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Fixed errors caused in FPort by feedback of own serial output.

This commit is contained in:
mikeller 2017-11-25 19:29:20 +13:00
parent 4476921cac
commit 4b412e9aec
1 changed files with 14 additions and 3 deletions
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17
src/main/rx/fport.c
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@ -43,7 +43,7 @@
#include "rx/fport.h"
#define FPORT_TIME_NEEDED_PER_FRAME_US 3000
#define FPORT_TIME_NEEDED_PER_FRAME_US 5200 // Empirically established
#define FPORT_MAX_TELEMETRY_RESPONSE_DELAY_US 2000
#define FPORT_MIN_TELEMETRY_RESPONSE_DELAY_US 500
#define FPORT_MAX_TELEMETRY_AGE_MS 500
@ -129,6 +129,8 @@ static volatile uint8_t rxBufferReadIndex = 0;
static volatile timeUs_t lastTelemetryFrameReceivedUs;
static volatile bool clearToSend = false;
static volatile bool skipUntilStart = false;
static serialPort_t *fportPort;
static bool telemetryEnabled = false;
@ -151,7 +153,7 @@ static void fportDataReceive(uint16_t c)
const timeUs_t currentTimeUs = micros();
if (bufferPosition > 0 && cmpTimeUs(currentTimeUs, frameStartAt) > FPORT_TIME_NEEDED_PER_FRAME_US + 500) {
if (!skipUntilStart && (frameStarting || bufferPosition > 0) && cmpTimeUs(currentTimeUs, frameStartAt) > FPORT_TIME_NEEDED_PER_FRAME_US + 500) {
reportFrameError(DEBUG_FPORT_ERROR_TIMEOUT);
bufferPosition = 0;
@ -161,6 +163,7 @@ static void fportDataReceive(uint16_t c)
uint8_t val = (uint8_t)c;
if (val == FPORT_FRAME_MARKER) {
skipUntilStart = false;
frameStarting = true;
escapedCharacter = false;
frameStartAt = currentTimeUs;
@ -171,7 +174,9 @@ static void fportDataReceive(uint16_t c)
rxBuffer[rxBufferWriteIndex].length = bufferPosition;
rxBufferWriteIndex = nextWriteIndex;
}
bufferPosition = 0;
if (telemetryFrame) {
clearToSend = true;
lastTelemetryFrameReceivedUs = currentTimeUs;
@ -184,7 +189,11 @@ static void fportDataReceive(uint16_t c)
} else {
clearToSend = false;
}
telemetryFrame = false;
} else if (skipUntilStart) {
frameStarting = false;
bufferPosition = 0;
} else {
if ((frameStarting || bufferPosition > 0) && bufferPosition < BUFFER_SIZE) {
if (escapedCharacter) {
@ -202,7 +211,7 @@ static void fportDataReceive(uint16_t c)
frameStarting = false;
rxBuffer[rxBufferWriteIndex].data[bufferPosition++] = val;
} else if (bufferPosition == BUFFER_SIZE) {
} else if (bufferPosition >= BUFFER_SIZE) {
bufferPosition = 0;
reportFrameError(DEBUG_FPORT_ERROR_OVERSIZE);
@ -214,6 +223,8 @@ static void fportDataReceive(uint16_t c)
#if defined(USE_TELEMETRY_SMARTPORT)
static void smartPortWriteFrameFport(const smartPortPayload_t *payload)
{
skipUntilStart = true;
uint16_t checksum = 0;
smartPortSendByte(FPORT_RESPONSE_FRAME_LENGTH, &checksum, fportPort);
smartPortSendByte(FPORT_FRAME_TYPE_TELEMETRY_RESPONSE, &checksum, fportPort);