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AP_RCProtocol: increase CRSF frame timeout to account for scheduling delays

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Andrew Tridgell 2021-09-10 13:04:15 +10:00 committed by Randy Mackay
parent bfc7dc8b68
commit 7ae8aac84f
2 changed files with 7 additions and 7 deletions
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12
libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
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@ -97,7 +97,7 @@ static const char* get_frame_type(uint8_t byte)
# define debug(fmt, args...) do {} while(0) # define debug(fmt, args...) do {} while(0)
#endif #endif
#define CRSF_MAX_FRAME_TIME_US 1100U // 700us + 400us for potential ad-hoc request #define CRSF_FRAME_TIMEOUT_US 10000U // 10ms to account for scheduling delays
#define CRSF_INTER_FRAME_TIME_US_250HZ 4000U // At fastest, frames are sent by the transmitter every 4 ms, 250 Hz #define CRSF_INTER_FRAME_TIME_US_250HZ 4000U // At fastest, frames are sent by the transmitter every 4 ms, 250 Hz
#define CRSF_INTER_FRAME_TIME_US_150HZ 6667U // At medium, frames are sent by the transmitter every 6.667 ms, 150 Hz #define CRSF_INTER_FRAME_TIME_US_150HZ 6667U // At medium, frames are sent by the transmitter every 6.667 ms, 150 Hz
#define CRSF_INTER_FRAME_TIME_US_50HZ 20000U // At slowest, frames are sent by the transmitter every 20ms, 50 Hz #define CRSF_INTER_FRAME_TIME_US_50HZ 20000U // At slowest, frames are sent by the transmitter every 20ms, 50 Hz
@ -145,8 +145,9 @@ void AP_RCProtocol_CRSF::process_pulse(uint32_t width_s0, uint32_t width_s1)
void AP_RCProtocol_CRSF::_process_byte(uint32_t timestamp_us, uint8_t byte) void AP_RCProtocol_CRSF::_process_byte(uint32_t timestamp_us, uint8_t byte)
{ {
//debug("process_byte(0x%x)", byte); //debug("process_byte(0x%x)", byte);
// we took too long decoding, start again - the RX will only send complete frames so this is unlikely to fail // we took too long decoding, start again - the RX will only send complete frames so this is unlikely to fail,
if (_frame_ofs > 0 && (timestamp_us - _start_frame_time_us) > CRSF_MAX_FRAME_TIME_US) { // however thread scheduling can introduce longer delays even when the data has been received
if (_frame_ofs > 0 && (timestamp_us - _start_frame_time_us) > CRSF_FRAME_TIMEOUT_US) {
_frame_ofs = 0; _frame_ofs = 0;
} }
@ -203,7 +204,7 @@ void AP_RCProtocol_CRSF::_process_byte(uint32_t timestamp_us, uint8_t byte)
_last_frame_time_us = timestamp_us; _last_frame_time_us = timestamp_us;
// decode here // decode here
if (decode_csrf_packet()) { if (decode_crsf_packet()) {
add_input(MAX_CHANNELS, _channels, false, _link_status.rssi); add_input(MAX_CHANNELS, _channels, false, _link_status.rssi);
} }
} }
@ -268,7 +269,7 @@ void AP_RCProtocol_CRSF::write_frame(Frame* frame)
#endif #endif
} }
bool AP_RCProtocol_CRSF::decode_csrf_packet() bool AP_RCProtocol_CRSF::decode_crsf_packet()
{ {
#ifdef CRSF_DEBUG #ifdef CRSF_DEBUG
hal.console->printf("CRSF: received %s:", get_frame_type(_frame.type)); hal.console->printf("CRSF: received %s:", get_frame_type(_frame.type));
@ -293,7 +294,6 @@ bool AP_RCProtocol_CRSF::decode_csrf_packet()
default: default:
break; break;
} }
#if HAL_CRSF_TELEM_ENABLED && !APM_BUILD_TYPE(APM_BUILD_iofirmware) #if HAL_CRSF_TELEM_ENABLED && !APM_BUILD_TYPE(APM_BUILD_iofirmware)
if (AP_CRSF_Telem::process_frame(FrameType(_frame.type), (uint8_t*)&_frame.payload)) { if (AP_CRSF_Telem::process_frame(FrameType(_frame.type), (uint8_t*)&_frame.payload)) {
process_telemetry(); process_telemetry();

2
libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
View File

@ -200,7 +200,7 @@ private:
static AP_RCProtocol_CRSF* _singleton; static AP_RCProtocol_CRSF* _singleton;
void _process_byte(uint32_t timestamp_us, uint8_t byte); void _process_byte(uint32_t timestamp_us, uint8_t byte);
bool decode_csrf_packet(); bool decode_crsf_packet();
bool process_telemetry(bool check_constraint = true); bool process_telemetry(bool check_constraint = true);
void process_link_stats_frame(const void* data); void process_link_stats_frame(const void* data);
void write_frame(Frame* frame); void write_frame(Frame* frame);