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FrSky did introduce 2us jitter since last optimization

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Makefile minor update
Google tests fixed
Momentary switches in FUNC SWITCHES screen (not finished)
Trim parameter in Mixer is OFF if the source is not a stick
This commit is contained in:
bsongis
2012-03-01 21:10:18 +00:00
parent 71e2456371
commit bd7ab010ca
12 changed files with 161 additions and 120 deletions
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src/frsky.cpp
+62 -54
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@@ -343,17 +343,75 @@ void processFrskyPacket(uint8_t *packet)
*/
#ifndef SIMU
NOINLINE void processSerialData(uint8_t stat, uint8_t data)
{
static uint8_t numPktBytes = 0;
static uint8_t dataState = frskyDataIdle;
if (stat & ((1 << FE0) | (1 << DOR0) | (1 << UPE0)))
{ // discard buffer and start fresh on any comms error
FrskyRxBufferReady = 0;
numPktBytes = 0;
}
else
{
if (FrskyRxBufferReady == 0) // can't get more data if the buffer hasn't been cleared
{
switch (dataState)
{
case frskyDataStart:
if (data == START_STOP) break; // Remain in userDataStart if possible 0x7e,0x7e doublet found.
if (numPktBytes < FRSKY_RX_PACKET_SIZE)
frskyRxBuffer[numPktBytes++] = data;
dataState = frskyDataInFrame;
break;
case frskyDataInFrame:
if (data == BYTESTUFF)
{
dataState = frskyDataXOR; // XOR next byte
break;
}
if (data == START_STOP) // end of frame detected
{
processFrskyPacket(frskyRxBuffer); // FrskyRxBufferReady = 1;
dataState = frskyDataIdle;
break;
}
if (numPktBytes < FRSKY_RX_PACKET_SIZE)
frskyRxBuffer[numPktBytes++] = data;
break;
case frskyDataXOR:
if (numPktBytes < FRSKY_RX_PACKET_SIZE)
frskyRxBuffer[numPktBytes++] = data ^ STUFF_MASK;
dataState = frskyDataInFrame;
break;
case frskyDataIdle:
if (data == START_STOP)
{
numPktBytes = 0;
dataState = frskyDataStart;
}
break;
} // switch
} // if (FrskyRxBufferReady == 0)
}
}
ISR(USART0_RX_vect)
{
uint8_t stat;
uint8_t data;
static uint8_t numPktBytes = 0;
static uint8_t dataState = frskyDataIdle;
UCSR0B &= ~(1 << RXCIE0); // disable Interrupt
sei() ;
stat = UCSR0A; // USART control and Status Register 0 A
/*
@@ -387,58 +445,8 @@ ISR(USART0_RX_vect)
data = UDR0; // USART data register 0
if (stat & ((1 << FE0) | (1 << DOR0) | (1 << UPE0)))
{ // discard buffer and start fresh on any comms error
FrskyRxBufferReady = 0;
numPktBytes = 0;
}
else
{
if (FrskyRxBufferReady == 0) // can't get more data if the buffer hasn't been cleared
{
switch (dataState)
{
case frskyDataStart:
if (data == START_STOP) break; // Remain in userDataStart if possible 0x7e,0x7e doublet found.
processSerialData(stat, data);
if (numPktBytes < FRSKY_RX_PACKET_SIZE)
frskyRxBuffer[numPktBytes++] = data;
dataState = frskyDataInFrame;
break;
case frskyDataInFrame:
if (data == BYTESTUFF)
{
dataState = frskyDataXOR; // XOR next byte
break;
}
if (data == START_STOP) // end of frame detected
{
processFrskyPacket(frskyRxBuffer); // FrskyRxBufferReady = 1;
dataState = frskyDataIdle;
break;
}
if (numPktBytes < FRSKY_RX_PACKET_SIZE)
frskyRxBuffer[numPktBytes++] = data;
break;
case frskyDataXOR:
if (numPktBytes < FRSKY_RX_PACKET_SIZE)
frskyRxBuffer[numPktBytes++] = data ^ STUFF_MASK;
dataState = frskyDataInFrame;
break;
case frskyDataIdle:
if (data == START_STOP)
{
numPktBytes = 0;
dataState = frskyDataStart;
}
break;
} // switch
} // if (FrskyRxBufferReady == 0)
}
cli() ;
UCSR0B |= (1 << RXCIE0); // enable Interrupt
}