src/test/unit/rx_crsf_unittest.cc

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdint.h>
  19 #include <stdbool.h>
  20
  21 #include <limits.h>
  22 #include <algorithm>
  23
  24 extern "C" {
  25     #include <platform.h>
  26
  27     #include "build/debug.h"
  28
  29     #include "pg/pg.h"
  30     #include "pg/pg_ids.h"
  31     #include "pg/rx.h"
  32
  33     #include "common/crc.h"
  34     #include "common/utils.h"
  35
  36     #include "drivers/serial.h"
  37     #include "io/serial.h"
  38
  39     #include "rx/rx.h"
  40     #include "rx/crsf.h"
  41
  42     #include "telemetry/msp_shared.h"
  43
  44     rssiSource_e rssiSource;
  45
  46     void crsfDataReceive(uint16_t c);
  47     uint8_t crsfFrameCRC(void);
  48     uint8_t crsfFrameStatus(void);
  49     uint16_t crsfReadRawRC(const rxRuntimeState_t *rxRuntimeState, uint8_t chan);
  50
  51     extern bool crsfFrameDone;
  52     extern crsfFrame_t crsfFrame;
  53     extern crsfFrame_t crsfChannelDataFrame;
  54     extern uint32_t crsfChannelData[CRSF_MAX_CHANNEL];
  55
  56     uint32_t dummyTimeUs;
  57
  58     PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
  59 }
  60
  61 #include "unittest_macros.h"
  62 #include "gtest/gtest.h"
  63
  64 // CRC8 implementation with polynom = x^8+x^7+x^6+x^4+x^2+1 (0xD5)
  65 const unsigned char crc8tab[256] = {
  66     0x00, 0xD5, 0x7F, 0xAA, 0xFE, 0x2B, 0x81, 0x54, 0x29, 0xFC, 0x56, 0x83, 0xD7, 0x02, 0xA8, 0x7D,
  67     0x52, 0x87, 0x2D, 0xF8, 0xAC, 0x79, 0xD3, 0x06, 0x7B, 0xAE, 0x04, 0xD1, 0x85, 0x50, 0xFA, 0x2F,
  68     0xA4, 0x71, 0xDB, 0x0E, 0x5A, 0x8F, 0x25, 0xF0, 0x8D, 0x58, 0xF2, 0x27, 0x73, 0xA6, 0x0C, 0xD9,
  69     0xF6, 0x23, 0x89, 0x5C, 0x08, 0xDD, 0x77, 0xA2, 0xDF, 0x0A, 0xA0, 0x75, 0x21, 0xF4, 0x5E, 0x8B,
  70     0x9D, 0x48, 0xE2, 0x37, 0x63, 0xB6, 0x1C, 0xC9, 0xB4, 0x61, 0xCB, 0x1E, 0x4A, 0x9F, 0x35, 0xE0,
  71     0xCF, 0x1A, 0xB0, 0x65, 0x31, 0xE4, 0x4E, 0x9B, 0xE6, 0x33, 0x99, 0x4C, 0x18, 0xCD, 0x67, 0xB2,
  72     0x39, 0xEC, 0x46, 0x93, 0xC7, 0x12, 0xB8, 0x6D, 0x10, 0xC5, 0x6F, 0xBA, 0xEE, 0x3B, 0x91, 0x44,
  73     0x6B, 0xBE, 0x14, 0xC1, 0x95, 0x40, 0xEA, 0x3F, 0x42, 0x97, 0x3D, 0xE8, 0xBC, 0x69, 0xC3, 0x16,
  74     0xEF, 0x3A, 0x90, 0x45, 0x11, 0xC4, 0x6E, 0xBB, 0xC6, 0x13, 0xB9, 0x6C, 0x38, 0xED, 0x47, 0x92,
  75     0xBD, 0x68, 0xC2, 0x17, 0x43, 0x96, 0x3C, 0xE9, 0x94, 0x41, 0xEB, 0x3E, 0x6A, 0xBF, 0x15, 0xC0,
  76     0x4B, 0x9E, 0x34, 0xE1, 0xB5, 0x60, 0xCA, 0x1F, 0x62, 0xB7, 0x1D, 0xC8, 0x9C, 0x49, 0xE3, 0x36,
  77     0x19, 0xCC, 0x66, 0xB3, 0xE7, 0x32, 0x98, 0x4D, 0x30, 0xE5, 0x4F, 0x9A, 0xCE, 0x1B, 0xB1, 0x64,
  78     0x72, 0xA7, 0x0D, 0xD8, 0x8C, 0x59, 0xF3, 0x26, 0x5B, 0x8E, 0x24, 0xF1, 0xA5, 0x70, 0xDA, 0x0F,
  79     0x20, 0xF5, 0x5F, 0x8A, 0xDE, 0x0B, 0xA1, 0x74, 0x09, 0xDC, 0x76, 0xA3, 0xF7, 0x22, 0x88, 0x5D,
  80     0xD6, 0x03, 0xA9, 0x7C, 0x28, 0xFD, 0x57, 0x82, 0xFF, 0x2A, 0x80, 0x55, 0x01, 0xD4, 0x7E, 0xAB,
  81     0x84, 0x51, 0xFB, 0x2E, 0x7A, 0xAF, 0x05, 0xD0, 0xAD, 0x78, 0xD2, 0x07, 0x53, 0x86, 0x2C, 0xF9
  82 };
  83
  84 uint8_t crc8_buf(const uint8_t * ptr, uint8_t len)
  85 {
  86     uint8_t crc = 0;
  87     for (uint8_t i=0; i<len; i++) {
  88         crc = crc8tab[crc ^ *ptr++];
  89     }
  90     return crc;
  91 }
  92
  93 uint8_t crc8_dvb_s2_buf(const uint8_t * ptr, uint8_t len)
  94 {
  95     uint8_t crc = 0;
  96     for (uint8_t i=0; i<len; i++) {
  97         crc = crc8_dvb_s2(crc, *ptr++);
  98     }
  99     return crc;
 100 }
 101
 102 TEST(CrossFireTest, CRC)
 103 {
 104     static const uint8_t buf1[] ="abcdefghijklmnopqrstuvwxyz";
 105
 106     uint8_t crc1 = 0;
 107     uint8_t crc2 = 0;
 108
 109     crc1 = crc8tab[1];
 110     crc2 = crc8_dvb_s2(0, 1);
 111     EXPECT_EQ(crc1, crc2);
 112
 113     crc1 = crc8tab[2];
 114     crc2 = crc8_dvb_s2(0, 2);
 115     EXPECT_EQ(crc1, crc2);
 116
 117     crc1 = crc8_buf(buf1, 26);
 118     crc2 = crc8_dvb_s2_buf(buf1, 26);
 119     EXPECT_EQ(crc1, crc2);
 120 }
 121
 122 TEST(CrossFireTest, TestCrsfFrameStatus)
 123 {
 124     crsfFrameDone = true;
 125     crsfFrame.frame.deviceAddress = CRSF_ADDRESS_CRSF_RECEIVER;
 126     crsfFrame.frame.frameLength = 0;
 127     crsfFrame.frame.type = CRSF_FRAMETYPE_RC_CHANNELS_PACKED;
 128     memset(crsfFrame.frame.payload, 0, CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE);
 129     const uint8_t crc = crsfFrameCRC();
 130     crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE] = crc;
 131
 132     const uint8_t status = crsfFrameStatus();
 133     EXPECT_EQ(RX_FRAME_COMPLETE, status);
 134     EXPECT_EQ(false, crsfFrameDone);
 135
 136     EXPECT_EQ(CRSF_ADDRESS_CRSF_RECEIVER, crsfFrame.frame.deviceAddress);
 137     EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type);
 138     for (int ii = 0; ii < CRSF_MAX_CHANNEL; ++ii) {
 139         EXPECT_EQ(0, crsfChannelData[ii]);
 140     }
 141 }
 142
 143 /*
 144  * Frame is of form
 145  * <Device address> <Frame length> < Type>  <Payload> < CRC>
 146  * So RC channels frame is:
 147  * <0x00> <0x18> <0x16>  <22-bytes payload> < CRC>
 148  * 26 bytes altogther.
 149  */
 150 TEST(CrossFireTest, TestCrsfFrameStatusUnpacking)
 151 {
 152     crsfFrameDone = true;
 153     crsfFrame.frame.deviceAddress = CRSF_ADDRESS_CRSF_RECEIVER;
 154     crsfFrame.frame.frameLength = CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC;;
 155     crsfFrame.frame.type = CRSF_FRAMETYPE_RC_CHANNELS_PACKED;
 156     // 16 11-bit channels packed into 22 bytes of data
 157     crsfFrame.frame.payload[0]  = 0xFF; // bits 0-7
 158     crsfFrame.frame.payload[1]  = 0xFF; // bits 8-15
 159     crsfFrame.frame.payload[2]  = 0x00; // bits 16-23
 160     crsfFrame.frame.payload[3]  = 0x00; // bits 24-31
 161     crsfFrame.frame.payload[4]  = 0x58; // bits 32-39  0101100.
 162     crsfFrame.frame.payload[5]  = 0x01; // bits 40-47  ....0001
 163     crsfFrame.frame.payload[6]  = 0x00; // bits 48-55  0.......
 164     crsfFrame.frame.payload[7]  = 0xf0; // bits 56-64  11110000
 165     crsfFrame.frame.payload[8]  = 0x01; // bits 65-71  ......01
 166     crsfFrame.frame.payload[9]  = 0x60; // bits 72-79  011.....
 167     crsfFrame.frame.payload[10] = 0xe2; // bits 80-87  11100010
 168     crsfFrame.frame.payload[11] = 0;
 169     crsfFrame.frame.payload[12] = 0;
 170     crsfFrame.frame.payload[13] = 0;
 171     crsfFrame.frame.payload[14] = 0;
 172     crsfFrame.frame.payload[15] = 0;
 173     crsfFrame.frame.payload[16] = 0;
 174     crsfFrame.frame.payload[17] = 0;
 175     crsfFrame.frame.payload[18] = 0;
 176     crsfFrame.frame.payload[19] = 0;
 177     crsfFrame.frame.payload[20] = 0;
 178     crsfFrame.frame.payload[21] = 0;
 179     const uint8_t crc = crsfFrameCRC();
 180     crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE] = crc;
 181
 182     memcpy(&crsfChannelDataFrame, &crsfFrame, sizeof(crsfFrame));
 183     const uint8_t status = crsfFrameStatus();
 184     EXPECT_EQ(RX_FRAME_COMPLETE, status);
 185     EXPECT_EQ(false, crsfFrameDone);
 186
 187     EXPECT_EQ(CRSF_ADDRESS_CRSF_RECEIVER, crsfFrame.frame.deviceAddress);
 188     EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength);
 189     EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type);
 190     EXPECT_EQ(0x7ff, crsfChannelData[0]);
 191     EXPECT_EQ(0x1f, crsfChannelData[1]);
 192     EXPECT_EQ(0, crsfChannelData[2]);
 193     EXPECT_EQ(172, crsfChannelData[3]);  //  172 = 0x0ac, 0001 0101100, bits 33-43
 194     EXPECT_EQ(0, crsfChannelData[4]);
 195     EXPECT_EQ(992, crsfChannelData[5]);  //  992 = 0x3e0, 01 1110000 0, bits 55-65
 196     EXPECT_EQ(0, crsfChannelData[6]);
 197     EXPECT_EQ(1811, crsfChannelData[7]); // 1811 = 0x713, 1110 0010 011, bits 77-87
 198     EXPECT_EQ(0, crsfChannelData[8]);
 199     EXPECT_EQ(0, crsfChannelData[9]);
 200     EXPECT_EQ(0, crsfChannelData[10]);
 201     EXPECT_EQ(0, crsfChannelData[11]);
 202     EXPECT_EQ(0, crsfChannelData[12]);
 203     EXPECT_EQ(0, crsfChannelData[13]);
 204     EXPECT_EQ(0, crsfChannelData[14]);
 205     EXPECT_EQ(0, crsfChannelData[15]);
 206 }
 207
 208 const uint8_t capturedData[] = {
 209     0x00,0x18,0x16,0xBD,0x08,0x9F,0xF4,0xAE,0xF7,0xBD,0xEF,0x7D,0xEF,0xFB,0xAD,0xFD,0x45,0x2B,0x5A,0x01,0x00,0x00,0x00,0x00,0x00,0x6C,
 210     0x00,0x18,0x16,0xBD,0x08,0x9F,0xF4,0xAA,0xF7,0xBD,0xEF,0x7D,0xEF,0xFB,0xAD,0xFD,0x45,0x2B,0x5A,0x01,0x00,0x00,0x00,0x00,0x00,0x94,
 211 };
 212
 213 typedef struct crsfRcChannelsFrame_s {
 214     uint8_t deviceAddress;
 215     uint8_t frameLength;
 216     uint8_t type;
 217     uint8_t payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_CRC];
 218 } crsfRcChannelsFrame_t;
 219
 220
 221 TEST(CrossFireTest, TestCapturedData)
 222 {
 223     //const int frameCount = sizeof(capturedData) / sizeof(crsfRcChannelsFrame_t);
 224     const crsfRcChannelsFrame_t *framePtr = (const crsfRcChannelsFrame_t*)capturedData;
 225     crsfFrame = *(const crsfFrame_t*)framePtr;
 226     crsfFrameDone = true;
 227     memcpy(&crsfChannelDataFrame, &crsfFrame, sizeof(crsfFrame));
 228     uint8_t status = crsfFrameStatus();
 229     EXPECT_EQ(RX_FRAME_COMPLETE, status);
 230     EXPECT_EQ(false, crsfFrameDone);
 231     EXPECT_EQ(RX_FRAME_COMPLETE, status);
 232     EXPECT_EQ(false, crsfFrameDone);
 233     EXPECT_EQ(CRSF_ADDRESS_BROADCAST, crsfFrame.frame.deviceAddress);
 234     EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength);
 235     EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type);
 236     EXPECT_EQ(189, crsfChannelData[0]);
 237     EXPECT_EQ(993, crsfChannelData[1]);
 238     EXPECT_EQ(978, crsfChannelData[2]);
 239     EXPECT_EQ(983, crsfChannelData[3]);
 240     uint8_t crc = crsfFrameCRC();
 241     EXPECT_EQ(crc, crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE]);
 242     EXPECT_EQ(999, crsfReadRawRC(NULL, 0));
 243     EXPECT_EQ(1501, crsfReadRawRC(NULL, 1));
 244     EXPECT_EQ(1492, crsfReadRawRC(NULL, 2));
 245     EXPECT_EQ(1495, crsfReadRawRC(NULL, 3));
 246
 247     ++framePtr;
 248     crsfFrame = *(const crsfFrame_t*)framePtr;
 249     crsfFrameDone = true;
 250     memcpy(&crsfChannelDataFrame, &crsfFrame, sizeof(crsfFrame));
 251     status = crsfFrameStatus();
 252     EXPECT_EQ(RX_FRAME_COMPLETE, status);
 253     EXPECT_EQ(false, crsfFrameDone);
 254     EXPECT_EQ(RX_FRAME_COMPLETE, status);
 255     EXPECT_EQ(false, crsfFrameDone);
 256     EXPECT_EQ(CRSF_ADDRESS_BROADCAST, crsfFrame.frame.deviceAddress);
 257     EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength);
 258     EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type);
 259     EXPECT_EQ(189, crsfChannelData[0]);
 260     EXPECT_EQ(993, crsfChannelData[1]);
 261     EXPECT_EQ(978, crsfChannelData[2]);
 262     EXPECT_EQ(981, crsfChannelData[3]);
 263     crc = crsfFrameCRC();
 264     EXPECT_EQ(crc, crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE]);
 265 }
 266
 267
 268 TEST(CrossFireTest, TestCrsfDataReceive)
 269 {
 270     crsfFrameDone = false;
 271     const uint8_t *pData = capturedData;
 272     for (unsigned int ii = 0; ii < sizeof(crsfRcChannelsFrame_t); ++ii) {
 273         crsfDataReceive(*pData++);
 274     }
 275     EXPECT_EQ(false, crsfFrameDone); // data is not a valid rc channels frame so don't expect crsfFrameDone to be true
 276     EXPECT_EQ(CRSF_ADDRESS_BROADCAST, crsfFrame.frame.deviceAddress);
 277     EXPECT_EQ(CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC, crsfFrame.frame.frameLength);
 278     EXPECT_EQ(CRSF_FRAMETYPE_RC_CHANNELS_PACKED, crsfFrame.frame.type);
 279     uint8_t crc = crsfFrameCRC();
 280     for (int ii = 0; ii < CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE; ++ii) {
 281         EXPECT_EQ(capturedData[ii + 3], crsfFrame.frame.payload[ii]);
 282     }
 283     EXPECT_EQ(crc, crsfFrame.frame.payload[CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE]);
 284 }
 285
 286 // STUBS
 287
 288 extern "C" {
 289
 290 int16_t debug[DEBUG16_VALUE_COUNT];
 291 uint32_t micros(void) {return dummyTimeUs;}
 292 serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, void *, uint32_t, portMode_e, portOptions_e) {return NULL;}
 293 serialPortConfig_t *findSerialPortConfig(serialPortFunction_e ) {return NULL;}
 294 bool telemetryCheckRxPortShared(const serialPortConfig_t *) {return false;}
 295 serialPort_t *telemetrySharedPort = NULL;
 296 void crsfScheduleDeviceInfoResponse(void) {};
 297 void crsfScheduleMspResponse(void) {};
 298 bool bufferMspFrame(uint8_t *, int) {return true;}
 299 bool isBatteryVoltageAvailable(void) { return true; }
 300 bool isAmperageAvailable(void) { return true; }
 301 }