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perf: Process CRSF telemetry by frame (#4038)

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Co-authored-by: 3djc <lesitewebdejc@hotmail.com>
Co-authored-by: Peter Feerick <peter.feerick@gmail.com>
This commit is contained in:
Raphael Coeffic
2023-10-19 13:31:30 +10:00
committed by GitHub
co-authored by 3djc Peter Feerick
parent eaabb2ce97
commit c93695eeaa
31 changed files with 418 additions and 169 deletions
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radio/src/telemetry/telemetry.cpp
+49 -29
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@@ -153,30 +153,10 @@ rxStatStruct *getRxStatLabels() {
return &rxStat;
}
// TODO: move to module port driver
//
// static int (*_telemetryGetByte)(void*, uint8_t*) = nullptr;
// static void* _telemetryGetByteCtx = nullptr;
// void telemetrySetGetByte(void* ctx, int (*fct)(void*, uint8_t*))
// {
// _telemetryGetByte = nullptr;
// _telemetryGetByteCtx = ctx;
// _telemetryGetByte = fct;
// }
// static bool telemetryGetByte(uint8_t* data)
// {
// auto _getByte = _telemetryGetByte;
// auto _ctx = _telemetryGetByteCtx;
// if (_getByte) {
// return _getByte(_ctx, data);
// }
// // return sportGetByte(data);
// return false;
// }
// This can only be changed when the mixer is not
// running as the priority of the timer task is
// lower.
volatile uint8_t _telemetryIsPolling = false;
static void (*telemetryMirrorSendByte)(void*, uint8_t) = nullptr;
static void* telemetryMirrorSendByteCtx = nullptr;
@@ -234,6 +214,51 @@ void telemetryStop()
}
}
}
static void _poll_frame(void *pvParameter1, uint32_t ulParameter2)
{
_telemetryIsPolling = true;
auto drv = (const etx_proto_driver_t*)pvParameter1;
auto module = (uint8_t)ulParameter2;
auto mod = pulsesGetModuleDriver(module);
if (!mod || !mod->drv || !mod->ctx || (drv != mod->drv))
return;
auto ctx = mod->ctx;
auto mod_st = (etx_module_state_t*)ctx;
auto serial_drv = modulePortGetSerialDrv(mod_st->rx);
auto serial_ctx = modulePortGetCtx(mod_st->rx);
if (!serial_drv || !serial_ctx || !serial_drv->copyRxBuffer)
return;
uint8_t frame[TELEMETRY_RX_PACKET_SIZE];
int frame_len = serial_drv->copyRxBuffer(serial_ctx, frame, TELEMETRY_RX_PACKET_SIZE);
if (frame_len > 0) {
LOG_TELEMETRY_WRITE_START();
for (int i = 0; i < frame_len; i++) {
telemetryMirrorSend(frame[i]);
LOG_TELEMETRY_WRITE_BYTE(frame[i]);
}
uint8_t* rxBuffer = getTelemetryRxBuffer(module);
uint8_t& rxBufferCount = getTelemetryRxBufferCount(module);
drv->processFrame(ctx, frame, frame_len, rxBuffer, &rxBufferCount);
}
_telemetryIsPolling = false;
}
void telemetryFrameTrigger_ISR(uint8_t module, const etx_proto_driver_t* drv)
{
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xTimerPendFunctionCallFromISR(_poll_frame, (void*)drv, module, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
}
#endif
inline bool isBadAntennaDetected()
@@ -277,11 +302,6 @@ static inline void pollTelemetry(uint8_t module, const etx_proto_driver_t* drv,
}
}
// This can only be changed when the mixer is not
// running as the priority of the timer task is
// lower.
volatile uint8_t _telemetryIsPolling = false;
void telemetryWakeup()
{
_telemetryIsPolling = true;