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Code Issues Wiki Activity

Renamed the existing RC smoothing related functionality.

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This commit is contained in:
mikeller 2020-02-23 12:12:58 +13:00
parent c29b125a59
commit 53318e5e4d
10 changed files with 26 additions and 26 deletions
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2
src/main/fc/tasks.c
View file

@ -167,7 +167,7 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
} }
timeDelta_t rxFrameDeltaUs; timeDelta_t rxFrameDeltaUs;
if (!rxGetFrameDelta(&rxFrameDeltaUs)) { if (!rxTryGetFrameDelta(&rxFrameDeltaUs)) {
rxFrameDeltaUs = cmpTimeUs(currentTimeUs, lastRxTimeUs); // calculate a delta here if not supplied by the protocol rxFrameDeltaUs = cmpTimeUs(currentTimeUs, lastRxTimeUs); // calculate a delta here if not supplied by the protocol
} }
lastRxTimeUs = currentTimeUs; lastRxTimeUs = currentTimeUs;

4
src/main/rx/crsf.c
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@ -369,7 +369,7 @@ void crsfRxSendTelemetryData(void)
} }
} }
static timeUs_t crsfFrameTimeUs(void) static timeUs_t crsfFrameTimeUsOrZeroFn(void)
{ {
const timeUs_t result = lastRcFrameTimeUs; const timeUs_t result = lastRcFrameTimeUs;
lastRcFrameTimeUs = 0; lastRcFrameTimeUs = 0;
@ -387,7 +387,7 @@ bool crsfRxInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
rxRuntimeState->rcReadRawFn = crsfReadRawRC; rxRuntimeState->rcReadRawFn = crsfReadRawRC;
rxRuntimeState->rcFrameStatusFn = crsfFrameStatus; rxRuntimeState->rcFrameStatusFn = crsfFrameStatus;
rxRuntimeState->rcFrameTimeUsFn = crsfFrameTimeUs; rxRuntimeState->rcFrameTimeUsOrZeroFn = crsfFrameTimeUsOrZeroFn;
const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
if (!portConfig) { if (!portConfig) {

4
src/main/rx/ibus.c
View file

@ -206,7 +206,7 @@ static uint16_t ibusReadRawRC(const rxRuntimeState_t *rxRuntimeState, uint8_t ch
return ibusChannelData[chan]; return ibusChannelData[chan];
} }
static timeUs_t ibusFrameTimeUs(void) static timeUs_t ibusFrameTimeUsOrZeroFn(void)
{ {
const timeUs_t result = lastRcFrameTimeUs; const timeUs_t result = lastRcFrameTimeUs;
lastRcFrameTimeUs = 0; lastRcFrameTimeUs = 0;
@ -223,7 +223,7 @@ bool ibusInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
rxRuntimeState->rcReadRawFn = ibusReadRawRC; rxRuntimeState->rcReadRawFn = ibusReadRawRC;
rxRuntimeState->rcFrameStatusFn = ibusFrameStatus; rxRuntimeState->rcFrameStatusFn = ibusFrameStatus;
rxRuntimeState->rcFrameTimeUsFn = ibusFrameTimeUs; rxRuntimeState->rcFrameTimeUsOrZeroFn = ibusFrameTimeUsOrZeroFn;
const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
if (!portConfig) { if (!portConfig) {

4
src/main/rx/jetiexbus.c
View file

@ -247,7 +247,7 @@ static uint16_t jetiExBusReadRawRC(const rxRuntimeState_t *rxRuntimeState, uint8
return (jetiExBusChannelData[chan]); return (jetiExBusChannelData[chan]);
} }
static timeUs_t jetiExBusFrameTimeUs(void) static timeUs_t jetiExBusFrameTimeUsOrZeroFn(void)
{ {
const timeUs_t result = lastRcFrameTimeUs; const timeUs_t result = lastRcFrameTimeUs;
lastRcFrameTimeUs = 0; lastRcFrameTimeUs = 0;
@ -263,7 +263,7 @@ bool jetiExBusInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
rxRuntimeState->rcReadRawFn = jetiExBusReadRawRC; rxRuntimeState->rcReadRawFn = jetiExBusReadRawRC;
rxRuntimeState->rcFrameStatusFn = jetiExBusFrameStatus; rxRuntimeState->rcFrameStatusFn = jetiExBusFrameStatus;
rxRuntimeState->rcFrameTimeUsFn = jetiExBusFrameTimeUs; rxRuntimeState->rcFrameTimeUsOrZeroFn = jetiExBusFrameTimeUsOrZeroFn;
jetiExBusFrameReset(); jetiExBusFrameReset();

16
src/main/rx/rx.c
View file

@ -873,20 +873,20 @@ bool isRssiConfigured(void)
return rssiSource != RSSI_SOURCE_NONE; return rssiSource != RSSI_SOURCE_NONE;
} }
bool rxGetFrameDelta(timeDelta_t *deltaUs) bool rxTryGetFrameDelta(timeDelta_t *deltaUs)
{ {
static timeUs_t previousFrameTimeUs = 0; static timeUs_t previousFrameTimeUsOrZero = 0;
bool result = false; bool result = false;
*deltaUs = 0; *deltaUs = 0;
if (rxRuntimeState.rcFrameTimeUsFn) { if (rxRuntimeState.rcFrameTimeUsOrZeroFn) {
const timeUs_t frameTimeUs = rxRuntimeState.rcFrameTimeUsFn(); const timeUs_t frameTimeUsOrZero = rxRuntimeState.rcFrameTimeUsOrZeroFn();
if (frameTimeUs) { if (frameTimeUsOrZero) {
if (previousFrameTimeUs) { if (previousFrameTimeUsOrZero) {
*deltaUs = cmpTimeUs(frameTimeUs, previousFrameTimeUs); *deltaUs = cmpTimeUs(frameTimeUsOrZero, previousFrameTimeUsOrZero);
result = true; result = true;
} }
previousFrameTimeUs = frameTimeUs; previousFrameTimeUsOrZero = frameTimeUsOrZero;
} }
} }
return result; // No frame delta function available for protocol type or frames have stopped return result; // No frame delta function available for protocol type or frames have stopped

6
src/main/rx/rx.h
View file

@ -125,7 +125,7 @@ struct rxRuntimeState_s;
typedef uint16_t (*rcReadRawDataFnPtr)(const struct rxRuntimeState_s *rxRuntimeState, uint8_t chan); // used by receiver driver to return channel data typedef uint16_t (*rcReadRawDataFnPtr)(const struct rxRuntimeState_s *rxRuntimeState, uint8_t chan); // used by receiver driver to return channel data
typedef uint8_t (*rcFrameStatusFnPtr)(struct rxRuntimeState_s *rxRuntimeState); typedef uint8_t (*rcFrameStatusFnPtr)(struct rxRuntimeState_s *rxRuntimeState);
typedef bool (*rcProcessFrameFnPtr)(const struct rxRuntimeState_s *rxRuntimeState); typedef bool (*rcProcessFrameFnPtr)(const struct rxRuntimeState_s *rxRuntimeState);
typedef timeUs_t (*rcGetFrameTimeUsFnPtr)(void); // used to retrieve the timestamp in microseconds for the last channel data frame typedef timeUs_t (*rcGetFrameTimeUsOrZeroFnPtr)(void); // used to retrieve the timestamp in microseconds for the last channel data frame, or 0, depending on suitablilty of the value for RC smoothing
typedef enum { typedef enum {
RX_PROVIDER_NONE = 0, RX_PROVIDER_NONE = 0,
@ -144,7 +144,7 @@ typedef struct rxRuntimeState_s {
rcReadRawDataFnPtr rcReadRawFn; rcReadRawDataFnPtr rcReadRawFn;
rcFrameStatusFnPtr rcFrameStatusFn; rcFrameStatusFnPtr rcFrameStatusFn;
rcProcessFrameFnPtr rcProcessFrameFn; rcProcessFrameFnPtr rcProcessFrameFn;
rcGetFrameTimeUsFnPtr rcFrameTimeUsFn; rcGetFrameTimeUsOrZeroFnPtr rcFrameTimeUsOrZeroFn;
uint16_t *channelData; uint16_t *channelData;
void *frameData; void *frameData;
} rxRuntimeState_t; } rxRuntimeState_t;
@ -210,4 +210,4 @@ void resumeRxPwmPpmSignal(void);
uint16_t rxGetRefreshRate(void); uint16_t rxGetRefreshRate(void);
bool rxGetFrameDelta(timeDelta_t *deltaUs); bool rxTryGetFrameDelta(timeDelta_t *deltaUs);

4
src/main/rx/sbus.c
View file

@ -160,7 +160,7 @@ static uint8_t sbusFrameStatus(rxRuntimeState_t *rxRuntimeState)
return frameStatus; return frameStatus;
} }
static timeUs_t sbusFrameTimeUs(void) static timeUs_t sbusFrameTimeUsOrZeroFn(void)
{ {
const timeUs_t result = lastRcFrameTimeUs; const timeUs_t result = lastRcFrameTimeUs;
lastRcFrameTimeUs = 0; lastRcFrameTimeUs = 0;
@ -188,7 +188,7 @@ bool sbusInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
} }
rxRuntimeState->rcFrameStatusFn = sbusFrameStatus; rxRuntimeState->rcFrameStatusFn = sbusFrameStatus;
rxRuntimeState->rcFrameTimeUsFn = sbusFrameTimeUs; rxRuntimeState->rcFrameTimeUsOrZeroFn = sbusFrameTimeUsOrZeroFn;
const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
if (!portConfig) { if (!portConfig) {

4
src/main/rx/spektrum.c
View file

@ -343,7 +343,7 @@ void srxlRxWriteTelemetryData(const void *data, int len)
} }
#endif #endif
static timeUs_t spektrumFrameTimeUs(void) static timeUs_t spektrumFrameTimeUsOrZeroFn(void)
{ {
const timeUs_t result = lastRcFrameTimeUs; const timeUs_t result = lastRcFrameTimeUs;
lastRcFrameTimeUs = 0; lastRcFrameTimeUs = 0;
@ -397,7 +397,7 @@ bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
rxRuntimeState->rcReadRawFn = spektrumReadRawRC; rxRuntimeState->rcReadRawFn = spektrumReadRawRC;
rxRuntimeState->rcFrameStatusFn = spektrumFrameStatus; rxRuntimeState->rcFrameStatusFn = spektrumFrameStatus;
rxRuntimeState->rcFrameTimeUsFn = spektrumFrameTimeUs; rxRuntimeState->rcFrameTimeUsOrZeroFn = spektrumFrameTimeUsOrZeroFn;
#if defined(USE_TELEMETRY_SRXL) #if defined(USE_TELEMETRY_SRXL)
rxRuntimeState->rcProcessFrameFn = spektrumProcessFrame; rxRuntimeState->rcProcessFrameFn = spektrumProcessFrame;
#endif #endif

4
src/main/rx/srxl2.c
View file

@ -480,7 +480,7 @@ void srxl2RxWriteData(const void *data, int len)
writeBufferIdx = len; writeBufferIdx = len;
} }
static timeUs_t srxl2FrameTimeUs(void) static timeUs_t srxl2FrameTimeUsOrZeroFn(void)
{ {
const timeUs_t result = lastRcFrameTimeUs; const timeUs_t result = lastRcFrameTimeUs;
lastRcFrameTimeUs = 0; lastRcFrameTimeUs = 0;
@ -503,7 +503,7 @@ bool srxl2RxInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
rxRuntimeState->rcReadRawFn = srxl2ReadRawRC; rxRuntimeState->rcReadRawFn = srxl2ReadRawRC;
rxRuntimeState->rcFrameStatusFn = srxl2FrameStatus; rxRuntimeState->rcFrameStatusFn = srxl2FrameStatus;
rxRuntimeState->rcFrameTimeUsFn = srxl2FrameTimeUs; rxRuntimeState->rcFrameTimeUsOrZeroFn = srxl2FrameTimeUsOrZeroFn;
rxRuntimeState->rcProcessFrameFn = srxl2ProcessFrame; rxRuntimeState->rcProcessFrameFn = srxl2ProcessFrame;
const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);

4
src/main/rx/sumd.c
View file

@ -167,7 +167,7 @@ static uint16_t sumdReadRawRC(const rxRuntimeState_t *rxRuntimeState, uint8_t ch
return sumdChannels[chan] / 8; return sumdChannels[chan] / 8;
} }
static timeUs_t sumdFrameTimeUs(void) static timeUs_t sumdFrameTimeUsOrZeroFn(void)
{ {
const timeUs_t result = lastRcFrameTimeUs; const timeUs_t result = lastRcFrameTimeUs;
lastRcFrameTimeUs = 0; lastRcFrameTimeUs = 0;
@ -183,7 +183,7 @@ bool sumdInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
rxRuntimeState->rcReadRawFn = sumdReadRawRC; rxRuntimeState->rcReadRawFn = sumdReadRawRC;
rxRuntimeState->rcFrameStatusFn = sumdFrameStatus; rxRuntimeState->rcFrameStatusFn = sumdFrameStatus;
rxRuntimeState->rcFrameTimeUsFn = sumdFrameTimeUs; rxRuntimeState->rcFrameTimeUsOrZeroFn = sumdFrameTimeUsOrZeroFn;
const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL); const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
if (!portConfig) { if (!portConfig) {