Simplified CRSF telemetry port handling since sharing not required

src/main/build/debug.h

@@ -60,6 +60,5 @@ typedef enum {
     DEBUG_DTERM_FILTER,
     DEBUG_ANGLERATE,
     DEBUG_ESC_TELEMETRY,
-    DEBUG_CRSF,
     DEBUG_COUNT
 } debugType_e;

src/main/rx/crsf.c

@@ -39,8 +39,6 @@
 #include "rx/rx.h"
 #include "rx/crsf.h"
 
-#include "telemetry/telemetry.h"
-
 #define CRSF_TIME_NEEDED_PER_FRAME_US   1000
 #define CRSF_TIME_BETWEEN_FRAMES_US     4000 // a frame is sent by the transmitter every 4 milliseconds
 
@@ -235,19 +233,7 @@ bool crsfRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
         return false;
     }
 
-#if defined(TELEMETRY) && defined(TELEMETRY_CRSF)
-    const bool portShared = telemetryCheckRxPortShared(portConfig);
-#else
-    const bool portShared = false;
-#endif
-
-    serialPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, crsfDataReceive, CRSF_BAUDRATE, portShared ? MODE_RXTX : MODE_RX, CRSF_PORT_OPTIONS);
-
-#if defined(TELEMETRY) && defined(TELEMETRY_CRSF)
-    if (portShared) {
-        telemetrySharedPort = serialPort;
-    }
-#endif
+    serialPort = openSerialPort(portConfig->identifier, FUNCTION_RX_SERIAL, crsfDataReceive, CRSF_BAUDRATE, CRSF_PORT_MODE, CRSF_PORT_OPTIONS);
 
     return serialPort != NULL;
 }

src/main/rx/crsf.h

@@ -19,6 +19,7 @@
 
 #define CRSF_BAUDRATE           420000
 #define CRSF_PORT_OPTIONS       (SERIAL_STOPBITS_1 | SERIAL_PARITY_NO | SERIAL_BIDIR)
+#define CRSF_PORT_MODE          MODE_RXTX
 
 #define CRSF_MAX_CHANNEL        16
 

src/main/target/CC3D/target.h

@@ -111,7 +111,6 @@
 #undef MAG
 
 #ifdef CC3D_OPBL
-#undef USE_SERIAL_4WAY_BLHELI_INTERFACE
 #define SKIP_CLI_COMMAND_HELP
 #undef BARO
 #undef SONAR

src/main/target/NAZE/target.h

@@ -108,7 +108,7 @@
 #define USE_BARO_BMP085
 #define USE_BARO_BMP280
 
-//#define MAG
+#define MAG
 #define USE_MAG_HMC5883
 #define MAG_HMC5883_ALIGN       CW180_DEG
 

src/main/telemetry/crsf.c

@@ -64,12 +64,8 @@
 #include "fc/config.h"
 #endif
 
-#define TELEMETRY_CRSF_INITIAL_PORT_MODE    MODE_RXTX
-#define CRSF_CYCLETIME_US                   100000
+#define CRSF_CYCLETIME_US                   100000 // 100ms, 10 Hz
 
-static serialPort_t *serialPort;
-static serialPortConfig_t *serialPortConfig;
-static portSharing_e portSharing;
 static bool crsfTelemetryEnabled;
 static uint8_t crsfCrc;
 static uint8_t crsfFrame[CRSF_FRAME_SIZE_MAX];
@@ -351,52 +347,23 @@ static void processCrsf(void)
     crsfScheduleIndex = (crsfScheduleIndex + 1) % CRSF_SCHEDULE_COUNT;
 }
 
-static void freeCrsfTelemetryPort(void)
-{
-    closeSerialPort(serialPort);
-    serialPort = NULL;
-    crsfTelemetryEnabled = false;
-}
-
-static void configureCrsfTelemetryPort(void)
-{
-    if (!serialPortConfig) {
-        return;
-    }
-    serialPort = openSerialPort(serialPortConfig->identifier, FUNCTION_TELEMETRY_CRSF, NULL, CRSF_BAUDRATE, TELEMETRY_CRSF_INITIAL_PORT_MODE, CRSF_PORT_OPTIONS);
-    if (!serialPort) {
-        return;
-    }
-    crsfTelemetryEnabled = true;
-}
-
 void initCrsfTelemetry(void)
 {
-    serialPortConfig = findSerialPortConfig(FUNCTION_TELEMETRY_CRSF);
-    portSharing = determinePortSharing(serialPortConfig, FUNCTION_TELEMETRY_CRSF);
+    // check if there is a serial port open for CRSF telemetry (ie opened by the CRSF RX)
+    // if so, set CRSF telemetry enabled
+    crsfTelemetryEnabled = false;
+    const serialPortConfig_t *serialPortConfig = findSerialPortConfig(FUNCTION_TELEMETRY_CRSF);
+    if (serialPortConfig) {
+        const serialPort_t *serialPort = openSerialPort(serialPortConfig->identifier, FUNCTION_TELEMETRY_CRSF, NULL, CRSF_BAUDRATE, CRSF_PORT_MODE, CRSF_PORT_OPTIONS);
+        if (serialPort) {
+            crsfTelemetryEnabled = true;
+        }
+    }
  }
 
 bool checkCrsfTelemetryState(void)
 {
-    if (serialPortConfig && telemetryCheckRxPortShared(serialPortConfig)) {
-        if (!crsfTelemetryEnabled && telemetrySharedPort != NULL) {
-            serialPort = telemetrySharedPort;
-            crsfTelemetryEnabled = true;
-            return true;
-        }
-        return false;
-    } else {
-        const bool newTelemetryEnabled = telemetryDetermineEnabledState(portSharing);
-        if (newTelemetryEnabled == crsfTelemetryEnabled) {
-            return false;
-        }
-        if (newTelemetryEnabled) {
-            configureCrsfTelemetryPort();
-        } else {
-            freeCrsfTelemetryPort();
-        }
-        return true;
-    }
+    return crsfTelemetryEnabled;
 }
 
 /*
@@ -409,13 +376,12 @@ void handleCrsfTelemetry(uint32_t currentTime)
     if (!crsfTelemetryEnabled) {
         return;
     }
-    if (!serialPort) {
-        return;
-    }
-
-    // give the receiver a change to send any outstanding telemetry data.
+    // Give the receiver a chance to send any outstanding telemetry data.
+    // This needs to be done at high frequency, to enable the RX to send the telemetry frame
+    // in between the RX frames.
     crsfRxSendTelemetryData();
 
+    // Actual telemetry data only needs to be sent at a low frequency, ie 10Hz
     if (currentTime >= crsfLastCycleTime + CRSF_CYCLETIME_US) {
         crsfLastCycleTime = currentTime;
         processCrsf();

src/main/telemetry/telemetry.h

@@ -59,4 +59,4 @@ bool telemetryDetermineEnabledState(portSharing_e portSharing);
 
 void telemetryUseConfig(telemetryConfig_t *telemetryConfig);
 
-#define TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_CRSF)
+#define TELEMETRY_SHAREABLE_PORT_FUNCTIONS_MASK (FUNCTION_TELEMETRY_FRSKY | FUNCTION_TELEMETRY_LTM)