Merge pull request #3599 from iNavFlight/de_sbus_sync_config

Make sbus sync delay configurable

Author: fiam

src/main/fc/settings.yaml

@@ -349,6 +349,10 @@ groups:
       - name: rssi_invert
         field: rssiInvert
         type: bool
+      - name: sbus_sync_interval
+        field: sbusSyncInterval
+        min: 10000
+        max: 500
       - name: rc_smoothing
         field: rcSmoothing
         type: bool

src/main/rx/rx.c

@@ -100,7 +100,7 @@ uint32_t rcInvalidPulsPeriod[MAX_SUPPORTED_RC_CHANNEL_COUNT];
 rxRuntimeConfig_t rxRuntimeConfig;
 static uint8_t rcSampleIndex = 0;
 
-PG_REGISTER_WITH_RESET_TEMPLATE(rxConfig_t, rxConfig, PG_RX_CONFIG, 4);
+PG_REGISTER_WITH_RESET_TEMPLATE(rxConfig_t, rxConfig, PG_RX_CONFIG, 5);
 
 #ifndef RX_SPI_DEFAULT_PROTOCOL
 #define RX_SPI_DEFAULT_PROTOCOL 0
@@ -129,6 +129,7 @@ PG_RESET_TEMPLATE(rxConfig_t, rxConfig,
     .rssi_channel = 0,
     .rssi_scale = RSSI_SCALE_DEFAULT,
     .rssiInvert = 0,
+    .sbusSyncInterval = SBUS_DEFAULT_INTERFRAME_DELAY_US,
     .rcSmoothing = 1,
 );
 

src/main/rx/rx.h

@@ -121,7 +121,7 @@ typedef struct rxConfig_s {
     uint8_t rssi_channel;
     uint8_t rssi_scale;
     uint8_t rssiInvert;
-    uint16_t __reserved;                    // was micrd
+    uint16_t sbusSyncInterval;
     uint16_t mincheck;                      // minimum rc end
     uint16_t maxcheck;                      // maximum rc end
     uint16_t rx_min_usec;

src/main/rx/sbus.c

@@ -52,8 +52,6 @@
  * time to send frame: 3ms.
  */
 
-#define SBUS_MIN_INTERFRAME_DELAY_US    3000                // According to FrSky interframe is 6.67ms, we go smaller just in case
-
 #define SBUS_FRAME_SIZE (SBUS_CHANNEL_DATA_LENGTH + 2)
 
 #define SBUS_FRAME_BEGIN_BYTE 0x0F
@@ -114,7 +112,7 @@ static void sbusDataReceive(uint16_t c, void *data)
     sbusFrameData->lastActivityTimeUs = currentTimeUs;
 
     // Handle inter-frame gap. We dwell in STATE_SBUS_WAIT_SYNC state ignoring all incoming bytes until we get long enough quite period on the wire
-    if (sbusFrameData->state == STATE_SBUS_WAIT_SYNC && timeSinceLastByteUs >= SBUS_MIN_INTERFRAME_DELAY_US) {
+    if (sbusFrameData->state == STATE_SBUS_WAIT_SYNC && timeSinceLastByteUs >= rxConfig()->sbusSyncInterval) {
         DEBUG_SET(DEBUG_SBUS, DEBUG_SBUS_INTERFRAME_TIME, timeSinceLastByteUs);
         sbusFrameData->state = STATE_SBUS_SYNC;
     }

src/main/rx/sbus.h

@@ -17,4 +17,6 @@
 
 #pragma once
 
+#define SBUS_DEFAULT_INTERFRAME_DELAY_US    3000    // According to FrSky interframe is 6.67ms, we go smaller just in case
+
 bool sbusInit(const rxConfig_t *initialRxConfig, rxRuntimeConfig_t *rxRuntimeConfig);