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Adapted RX suspend & resume on EEPROM read & write

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Modified to make mechanism use time instead of counters for call
frequency independency.
Skipping RC samples uses a counter for time independency.

Also LED and beeper patterns were changed by previous implementation.
Corrected with RX supend/resume feedback to failsafe system.
This commit is contained in:
ProDrone 2015-09-06 19:53:12 +02:00
parent 9208b8701a
commit 5ca5c2d161
3 changed files with 27 additions and 4 deletions
Download patch file Download diff file Expand all files Collapse all files

11
src/main/flight/failsafe.c
View file

@ -132,6 +132,17 @@ bool failsafeIsReceivingRxData(void)
return (failsafeState.rxLinkState == FAILSAFE_RXLINK_UP);
}
void failsafeOnRxSuspend(uint32_t usSuspendPeriod)
{
failsafeState.validRxDataReceivedAt += (usSuspendPeriod / 1000); // / 1000 to convert micros to millis
}
void failsafeOnRxResume(void)
{
failsafeState.validRxDataReceivedAt = millis(); // prevent RX link down trigger, restart rx link up
failsafeState.rxLinkState = FAILSAFE_RXLINK_UP; // do so while rx link is up
}
void failsafeOnValidDataReceived(void)
{
failsafeState.validRxDataReceivedAt = millis();

2
src/main/flight/failsafe.h
View file

@ -73,6 +73,8 @@ failsafePhase_e failsafePhase();
bool failsafeIsMonitoring(void);
bool failsafeIsActive(void);
bool failsafeIsReceivingRxData(void);
void failsafeOnRxSuspend(uint32_t suspendPeriod);
void failsafeOnRxResume(void);
void failsafeOnValidDataReceived(void);
void failsafeOnValidDataFailed(void);

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

@ -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;
@ -266,12 +269,16 @@ 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)
@ -481,8 +488,11 @@ void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime)
}
}
// only proceed when no more samples to skip and suspend period is over
if (skipRxSamples) {
if (currentTime > suspendRxSignalUntil) {
skipRxSamples--;
}
return;
}