Merge remote-tracking branch 'upstream/master'

docs/Failsafe.md

@@ -22,9 +22,15 @@ The failsafe system attempts to detect when your receiver looses signal.  It the
 
 The failsafe is activated when:
 
+Either:
 a) no valid channel data from the RX via Serial RX.
 b) the first 4 Parallel PWM/PPM channels do not have valid signals.
 
+And:
+c) the failsafe guard time specified by `failsafe_delay` has elapsed. 
+
+## Configuration
+
 There are a few settings for it, as below.
 
 Failsafe delays are configured in 0.1 second steps.

src/main/io/ledstrip.c

@@ -573,7 +573,7 @@ void applyLedWarningLayer(uint8_t updateNow)
         if (feature(FEATURE_VBAT) && calculateBatteryState() != BATTERY_OK) {
             warningFlags |= WARNING_FLAG_LOW_BATTERY;
         }
-        if (failsafe->vTable->hasTimerElapsed()) {
+        if (feature(FEATURE_FAILSAFE) && failsafe->vTable->hasTimerElapsed()) {
             warningFlags |= WARNING_FLAG_FAILSAFE;
         }
         if (!ARMING_FLAG(ARMED) && !ARMING_FLAG(OK_TO_ARM)) {

src/main/rx/sbus.c

@@ -35,9 +35,14 @@
 #include "rx/rx.h"
 #include "rx/sbus.h"
 
+#define DEBUG_SBUS_PACKETS
+
+
 #define SBUS_MAX_CHANNEL 16
 #define SBUS_FRAME_SIZE 25
-#define SBUS_SYNCBYTE 0x0F
+
+#define SBUS_FRAME_BEGIN_BYTE 0x0F
+#define SBUS_FRAME_END_BYTE 0x00
 
 #define SBUS_BAUDRATE 100000
 
@@ -48,6 +53,7 @@ static uint16_t sbusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan);
 static uint32_t sbusChannelData[SBUS_MAX_CHANNEL];
 
 static serialPort_t *sBusPort;
+static uint32_t sbusSignalLostEventCount = 0;
 
 void sbusUpdateSerialRxFunctionConstraint(functionConstraint_t *functionConstraint)
 {
@@ -71,7 +77,14 @@ bool sbusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRa
     return sBusPort != NULL;
 }
 
-struct sbus_dat {
+#define SBUS_FLAG_RESERVED_1        (1 << 0)
+#define SBUS_FLAG_RESERVED_2        (1 << 1)
+#define SBUS_FLAG_SIGNAL_LOSS       (1 << 2)
+#define SBUS_FLAG_FAILSAFE_ACTIVE   (1 << 3)
+
+struct sbusFrame_s {
+    uint8_t syncByte;
+    // 176 bits of data (11 bits per channel * 16 channels) = 22 bytes.
     unsigned int chan0 : 11;
     unsigned int chan1 : 11;
     unsigned int chan2 : 11;
@@ -88,39 +101,53 @@ struct sbus_dat {
     unsigned int chan13 : 11;
     unsigned int chan14 : 11;
     unsigned int chan15 : 11;
+    uint8_t flags;
+    uint8_t endByte;
 } __attribute__ ((__packed__));
 
 typedef union {
-    uint8_t in[SBUS_FRAME_SIZE];
-    struct sbus_dat msg;
-} sbus_msg;
+    uint8_t bytes[SBUS_FRAME_SIZE];
+    struct sbusFrame_s frame;
+} sbusFrame_t;
 
-static sbus_msg sbus;
+static sbusFrame_t sbusFrame;
 
 // Receive ISR callback
 static void sbusDataReceive(uint16_t c)
 {
-    uint32_t sbusTime;
-    static uint32_t sbusTimeLast;
-    static uint8_t sbusFramePosition;
+#ifdef DEBUG_SBUS_PACKETS
+    static uint8_t sbusUnusedFrameCount = 0;
+#endif
 
-    sbusTime = micros();
-    if ((sbusTime - sbusTimeLast) > 2500) // sbus2 fast timing
+    static uint8_t sbusFramePosition = 0;
+    static uint32_t sbusTimeoutAt = 0;
+    uint32_t now = millis();
+
+    if ((int32_t)(sbusTimeoutAt - now) < 0) {
         sbusFramePosition = 0;
-    sbusTimeLast = sbusTime;
+    }
+    sbusTimeoutAt = now + 2500;
 
-    if (sbusFramePosition == 0 && c != SBUS_SYNCBYTE)
+    sbusFrame.bytes[sbusFramePosition] = (uint8_t)c;
+
+    if (sbusFramePosition == 0 && c != SBUS_FRAME_BEGIN_BYTE) {
         return;
+    }
 
-    sbusFrameDone = false; // lazy main loop didnt fetch the stuff
-    if (sbusFramePosition != 0)
-        sbus.in[sbusFramePosition - 1] = (uint8_t)c;
+    sbusFramePosition++;
 
-    if (sbusFramePosition == SBUS_FRAME_SIZE - 1) {
+    if (sbusFramePosition == SBUS_FRAME_SIZE) {
+        if (sbusFrame.frame.endByte == SBUS_FRAME_END_BYTE) {
             sbusFrameDone = true;
+        }
         sbusFramePosition = 0;
     } else {
-        sbusFramePosition++;
+#ifdef DEBUG_SBUS_PACKETS
+        if (sbusFrameDone) {
+            sbusUnusedFrameCount++;
+        }
+#endif
+        sbusFrameDone = false;
     }
 }
 
@@ -130,26 +157,32 @@ bool sbusFrameComplete(void)
         return false;
     }
     sbusFrameDone = false;
-    if ((sbus.in[SBUS_FRAME_SIZE - 3] >> 3) & 0x0001) {
+
+    if (sbusFrame.frame.flags & SBUS_FLAG_SIGNAL_LOSS) {
+        // internal failsafe enabled and rx failsafe flag set
+        sbusSignalLostEventCount++;
+    }
+    if (sbusFrame.frame.flags & SBUS_FLAG_FAILSAFE_ACTIVE) {
         // internal failsafe enabled and rx failsafe flag set
         return false;
     }
-    sbusChannelData[0] = sbus.msg.chan0;
-    sbusChannelData[1] = sbus.msg.chan1;
-    sbusChannelData[2] = sbus.msg.chan2;
-    sbusChannelData[3] = sbus.msg.chan3;
-    sbusChannelData[4] = sbus.msg.chan4;
-    sbusChannelData[5] = sbus.msg.chan5;
-    sbusChannelData[6] = sbus.msg.chan6;
-    sbusChannelData[7] = sbus.msg.chan7;
-    sbusChannelData[8] = sbus.msg.chan8;
-    sbusChannelData[9] = sbus.msg.chan9;
-    sbusChannelData[10] = sbus.msg.chan10;
-    sbusChannelData[11] = sbus.msg.chan11;
-    sbusChannelData[12] = sbus.msg.chan12;
-    sbusChannelData[13] = sbus.msg.chan13;
-    sbusChannelData[14] = sbus.msg.chan14;
-    sbusChannelData[15] = sbus.msg.chan15;
+
+    sbusChannelData[0] = sbusFrame.frame.chan0;
+    sbusChannelData[1] = sbusFrame.frame.chan1;
+    sbusChannelData[2] = sbusFrame.frame.chan2;
+    sbusChannelData[3] = sbusFrame.frame.chan3;
+    sbusChannelData[4] = sbusFrame.frame.chan4;
+    sbusChannelData[5] = sbusFrame.frame.chan5;
+    sbusChannelData[6] = sbusFrame.frame.chan6;
+    sbusChannelData[7] = sbusFrame.frame.chan7;
+    sbusChannelData[8] = sbusFrame.frame.chan8;
+    sbusChannelData[9] = sbusFrame.frame.chan9;
+    sbusChannelData[10] = sbusFrame.frame.chan10;
+    sbusChannelData[11] = sbusFrame.frame.chan11;
+    sbusChannelData[12] = sbusFrame.frame.chan12;
+    sbusChannelData[13] = sbusFrame.frame.chan13;
+    sbusChannelData[14] = sbusFrame.frame.chan14;
+    sbusChannelData[15] = sbusFrame.frame.chan15;
     return true;
 }