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Merge pull request #9565 from mikeller/switch_sbus_to_generic_frame_time

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Switched SBus to use the generic last frame time function.
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Michael Keller 2020-03-10 00:31:27 +13:00 • committed by GitHub
commit 28bd628a3b
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1 changed files with 7 additions and 9 deletions
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16
src/main/rx/sbus.c
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@ -103,7 +103,7 @@ typedef union sbusFrame_u {
typedef struct sbusFrameData_s { typedef struct sbusFrameData_s {
sbusFrame_t frame; sbusFrame_t frame;
uint32_t startAtUs; timeUs_t startAtUs;
uint8_t position; uint8_t position;
bool done; bool done;
} sbusFrameData_t; } sbusFrameData_t;
@ -135,7 +135,6 @@ static void sbusDataReceive(uint16_t c, void *data)
if (sbusFrameData->position < SBUS_FRAME_SIZE) { if (sbusFrameData->position < SBUS_FRAME_SIZE) {
sbusFrameData->done = false; sbusFrameData->done = false;
} else { } else {
lastRcFrameTimeUs = nowUs;
sbusFrameData->done = true; sbusFrameData->done = true;
DEBUG_SET(DEBUG_SBUS, DEBUG_SBUS_FRAME_TIME, sbusFrameTime); DEBUG_SET(DEBUG_SBUS, DEBUG_SBUS_FRAME_TIME, sbusFrameTime);
} }
@ -154,17 +153,16 @@ static uint8_t sbusFrameStatus(rxRuntimeState_t *rxRuntimeState)
const uint8_t frameStatus = sbusChannelsDecode(rxRuntimeState, &sbusFrameData->frame.frame.channels); const uint8_t frameStatus = sbusChannelsDecode(rxRuntimeState, &sbusFrameData->frame.frame.channels);
if (frameStatus != RX_FRAME_COMPLETE) { if (!(frameStatus & (RX_FRAME_FAILSAFE | RX_FRAME_DROPPED))) {
lastRcFrameTimeUs = 0; // We received a frame but it wasn't valid new channel data lastRcFrameTimeUs = sbusFrameData->startAtUs;
} }
return frameStatus; return frameStatus;
} }
static timeUs_t sbusFrameTimeUsOrZeroFn(void) static timeUs_t sbusFrameTimeUs(void)
{ {
const timeUs_t result = lastRcFrameTimeUs; return lastRcFrameTimeUs;
lastRcFrameTimeUs = 0;
return result;
} }
bool sbusInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState) bool sbusInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
@ -188,7 +186,7 @@ bool sbusInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
} }
rxRuntimeState->rcFrameStatusFn = sbusFrameStatus; rxRuntimeState->rcFrameStatusFn = sbusFrameStatus;
rxRuntimeState->rcFrameTimeUsOrZeroFn = sbusFrameTimeUsOrZeroFn; rxRuntimeState->rcFrameTimeUsFn = sbusFrameTimeUs;
const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
if (!portConfig) { if (!portConfig) {