Large code re-organization which separates some key tasks in the rx

code.

Tested with X8R in SBus and PWM, and Spek Sat, GR-24 PPM, PWM and SUMD,
Spek PPM

src/main/drivers/pwm_rx.c

@@ -227,6 +227,17 @@ static void ppmEdgeCallback(timerCCHandlerRec_t* cbRec, captureCompare_t capture
 
 #define MAX_MISSED_PWM_EVENTS 10
 
+bool isPWMDataBeingReceived(void)
+{
+    int channel;
+    for (channel = 0; channel < PWM_PORTS_OR_PPM_CAPTURE_COUNT; channel++) {
+        if (captures[channel] != PPM_RCVR_TIMEOUT) {
+            return true;
+        }
+    }
+    return false;
+}
+
 static void pwmOverflowCallback(timerOvrHandlerRec_t* cbRec, captureCompare_t capture)
 {
     UNUSED(capture);
@@ -346,8 +357,6 @@ uint16_t ppmRead(uint8_t channel)
 
 uint16_t pwmRead(uint8_t channel)
 {
-    uint16_t capture = captures[channel];
+    return captures[channel];
-    captures[channel] = PPM_RCVR_TIMEOUT;
-    return capture;
 }
 

src/main/drivers/pwm_rx.h

@@ -36,3 +36,5 @@ bool isPPMDataBeingReceived(void);
 void resetPPMDataReceivedState(void);
 
 void pwmRxInit(inputFilteringMode_e initialInputFilteringMode);
+
+bool isPWMDataBeingReceived(void);

src/main/io/display.c

@@ -206,7 +206,13 @@ void updateTicker(void)
 void updateRxStatus(void)
 {
     i2c_OLED_set_xy(SCREEN_CHARACTER_COLUMN_COUNT - 2, 0);
-    i2c_OLED_send_char(rxIsReceivingSignal() ? 'R' : '!');
+    char rxStatus = '!';
+    if (rxIsReceivingSignal()) {
+        rxStatus = 'r';
+    } if (rxAreFlightChannelsValid()) {
+        rxStatus = 'R';
+    }
+    i2c_OLED_send_char(rxStatus);
 }
 
 void updateFailsafeStatus(void)

src/main/rx/rx.c

@@ -67,11 +67,12 @@ uint16_t rssi = 0;                  // range: [0;1023]
 
 static bool rxDataReceived = false;
 static bool rxSignalReceived = false;
-static bool shouldCheckPulse = true;
+static bool rxFlightChannelsValid = false;
 
 static uint32_t rxUpdateAt = 0;
 static uint32_t needRxSignalBefore = 0;
 
+int16_t rcRaw[MAX_SUPPORTED_RC_CHANNEL_COUNT];     // interval [1000;2000]
 int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];     // interval [1000;2000]
 
 #define PPM_AND_PWM_SAMPLE_COUNT 4
@@ -79,11 +80,18 @@ int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];     // interval [1000;2000]
 #define DELAY_50_HZ (1000000 / 50)
 #define DELAY_10_HZ (1000000 / 10)
 
-static rcReadRawDataPtr rcReadRawFunc = NULL;  // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers)
-
 rxRuntimeConfig_t rxRuntimeConfig;
 static rxConfig_t *rxConfig;
 
+static uint16_t nullReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t channel) {
+    UNUSED(rxRuntimeConfig);
+    UNUSED(channel);
+
+    return PPM_RCVR_TIMEOUT;
+}
+
+static rcReadRawDataPtr rcReadRawFunc = nullReadRawRC;
+
 void serialRxInit(rxConfig_t *rxConfig);
 
 void useRxConfig(rxConfig_t *rxConfigToUse)
@@ -104,13 +112,16 @@ STATIC_UNIT_TESTED bool rxHaveValidFlightChannels(void)
     return (validFlightChannelMask == REQUIRED_CHANNEL_MASK);
 }
 
-// pulse duration is in micro seconds (usec)
+STATIC_UNIT_TESTED bool isPulseValid(uint16_t pulseDuration)
-STATIC_UNIT_TESTED void rxUpdateFlightChannelStatus(uint8_t channel, uint16_t pulseDuration)
 {
-    if (channel < NON_AUX_CHANNEL_COUNT &&
+    return  pulseDuration >= rxConfig->rx_min_usec &&
-        (pulseDuration < rxConfig->rx_min_usec ||
+            pulseDuration <= rxConfig->rx_max_usec;
-        pulseDuration > rxConfig->rx_max_usec)
+}
-    ) {
+
+// pulse duration is in micro seconds (usec)
+STATIC_UNIT_TESTED void rxUpdateFlightChannelStatus(uint8_t channel, bool valid)
+{
+    if (channel < NON_AUX_CHANNEL_COUNT && !valid) {
         // if signal is invalid - mark channel as BAD
         validFlightChannelMask &= ~(1 << channel);
     }
@@ -182,7 +193,7 @@ void serialRxInit(rxConfig_t *rxConfig)
 
     if (!enabled) {
         featureClear(FEATURE_RX_SERIAL);
-        rcReadRawFunc = NULL;
+        rcReadRawFunc = nullReadRawRC;
     }
 }
 
@@ -228,24 +239,37 @@ bool rxIsReceivingSignal(void)
     return rxSignalReceived;
 }
 
+bool rxAreFlightChannelsValid(void)
+{
+    return rxFlightChannelsValid;
+}
 static bool isRxDataDriven(void) {
     return !(feature(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM));
 }
 
+static void resetRxSignalReceivedFlagIfNeeded(uint32_t currentTime)
+{
+    if (!rxSignalReceived) {
+        return;
+    }
+
+    if (((int32_t)(currentTime - needRxSignalBefore) >= 0)) {
+        rxSignalReceived = false;
+#ifdef DEBUG_RX_SIGNAL_LOSS
+        debug[0]++;
+#endif
+    }
+}
+
 void updateRx(uint32_t currentTime)
 {
-    rxDataReceived = false;
+    resetRxSignalReceivedFlagIfNeeded(currentTime);
-    shouldCheckPulse = true;
 
-    if (rxSignalReceived) {
+    if (isRxDataDriven()) {
-        if (((int32_t)(currentTime - needRxSignalBefore) >= 0)) {
+        rxDataReceived = false;
-            rxSignalReceived = false;
-#ifdef DEBUG_RX_SIGNAL_LOSS
-            debug[0]++;
-#endif
-        }
     }
 
+
 #ifdef SERIAL_RX
     if (feature(FEATURE_RX_SERIAL)) {
         uint8_t frameStatus = serialRxFrameStatus(rxConfig);
@@ -253,29 +277,15 @@ void updateRx(uint32_t currentTime)
         if (frameStatus & SERIAL_RX_FRAME_COMPLETE) {
             rxDataReceived = true;
             rxSignalReceived = (frameStatus & SERIAL_RX_FRAME_FAILSAFE) == 0;
-            if (rxSignalReceived && feature(FEATURE_FAILSAFE)) {
-                shouldCheckPulse = false;
-
-                failsafeOnValidDataReceived();
-            }
-        } else {
-            shouldCheckPulse = false;
         }
     }
 #endif
 
     if (feature(FEATURE_RX_MSP)) {
         rxDataReceived = rxMspFrameComplete();
-        if (rxDataReceived) {
-
-            if (feature(FEATURE_FAILSAFE)) {
-                failsafeOnValidDataReceived();
-            }
-        }
     }
 
-    if ((feature(FEATURE_RX_SERIAL | FEATURE_RX_MSP) && rxDataReceived)
+    if (feature(FEATURE_RX_SERIAL | FEATURE_RX_MSP) && rxDataReceived) {
-          || feature(FEATURE_RX_PARALLEL_PWM)) {
         needRxSignalBefore = currentTime + DELAY_10_HZ;
     }
 
@@ -285,8 +295,15 @@ void updateRx(uint32_t currentTime)
             needRxSignalBefore = currentTime + DELAY_10_HZ;
             resetPPMDataReceivedState();
         }
-        shouldCheckPulse = rxSignalReceived;
     }
+
+    if (feature(FEATURE_RX_PARALLEL_PWM)) {
+        if (isPWMDataBeingReceived()) {
+            rxSignalReceived = true;
+            needRxSignalBefore = currentTime + DELAY_10_HZ;
+        }
+    }
+
 }
 
 bool shouldProcessRx(uint32_t currentTime)
@@ -364,23 +381,12 @@ STATIC_UNIT_TESTED uint16_t applyRxChannelRangeConfiguraton(int sample, rxChanne
     return sample;
 }
 
-void processRxChannels(void)
+static void readRxChannelsApplyRanges(void)
 {
     uint8_t channel;
 
-    if (feature(FEATURE_RX_MSP)) {
-        return; // rcData will have already been updated by MSP_SET_RAW_RC
-    }
-
-    rxResetFlightChannelStatus();
-
     for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
 
-        if (!rcReadRawFunc) {
-            rcData[channel] = getRxfailValue(channel);
-            continue;
-        }
-
         uint8_t rawChannel = calculateChannelRemapping(rxConfig->rcmap, REMAPPABLE_CHANNEL_COUNT, channel);
 
         // sample the channel
@@ -391,18 +397,40 @@ void processRxChannels(void)
             sample = applyRxChannelRangeConfiguraton(sample, rxConfig->channelRanges[channel]);
         }
 
-        rxUpdateFlightChannelStatus(channel, sample);
+        rcRaw[channel] = sample;
+    }
+}
 
-        if (!rxHaveValidFlightChannels()) {
+static void processNonDataDrivenRx(void)
-            // abort on first indication of control channel failure to prevent aux channel changes
+{
-            // caused by rx's where aux channels are set to goto a predefined value on failsafe.
+    rcSampleIndex++;
-            break;
+}
+
+static void detectAndApplySignalLossBehaviour(void)
+{
+    int channel;
+
+    rxResetFlightChannelStatus();
+
+    for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
+        uint16_t sample = rcRaw[channel];
+
+        if (!rxSignalReceived) {
+            if (isRxDataDriven() && rxDataReceived) {
+                // use the values from the RX
+            } else {
+                sample = PPM_RCVR_TIMEOUT;
+            }
         }
 
-        if (sample < rxConfig->rx_min_usec || sample > rxConfig->rx_max_usec || !rxSignalReceived) {
+        bool validPulse = isPulseValid(sample);
+
+        if (!validPulse) {
             sample = getRxfailValue(channel);
         }
 
+        rxUpdateFlightChannelStatus(channel, validPulse);
+
         if (isRxDataDriven()) {
             rcData[channel] = sample;
         } else {
@@ -410,36 +438,18 @@ void processRxChannels(void)
         }
     }
 
-    if (rxHaveValidFlightChannels()) {
+    rxFlightChannelsValid = rxHaveValidFlightChannels();
-        if (shouldCheckPulse) {
+
-            failsafeOnValidDataReceived();
+    if (rxFlightChannelsValid) {
-            rxSignalReceived = true;
+        failsafeOnValidDataReceived();
-        }
     } else {
-        if (feature(FEATURE_RX_PARALLEL_PWM)) {
+        rxSignalReceived = false;
-            rxSignalReceived = false;
-        }
 
         for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
-            if (isRxDataDriven()) {
+            rcData[channel] = getRxfailValue(channel);
-                rcData[channel] = getRxfailValue(channel);
-            } else {
-                rcData[channel] = calculateNonDataDrivenChannel(channel, getRxfailValue(channel));
-            }
         }
     }
-}
 
-static void processDataDrivenRx(void)
-{
-    processRxChannels();
-}
-
-static void processNonDataDrivenRx(void)
-{
-    rcSampleIndex++;
-
-    processRxChannels();
 }
 
 void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime)
@@ -448,11 +458,17 @@ void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime)
 
     failsafeOnRxCycleStarted();
 
-    if (isRxDataDriven()) {
+    if (!feature(FEATURE_RX_MSP)) {
-        processDataDrivenRx();
+        // rcData will have already been updated by MSP_SET_RAW_RC
-    } else {
+
-        processNonDataDrivenRx();
+        if (!isRxDataDriven()) {
+            processNonDataDrivenRx();
+        }
     }
+
+    readRxChannelsApplyRanges();
+    detectAndApplySignalLossBehaviour();
+
 }
 
 void parseRcChannels(const char *input, rxConfig_t *rxConfig)

src/main/rx/rx.h

@@ -129,6 +129,7 @@ typedef uint16_t (*rcReadRawDataPtr)(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t
 
 void updateRx(uint32_t currentTime);
 bool rxIsReceivingSignal(void);
+bool rxAreFlightChannelsValid(void);
 bool shouldProcessRx(uint32_t currentTime);
 void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime);
 

src/main/rx/spektrum.c

@@ -20,6 +20,7 @@
 #include <stdlib.h>
 
 #include "platform.h"
+#include "debug.h"
 
 #include "drivers/gpio.h"
 #include "drivers/system.h"
@@ -101,8 +102,10 @@ static void spektrumDataReceive(uint16_t c)
     spekTime = micros();
     spekTimeInterval = spekTime - spekTimeLast;
     spekTimeLast = spekTime;
-    if (spekTimeInterval > 5000)
+    if (spekTimeInterval > 5000) {
         spekFramePosition = 0;
+    }
+
     spekFrame[spekFramePosition] = (uint8_t)c;
     if (spekFramePosition == SPEK_FRAME_SIZE - 1) {
         rcFrameComplete = true;

src/test/unit/rx_ranges_unittest.cc

@@ -162,6 +162,11 @@ bool isPPMDataBeingReceived(void)
     return false;
 }
 
+bool isPWMDataBeingReceived(void)
+{
+    return false;
+}
+
 void resetPPMDataReceivedState(void)
 {
 }

src/test/unit/rx_rx_unittest.cc

@@ -28,6 +28,7 @@ extern "C" {
     void rxInit(rxConfig_t *rxConfig);
     void rxResetFlightChannelStatus(void);
     bool rxHaveValidFlightChannels(void);
+    bool isPulseValid(uint16_t pulseDuration);
     void rxUpdateFlightChannelStatus(uint8_t channel, uint16_t pulseDuration);
 }
 
@@ -36,6 +37,7 @@ extern "C" {
 
 typedef struct testData_s {
     bool isPPMDataBeingReceived;
+    bool isPWMDataBeingReceived;
 } testData_t;
 
 static testData_t testData;
@@ -58,7 +60,8 @@ TEST(RxTest, TestValidFlightChannels)
     rxResetFlightChannelStatus();
 
     for (uint8_t channelIndex = 0; channelIndex < MAX_SUPPORTED_RC_CHANNEL_COUNT; channelIndex++) {
-        rxUpdateFlightChannelStatus(channelIndex, 1500);
+        bool validPulse = isPulseValid(1500);
+        rxUpdateFlightChannelStatus(channelIndex, validPulse);
     }
 
     // then
@@ -98,7 +101,8 @@ TEST(RxTest, TestInvalidFlightChannels)
 
         // when
         for (uint8_t channelIndex = 0; channelIndex < MAX_SUPPORTED_RC_CHANNEL_COUNT; channelIndex++) {
-            rxUpdateFlightChannelStatus(channelIndex, channelPulses[channelIndex]);
+            bool validPulse = isPulseValid(channelPulses[channelIndex]);
+            rxUpdateFlightChannelStatus(channelIndex, validPulse);
         }
 
         // then
@@ -114,7 +118,8 @@ TEST(RxTest, TestInvalidFlightChannels)
 
         // when
         for (uint8_t channelIndex = 0; channelIndex < MAX_SUPPORTED_RC_CHANNEL_COUNT; channelIndex++) {
-            rxUpdateFlightChannelStatus(channelIndex, channelPulses[channelIndex]);
+            bool validPulse = isPulseValid(channelPulses[channelIndex]);
+            rxUpdateFlightChannelStatus(channelIndex, validPulse);
         }
 
         // then
@@ -138,6 +143,10 @@ extern "C" {
         return testData.isPPMDataBeingReceived;
     }
 
+    bool isPWMDataBeingReceived(void) {
+        return testData.isPWMDataBeingReceived;
+    }
+
     void resetPPMDataReceivedState(void) {}
 
     bool rxMspFrameComplete(void) { return false; }