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[Taranis] Telemetry serial interrupt fix

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[Taranis] CRC check on telemetry data
[all] Mixer bug on recursive channels
This commit is contained in:
bsongis@gmail.com
2013-07-17 12:34:00 +00:00
parent 7db61e7385
commit 19d1238ab6
9 changed files with 101 additions and 50 deletions
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src/opentx.cpp
+13 -12
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@@ -2834,11 +2834,11 @@ void perOut(uint8_t mode, uint8_t tick10ms)
do {
// printf("[pass %d]\n", pass); fflush(stdout);
// TRACE("[pass %d]", pass);
bitfield_channels_t passDirtyChannels = 0;
for (uint8_t i = 0; i < MAX_MIXERS; i++) {
for (uint8_t i=0; i<MAX_MIXERS; i++) {
#if defined(BOLD_FONT)
if (mode==e_perout_mode_normal && pass==0) swOn[i].activeMix = 0;
@@ -2852,6 +2852,11 @@ void perOut(uint8_t mode, uint8_t tick10ms)
if (!(dirtyChannels & ((bitfield_channels_t)1 << md->destCh))) continue;
// if this is the first calculation for the destination channel, initialize it with 0 (otherwise would be random)
if (i == 0 || md->destCh != (md-1)->destCh) {
chans[md->destCh] = 0;
}
//========== PHASE && SWITCH =====
bool mixCondition = (md->phases != 0 || md->swtch);
delayval_t mixEnabled = !(md->phases & (1 << s_perout_flight_phase)) && getSwitch(md->swtch);
@@ -2873,7 +2878,7 @@ void perOut(uint8_t mode, uint8_t tick10ms)
else {
v = getValue(k);
if (k>=MIXSRC_CH1-1 && k<=MIXSRC_LAST_CH-1 && md->destCh != k-MIXSRC_CH1+1) {
if (dirtyChannels & ((bitfield_channels_t)1 << (k-MIXSRC_CH1+1)) & (passDirtyChannels|~(((bitfield_channels_t) 1 << md->destCh)-1)))
if (dirtyChannels & ((bitfield_channels_t)1 << (k-MIXSRC_CH1+1)))
passDirtyChannels |= (bitfield_channels_t) 1 << md->destCh;
if (k-MIXSRC_CH1+1 < md->destCh || pass > 0)
v = chans[k-MIXSRC_CH1+1] >> 8;
@@ -2886,7 +2891,7 @@ void perOut(uint8_t mode, uint8_t tick10ms)
bool apply_offset_and_curve = true;
// ========== DELAYS ===============
//========== DELAYS ===============
delayval_t _swOn = swOn[i].now;
delayval_t _swPrev = swOn[i].prev;
bool swTog = (mixEnabled != _swOn);
@@ -2927,7 +2932,7 @@ void perOut(uint8_t mode, uint8_t tick10ms)
int16_t offset = GET_GVAR(MD_OFFSET(md), GV_RANGELARGE_NEG, GV_RANGELARGE, s_perout_flight_phase);
if (offset) v += calc100toRESX_16Bits(offset);
//========== TRIMS ===============
//========== TRIMS ================
if (!(mode & e_perout_mode_notrims)) {
int8_t mix_trim = md->carryTrim;
if (mix_trim < TRIM_ON)
@@ -2976,13 +2981,13 @@ void perOut(uint8_t mode, uint8_t tick10ms)
int32_t newValue = tact-rate/((int16_t)(100/SLOW_STEP)*md->speedDown);
if (newValue>currentValue) currentValue = newValue; // Endposition; prevent toggling around the destination
}
} //endif diff>0
}
act[i] = tact = currentValue;
// open.20.fsguruh: this implementation would save about 50 bytes code
} // endif tick10ms ; in case no time passed assign the old value, not the current value from source
v = (tact >> DEL_MULT_SHIFT);
} //endif diff
} //endif speed
}
}
//========== CURVES ===============
if (apply_offset_and_curve && md->curveParam && md->curveMode == MODE_CURVE) {
@@ -3004,10 +3009,6 @@ void perOut(uint8_t mode, uint8_t tick10ms)
int32_t *ptr = &chans[md->destCh]; // Save calculating address several times
if (i == 0 || md->destCh != (md - 1)->destCh)
*ptr = 0;
// if this is the first calculation for the destination channel, initialize it with 0 (otherwise would be random)
switch (md->mltpx) {
case MLTPX_REP:
*ptr = dv;