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Merge branch 'master' into betaflight

Browse source 
Conflicts:
	src/main/drivers/system.c
	src/main/rx/rx.h
This commit is contained in:
borisbstyle 2015-09-07 10:08:34 +02:00
commit febee3fb90
26 changed files with 812 additions and 320 deletions
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32
src/main/rx/rx.c
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@ -71,6 +71,7 @@ static bool rxFlightChannelsValid = false;
static uint32_t rxUpdateAt = 0;
static uint32_t needRxSignalBefore = 0;
static uint8_t skipRxSamples = 0;
int16_t rcRaw[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
@ -79,6 +80,8 @@ int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
#define DELAY_50_HZ (1000000 / 50)
#define DELAY_10_HZ (1000000 / 10)
#define SKIP_RC_SAMPLES_ON_SUSPEND 75 // approx. 1.5 seconds of samples at 50Hz
#define SKIP_RC_SAMPLES_ON_RESUME 2 // flush 2 samples to drop wrong measurements
rxRuntimeConfig_t rxRuntimeConfig;
static rxConfig_t *rxConfig;
@ -271,6 +274,16 @@ static void resetRxSignalReceivedFlagIfNeeded(uint32_t currentTime)
}
}
void suspendRxSignal(void)
{
skipRxSamples = SKIP_RC_SAMPLES_ON_SUSPEND;
}
void resumeRxSignal(void)
{
skipRxSamples = SKIP_RC_SAMPLES_ON_RESUME;
}
void updateRx(uint32_t currentTime)
{
resetRxSignalReceivedFlagIfNeeded(currentTime);
@ -356,27 +369,29 @@ static uint16_t getRxfailValue(uint8_t channel)
rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &rxConfig->failsafe_channel_configurations[channel];
switch(channelFailsafeConfiguration->mode) {
default:
case RX_FAILSAFE_MODE_AUTO:
switch (channel) {
case ROLL:
case PITCH:
case YAW:
return rxConfig->midrc;
case THROTTLE:
if (feature(FEATURE_3D))
return rxConfig->midrc;
else
return rxConfig->rx_min_usec;
}
// fall though to HOLD if there's nothing specific to do.
/* no break */
default:
case RX_FAILSAFE_MODE_INVALID:
case RX_FAILSAFE_MODE_HOLD:
return rcData[channel];
case RX_FAILSAFE_MODE_SET:
return RXFAIL_STEP_TO_CHANNEL_VALUE(channelFailsafeConfiguration->step);
}
}
STATIC_UNIT_TESTED uint16_t applyRxChannelRangeConfiguraton(int sample, rxChannelRangeConfiguration_t range)
@ -451,10 +466,11 @@ static void detectAndApplySignalLossBehaviour(void)
rxFlightChannelsValid = rxHaveValidFlightChannels();
if (rxFlightChannelsValid) {
if ((rxFlightChannelsValid) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE)) {
failsafeOnValidDataReceived();
} else {
rxSignalReceived = false;
failsafeOnValidDataFailed();
for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
rcData[channel] = getRxfailValue(channel);
@ -467,8 +483,6 @@ void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime)
{
rxUpdateAt = currentTime + DELAY_50_HZ;
failsafeOnRxCycleStarted();
if (!feature(FEATURE_RX_MSP)) {
// rcData will have already been updated by MSP_SET_RAW_RC
@ -477,9 +491,13 @@ void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime)
}
}
if (skipRxSamples) {
skipRxSamples--;
return;
}
readRxChannelsApplyRanges();
detectAndApplySignalLossBehaviour();
}
void parseRcChannels(const char *input, rxConfig_t *rxConfig)