0x3F, 0xFD, 0xC7, 0xD1, 0x3C, 0x4C, 0x01, 0x92,
0x3F, 0x31,
// incomplete third frame
0xEA, 0x1F, 0xFF, 0x1C, 0xFD, 0x10, 0x00,
};
static uint8_t cont_frame[] = {
0x00, 0x15, 0x01, 0x01, 0x24, 0x00, 0x00, 0x35, 0x7D, 0xF2, 0x40,
0xE8, 0x03, 0xE8, 0x03, 0xDC, 0x05, 0xDC, 0x05, 0xE1, 0x05, 0xE1,
0x05, 0x2A, 0xFE, 0x5F,
//next trailing packet start
0xEA, 0x0A, 0x0B
};
TEST(Crossfire, frameParser_incompleteFrames)
{
crsf_frame_test ft;
if (!ft.ctx) return;
ft.process(incomplete_frame);
EXPECT_EQ(ft.len, 7);
EXPECT_EQ(ft.buffer[0], 0xEA);
EXPECT_EQ(ft.buffer[1], 0x1F);
ft.process(cont_frame);
EXPECT_EQ(ft.len, 3);
EXPECT_EQ(ft.buffer[0], 0xEA);
EXPECT_EQ(ft.buffer[1], 0x0A);
uint8_t* lua_buffer = luaInputTelemetryFifo->buffer();
EXPECT_EQ(luaInputTelemetryFifo->size(), 0x14 + 0x21 + 0x1F);
unsigned offset = 0;
EXPECT_EQ(lua_buffer[offset], 0x14);
offset += 0x14;
EXPECT_EQ(lua_buffer[offset], 0x21);
offset += 0x21;
EXPECT_EQ(lua_buffer[offset], 0x1F);
EXPECT_EQ(lua_buffer[offset + 0x1F - 1], 0xFE);
}
static uint8_t length_error[] = {
0x2A, 0xFE, 0x5F, 0x00,
};
static uint8_t length_error2[] = {
// first frame
0xEA, 0x09, 0xFF, 0x11, 0xFD, 0x05, 0x00, 0x00, 0x13, 0x01, 0x8C,
// 2nd incomplete frame
0xEA, 0xFE, 0x5F, 0x00,
};
static uint8_t length_error3[] = {
// first frame
0xEA, 0x09, 0xFF, 0x11, 0xFD, 0x05, 0x00, 0x00, 0x13, 0x01, 0x8C,
// invalid: invalid frame start
0x2A, 0x09, 0x5F, 0x00,
// 2nd valid frame
0xEA, 0x09, 0xFF, 0x11, 0xFD, 0x05, 0x00, 0x00, 0x13, 0x01, 0x8C,
};
TEST(Crossfire, frameParser_length)
{
crsf_frame_test ft;
if (!ft.ctx) return;
uint8_t* lua_buffer = luaInputTelemetryFifo->buffer();
// Check that a frame that is too big is rejected even if incomplete
ft.process(length_error);
EXPECT_EQ(ft.len, 0);
// Check that a frame that is too big is rejected if positioned
// after a complete frame
ft.process(length_error2);
EXPECT_EQ(ft.len, 0);
// the first complete frame should have been processed
EXPECT_EQ(luaInputTelemetryFifo->size(), 0x09);
ft.process(length_error3);
EXPECT_EQ(ft.len, 0);
// only the first frame has been processed, as the rest
// of the input buffer is thrown away due to length error
EXPECT_EQ(luaInputTelemetryFifo->size(), 0x09 + 0x09 + 0x09);
// check all 3 frames
unsigned offset = 0;
for (int i = 0; i < 3; i++) {
EXPECT_EQ(lua_buffer[offset], 0x09);
EXPECT_EQ(lua_buffer[offset + 0x09 - 1], 0x01);
offset += 0x09;
}
}
static uint8_t invalid_frames[] = {
// first frame
0xEA, 0x14, 0xFF, 0x11, 0xFD, 0x05, 0x00, 0x00, 0x13, 0x01, 0x01,
0x2A, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x5D, 0x98, 0xB4,
// random bytes
0x00, 0x35, 0xA4,
// second frame
0xEA, 0x21, 0xFF, 0x1E, 0xFD, 0x12, 0x00, 0x00, 0x14, 0x01, 0x01,
0x4A, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x8F, 0xC2, 0x35, 0x3F, 0xFD, 0xC7, 0xD1, 0x3C, 0x4C, 0x01, 0x92,
0x3F, 0x31,
// invalid CRC frame
0xEA, 0x02, 0x00, 0x01,
// third frame
0xEA, 0x1F, 0xFF, 0x1C, 0xFD, 0x10, 0x00,0x00, 0x15, 0x01, 0x01, 0x24, 0x00, 0x00, 0x35, 0x7D, 0xF2, 0x40,
0xE8, 0x03, 0xE8, 0x03, 0xDC, 0x05, 0xDC, 0x05, 0xE1, 0x05, 0xE1,
0x05, 0x2A, 0xFE, 0x5F,
};
TEST(Crossfire, frameParser_badFrames)
{
//check if frameParser correctly skips bad frames (too long, bad CRC) and does't lose following packets
crsf_frame_test ft;
if (!ft.ctx) return;
ft.process(invalid_frames);
EXPECT_EQ(ft.len,0);
uint8_t* lua_buffer = luaInputTelemetryFifo->buffer();
EXPECT_EQ(luaInputTelemetryFifo->size(), 0x14 + 0x21 + 0x1F);
unsigned offset = 0;
EXPECT_EQ(lua_buffer[offset], 0x14);
offset += 0x14;
EXPECT_EQ(lua_buffer[offset], 0x21);
offset += 0x21;
EXPECT_EQ(lua_buffer[offset], 0x1F);
EXPECT_EQ(lua_buffer[offset + 0x1F - 1], 0xFE);
}
static uint8_t jumboFrame1[]={
0xEA, 0x3E, 0xFE, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFB
};
static uint8_t jumboFrame2[]={ //jumbo frame 2
0x8D, 0xEA, 0x3D, 0xFE, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xF0, 0x57
};
TEST(Crossfire, frameParser_multipleJumboFrames)
{
crsf_frame_test ft;
if (!ft.ctx) return;
ft.process(jumboFrame1);
EXPECT_EQ(ft.len, 63);
EXPECT_EQ(ft.buffer[0], 0xEA);
EXPECT_EQ(ft.buffer[1], 0x3E);
ft.process(jumboFrame2);
EXPECT_EQ(ft.len,0);
uint8_t* lua_buffer = luaInputTelemetryFifo->buffer();
EXPECT_EQ(luaInputTelemetryFifo->size(), 62 + 61);
unsigned offset = 0;
EXPECT_EQ(lua_buffer[offset], 0x3E);
EXPECT_EQ(lua_buffer[offset + 0x3E - 1], 0xFB);
EXPECT_EQ(lua_buffer[offset], 0x3E);
offset += 0x3E;
EXPECT_EQ(lua_buffer[offset], 0x3D);
EXPECT_EQ(lua_buffer[offset + 0x3D - 1], 0xF0);
}
#endif // HARDWARE_EXTERNAL_MODULE
#endif
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