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PX4IO Firmware: promote rssi to static storage

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The controls_tick() rate exceeds the rate at which RC receivers
provide digital rssi. As such, most ticks set PX4IO_P_RAW_RC_NRSSI
to 0.

This change promotes the controls_tick() local variable 'rssi' to
static storage so that it doesn't have to be updated every tick to
keep the correct value in PX4IO_P_RAW_RC_NRSSI.
This commit is contained in:
Kurt Kiefer
2018-07-23 08:16:51 +02:00
committed by Lorenz Meier
parent b1d3bb0403
commit 7a5a135739
1 changed files with 11 additions and 10 deletions
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src/modules/px4iofirmware/controls.c
+11 -10
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@@ -72,6 +72,10 @@ static uint16_t rc_value_override = 0;
static unsigned _rssi_adc_counts = 0;
#endif
/* receive signal strenght indicator (RSSI). 0 = no connection, 100 (RC_INPUT_RSSI_MAX): perfect connection */
/* Note: this is static because RC-provided telemetry does not occur every tick */
static uint16_t _rssi = 0;
bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated)
{
perf_begin(c_gather_dsm);
@@ -209,9 +213,6 @@ controls_tick()
* other. Don't do that.
*/
/* receive signal strenght indicator (RSSI). 0 = no connection, 255: perfect connection */
uint16_t rssi = 0;
#ifdef ADC_RSSI
if (r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) {
@@ -223,10 +224,10 @@ controls_tick()
/* use 1:1 scaling on 3.3V, 12-Bit ADC input */
unsigned mV = _rssi_adc_counts * 3300 / 4095;
/* scale to 0..100 (RC_INPUT_RSSI_MAX == 100) */
rssi = (mV * RC_INPUT_RSSI_MAX / 3300);
_rssi = (mV * RC_INPUT_RSSI_MAX / 3300);
if (rssi > RC_INPUT_RSSI_MAX) {
rssi = RC_INPUT_RSSI_MAX;
if (_rssi > RC_INPUT_RSSI_MAX) {
_rssi = RC_INPUT_RSSI_MAX;
}
}
}
@@ -235,7 +236,7 @@ controls_tick()
/* zero RSSI if signal is lost */
if (!(r_raw_rc_flags & (PX4IO_P_RAW_RC_FLAGS_RC_OK))) {
rssi = 0;
_rssi = 0;
}
perf_begin(c_gather_sbus);
@@ -266,7 +267,7 @@ controls_tick()
/* set RSSI to an emulated value if ADC RSSI is off */
if (!(r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI)) {
rssi = sbus_rssi;
_rssi = sbus_rssi;
}
}
@@ -295,7 +296,7 @@ controls_tick()
if (!((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) || (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_PPM))) {
perf_begin(c_gather_dsm);
(void)dsm_port_input(&rssi, &dsm_updated, &st24_updated, &sumd_updated);
(void)dsm_port_input(&_rssi, &dsm_updated, &st24_updated, &sumd_updated);
if (dsm_updated) {
PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_DSM);
@@ -318,7 +319,7 @@ controls_tick()
}
/* store RSSI */
r_page_raw_rc_input[PX4IO_P_RAW_RC_NRSSI] = rssi;
r_page_raw_rc_input[PX4IO_P_RAW_RC_NRSSI] = _rssi;
/*
* In some cases we may have received a frame, but input has still