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Improve RX inter-frame timing measurement by calculating in the… (#9205) 

Improve RX inter-frame timing measurement by calculating in the protocol layer
This commit is contained in:
Michael Keller 2019-11-22 07:03:33 +13:00 committed by GitHub
parent 5951a48fe6 79dd6b6bcc
commit 05418297b2
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 44 additions and 6 deletions
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6
src/main/fc/tasks.c
View File

@ -166,8 +166,12 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
return;
}
currentRxRefreshRate = constrain(currentTimeUs - lastRxTimeUs, 1000, 30000);
timeDelta_t rxFrameDeltaUs;
if (!rxGetFrameDelta(&rxFrameDeltaUs)) {
rxFrameDeltaUs = cmpTimeUs(currentTimeUs, lastRxTimeUs); // calculate a delta here if not supplied by the protocol
}
lastRxTimeUs = currentTimeUs;
currentRxRefreshRate = constrain(rxFrameDeltaUs, 1000, 30000);
isRXDataNew = true;
#ifdef USE_USB_CDC_HID

17
src/main/rx/crsf.c
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@ -64,10 +64,12 @@ STATIC_UNIT_TESTED crsfFrame_t crsfChannelDataFrame;
STATIC_UNIT_TESTED uint32_t crsfChannelData[CRSF_MAX_CHANNEL];
static serialPort_t *serialPort;
static uint32_t crsfFrameStartAtUs = 0;
static timeUs_t crsfFrameStartAtUs = 0;
static uint8_t telemetryBuf[CRSF_FRAME_SIZE_MAX];
static uint8_t telemetryBufLen = 0;
static timeDelta_t lastRcFrameDelta = 0;
/*
* CRSF protocol
*
@ -231,13 +233,14 @@ STATIC_UNIT_TESTED void crsfDataReceive(uint16_t c, void *data)
UNUSED(data);
static uint8_t crsfFramePosition = 0;
const uint32_t currentTimeUs = micros();
const timeUs_t currentTimeUs = micros();
static timeUs_t lastRcFrameCompleteTimeUs = 0;
#ifdef DEBUG_CRSF_PACKETS
debug[2] = currentTimeUs - crsfFrameStartAtUs;
#endif
if (currentTimeUs > crsfFrameStartAtUs + CRSF_TIME_NEEDED_PER_FRAME_US) {
if (cmpTimeUs(currentTimeUs, crsfFrameStartAtUs) > CRSF_TIME_NEEDED_PER_FRAME_US) {
// We've received a character after max time needed to complete a frame,
// so this must be the start of a new frame.
crsfFramePosition = 0;
@ -260,6 +263,8 @@ STATIC_UNIT_TESTED void crsfDataReceive(uint16_t c, void *data)
{
case CRSF_FRAMETYPE_RC_CHANNELS_PACKED:
if (crsfFrame.frame.deviceAddress == CRSF_ADDRESS_FLIGHT_CONTROLLER) {
lastRcFrameDelta = cmpTimeUs(currentTimeUs, lastRcFrameCompleteTimeUs);
lastRcFrameCompleteTimeUs = currentTimeUs;
crsfFrameDone = true;
memcpy(&crsfChannelDataFrame, &crsfFrame, sizeof(crsfFrame));
}
@ -369,6 +374,11 @@ void crsfRxSendTelemetryData(void)
}
}
static timeDelta_t crsfFrameDelta(void)
{
return lastRcFrameDelta;
}
bool crsfRxInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
{
for (int ii = 0; ii < CRSF_MAX_CHANNEL; ++ii) {
@ -380,6 +390,7 @@ bool crsfRxInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
rxRuntimeState->rcReadRawFn = crsfReadRawRC;
rxRuntimeState->rcFrameStatusFn = crsfFrameStatus;
rxRuntimeState->rcFrameDeltaFn = crsfFrameDelta;
const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
if (!portConfig) {

9
src/main/rx/rx.c
View File

@ -862,3 +862,12 @@ bool isRssiConfigured(void)
{
return rssiSource != RSSI_SOURCE_NONE;
}
bool rxGetFrameDelta(timeDelta_t *deltaUs)
{
if (rxRuntimeState.rcFrameDeltaFn) {
*deltaUs = rxRuntimeState.rcFrameDeltaFn();
return true;
}
return false; // No frame delta function available for protocol type
}

4
src/main/rx/rx.h
View File

@ -125,6 +125,7 @@ struct rxRuntimeState_s;
typedef uint16_t (*rcReadRawDataFnPtr)(const struct rxRuntimeState_s *rxRuntimeState, uint8_t chan); // used by receiver driver to return channel data
typedef uint8_t (*rcFrameStatusFnPtr)(struct rxRuntimeState_s *rxRuntimeState);
typedef bool (*rcProcessFrameFnPtr)(const struct rxRuntimeState_s *rxRuntimeState);
typedef timeDelta_t (*rcGetFrameDeltaFnPtr)(void); // used to retrieve the time interval in microseconds for the last channel data frame
typedef enum {
RX_PROVIDER_NONE = 0,
@ -143,6 +144,7 @@ typedef struct rxRuntimeState_s {
rcReadRawDataFnPtr rcReadRawFn;
rcFrameStatusFnPtr rcFrameStatusFn;
rcProcessFrameFnPtr rcProcessFrameFn;
rcGetFrameDeltaFnPtr rcFrameDeltaFn;
uint16_t *channelData;
void *frameData;
} rxRuntimeState_t;
@ -204,3 +206,5 @@ void suspendRxPwmPpmSignal(void);
void resumeRxPwmPpmSignal(void);
uint16_t rxGetRefreshRate(void);
bool rxGetFrameDelta(timeDelta_t *deltaUs);

14
src/main/rx/sbus.c
View File

@ -108,15 +108,17 @@ typedef struct sbusFrameData_s {
bool done;
} sbusFrameData_t;
static timeDelta_t lastFrameDelta = 0;
// Receive ISR callback
static void sbusDataReceive(uint16_t c, void *data)
{
static timeUs_t lastFrameCompleteTimeUs = 0;
sbusFrameData_t *sbusFrameData = data;
const uint32_t nowUs = micros();
const timeUs_t nowUs = micros();
const int32_t sbusFrameTime = nowUs - sbusFrameData->startAtUs;
const timeDelta_t sbusFrameTime = cmpTimeUs(nowUs, sbusFrameData->startAtUs);
if (sbusFrameTime > (long)(SBUS_TIME_NEEDED_PER_FRAME + 500)) {
sbusFrameData->position = 0;
@ -134,6 +136,8 @@ static void sbusDataReceive(uint16_t c, void *data)
if (sbusFrameData->position < SBUS_FRAME_SIZE) {
sbusFrameData->done = false;
} else {
lastFrameDelta = cmpTimeUs(nowUs, lastFrameCompleteTimeUs);
lastFrameCompleteTimeUs = nowUs;
sbusFrameData->done = true;
DEBUG_SET(DEBUG_SBUS, DEBUG_SBUS_FRAME_TIME, sbusFrameTime);
}
@ -153,6 +157,11 @@ static uint8_t sbusFrameStatus(rxRuntimeState_t *rxRuntimeState)
return sbusChannelsDecode(rxRuntimeState, &sbusFrameData->frame.frame.channels);
}
static timeDelta_t sbusFrameDelta(void)
{
return lastFrameDelta;
}
bool sbusInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
{
static uint16_t sbusChannelData[SBUS_MAX_CHANNEL];
@ -174,6 +183,7 @@ bool sbusInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
}
rxRuntimeState->rcFrameStatusFn = sbusFrameStatus;
rxRuntimeState->rcFrameDeltaFn = sbusFrameDelta;
const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
if (!portConfig) {