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Code Issues Wiki Activity

Improved retry timeout check and 10 seconds of no response from ESCs check

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This commit is contained in:
Bas Delfos 2016-11-27 12:27:25 +01:00
parent 2ffe57761e
commit c1d442279f
1 changed files with 39 additions and 36 deletions
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13
src/main/sensors/esc_sensor.c
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@ -89,7 +89,7 @@ static uint8_t tlmFramePosition = 0;
static serialPort_t *escSensorPort = NULL; static serialPort_t *escSensorPort = NULL;
static esc_telemetry_t escSensorData[MAX_SUPPORTED_MOTORS]; static esc_telemetry_t escSensorData[MAX_SUPPORTED_MOTORS];
static uint32_t escTriggerTimestamp = -1; static uint32_t escTriggerTimestamp = -1;
static uint32_t escTriggerLastTimestamp = -1; static uint32_t escLastResponseTimestamp;
static uint8_t timeoutRetryCount = 0; static uint8_t timeoutRetryCount = 0;
static uint8_t totalRetryCount = 0; static uint8_t totalRetryCount = 0;
@ -208,7 +208,7 @@ void escSensorProcess(timeUs_t currentTimeUs)
} }
// Wait period of time before requesting telemetry (let the system boot first) // Wait period of time before requesting telemetry (let the system boot first)
if (millis() < ESC_BOOTTIME) { if (currentTimeMs < ESC_BOOTTIME) {
return; return;
} }
else if (escSensorTriggerState == ESC_SENSOR_TRIGGER_WAIT) { else if (escSensorTriggerState == ESC_SENSOR_TRIGGER_WAIT) {
@ -216,7 +216,7 @@ void escSensorProcess(timeUs_t currentTimeUs)
escSensorTriggerState = ESC_SENSOR_TRIGGER_READY; escSensorTriggerState = ESC_SENSOR_TRIGGER_READY;
escSensorMotor = 0; escSensorMotor = 0;
escTriggerTimestamp = currentTimeMs; escTriggerTimestamp = currentTimeMs;
escTriggerLastTimestamp = escTriggerTimestamp; escLastResponseTimestamp = escTriggerTimestamp;
} }
else if (escSensorTriggerState == ESC_SENSOR_TRIGGER_READY) { else if (escSensorTriggerState == ESC_SENSOR_TRIGGER_READY) {
DEBUG_SET(DEBUG_ESC_SENSOR, 0, escSensorMotor+1); DEBUG_SET(DEBUG_ESC_SENSOR, 0, escSensorMotor+1);
@ -225,6 +225,7 @@ void escSensorProcess(timeUs_t currentTimeUs)
motor->requestTelemetry = true; motor->requestTelemetry = true;
escSensorTriggerState = ESC_SENSOR_TRIGGER_PENDING; escSensorTriggerState = ESC_SENSOR_TRIGGER_PENDING;
} }
else if (escSensorTriggerState == ESC_SENSOR_TRIGGER_PENDING) {
if (escTriggerTimestamp + ESC_REQUEST_TIMEOUT < currentTimeMs) { if (escTriggerTimestamp + ESC_REQUEST_TIMEOUT < currentTimeMs) {
// ESC did not repond in time, retry // ESC did not repond in time, retry
@ -265,9 +266,11 @@ void escSensorProcess(timeUs_t currentTimeUs)
selectNextMotor(); selectNextMotor();
escSensorTriggerState = ESC_SENSOR_TRIGGER_READY; escSensorTriggerState = ESC_SENSOR_TRIGGER_READY;
escLastResponseTimestamp = currentTimeMs;
}
} }
if (escTriggerLastTimestamp + 10000 < currentTimeMs) { if (escLastResponseTimestamp + 10000 < currentTimeMs) {
// ESCs did not respond for 10 seconds // ESCs did not respond for 10 seconds
// Disable ESC telemetry and reset voltage and current to let the use know something is wrong // Disable ESC telemetry and reset voltage and current to let the use know something is wrong
freeEscSensorPort(); freeEscSensorPort();
@ -282,8 +285,8 @@ static void selectNextMotor(void)
if (escSensorMotor == getMotorCount()) { if (escSensorMotor == getMotorCount()) {
escSensorMotor = 0; escSensorMotor = 0;
} }
timeoutRetryCount = 0;
escTriggerTimestamp = millis(); escTriggerTimestamp = millis();
escTriggerLastTimestamp = escTriggerTimestamp;
} }
//-- CRC //-- CRC