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Merge branch 'master' into betaflight

Browse source 
Conflicts:
	Makefile
	src/main/io/serial_cli.c
	src/main/main.c
	src/main/sensors/initialisation.c
	src/main/sensors/initialisation.h
This commit is contained in:
borisbstyle 2015-09-11 11:19:25 +02:00
commit 5a1301f73d
27 changed files with 852 additions and 111 deletions
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18
src/main/rx/rx.c
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@ -40,6 +40,7 @@
#include "drivers/gpio.h"
#include "drivers/timer.h"
#include "drivers/pwm_rx.h"
#include "drivers/system.h"
#include "rx/pwm.h"
#include "rx/sbus.h"
#include "rx/spektrum.h"
@ -50,6 +51,7 @@
#include "rx/rx.h"
//#define DEBUG_RX_SIGNAL_LOSS
void rxPwmInit(rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
@ -71,6 +73,7 @@ static bool rxFlightChannelsValid = false;
static uint32_t rxUpdateAt = 0;
static uint32_t needRxSignalBefore = 0;
static uint32_t suspendRxSignalUntil = 0;
static uint8_t skipRxSamples = 0;
int16_t rcRaw[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
@ -80,8 +83,8 @@ int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
#define DELAY_50_HZ (1000000 / 50)
#define DELAY_10_HZ (1000000 / 10)
#define SKIP_RC_SAMPLES_ON_SUSPEND 75 // approx. 1.5 seconds of samples at 50Hz
#define SKIP_RC_SAMPLES_ON_RESUME 2 // flush 2 samples to drop wrong measurements
#define SKIP_RC_ON_SUSPEND_PERIOD 1500000 // 1.5 second period in usec (call frequency independent)
#define SKIP_RC_SAMPLES_ON_RESUME 2 // flush 2 samples to drop wrong measurements (timing independent)
rxRuntimeConfig_t rxRuntimeConfig;
static rxConfig_t *rxConfig;
@ -276,12 +279,16 @@ static void resetRxSignalReceivedFlagIfNeeded(uint32_t currentTime)
void suspendRxSignal(void)
{
skipRxSamples = SKIP_RC_SAMPLES_ON_SUSPEND;
suspendRxSignalUntil = micros() + SKIP_RC_ON_SUSPEND_PERIOD;
skipRxSamples = SKIP_RC_SAMPLES_ON_RESUME;
failsafeOnRxSuspend(SKIP_RC_ON_SUSPEND_PERIOD);
}
void resumeRxSignal(void)
{
suspendRxSignalUntil = micros();
skipRxSamples = SKIP_RC_SAMPLES_ON_RESUME;
failsafeOnRxResume();
}
void updateRx(uint32_t currentTime)
@ -491,8 +498,11 @@ void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime)
}
}
// only proceed when no more samples to skip and suspend period is over
if (skipRxSamples) {
skipRxSamples--;
if (currentTime > suspendRxSignalUntil) {
skipRxSamples--;
}
return;
}