Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 12:55:19 +03:00
Code Issues Wiki Activity

frsky-spi-D16 was counting every telemetry state as a good packet. If it was garbage packet it would go straight into the rcData

Browse source 
Add some debugging
This commit is contained in:
Bryce Johnson 2018-04-21 16:49:47 -06:00 • committed by mikeller
parent 26a4f762a1
commit a86e0bc41c
7 changed files with 38 additions and 14 deletions
Download patch file Download diff file Expand all files Collapse all files

1
src/main/build/debug.c
View file

@ -50,6 +50,7 @@ const char * const debugModeNames[DEBUG_COUNT] = {
"FFT_TIME",
"FFT_FREQ",
"RX_FRSKY_SPI",
"RX_SIGNAL_LOSS",
"GYRO_RAW",
"DUAL_GYRO",
"DUAL_GYRO_RAW",

1
src/main/build/debug.h
View file

@ -68,6 +68,7 @@ typedef enum {
DEBUG_FFT_TIME,
DEBUG_FFT_FREQ,
DEBUG_RX_FRSKY_SPI,
DEBUG_RX_SIGNAL_LOSS,
DEBUG_GYRO_RAW,
DEBUG_DUAL_GYRO,
DEBUG_DUAL_GYRO_RAW,

3
src/main/rx/cc2500_frsky_shared.h
View file

@ -25,6 +25,9 @@
#define MAX_MISSING_PKT 100
#define DEBUG_DATA_ERROR_COUNT 0
#define DEBUG_DATA_MISSING_PACKETS 1
#define DEBUG_DATA_BAD_FRAME 2
#define SYNC_DELAY_MAX 9000

22
src/main/rx/cc2500_frsky_x.c
View file

@ -270,6 +270,7 @@ static void frSkyXTelemetryWriteFrame(const smartPortPayload_t *payload)
void frSkyXSetRcData(uint16_t *rcData, const uint8_t *packet)
{
static uint32_t rangeErrors = 0;
uint16_t c[8];
c[0] = (uint16_t)((packet[10] << 8) & 0xF00) | packet[9];
@ -289,9 +290,17 @@ void frSkyXSetRcData(uint16_t *rcData, const uint8_t *packet)
} else {
j = 0;
}
if (c[i] == 0)
{
continue;
}
int16_t temp = (((c[i] - 64) << 1) / 3 + 860);
if ((temp > 800) && (temp < 2200)) {
rcData[i+j] = temp;
} else {
rangeErrors++;
DEBUG_SET(DEBUG_RX_FRSKY_SPI, DEBUG_DATA_ERROR_COUNT, rangeErrors);
}
}
}
@ -313,7 +322,7 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
static bool frameReceived;
static timeDelta_t receiveDelayUs;
static uint8_t channelsToSkip = 1;
static uint32_t packetErrors = 0;
static telemetryBuffer_t telemetryRxBuffer[TELEMETRY_SEQUENCE_LENGTH];
#if defined(USE_RX_FRSKY_SPI_TELEMETRY)
@ -433,6 +442,11 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
frameReceived = true; // no need to process frame again.
}
}
}
if (!frameReceived)
{
packetErrors++;
DEBUG_SET(DEBUG_RX_FRSKY_SPI, DEBUG_DATA_BAD_FRAME, packetErrors);
}
}
}
@ -499,8 +513,10 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
processSmartPortTelemetry(payload, &clearToSend, NULL);
}
#endif
if (frameReceived == true) {
ret = RX_SPI_RECEIVED_DATA;
}
*protocolState = STATE_RESUME;
ret = RX_SPI_RECEIVED_DATA;
}
break;
@ -528,6 +544,8 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
break;
}
missingPackets++;
DEBUG_SET(DEBUG_RX_FRSKY_SPI, DEBUG_DATA_MISSING_PACKETS, missingPackets);
*protocolState = STATE_DATA;
}
break;

18
src/main/rx/rx.c
View file

@ -68,8 +68,6 @@
#include "rx/targetcustomserial.h"
//#define DEBUG_RX_SIGNAL_LOSS
const char rcChannelLetters[] = "AERT12345678abcdefgh";
static uint16_t rssi = 0; // range: [0;1023]
@ -85,6 +83,7 @@ rssiSource_e rssiSource;
static bool rxDataProcessingRequired = false;
static bool auxiliaryProcessingRequired = false;
static uint32_t rxMissedPackets = 0;
static bool rxSignalReceived = false;
static bool rxFlightChannelsValid = false;
static bool rxIsInFailsafeMode = true;
@ -391,6 +390,8 @@ bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
rxSignalReceived = true;
} else if (currentTimeUs >= needRxSignalBefore) {
rxSignalReceived = false;
rxMissedPackets++;
needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs;
}
if ((signalReceived && useDataDrivenProcessing) || cmpTimeUs(currentTimeUs, rxNextUpdateAtUs) > 0) {
@ -492,11 +493,9 @@ static void detectAndApplySignalLossBehaviour(void)
const bool useValueFromRx = rxSignalReceived && !rxIsInFailsafeMode;
#ifdef DEBUG_RX_SIGNAL_LOSS
debug[0] = rxSignalReceived;
debug[1] = rxIsInFailsafeMode;
debug[2] = rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, 0);
#endif
DEBUG_SET(DEBUG_RX_SIGNAL_LOSS, 0, rxSignalReceived);
DEBUG_SET(DEBUG_RX_SIGNAL_LOSS, 1, rxIsInFailsafeMode);
DEBUG_SET(DEBUG_RX_SIGNAL_LOSS, 2, rxMissedPackets);
rxFlightChannelsValid = true;
for (int channel = 0; channel < rxChannelCount; channel++) {
@ -533,10 +532,7 @@ static void detectAndApplySignalLossBehaviour(void)
rcData[channel] = getRxfailValue(channel);
}
}
#ifdef DEBUG_RX_SIGNAL_LOSS
debug[3] = rcData[THROTTLE];
#endif
DEBUG_SET(DEBUG_RX_SIGNAL_LOSS, 3, rcData[THROTTLE]);
}
bool calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs)

4
src/test/unit/rx_ranges_unittest.cc
View file

@ -22,7 +22,7 @@
extern "C" {
#include "platform.h"
#include "build/debug.h"
#include "drivers/io.h"
#include "common/maths.h"
#include "pg/pg.h"
@ -38,6 +38,8 @@ extern "C" {
extern "C" {
boxBitmask_t rcModeActivationMask;
int16_t debug[DEBUG16_VALUE_COUNT];
uint8_t debugMode = 0;
extern uint16_t applyRxChannelRangeConfiguraton(int sample, const rxChannelRangeConfig_t *range);
}

3
src/test/unit/rx_rx_unittest.cc
View file

@ -24,6 +24,7 @@ extern "C" {
#include "platform.h"
#include "pg/rx.h"
#include "build/debug.h"
#include "drivers/io.h"
#include "rx/rx.h"
#include "fc/rc_modes.h"
@ -35,6 +36,8 @@ extern "C" {
#include "io/beeper.h"
boxBitmask_t rcModeActivationMask;
int16_t debug[DEBUG16_VALUE_COUNT];
uint8_t debugMode = 0;
bool isPulseValid(uint16_t pulseDuration);