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Code Issues Wiki Activity

Updating the SerialRX drivers so they can report back a failsafe

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condition.  Improve SumD driver, when a failsafe is detected the values
from the frame will be used (same behaviour as SBus when SBus RX reports
failsafe).
This commit is contained in:
Dominic Clifton 2015-03-14 23:28:38 +01:00
parent 0e2356bf00
commit 7d6e4aa390
13 changed files with 70 additions and 52 deletions
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48
src/main/rx/rx.c
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@ -143,32 +143,32 @@ void serialRxInit(rxConfig_t *rxConfig)
}
}
bool isSerialRxFrameComplete(rxConfig_t *rxConfig)
uint8_t serialRxFrameStatus(rxConfig_t *rxConfig)
{
/**
* FIXME: Each of the xxxxFrameComplete() methods MUST be able to survive being called without the
* FIXME: Each of the xxxxFrameStatus() methods MUST be able to survive being called without the
* corresponding xxxInit() method having been called first.
*
* This situation arises when the cli or the msp changes the value of rxConfig->serialrx_provider
*
* A solution is for the ___Init() to configure the serialRxFrameComplete function pointer which
* A solution is for the ___Init() to configure the serialRxFrameStatus function pointer which
* should be used instead of the switch statement below.
*/
switch (rxConfig->serialrx_provider) {
case SERIALRX_SPEKTRUM1024:
case SERIALRX_SPEKTRUM2048:
return spektrumFrameComplete();
return spektrumFrameStatus();
case SERIALRX_SBUS:
return sbusFrameComplete();
return sbusFrameStatus();
case SERIALRX_SUMD:
return sumdFrameComplete();
return sumdFrameStatus();
case SERIALRX_SUMH:
return sumhFrameComplete();
return sumhFrameStatus();
case SERIALRX_XBUS_MODE_B:
case SERIALRX_XBUS_MODE_B_RJ01:
return xBusFrameComplete();
return xBusFrameStatus();
}
return false;
return SERIAL_RX_FRAME_PENDING;
}
#endif
@ -181,6 +181,7 @@ uint8_t calculateChannelRemapping(uint8_t *channelMap, uint8_t channelMapEntryCo
}
static bool rcDataReceived = false;
static uint32_t rxUpdateAt = 0;
@ -189,18 +190,21 @@ void updateRx(void)
rcDataReceived = false;
#ifdef SERIAL_RX
// calculate rc stuff from serial-based receivers (spek/sbus)
if (feature(FEATURE_RX_SERIAL)) {
rcDataReceived = isSerialRxFrameComplete(rxConfig);
uint8_t frameStatus = serialRxFrameStatus(rxConfig);
if (frameStatus & SERIAL_RX_FRAME_COMPLETE) {
rcDataReceived = true;
if ((frameStatus & SERIAL_RX_FRAME_FAILSAFE) == 0 && feature(FEATURE_FAILSAFE)) {
failsafeReset();
}
}
}
#endif
if (feature(FEATURE_RX_MSP)) {
rcDataReceived = rxMspFrameComplete();
}
if (rcDataReceived) {
if (feature(FEATURE_FAILSAFE)) {
if (rcDataReceived && feature(FEATURE_FAILSAFE)) {
failsafeReset();
}
}
@ -217,7 +221,7 @@ static bool isRxDataDriven(void) {
static uint8_t rcSampleIndex = 0;
uint16_t calculateNonDataDrivenChannel(uint8_t chan, uint16_t sample)
static uint16_t calculateNonDataDrivenChannel(uint8_t chan, uint16_t sample)
{
static int16_t rcSamples[MAX_SUPPORTED_RX_PARALLEL_PWM_OR_PPM_CHANNEL_COUNT][PPM_AND_PWM_SAMPLE_COUNT];
static int16_t rcDataMean[MAX_SUPPORTED_RX_PARALLEL_PWM_OR_PPM_CHANNEL_COUNT];
@ -245,7 +249,7 @@ uint16_t calculateNonDataDrivenChannel(uint8_t chan, uint16_t sample)
return rcDataMean[chan] / PPM_AND_PWM_SAMPLE_COUNT;
}
void processRxChannels(void)
static void processRxChannels(void)
{
uint8_t chan;
@ -288,18 +292,12 @@ void processRxChannels(void)
}
}
void processDataDrivenRx(void)
static void processDataDrivenRx(void)
{
if (rcDataReceived) {
failsafeReset();
}
processRxChannels();
rcDataReceived = false;
}
void processNonDataDrivenRx(void)
static void processNonDataDrivenRx(void)
{
rcSampleIndex++;