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Merge pull request #5016 from mikeller/fix_rx_update_frequency 

Fix RX update frequency with no serial input.
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Michael Keller 2018-01-25 01:52:44 +13:00 committed by GitHub
parent 67523493a0 d00cbc3858
commit a5c9833fb6
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 13 additions and 12 deletions
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25
src/main/rx/rx.c
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@ -75,8 +75,8 @@ static timeUs_t lastMspRssiUpdateUs = 0;
rssiSource_t rssiSource; rssiSource_t rssiSource;
static bool rxDataReceived = false; static bool rxDataProcessingRequired = false;
static bool processingRequired = false; static bool auxiliaryProcessingRequired = false;
static bool rxSignalReceived = false; static bool rxSignalReceived = false;
static bool rxSignalReceivedNotDataDriven = false; static bool rxSignalReceivedNotDataDriven = false;
@ -85,7 +85,7 @@ static bool rxIsInFailsafeMode = true;
static bool rxIsInFailsafeModeNotDataDriven = true; static bool rxIsInFailsafeModeNotDataDriven = true;
static uint8_t rxChannelCount; static uint8_t rxChannelCount;
static uint32_t rxUpdateAt = 0; static timeUs_t rxNextUpdateAtUs = 0;
static uint32_t needRxSignalBefore = 0; static uint32_t needRxSignalBefore = 0;
static uint32_t needRxSignalMaxDelayUs; static uint32_t needRxSignalMaxDelayUs;
static uint32_t suspendRxSignalUntil = 0; static uint32_t suspendRxSignalUntil = 0;
@ -445,17 +445,19 @@ bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
{ {
const uint8_t frameStatus = rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig); const uint8_t frameStatus = rxRuntimeConfig.rcFrameStatusFn(&rxRuntimeConfig);
if (frameStatus & RX_FRAME_COMPLETE) { if (frameStatus & RX_FRAME_COMPLETE) {
rxDataReceived = true; rxDataProcessingRequired = true;
rxIsInFailsafeMode = (frameStatus & RX_FRAME_FAILSAFE) != 0; rxIsInFailsafeMode = (frameStatus & RX_FRAME_FAILSAFE) != 0;
rxSignalReceived = !rxIsInFailsafeMode; rxSignalReceived = !rxIsInFailsafeMode;
needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs; needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs;
} else if (cmpTimeUs(currentTimeUs, rxNextUpdateAtUs) > 0) {
rxDataProcessingRequired = true;
} }
if (frameStatus & RX_FRAME_PROCESSING_REQUIRED) { if (frameStatus & RX_FRAME_PROCESSING_REQUIRED) {
processingRequired = true; auxiliaryProcessingRequired = true;
} }
} }
return rxDataReceived || processingRequired || (currentTimeUs >= rxUpdateAt); // data driven or 50Hz return rxDataProcessingRequired || auxiliaryProcessingRequired; // data driven or 50Hz
} }
static uint16_t calculateChannelMovingAverage(uint8_t chan, uint16_t sample) static uint16_t calculateChannelMovingAverage(uint8_t chan, uint16_t sample)
@ -612,17 +614,16 @@ static void detectAndApplySignalLossBehaviour(timeUs_t currentTimeUs)
bool calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs) bool calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs)
{ {
if (processingRequired) { if (auxiliaryProcessingRequired) {
processingRequired = !rxRuntimeConfig.rcProcessFrameFn(&rxRuntimeConfig); auxiliaryProcessingRequired = !rxRuntimeConfig.rcProcessFrameFn(&rxRuntimeConfig);
} }
if (!rxDataReceived) { if (!rxDataProcessingRequired) {
return false; return false;
} }
rxDataReceived = false; rxDataProcessingRequired = false;
rxNextUpdateAtUs = currentTimeUs + DELAY_50_HZ;
rxUpdateAt = currentTimeUs + DELAY_50_HZ;
// only proceed when no more samples to skip and suspend period is over // only proceed when no more samples to skip and suspend period is over
if (skipRxSamples) { if (skipRxSamples) {