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Merge pull request #4175 from mikeller/fix_crsf_halfduplex_check

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Fixed check for halfduplex mode in CRSF.
This commit is contained in:
Martin Budden 2017-09-18 16:38:01 +01:00 • committed by GitHub
commit c4e47ddede
4 changed files with 8 additions and 1 deletions
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2
src/main/rx/crsf.c
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@ -233,7 +233,7 @@ void crsfRxSendTelemetryData(void)
if (telemetryBufLen > 0) {
// check that we are not in bi dir mode or that we are not currently receiving data (ie in the middle of an RX frame)
// and that there is time to send the telemetry frame before the next RX frame arrives
if (CRSF_PORT_OPTIONS & SERIAL_BIDIR) {
if (rxConfig()->halfDuplex) {
const uint32_t timeSinceStartOfFrame = micros() - crsfFrameStartAt;
if ((timeSinceStartOfFrame < CRSF_TIME_NEEDED_PER_FRAME_US) ||
(timeSinceStartOfFrame > CRSF_TIME_BETWEEN_FRAMES_US - CRSF_TIME_NEEDED_PER_FRAME_US)) {

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

@ -26,6 +26,8 @@ extern "C" {
#include "build/debug.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "common/crc.h"
#include "common/utils.h"
@ -47,6 +49,8 @@ extern "C" {
extern uint32_t crsfChannelData[CRSF_MAX_CHANNEL];
uint32_t dummyTimeUs;
PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
}
#include "unittest_macros.h"

1
src/test/unit/telemetry_crsf_msp_unittest.cc
View file

@ -77,6 +77,7 @@ extern "C" {
PG_REGISTER(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 0);
PG_REGISTER(telemetryConfig_t, telemetryConfig, PG_TELEMETRY_CONFIG, 0);
PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
extern bool crsfFrameDone;
extern crsfFrame_t crsfFrame;

2
src/test/unit/telemetry_crsf_unittest.cc
View file

@ -49,6 +49,7 @@ extern "C" {
#include "io/gps.h"
#include "io/serial.h"
#include "rx/rx.h"
#include "rx/crsf.h"
#include "sensors/battery.h"
@ -68,6 +69,7 @@ extern "C" {
PG_REGISTER(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 0);
PG_REGISTER(telemetryConfig_t, telemetryConfig, PG_TELEMETRY_CONFIG, 0);
PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
}
#include "unittest_macros.h"