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Add special failsafe handling for PPM whilst still keeping failsafe code

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out of the PWM RX driver.
This commit is contained in:
Dominic Clifton 2014-05-22 21:22:31 +01:00
parent 910d63a722
commit d1be2ed5e2
3 changed files with 32 additions and 2 deletions
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19
src/drivers/pwm_rx.c
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@ -45,6 +45,21 @@ static pwmInputPort_t pwmInputPorts[PWM_INPUT_PORT_COUNT];
static uint16_t captures[PWM_PORTS_OR_PPM_CAPTURE_COUNT]; static uint16_t captures[PWM_PORTS_OR_PPM_CAPTURE_COUNT];
static uint8_t ppmFrameCount = 0;
static uint8_t lastPPMFrameCount = 0;
bool isPPMDataBeingReceived(void)
{
return (ppmFrameCount != lastPPMFrameCount);
}
void resetPPMDataReceivedState(void)
{
lastPPMFrameCount = ppmFrameCount;
}
#define MIN_CHANNELS_BEFORE_PPM_FRAME_CONSIDERED_VALID 4
static void ppmCallback(uint8_t port, captureCompare_t capture) static void ppmCallback(uint8_t port, captureCompare_t capture)
{ {
int32_t diff; int32_t diff;
@ -58,6 +73,9 @@ static void ppmCallback(uint8_t port, captureCompare_t capture)
diff = now - last; diff = now - last;
if (diff > 2700) { // Per http://www.rcgroups.com/forums/showpost.php?p=21996147&postcount=3960 "So, if you use 2.5ms or higher as being the reset for the PPM stream start, you will be fine. I use 2.7ms just to be safe." if (diff > 2700) { // Per http://www.rcgroups.com/forums/showpost.php?p=21996147&postcount=3960 "So, if you use 2.5ms or higher as being the reset for the PPM stream start, you will be fine. I use 2.7ms just to be safe."
if (chan >= MIN_CHANNELS_BEFORE_PPM_FRAME_CONSIDERED_VALID) {
ppmFrameCount++;
}
chan = 0; chan = 0;
} else { } else {
if (chan < PPM_CAPTURE_COUNT) { if (chan < PPM_CAPTURE_COUNT) {
@ -65,6 +83,7 @@ static void ppmCallback(uint8_t port, captureCompare_t capture)
} }
chan++; chan++;
} }
} }
static void pwmCallback(uint8_t port, captureCompare_t capture) static void pwmCallback(uint8_t port, captureCompare_t capture)

2
src/drivers/pwm_rx.h
View file

@ -5,3 +5,5 @@ void pwmInConfig(uint8_t timerIndex, uint8_t channel);
uint16_t pwmRead(uint8_t channel); uint16_t pwmRead(uint8_t channel);
bool isPPMDataBeingReceived(void);
void resetPPMDataReceivedState(void);

13
src/rx_common.c
View file

@ -13,6 +13,7 @@
#include "failsafe.h" #include "failsafe.h"
#include "drivers/pwm_rx.h"
#include "rx_pwm.h" #include "rx_pwm.h"
#include "rx_sbus.h" #include "rx_sbus.h"
#include "rx_spektrum.h" #include "rx_spektrum.h"
@ -166,7 +167,7 @@ bool shouldProcessRx(uint32_t currentTime)
} }
static bool isRxDataDriven(void) { static bool isRxDataDriven(void) {
return !(feature(FEATURE_RX_PARALLEL_PWM) || feature(FEATURE_RX_PPM)); return !(feature(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM));
} }
static uint8_t rcSampleIndex = 0; static uint8_t rcSampleIndex = 0;
@ -192,6 +193,14 @@ uint16_t calculateNonDataDrivenChannel(uint8_t chan, uint16_t sample)
void processRxChannels(void) void processRxChannels(void)
{ {
uint8_t chan; uint8_t chan;
bool shouldCheckPulse = true;
if (feature(FEATURE_FAILSAFE | FEATURE_RX_PPM)) {
shouldCheckPulse = isPPMDataBeingReceived();
resetPPMDataReceivedState();
}
for (chan = 0; chan < rxRuntimeConfig.channelCount; chan++) { for (chan = 0; chan < rxRuntimeConfig.channelCount; chan++) {
if (!rcReadRawFunc) { if (!rcReadRawFunc) {
@ -204,7 +213,7 @@ void processRxChannels(void)
// sample the channel // sample the channel
uint16_t sample = rcReadRawFunc(&rxRuntimeConfig, rawChannel); uint16_t sample = rcReadRawFunc(&rxRuntimeConfig, rawChannel);
if (feature(FEATURE_FAILSAFE)) { if (feature(FEATURE_FAILSAFE) && shouldCheckPulse) {
failsafe->vTable->checkPulse(rawChannel, sample); failsafe->vTable->checkPulse(rawChannel, sample);
} }