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Fix inevitable timer overflow (#14374)

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* Fix beacon timer overflow

* fix possible overflow in rc_stats

* fix possible overflow in mixer.c

* fix possible overflow in osd.c

* Update src/main/osd/osd_warnings.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* Update src/main/osd/osd_warnings.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* Update src/main/rx/rc_stats.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* fix typo

* Update src/main/osd/osd.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

---------

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
This commit is contained in:
Mark Haslinghuis 2025-05-22 00:12:24 +02:00 • committed by GitHub
parent b03b57bd90
commit aa8701ef87
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GPG key ID: B5690EEEBB952194
4 changed files with 7 additions and 9 deletions
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2
src/main/flight/mixer.c
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@ -219,7 +219,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
throttle = 0; throttle = 0;
currentThrottleInputRange = rcCommandThrottleRange3dHigh; currentThrottleInputRange = rcCommandThrottleRange3dHigh;
} }
if (currentTimeUs - reversalTimeUs < 250000) { if (cmpTimeUs(currentTimeUs, reversalTimeUs) < 250000) {
// keep iterm zero for 250ms after motor reversal // keep iterm zero for 250ms after motor reversal
pidResetIterm(); pidResetIterm();
} }

2
src/main/osd/osd.c
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@ -1243,7 +1243,7 @@ STATIC_UNIT_TESTED bool osdProcessStats1(timeUs_t currentTimeUs)
if (ARMING_FLAG(ARMED)) { if (ARMING_FLAG(ARMED)) {
osdUpdateStats(); osdUpdateStats();
timeUs_t deltaT = currentTimeUs - lastTimeUs; int deltaT = cmpTimeUs(currentTimeUs, lastTimeUs);
osdFlyTime += deltaT; osdFlyTime += deltaT;
stats.armed_time += deltaT; stats.armed_time += deltaT;
#ifdef USE_LAUNCH_CONTROL #ifdef USE_LAUNCH_CONTROL

10
src/main/osd/osd_warnings.c
View file

@ -115,12 +115,10 @@ void renderOsdWarning(char *warningText, bool *blinking, uint8_t *displayAttr)
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (isTryingToArm() && !ARMING_FLAG(ARMED)) { if (isTryingToArm() && !ARMING_FLAG(ARMED)) {
int armingDelayTime = (getLastDshotBeaconCommandTimeUs() + DSHOT_BEACON_GUARD_DELAY_US - currentTimeUs) / 1e5; const int beaconGuard = cmpTimeUs(currentTimeUs, getLastDshotBeaconCommandTimeUs());
if (armingDelayTime < 0) { const int armingDelayTime = MAX(DSHOT_BEACON_GUARD_DELAY_US - beaconGuard, 0) / 100000; // time remaining until BEACON_GUARD_DELAY, in tenths of second
armingDelayTime = 0; if (beaconGuard < 500 * 1000) { // first 0.5s since beacon
} tfp_sprintf(warningText, " BEACON ON");
if (armingDelayTime >= (DSHOT_BEACON_GUARD_DELAY_US / 1e5 - 5)) {
tfp_sprintf(warningText, " BEACON ON"); // Display this message for the first 0.5 seconds
} else { } else {
tfp_sprintf(warningText, "ARM IN %d.%d", armingDelayTime / 10, armingDelayTime % 10); tfp_sprintf(warningText, "ARM IN %d.%d", armingDelayTime / 10, armingDelayTime % 10);
} }

2
src/main/rx/rc_stats.c
View file

@ -44,7 +44,7 @@ int8_t previousThrottlePercent = 0;
void rcStatsUpdate(timeUs_t currentTimeUs) void rcStatsUpdate(timeUs_t currentTimeUs)
{ {
uint32_t deltaT = currentTimeUs - previousTimeUs; uint32_t deltaT = cmpTimeUs(currentTimeUs, previousTimeUs);
previousTimeUs = currentTimeUs; previousTimeUs = currentTimeUs;
const int8_t throttlePercent = calculateThrottlePercent(); const int8_t throttlePercent = calculateThrottlePercent();