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Merge pull request #3460 from martinbudden/bf_rx_channel_count

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Better handling of rx channel count
This commit is contained in:
borisbstyle 2017-07-10 09:44:52 +02:00 • committed by GitHub
commit c2c08dce4e
1 changed files with 14 additions and 37 deletions
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51
src/main/rx/rx.c
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@ -74,6 +74,7 @@ static bool rxSignalReceivedNotDataDriven = false;
static bool rxFlightChannelsValid = false; static bool rxFlightChannelsValid = false;
static bool rxIsInFailsafeMode = true; static bool rxIsInFailsafeMode = true;
static bool rxIsInFailsafeModeNotDataDriven = true; static bool rxIsInFailsafeModeNotDataDriven = true;
static uint8_t rxChannelCount;
static uint32_t rxUpdateAt = 0; static uint32_t rxUpdateAt = 0;
static uint32_t needRxSignalBefore = 0; static uint32_t needRxSignalBefore = 0;
@ -289,6 +290,7 @@ void rxInit(void)
rxRuntimeConfig.rcFrameStatusFn = nullFrameStatus; rxRuntimeConfig.rcFrameStatusFn = nullFrameStatus;
rcSampleIndex = 0; rcSampleIndex = 0;
needRxSignalMaxDelayUs = DELAY_10_HZ; needRxSignalMaxDelayUs = DELAY_10_HZ;
rxChannelCount = MIN(rxConfig()->max_aux_channel + NON_AUX_CHANNEL_COUNT, rxRuntimeConfig.channelCount);
for (int i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) { for (int i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
rcData[i] = rxConfig()->midrc; rcData[i] = rxConfig()->midrc;
@ -350,14 +352,6 @@ void rxInit(void)
#endif #endif
} }
static uint8_t calculateChannelRemapping(const uint8_t *channelMap, uint8_t channelMapEntryCount, uint8_t channelToRemap)
{
if (channelToRemap < channelMapEntryCount) {
return channelMap[channelToRemap];
}
return channelToRemap;
}
bool rxIsReceivingSignal(void) bool rxIsReceivingSignal(void)
{ {
return rxSignalReceived; return rxSignalReceived;
@ -427,7 +421,7 @@ bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
return rxDataReceived || (currentTimeUs >= rxUpdateAt); // data driven or 50Hz return rxDataReceived || (currentTimeUs >= rxUpdateAt); // data driven or 50Hz
} }
static uint16_t calculateNonDataDrivenChannel(uint8_t chan, uint16_t sample) static uint16_t calculateChannelMovingAverage(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 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]; static int16_t rcDataMean[MAX_SUPPORTED_RX_PARALLEL_PWM_OR_PPM_CHANNEL_COUNT];
@ -490,33 +484,16 @@ STATIC_UNIT_TESTED uint16_t applyRxChannelRangeConfiguraton(int sample, const rx
} }
sample = scaleRange(sample, range->min, range->max, PWM_RANGE_MIN, PWM_RANGE_MAX); sample = scaleRange(sample, range->min, range->max, PWM_RANGE_MIN, PWM_RANGE_MAX);
sample = MIN(MAX(PWM_PULSE_MIN, sample), PWM_PULSE_MAX); sample = constrain(sample, PWM_PULSE_MIN, PWM_PULSE_MAX);
return sample; return sample;
} }
static uint8_t getRxChannelCount(void)
{
static uint8_t maxChannelsAllowed;
if (!maxChannelsAllowed) {
uint8_t maxChannels = rxConfig()->max_aux_channel + NON_AUX_CHANNEL_COUNT;
if (maxChannels > rxRuntimeConfig.channelCount) {
maxChannelsAllowed = rxRuntimeConfig.channelCount;
} else {
maxChannelsAllowed = maxChannels;
}
}
return maxChannelsAllowed;
}
static void readRxChannelsApplyRanges(void) static void readRxChannelsApplyRanges(void)
{ {
const int channelCount = getRxChannelCount(); for (int channel = 0; channel < rxChannelCount; channel++) {
for (int channel = 0; channel < channelCount; channel++) {
const uint8_t rawChannel = calculateChannelRemapping(rxConfig()->rcmap, RX_MAPPABLE_CHANNEL_COUNT, channel); const uint8_t rawChannel = channel < RX_MAPPABLE_CHANNEL_COUNT ? rxConfig()->rcmap[channel] : channel;
// sample the channel // sample the channel
uint16_t sample = rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, rawChannel); uint16_t sample = rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, rawChannel);
@ -534,7 +511,7 @@ static void detectAndApplySignalLossBehaviour(timeUs_t currentTimeUs)
{ {
bool useValueFromRx = true; bool useValueFromRx = true;
const bool rxIsDataDriven = isRxDataDriven(); const bool rxIsDataDriven = isRxDataDriven();
const uint32_t currentMilliTime = currentTimeUs / 1000; const uint32_t currentTimeMs = currentTimeUs / 1000;
if (!rxIsDataDriven) { if (!rxIsDataDriven) {
rxSignalReceived = rxSignalReceivedNotDataDriven; rxSignalReceived = rxSignalReceivedNotDataDriven;
@ -553,27 +530,28 @@ static void detectAndApplySignalLossBehaviour(timeUs_t currentTimeUs)
rxResetFlightChannelStatus(); rxResetFlightChannelStatus();
for (int channel = 0; channel < getRxChannelCount(); channel++) { for (int channel = 0; channel < rxChannelCount; channel++) {
uint16_t sample = (useValueFromRx) ? rcRaw[channel] : PPM_RCVR_TIMEOUT; uint16_t sample = (useValueFromRx) ? rcRaw[channel] : PPM_RCVR_TIMEOUT;
bool validPulse = isPulseValid(sample); bool validPulse = isPulseValid(sample);
if (!validPulse) { if (!validPulse) {
if (currentMilliTime < rcInvalidPulsPeriod[channel]) { if (currentTimeMs < rcInvalidPulsPeriod[channel]) {
sample = rcData[channel]; // hold channel for MAX_INVALID_PULS_TIME sample = rcData[channel]; // hold channel for MAX_INVALID_PULS_TIME
} else { } else {
sample = getRxfailValue(channel); // after that apply rxfail value sample = getRxfailValue(channel); // after that apply rxfail value
rxUpdateFlightChannelStatus(channel, validPulse); rxUpdateFlightChannelStatus(channel, validPulse);
} }
} else { } else {
rcInvalidPulsPeriod[channel] = currentMilliTime + MAX_INVALID_PULS_TIME; rcInvalidPulsPeriod[channel] = currentTimeMs + MAX_INVALID_PULS_TIME;
} }
if (rxIsDataDriven) { if (rxIsDataDriven) {
rcData[channel] = sample; rcData[channel] = sample;
} else { } else {
rcData[channel] = calculateNonDataDrivenChannel(channel, sample); // smooth output for PWM and PPM
rcData[channel] = calculateChannelMovingAverage(channel, sample);
} }
} }
@ -585,7 +563,7 @@ static void detectAndApplySignalLossBehaviour(timeUs_t currentTimeUs)
rxIsInFailsafeMode = rxIsInFailsafeModeNotDataDriven = true; rxIsInFailsafeMode = rxIsInFailsafeModeNotDataDriven = true;
failsafeOnValidDataFailed(); failsafeOnValidDataFailed();
for (int channel = 0; channel < getRxChannelCount(); channel++) { for (int channel = 0; channel < rxChannelCount; channel++) {
rcData[channel] = getRxfailValue(channel); rcData[channel] = getRxfailValue(channel);
} }
} }
@ -625,9 +603,8 @@ void parseRcChannels(const char *input, rxConfig_t *rxConfig)
static void updateRSSIPWM(void) static void updateRSSIPWM(void)
{ {
int16_t pwmRssi = 0;
// Read value of AUX channel as rssi // Read value of AUX channel as rssi
pwmRssi = rcData[rxConfig()->rssi_channel - 1]; int16_t pwmRssi = rcData[rxConfig()->rssi_channel - 1];
// RSSI_Invert option // RSSI_Invert option
if (rxConfig()->rssi_invert) { if (rxConfig()->rssi_invert) {