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Added unit tests, moved more functions to OTA.cpp
Added unit tests for sequential switches, and moved the corresponding functions to OTA.cpp so that we can test them. Signed-off-by: JBKingdon <[email protected]>
1 parent e73f3d2 commit 562e7e7

6 files changed

Lines changed: 350 additions & 150 deletions

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‎src/lib/OTA/OTA.cpp‎

Lines changed: 136 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -4,11 +4,11 @@
44

55
#include "OTA.h"
66

7-
#ifdef HYBRID_SWITCHES_8
7+
#if defined HYBRID_SWITCHES_8 or defined UNIT_TEST
88

99
/**
10-
* Hybrid switches packet
11-
* Replaces Generate4ChannelData_11bit
10+
* Hybrid switches packet encoding for sending over the air
11+
*
1212
* Analog channels are reduced to 10 bits to allow for switch encoding
1313
* Switch[0] is sent on every packet.
1414
* A 3 bit switch index and 2 bit value is used to send the remaining switches
@@ -48,4 +48,136 @@ void ICACHE_RAM_ATTR GenerateChannelDataHybridSwitch8(SX127xDriver *Radio, CRSF
4848
// update the sent value
4949
crsf->setSentSwitch(i, value);
5050
}
51-
#endif
51+
52+
/**
53+
* Hybrid switches decoding of over the air data
54+
*
55+
* Hybrid switches uses 10 bits for each analog channel,
56+
* 2 bits for the low latency switch[0]
57+
* 3 bits for the round-robin switch index and 2 bits for the value
58+
*
59+
* Input: Radio->RXdataBuffer
60+
* Output: crsf->PackedRCdataOut
61+
*/
62+
void ICACHE_RAM_ATTR UnpackChannelDataHybridSwitches8(SX127xDriver *Radio, CRSF *crsf)
63+
{
64+
// The analog channels
65+
crsf->PackedRCdataOut.ch0 = (Radio->RXdataBuffer[1] << 3) + ((Radio->RXdataBuffer[5] & 0b11000000) >> 5);
66+
crsf->PackedRCdataOut.ch1 = (Radio->RXdataBuffer[2] << 3) + ((Radio->RXdataBuffer[5] & 0b00110000) >> 3);
67+
crsf->PackedRCdataOut.ch2 = (Radio->RXdataBuffer[3] << 3) + ((Radio->RXdataBuffer[5] & 0b00001100) >> 1);
68+
crsf->PackedRCdataOut.ch3 = (Radio->RXdataBuffer[4] << 3) + ((Radio->RXdataBuffer[5] & 0b00000011) << 1);
69+
70+
// The low latency switch
71+
crsf->PackedRCdataOut.ch4 = SWITCH2b_to_CRSF((Radio->RXdataBuffer[6] & 0b01100000) >> 5);
72+
73+
// The round-robin switch
74+
uint8_t switchIndex = (Radio->RXdataBuffer[6] & 0b11100) >> 2;
75+
uint16_t switchValue = SWITCH2b_to_CRSF(Radio->RXdataBuffer[6] & 0b11);
76+
77+
switch (switchIndex) {
78+
case 0: // we should never get index 0 here since that is the low latency switch
79+
Serial.println("BAD switchIndex 0");
80+
break;
81+
case 1:
82+
crsf->PackedRCdataOut.ch5 = switchValue;
83+
break;
84+
case 2:
85+
crsf->PackedRCdataOut.ch6 = switchValue;
86+
break;
87+
case 3:
88+
crsf->PackedRCdataOut.ch7 = switchValue;
89+
break;
90+
case 4:
91+
crsf->PackedRCdataOut.ch8 = switchValue;
92+
break;
93+
case 5:
94+
crsf->PackedRCdataOut.ch9 = switchValue;
95+
break;
96+
case 6:
97+
crsf->PackedRCdataOut.ch10 = switchValue;
98+
break;
99+
case 7:
100+
crsf->PackedRCdataOut.ch11 = switchValue;
101+
break;
102+
}
103+
}
104+
105+
#endif // HYBRID_SWITCHES_8
106+
107+
#if defined SEQ_SWITCHES or defined UNIT_TEST
108+
109+
/**
110+
* Sequential switches packet encoding
111+
*
112+
* Channel 3 is reduced to 10 bits to allow a 3 bit switch index and 2 bit value
113+
* We cycle through 8 switches on successive packets. If any switches have changed
114+
* we take the lowest indexed one and send that, hence lower indexed switches have
115+
* higher priority in the event that several are changed at once.
116+
*/
117+
void ICACHE_RAM_ATTR GenerateChannelDataSeqSwitch(SX127xDriver *Radio, CRSF *crsf, uint8_t addr)
118+
{
119+
uint8_t PacketHeaderAddr;
120+
PacketHeaderAddr = (addr << 2) + RC_DATA_PACKET;
121+
Radio->TXdataBuffer[0] = PacketHeaderAddr;
122+
Radio->TXdataBuffer[1] = ((crsf->ChannelDataIn[0]) >> 3);
123+
Radio->TXdataBuffer[2] = ((crsf->ChannelDataIn[1]) >> 3);
124+
Radio->TXdataBuffer[3] = ((crsf->ChannelDataIn[2]) >> 3);
125+
Radio->TXdataBuffer[4] = ((crsf->ChannelDataIn[3]) >> 3);
126+
Radio->TXdataBuffer[5] = ((crsf->ChannelDataIn[0] & 0b00000111) << 5) + ((crsf->ChannelDataIn[1] & 0b111) << 2) + ((crsf->ChannelDataIn[2] & 0b110) >> 1);
127+
Radio->TXdataBuffer[6] = ((crsf->ChannelDataIn[2] & 0b001) << 7) + ((crsf->ChannelDataIn[3] & 0b110) << 4);
128+
129+
// find the next switch to send
130+
uint8_t i = crsf->getNextSwitchIndex() & 0b111; // mask for paranoia
131+
uint8_t value = crsf->currentSwitches[i] & 0b11; // mask for paranoia
132+
133+
// put the bits into buf[6]
134+
Radio->TXdataBuffer[6] += (i << 2) + value;
135+
136+
// update the sent value
137+
crsf->setSentSwitch(i, value);
138+
}
139+
140+
141+
/**
142+
* Sequential switches decoding of over the air packet
143+
*
144+
* Seq switches uses 10 bits for ch3, 3 bits for the switch index and 2 bits for the switch value
145+
*/
146+
void ICACHE_RAM_ATTR UnpackChannelDataSeqSwitches(SX127xDriver *Radio, CRSF *crsf)
147+
{
148+
crsf->PackedRCdataOut.ch0 = (Radio->RXdataBuffer[1] << 3) + ((Radio->RXdataBuffer[5] & 0b11100000) >> 5);
149+
crsf->PackedRCdataOut.ch1 = (Radio->RXdataBuffer[2] << 3) + ((Radio->RXdataBuffer[5] & 0b00011100) >> 2);
150+
crsf->PackedRCdataOut.ch2 = (Radio->RXdataBuffer[3] << 3) + ((Radio->RXdataBuffer[5] & 0b00000011) << 1) + (Radio->RXdataBuffer[6] & 0b10000000 >> 7);
151+
crsf->PackedRCdataOut.ch3 = (Radio->RXdataBuffer[4] << 3) + ((Radio->RXdataBuffer[6] & 0b01100000) >> 4);
152+
153+
uint8_t switchIndex = (Radio->RXdataBuffer[6] & 0b11100) >> 2;
154+
uint16_t switchValue = SWITCH2b_to_CRSF(Radio->RXdataBuffer[6] & 0b11);
155+
156+
switch (switchIndex) {
157+
case 0:
158+
crsf->PackedRCdataOut.ch4 = switchValue;
159+
break;
160+
case 1:
161+
crsf->PackedRCdataOut.ch5 = switchValue;
162+
break;
163+
case 2:
164+
crsf->PackedRCdataOut.ch6 = switchValue;
165+
break;
166+
case 3:
167+
crsf->PackedRCdataOut.ch7 = switchValue;
168+
break;
169+
case 4:
170+
crsf->PackedRCdataOut.ch8 = switchValue;
171+
break;
172+
case 5:
173+
crsf->PackedRCdataOut.ch9 = switchValue;
174+
break;
175+
case 6:
176+
crsf->PackedRCdataOut.ch10 = switchValue;
177+
break;
178+
case 7:
179+
crsf->PackedRCdataOut.ch11 = switchValue;
180+
break;
181+
}
182+
}
183+
#endif // SEQ_SWITCHES

‎src/lib/OTA/OTA.h‎

Lines changed: 14 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -14,8 +14,19 @@
1414
#define TLM_PACKET 0b11
1515
#define SYNC_PACKET 0b10
1616

17-
#ifdef HYBRID_SWITCHES_8
17+
#if defined HYBRID_SWITCHES_8 or defined UNIT_TEST
18+
1819
void GenerateChannelDataHybridSwitch8(SX127xDriver *Radio, CRSF *crsf, uint8_t addr);
19-
#endif
20+
void UnpackChannelDataHybridSwitches8(SX127xDriver *Radio, CRSF *crsf);
21+
22+
#endif // HYBRID_SWITCHES_8
23+
24+
#if defined SEQ_SWITCHES or defined UNIT_TEST
25+
26+
void ICACHE_RAM_ATTR GenerateChannelDataSeqSwitch(SX127xDriver *Radio, CRSF *crsf, uint8_t addr);
27+
void UnpackChannelDataSeqSwitches(SX127xDriver *Radio, CRSF *crsf);
28+
29+
#endif // SEQ_SWITCHES
30+
2031

21-
#endif
32+
#endif // H_OTA

‎src/src/rx_main.cpp‎

Lines changed: 6 additions & 97 deletions
Original file line numberDiff line numberDiff line change
@@ -238,98 +238,7 @@ void ICACHE_RAM_ATTR UnpackChannelData_11bit()
238238
#endif
239239
}
240240

241-
#ifdef SEQ_SWITCHES
242-
/**
243-
* Seq switches uses 10 bits for ch3, 3 bits for the switch index and 2 bits for the switch value
244-
*/
245-
void ICACHE_RAM_ATTR UnpackChannelDataSeqSwitches()
246-
{
247-
crsf.PackedRCdataOut.ch0 = (Radio.RXdataBuffer[1] << 3) + ((Radio.RXdataBuffer[5] & 0b11100000) >> 5);
248-
crsf.PackedRCdataOut.ch1 = (Radio.RXdataBuffer[2] << 3) + ((Radio.RXdataBuffer[5] & 0b00011100) >> 2);
249-
crsf.PackedRCdataOut.ch2 = (Radio.RXdataBuffer[3] << 3) + ((Radio.RXdataBuffer[5] & 0b00000011) << 1) + (Radio.RXdataBuffer[6] & 0b10000000 >> 7);
250-
crsf.PackedRCdataOut.ch3 = (Radio.RXdataBuffer[4] << 3) + ((Radio.RXdataBuffer[6] & 0b01100000) >> 4);
251-
252-
uint8_t switchIndex = (Radio.RXdataBuffer[6] & 0b11100) >> 2;
253-
uint16_t switchValue = SWITCH2b_to_CRSF(Radio.RXdataBuffer[6] & 0b11);
254-
255-
switch (switchIndex) {
256-
case 0:
257-
crsf.PackedRCdataOut.ch4 = switchValue;
258-
break;
259-
case 1:
260-
crsf.PackedRCdataOut.ch5 = switchValue;
261-
break;
262-
case 2:
263-
crsf.PackedRCdataOut.ch6 = switchValue;
264-
break;
265-
case 3:
266-
crsf.PackedRCdataOut.ch7 = switchValue;
267-
break;
268-
case 4:
269-
crsf.PackedRCdataOut.ch8 = switchValue;
270-
break;
271-
case 5:
272-
crsf.PackedRCdataOut.ch9 = switchValue;
273-
break;
274-
case 6:
275-
crsf.PackedRCdataOut.ch10 = switchValue;
276-
break;
277-
case 7:
278-
crsf.PackedRCdataOut.ch11 = switchValue;
279-
break;
280-
}
281-
}
282-
#endif
283241

284-
#ifdef HYBRID_SWITCHES_8
285-
/**
286-
* Hybrid switches uses 10 bits for each analog channel,
287-
* 2 bits for the low latency switch[0]
288-
* 3 bits for the round-robin switch index and 2 bits for the value
289-
*/
290-
void ICACHE_RAM_ATTR UnpackChannelDataHybridSwitches8()
291-
{
292-
// The analog channels
293-
crsf.PackedRCdataOut.ch0 = (Radio.RXdataBuffer[1] << 3) + ((Radio.RXdataBuffer[5] & 0b11000000) >> 5);
294-
crsf.PackedRCdataOut.ch1 = (Radio.RXdataBuffer[2] << 3) + ((Radio.RXdataBuffer[5] & 0b00110000) >> 3);
295-
crsf.PackedRCdataOut.ch2 = (Radio.RXdataBuffer[3] << 3) + ((Radio.RXdataBuffer[5] & 0b00001100) >> 1);
296-
crsf.PackedRCdataOut.ch3 = (Radio.RXdataBuffer[4] << 3) + ((Radio.RXdataBuffer[5] & 0b00000011) << 1);
297-
298-
// The low latency switch
299-
crsf.PackedRCdataOut.ch4 = SWITCH2b_to_CRSF((Radio.RXdataBuffer[6] & 0b01100000) >> 5);
300-
301-
// The round-robin switch
302-
uint8_t switchIndex = (Radio.RXdataBuffer[6] & 0b11100) >> 2;
303-
uint16_t switchValue = SWITCH2b_to_CRSF(Radio.RXdataBuffer[6] & 0b11);
304-
305-
switch (switchIndex) {
306-
case 0: // we should never get index 0 here since that is the low latency switch
307-
Serial.println("BAD switchIndex 0");
308-
break;
309-
case 1:
310-
crsf.PackedRCdataOut.ch5 = switchValue;
311-
break;
312-
case 2:
313-
crsf.PackedRCdataOut.ch6 = switchValue;
314-
break;
315-
case 3:
316-
crsf.PackedRCdataOut.ch7 = switchValue;
317-
break;
318-
case 4:
319-
crsf.PackedRCdataOut.ch8 = switchValue;
320-
break;
321-
case 5:
322-
crsf.PackedRCdataOut.ch9 = switchValue;
323-
break;
324-
case 6:
325-
crsf.PackedRCdataOut.ch10 = switchValue;
326-
break;
327-
case 7:
328-
crsf.PackedRCdataOut.ch11 = switchValue;
329-
break;
330-
}
331-
}
332-
#endif
333242

334243

335244
void ICACHE_RAM_ATTR UnpackChannelData_10bit()
@@ -376,13 +285,13 @@ void ICACHE_RAM_ATTR ProcessRFPacket()
376285
switch (type)
377286
{
378287
case RC_DATA_PACKET: //Standard RC Data Packet
379-
#if defined SEQ_SWITCHES
380-
UnpackChannelDataSeqSwitches();
381-
#elif defined HYBRID_SWITCHES_8
382-
UnpackChannelDataHybridSwitches8();
383-
#else
288+
#if defined SEQ_SWITCHES
289+
UnpackChannelDataSeqSwitches(&Radio, &crsf);
290+
#elif defined HYBRID_SWITCHES_8
291+
UnpackChannelDataHybridSwitches8(&Radio, &crsf);
292+
#else
384293
UnpackChannelData_11bit();
385-
#endif
294+
#endif
386295
crsf.sendRCFrameToFC();
387296
break;
388297

‎src/src/tx_main.cpp‎

Lines changed: 5 additions & 39 deletions
Original file line numberDiff line numberDiff line change
@@ -209,40 +209,6 @@ void ICACHE_RAM_ATTR Generate4ChannelData_11bit()
209209
#endif
210210
}
211211

212-
#ifdef SEQ_SWITCHES
213-
/**
214-
* Sequential switches packet
215-
* Replaces Generate4ChannelData_11bit
216-
* Channel 3 is reduced to 10 bits to allow a 3 bit switch index and 2 bit value
217-
* We cycle through 8 switches on successive packets. If any switches have changed
218-
* we take the lowest indexed one and send that, hence lower indexed switches have
219-
* higher priority in the event that several are changed at once.
220-
*/
221-
void ICACHE_RAM_ATTR GenerateChannelDataSeqSwitch()
222-
{
223-
uint8_t PacketHeaderAddr;
224-
PacketHeaderAddr = (DeviceAddr << 2) + RC_DATA_PACKET;
225-
Radio.TXdataBuffer[0] = PacketHeaderAddr;
226-
Radio.TXdataBuffer[1] = ((crsf.ChannelDataIn[0]) >> 3);
227-
Radio.TXdataBuffer[2] = ((crsf.ChannelDataIn[1]) >> 3);
228-
Radio.TXdataBuffer[3] = ((crsf.ChannelDataIn[2]) >> 3);
229-
Radio.TXdataBuffer[4] = ((crsf.ChannelDataIn[3]) >> 3);
230-
Radio.TXdataBuffer[5] = ((crsf.ChannelDataIn[0] & 0b00000111) << 5) + ((crsf.ChannelDataIn[1] & 0b111) << 2) + ((crsf.ChannelDataIn[2] & 0b110) >> 1);
231-
Radio.TXdataBuffer[6] = ((crsf.ChannelDataIn[2] & 0b001) << 7) + ((crsf.ChannelDataIn[3] & 0b110) << 4);
232-
233-
// find the next switch to send
234-
uint8_t i = crsf.getNextSwitchIndex() & 0b111; // mask for paranoia
235-
uint8_t value = crsf.currentSwitches[i] & 0b11; // mask for paranoia
236-
237-
// put the bits into buf[6]
238-
Radio.TXdataBuffer[6] += (i << 2) + value;
239-
240-
// update the sent value
241-
crsf.setSentSwitch(i, value);
242-
}
243-
#endif
244-
245-
246212
void ICACHE_RAM_ATTR GenerateSwitchChannelData()
247213
{
248214
uint8_t PacketHeaderAddr;
@@ -377,11 +343,11 @@ void ICACHE_RAM_ATTR SendRCdataToRF()
377343
}
378344
else
379345
{
380-
#if defined HYBRID_SWITCHES_8
346+
#if defined HYBRID_SWITCHES_8
381347
GenerateChannelDataHybridSwitch8(&Radio, &crsf, DeviceAddr);
382-
#elif defined SEQ_SWITCHES
383-
GenerateChannelDataSeqSwitch();
384-
#else
348+
#elif defined SEQ_SWITCHES
349+
GenerateChannelDataSeqSwitch(&Radio, &crsf, DeviceAddr);
350+
#else
385351
if ((millis() > (SWITCH_PACKET_SEND_INTERVAL + SwitchPacketLastSent)) || Channels5to8Changed)
386352
{
387353
Channels5to8Changed = false;
@@ -392,7 +358,7 @@ void ICACHE_RAM_ATTR SendRCdataToRF()
392358
{
393359
Generate4ChannelData_11bit();
394360
}
395-
#endif
361+
#endif
396362
}
397363

398364
///// Next, Calculate the CRC and put it into the buffer /////

‎src/test/test_main.cpp‎

Lines changed: 3 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,7 @@
22
#include <unity.h>
33
#include "mock_serial.h"
44
#include "msp_tests.h"
5+
#include "test_switches.h"
56

67
void setup() {
78
// NOTE!!! Wait for >2 secs
@@ -12,6 +13,8 @@ void setup() {
1213

1314
RUN_TEST(test_msp_receive);
1415
RUN_TEST(test_msp_send);
16+
17+
setup_switches();
1518
}
1619

1720
void loop() {

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