david.tahir/QuadMeUp_Crossbow
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Several small fixes for potential race conditions

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This commit is contained in:
Pawel Spychalski (DzikuVx)
2017-10-30 20:39:32 +01:00
parent 3921cc245c
commit 5ae986112f
1 changed files with 11 additions and 7 deletions
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18
crossbow.ino
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@@ -1,5 +1,5 @@
#define DEVICE_MODE_TX // #define DEVICE_MODE_TX
// #define DEVICE_MODE_RX #define DEVICE_MODE_RX
#define FEATURE_TX_OLED #define FEATURE_TX_OLED
@@ -292,7 +292,7 @@ void loop(void)
*/ */
if ( if (
qsp.protocolState != QSP_STATE_IDLE && qsp.protocolState != QSP_STATE_IDLE &&
abs(currentMillis - qsp.frameDecodingStartedAt) > QSP_MAX_FRAME_DECODE_TIME qsp.frameDecodingStartedAt + QSP_MAX_FRAME_DECODE_TIME < currentMillis
) { ) {
qsp.protocolState = QSP_STATE_IDLE; qsp.protocolState = QSP_STATE_IDLE;
} }
@@ -300,8 +300,8 @@ void loop(void)
#ifdef DEVICE_MODE_TX #ifdef DEVICE_MODE_TX
if ( if (
abs(currentMillis - qsp.lastTxSlotTimestamp) > TX_TRANSMIT_SLOT_RATE && qsp.protocolState == QSP_STATE_IDLE &&
qsp.protocolState == QSP_STATE_IDLE qsp.lastTxSlotTimestamp + TX_TRANSMIT_SLOT_RATE < currentMillis
) { ) {
int8_t frameToSend = getFrameToTransmit(&qsp); int8_t frameToSend = getFrameToTransmit(&qsp);
@@ -339,7 +339,7 @@ void loop(void)
/* /*
* This routine updates RX device state and updates one of radio channels with RSSI value * This routine updates RX device state and updates one of radio channels with RSSI value
*/ */
if (abs(currentMillis - lastRxStateTaskTime) > RX_TASK_HEALTH) { if (lastRxStateTaskTime + RX_TASK_HEALTH < currentMillis) {
lastRxStateTaskTime = currentMillis; lastRxStateTaskTime = currentMillis;
updateRxDeviceState(&rxDeviceState); updateRxDeviceState(&rxDeviceState);
ppm[RSSI_CHANNEL - 1] = map(rxDeviceState.rssi, 0, 255, 1000, 2000); ppm[RSSI_CHANNEL - 1] = map(rxDeviceState.rssi, 0, 255, 1000, 2000);
@@ -408,7 +408,10 @@ void loop(void)
} }
//Here we detect failsafe state on TX module //Here we detect failsafe state on TX module
if (txDeviceState.isReceiving && abs(currentMillis - qsp.anyFrameRecivedAt) > TX_FAILSAFE_DELAY) { if (
txDeviceState.isReceiving &&
qsp.anyFrameRecivedAt + TX_FAILSAFE_DELAY < currentMillis
) {
txDeviceState.isReceiving = false; txDeviceState.isReceiving = false;
rxDeviceState.a1Voltage = 0; rxDeviceState.a1Voltage = 0;
rxDeviceState.a2Voltage = 0; rxDeviceState.a2Voltage = 0;
@@ -416,6 +419,7 @@ void loop(void)
rxDeviceState.rssi = 0; rxDeviceState.rssi = 0;
rxDeviceState.snr = 0; rxDeviceState.snr = 0;
rxDeviceState.flags = 0; rxDeviceState.flags = 0;
txDeviceState.roundtrip = 0;
qsp.deviceState = DEVICE_STATE_FAILSAFE; qsp.deviceState = DEVICE_STATE_FAILSAFE;
qsp.anyFrameRecivedAt = 0; qsp.anyFrameRecivedAt = 0;
} }