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Merge pull request #11350 from hydra/bf-fix-elrs-link-failures

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Fix ELRS link failures where link is unrecoverable.
This commit is contained in:
haslinghuis 2022-01-29 01:07:37 +01:00 • committed by GitHub
commit 5b1874dd30
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6 changed files with 50 additions and 20 deletions
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1
src/main/drivers/nvic.h
View file

@ -30,6 +30,7 @@
#define NVIC_PRIO_TRANSPONDER_DMA NVIC_BUILD_PRIORITY(3, 0)
#define NVIC_PRIO_MPU_INT_EXTI NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_MAG_INT_EXTI NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_RX_SPI_INT_EXTI NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_WS2811_DMA NVIC_BUILD_PRIORITY(1, 2) // TODO - is there some reason to use high priority? (or to use DMA IRQ at all?)
#define NVIC_PRIO_SERIALUART_TXDMA NVIC_BUILD_PRIORITY(1, 1) // Highest of all SERIALUARTx_TXDMA
#define NVIC_PRIO_SERIALUART1_TXDMA NVIC_BUILD_PRIORITY(1, 1)

2
src/main/drivers/rx/rx_spi.c
View file

@ -125,7 +125,7 @@ void rxSpiExtiInit(ioConfig_t rxSpiExtiPinConfig, extiTrigger_t rxSpiExtiPinTrig
extiLevel = false;
}
EXTIHandlerInit(&rxSpiExtiCallbackRec, rxSpiExtiHandler);
EXTIConfig(extiPin, &rxSpiExtiCallbackRec, NVIC_PRIO_MPU_INT_EXTI, rxSpiExtiPinConfig, rxSpiExtiPinTrigger);
EXTIConfig(extiPin, &rxSpiExtiCallbackRec, NVIC_PRIO_RX_SPI_INT_EXTI, rxSpiExtiPinConfig, rxSpiExtiPinTrigger);
EXTIEnable(extiPin, true);
}
}

29
src/main/drivers/rx/rx_sx127x.c
View file

@ -31,9 +31,12 @@
#ifdef USE_RX_SX127X
#include "build/atomic.h"
#include "drivers/bus_spi.h"
#include "drivers/io.h"
#include "drivers/io_impl.h"
#include "drivers/nvic.h"
#include "drivers/rx/rx_sx127x.h"
#include "drivers/rx/rx_spi.h"
#include "drivers/time.h"
@ -73,15 +76,23 @@ static bool sx127xDetectChip(void)
uint8_t sx127xISR(timeUs_t *timeStamp)
{
if (rxSpiPollExti()) {
if (rxSpiGetLastExtiTimeUs()) {
*timeStamp = rxSpiGetLastExtiTimeUs();
bool extiTriggered = false;
timeUs_t extiTimestamp;
ATOMIC_BLOCK(NVIC_PRIO_RX_SPI_INT_EXTI) {
// prevent a data-race that can occur if a new EXTI ISR occurs during this block.
extiTriggered = rxSpiPollExti();
extiTimestamp = rxSpiGetLastExtiTimeUs();
if (extiTriggered) {
rxSpiResetExti();
}
}
uint8_t irqReason;
irqReason = sx127xGetIrqReason();
rxSpiResetExti();
if (extiTriggered) {
uint8_t irqReason = sx127xGetIrqReason();
if (extiTimestamp) {
*timeStamp = extiTimestamp;
}
return irqReason;
}
@ -445,7 +456,9 @@ uint8_t sx127xGetIrqReason(void)
{
uint8_t irqFlags = sx127xGetIrqFlags();
sx127xClearIrqFlags();
if ((irqFlags & SX127X_CLEAR_IRQ_FLAG_TX_DONE)) {
if ((irqFlags & SX127X_CLEAR_IRQ_FLAG_TX_DONE) && (irqFlags & SX127X_CLEAR_IRQ_FLAG_RX_DONE)) {
return 3;
} else if ((irqFlags & SX127X_CLEAR_IRQ_FLAG_TX_DONE)) {
return 2;
} else if ((irqFlags & SX127X_CLEAR_IRQ_FLAG_RX_DONE)) {
return 1;

31
src/main/drivers/rx/rx_sx1280.c
View file

@ -32,9 +32,12 @@
#ifdef USE_RX_SX1280
#include "build/atomic.h"
#include "drivers/bus_spi.h"
#include "drivers/io.h"
#include "drivers/io_impl.h"
#include "drivers/nvic.h"
#include "drivers/rx/rx_sx1280.h"
#include "drivers/rx/rx_spi.h"
#include "drivers/time.h"
@ -103,16 +106,23 @@ bool sx1280Init(IO_t resetPin, IO_t busyPin)
uint8_t sx1280ISR(timeUs_t *timeStamp)
{
if (rxSpiPollExti()) {
if (rxSpiGetLastExtiTimeUs()) {
*timeStamp = rxSpiGetLastExtiTimeUs();
bool extiTriggered = false;
timeUs_t extiTimestamp;
ATOMIC_BLOCK(NVIC_PRIO_RX_SPI_INT_EXTI) {
// prevent a data-race that can occur if a new EXTI ISR occurs during this block.
extiTriggered = rxSpiPollExti();
extiTimestamp = rxSpiGetLastExtiTimeUs();
if (extiTriggered) {
rxSpiResetExti();
}
}
uint8_t irqReason;
irqReason = sx1280GetIrqReason();
rxSpiResetExti();
if (extiTriggered) {
uint8_t irqReason = sx1280GetIrqReason();
if (extiTimestamp) {
*timeStamp = extiTimestamp;
}
return irqReason;
}
return 0;
@ -418,8 +428,11 @@ void sx1280ClearIrqStatus(const uint16_t irqMask)
uint8_t sx1280GetIrqReason(void)
{
uint16_t irqStatus = sx1280GetIrqStatus();
sx1280ClearIrqStatus(SX1280_IRQ_RADIO_ALL);
if ((irqStatus & SX1280_IRQ_TX_DONE)) {
if ((irqStatus & SX1280_IRQ_TX_DONE) && (irqStatus & SX1280_IRQ_RX_DONE)) {
return 3;
} else if ((irqStatus & SX1280_IRQ_TX_DONE)) {
return 2;
} else if ((irqStatus & SX1280_IRQ_RX_DONE)) {
return 1;

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

@ -1073,7 +1073,9 @@ rx_spi_received_e expressLrsDataReceived(uint8_t *payload)
}
uint8_t irqReason = receiver.rxISR(&isrTimeStampUs);
if (irqReason == ELRS_DIO_TX_DONE) {
if (irqReason == ELRS_DIO_RX_AND_TX_DONE) {
startReceiving();
} else if (irqReason == ELRS_DIO_TX_DONE) {
startReceiving();
} else if (irqReason == ELRS_DIO_RX_DONE) {
result = processRFPacket(payload, isrTimeStampUs);

3
src/main/rx/expresslrs_impl.h
View file

@ -33,7 +33,8 @@ typedef enum {
typedef enum {
ELRS_DIO_UNKNOWN = 0,
ELRS_DIO_RX_DONE = 1,
ELRS_DIO_TX_DONE = 2
ELRS_DIO_TX_DONE = 2,
ELRS_DIO_RX_AND_TX_DONE = 3,
} dioReason_e;
typedef enum {