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Merge pull request #2015 from mikeller/make_isr_variables_volatile

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Made variables used in ESC feedback ISR volatile.
This commit is contained in:
borisbstyle 2017-01-05 20:53:57 +01:00 • committed by GitHub
commit e228a91ef8
1 changed files with 6 additions and 6 deletions
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12
src/main/sensors/esc_sensor.c
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@ -94,7 +94,7 @@ typedef enum {
#define ESC_BOOTTIME 5000 // 5 seconds #define ESC_BOOTTIME 5000 // 5 seconds
#define ESC_REQUEST_TIMEOUT 100 // 100 ms (data transfer takes only 900us) #define ESC_REQUEST_TIMEOUT 100 // 100 ms (data transfer takes only 900us)
static bool tlmFrameDone = false; static volatile bool tlmFramePending = false;
static uint8_t tlm[ESC_SENSOR_BUFFSIZE] = { 0, }; static uint8_t tlm[ESC_SENSOR_BUFFSIZE] = { 0, };
static uint8_t tlmFramePosition = 0; static uint8_t tlmFramePosition = 0;
@ -159,15 +159,16 @@ static void escSensorDataReceive(uint16_t c)
// KISS ESC sends some data during startup, ignore this for now (maybe future use) // KISS ESC sends some data during startup, ignore this for now (maybe future use)
// startup data could be firmware version and serialnumber // startup data could be firmware version and serialnumber
if (escSensorTriggerState == ESC_SENSOR_TRIGGER_STARTUP || tlmFrameDone) { if (!tlmFramePending) {
return; return;
} }
tlm[tlmFramePosition] = (uint8_t)c; tlm[tlmFramePosition] = (uint8_t)c;
if (tlmFramePosition == ESC_SENSOR_BUFFSIZE - 1) { if (tlmFramePosition == ESC_SENSOR_BUFFSIZE - 1) {
tlmFrameDone = true;
tlmFramePosition = 0; tlmFramePosition = 0;
tlmFramePending = false;
} else { } else {
tlmFramePosition++; tlmFramePosition++;
} }
@ -213,7 +214,7 @@ static uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen)
static uint8_t decodeEscFrame(void) static uint8_t decodeEscFrame(void)
{ {
if (!tlmFrameDone) { if (tlmFramePending) {
return ESC_SENSOR_FRAME_PENDING; return ESC_SENSOR_FRAME_PENDING;
} }
@ -236,8 +237,6 @@ static uint8_t decodeEscFrame(void)
frameStatus = ESC_SENSOR_FRAME_FAILED; frameStatus = ESC_SENSOR_FRAME_FAILED;
} }
tlmFrameDone = false;
return frameStatus; return frameStatus;
} }
@ -277,6 +276,7 @@ void escSensorProcess(timeUs_t currentTimeUs)
case ESC_SENSOR_TRIGGER_READY: case ESC_SENSOR_TRIGGER_READY:
escTriggerTimestamp = currentTimeMs; escTriggerTimestamp = currentTimeMs;
tlmFramePending = true;
motorDmaOutput_t * const motor = getMotorDmaOutput(escSensorMotor); motorDmaOutput_t * const motor = getMotorDmaOutput(escSensorMotor);
motor->requestTelemetry = true; motor->requestTelemetry = true;
escSensorTriggerState = ESC_SENSOR_TRIGGER_PENDING; escSensorTriggerState = ESC_SENSOR_TRIGGER_PENDING;