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cosmetic changes & minor improvements on speed negotiation logic

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This commit is contained in:
tbs-fpv 2021-05-20 11:09:35 +08:00
parent 55288dc2e1
commit 761a0d2b1f
3 changed files with 30 additions and 36 deletions
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12
src/main/fc/tasks.c
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@ -267,13 +267,6 @@ static void taskCameraControl(uint32_t currentTime)
} }
#endif #endif
#ifdef USE_CRSF_V3
static void taskSpeedNegotiation(uint32_t currentTime)
{
speedNegotiationProcess(currentTime);
}
#endif
void tasksInit(void) void tasksInit(void)
{ {
schedulerInit(); schedulerInit();
@ -419,7 +412,8 @@ void tasksInit(void)
#endif #endif
#ifdef USE_CRSF_V3 #ifdef USE_CRSF_V3
setTaskEnabled(TASK_SPEED_NEGOTIATION, true); const bool useCRSF = rxRuntimeState.serialrxProvider == SERIALRX_CRSF;
setTaskEnabled(TASK_SPEED_NEGOTIATION, useCRSF);
#endif #endif
} }
@ -541,7 +535,7 @@ task_t tasks[TASK_COUNT] = {
#endif #endif
#ifdef USE_CRSF_V3 #ifdef USE_CRSF_V3
[TASK_SPEED_NEGOTIATION] = DEFINE_TASK("SPEED_NEGOTIATION", NULL, NULL, taskSpeedNegotiation, TASK_PERIOD_HZ(100), TASK_PRIORITY_IDLE), [TASK_SPEED_NEGOTIATION] = DEFINE_TASK("SPEED_NEGOTIATION", NULL, NULL, speedNegotiationProcess, TASK_PERIOD_HZ(100), TASK_PRIORITY_IDLE),
#endif #endif
}; };

52
src/main/telemetry/crsf.c
View file

@ -104,7 +104,7 @@ bool checkCrsfCustomizedSpeed(void)
return crsfSpeed.index < BAUD_COUNT ? true : false; return crsfSpeed.index < BAUD_COUNT ? true : false;
} }
uint32_t getCrsfDesireSpeed(void) uint32_t getCrsfDesiredSpeed(void)
{ {
return checkCrsfCustomizedSpeed() ? baudRates[crsfSpeed.index] : CRSF_BAUDRATE; return checkCrsfCustomizedSpeed() ? baudRates[crsfSpeed.index] : CRSF_BAUDRATE;
} }
@ -116,7 +116,7 @@ void setCrsfDefaultSpeed(void)
crsfSpeed.confirmationTime = 0; crsfSpeed.confirmationTime = 0;
crsfSpeed.index = BAUD_COUNT; crsfSpeed.index = BAUD_COUNT;
isCrsfV3Running = false; isCrsfV3Running = false;
crsfRxUpdateBaudrate(getCrsfDesireSpeed()); crsfRxUpdateBaudrate(getCrsfDesiredSpeed());
} }
#endif #endif
@ -399,36 +399,36 @@ void crsfScheduleSpeedNegotiationResponse(void)
void speedNegotiationProcess(uint32_t currentTime) void speedNegotiationProcess(uint32_t currentTime)
{ {
if (crsfSpeed.hasPendingReply) { if (!featureIsEnabled(FEATURE_TELEMETRY) && getCrsfDesiredSpeed() == CRSF_BAUDRATE) {
bool found = crsfSpeed.index < BAUD_COUNT ? true : false; // to notify the RX to fall back to default baud rate by sending device info frame if telemetry is disabled
sbuf_t crsfSpeedNegotiationBuf;
sbuf_t *dst = &crsfSpeedNegotiationBuf;
crsfInitializeFrame(dst);
crsfFrameSpeedNegotiationResponse(dst, found);
crsfFinalize(dst);
crsfRxSendTelemetryData();
crsfSpeed.hasPendingReply = false;
crsfSpeed.isNewSpeedValid = true;
crsfSpeed.confirmationTime = currentTime;
return;
} else if (crsfSpeed.isNewSpeedValid) {
if (currentTime - crsfSpeed.confirmationTime >= 4000) {
// delay 4ms before applying the new baudrate
crsfRxUpdateBaudrate(getCrsfDesireSpeed());
crsfSpeed.isNewSpeedValid = false;
isCrsfV3Running = true;
return;
}
}
// to notify the RX to fall back by sedning device info frame if telemetry is disabled
if (!featureIsEnabled(FEATURE_TELEMETRY) && getCrsfDesireSpeed() == CRSF_BAUDRATE) {
sbuf_t crsfPayloadBuf; sbuf_t crsfPayloadBuf;
sbuf_t *dst = &crsfPayloadBuf; sbuf_t *dst = &crsfPayloadBuf;
crsfInitializeFrame(dst); crsfInitializeFrame(dst);
crsfFrameDeviceInfo(dst); crsfFrameDeviceInfo(dst);
crsfFinalize(dst); crsfFinalize(dst);
crsfRxSendTelemetryData(); crsfRxSendTelemetryData();
} else {
if (crsfSpeed.hasPendingReply) {
bool found = crsfSpeed.index < BAUD_COUNT ? true : false;
sbuf_t crsfSpeedNegotiationBuf;
sbuf_t *dst = &crsfSpeedNegotiationBuf;
crsfInitializeFrame(dst);
crsfFrameSpeedNegotiationResponse(dst, found);
crsfFinalize(dst);
crsfRxSendTelemetryData();
crsfSpeed.hasPendingReply = false;
crsfSpeed.isNewSpeedValid = true;
crsfSpeed.confirmationTime = currentTime;
return;
} else if (crsfSpeed.isNewSpeedValid) {
if (currentTime - crsfSpeed.confirmationTime >= 4000) {
// delay 4ms before applying the new baudrate
crsfRxUpdateBaudrate(getCrsfDesiredSpeed());
crsfSpeed.isNewSpeedValid = false;
isCrsfV3Running = true;
return;
}
}
} }
} }
#endif #endif

2
src/main/telemetry/crsf.h
View file

@ -31,7 +31,7 @@
#define CRSF_MSP_TX_BUF_SIZE 128 #define CRSF_MSP_TX_BUF_SIZE 128
void initCrsfTelemetry(void); void initCrsfTelemetry(void);
uint32_t getCrsfDesireSpeed(void); uint32_t getCrsfDesiredSpeed(void);
void setCrsfDefaultSpeed(void); void setCrsfDefaultSpeed(void);
bool checkCrsfTelemetryState(void); bool checkCrsfTelemetryState(void);
void handleCrsfTelemetry(timeUs_t currentTimeUs); void handleCrsfTelemetry(timeUs_t currentTimeUs);