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drivers/rc_input: flush buffers when beginning new scan state

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This commit is contained in:
Daniel Agar
2021-03-24 16:25:23 -04:00
committed by David Sidrane
parent a305fc9c34
commit 15c01a9732
2 changed files with 29 additions and 4 deletions
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src/drivers/rc_input/RCInput.cpp
+27 -3
View File
@@ -36,6 +36,8 @@
#include "crsf_telemetry.h"
#include <uORB/topics/vehicle_command_ack.h>
#include <termios.h>
using namespace time_literals;
constexpr char const *RCInput::RC_SCAN_STRING[];
@@ -397,15 +399,13 @@ void RCInput::Run()
unsigned frame_drops = 0;
int newBytes = 0;
// TODO: needs work (poll _rcs_fd)
// int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), 100);
// then update priority to SCHED_PRIORITY_FAST_DRIVER
// read all available data from the serial RC input UART
// read all available data from the serial RC input UART
newBytes = ::read(_rcs_fd, &_rcs_buf[0], SBUS_BUFFER_SIZE);
int newBytes = ::read(_rcs_fd, &_rcs_buf[0], SBUS_BUFFER_SIZE);
if (newBytes > 0) {
_bytes_rx += newBytes;
@@ -419,6 +419,10 @@ void RCInput::Run()
sbus_config(_rcs_fd, board_rc_singlewire(_device));
rc_io_invert(true);
// flush serial buffer and any existing buffered data
tcflush(_rcs_fd, TCIOFLUSH);
memset(_rcs_buf, 0, sizeof(_rcs_buf));
} else if (_rc_scan_locked
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -453,6 +457,10 @@ void RCInput::Run()
// Configure serial port for DSM
dsm_config(_rcs_fd);
// flush serial buffer and any existing buffered data
tcflush(_rcs_fd, TCIOFLUSH);
memset(_rcs_buf, 0, sizeof(_rcs_buf));
} else if (_rc_scan_locked
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -486,6 +494,10 @@ void RCInput::Run()
// Configure serial port for DSM
dsm_config(_rcs_fd);
// flush serial buffer and any existing buffered data
tcflush(_rcs_fd, TCIOFLUSH);
memset(_rcs_buf, 0, sizeof(_rcs_buf));
} else if (_rc_scan_locked
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -533,6 +545,10 @@ void RCInput::Run()
// Configure serial port for DSM
dsm_config(_rcs_fd);
// flush serial buffer and any existing buffered data
tcflush(_rcs_fd, TCIOFLUSH);
memset(_rcs_buf, 0, sizeof(_rcs_buf));
} else if (_rc_scan_locked
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -607,6 +623,10 @@ void RCInput::Run()
// Configure serial port for CRSF
crsf_config(_rcs_fd);
// flush serial buffer and any existing buffered data
tcflush(_rcs_fd, TCIOFLUSH);
memset(_rcs_buf, 0, sizeof(_rcs_buf));
} else if (_rc_scan_locked
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
@@ -651,6 +671,10 @@ void RCInput::Run()
// Configure serial port for GHST
ghst_config(_rcs_fd);
// flush serial buffer and any existing buffered data
tcflush(_rcs_fd, TCIOFLUSH);
memset(_rcs_buf, 0, sizeof(_rcs_buf));
} else if (_rc_scan_locked
|| cycle_timestamp - _rc_scan_begin < rc_scan_max) {
src/drivers/rc_input/RCInput.hpp
+2 -1
View File
@@ -153,7 +153,8 @@ private:
int _rcs_fd{-1};
char _device[20] {}; ///< device / serial port path
uint8_t _rcs_buf[SBUS_BUFFER_SIZE] {};
static constexpr size_t RC_MAX_BUFFER_SIZE{SBUS_BUFFER_SIZE};
uint8_t _rcs_buf[RC_MAX_BUFFER_SIZE] {};
uint16_t _raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS] {};
uint16_t _raw_rc_count{};