Merge pull request betaflight#11536 from SteveCEvans/frsky_range

Frsky range check issues

src/main/drivers/rx/rx_cc2500.c

@@ -50,20 +50,12 @@ void cc2500ReadFifo(uint8_t *dpbuffer, uint8_t len)
 
 void cc2500WriteCommand(uint8_t command, uint8_t data)
 {
-    // Burst writes require an interbyte gap, see fig. 7, pg. 22 in https://www.ti.com/lit/ds/symlink/cc2500.pdf
-    // As such gaps can't be inserted if DMA is being used, inhibit DMA on this bus for the duration of this call
-    rxSpiDmaEnable(false);
     rxSpiWriteCommand(command, data);
-    rxSpiDmaEnable(true);
 }
 
 void cc2500WriteCommandMulti(uint8_t command, const uint8_t *data, uint8_t length)
 {
-    // Burst writes require an interbyte gap, see fig. 7, pg. 22 in https://www.ti.com/lit/ds/symlink/cc2500.pdf
-    // As such gaps can't be inserted if DMA is being used, inhibit DMA on this bus for the duration of this call
-    rxSpiDmaEnable(false);
     rxSpiWriteCommandMulti(command, data, length);
-    rxSpiDmaEnable(true);
 }
 
 void cc2500WriteFifo(uint8_t *dpbuffer, uint8_t len)
@@ -116,6 +108,10 @@ void cc2500SetPower(uint8_t power)
 
 uint8_t cc2500Reset(void)
 {
+    // Writes require an interbyte gap, see fig. 7, pg. 22 in https://www.ti.com/lit/ds/symlink/cc2500.pdf
+    // As such gaps can't be inserted if DMA is being used, inhibit DMA for this device
+    rxSpiDmaEnable(false);
+
     cc2500Strobe(CC2500_SRES);
     delayMicroseconds(1000); // 1000us
     // CC2500_SetTxRxMode(TXRX_OFF);

src/main/fc/core.c

@@ -1262,14 +1262,6 @@ FAST_CODE bool pidLoopReady(void)
     return false;
 }
 
-FAST_CODE bool rxFrameReady(void)
-{
-    if ((activePidLoopDenom == 1) || (pidUpdateCounter % activePidLoopDenom == 0)) {
-        return true;
-    }
-    return false;
-}
-
 FAST_CODE void taskFiltering(timeUs_t currentTimeUs)
 {
     gyroFiltering(currentTimeUs);

src/main/fc/core.h

@@ -82,7 +82,6 @@ void updateArmingStatus(void);
 void taskGyroSample(timeUs_t currentTimeUs);
 bool gyroFilterReady(void);
 bool pidLoopReady(void);
-bool rxFrameReady(void);
 void taskFiltering(timeUs_t currentTimeUs);
 void taskMainPidLoop(timeUs_t currentTimeUs);
 

src/main/rx/cc2500_frsky_shared.c

@@ -435,6 +435,8 @@ rx_spi_received_e frSkySpiDataReceived(uint8_t *packet)
         protocolState = STATE_STARTING;
 
         break;
+
+    case STATE_STARTING:
     default:
         ret = handlePacket(packet, &protocolState);
 

src/main/scheduler/scheduler.c

@@ -503,13 +503,13 @@ FAST_CODE void scheduler(void)
             if (pidLoopReady()) {
                 taskExecutionTimeUs += schedulerExecuteTask(getTask(TASK_PID), currentTimeUs);
             }
-            if (rxFrameReady()) {
-                // Check for incoming RX data. Don't do this in the checker as that is called repeatedly within
-                // a given gyro loop, and ELRS takes a long time to process this and so can only be safely processed
-                // before the checkers
-                rxFrameCheck(currentTimeUs, cmpTimeUs(currentTimeUs, getTask(TASK_RX)->lastExecutedAtUs));
-            }
-            // Check for failsafe conditions every 10ms, independently of the Rx Task, which runs at 33hz.
+
+            // Check for incoming RX data. Don't do this in the checker as that is called repeatedly within
+            // a given gyro loop, and ELRS takes a long time to process this and so can only be safely processed
+            // before the checkers
+            rxFrameCheck(currentTimeUs, cmpTimeUs(currentTimeUs, getTask(TASK_RX)->lastExecutedAtUs));
+
+            // Check for failsafe conditions without reliance on the RX task being well behaved
             if (cmp32(millis(), lastFailsafeCheckMs) > PERIOD_RXDATA_FAILURE) {
                 // This is very low cost taking less that 4us every 10ms
                 failsafeCheckDataFailurePeriod();

src/test/unit/scheduler_unittest.cc

@@ -67,7 +67,6 @@ extern "C" {
     int16_t debug[1];
     uint8_t debugMode = 0;
 
-    bool rxFrameReady(void) { return 0; }
     void rxFrameCheck(timeUs_t, timeDelta_t) {}
 
     // set up micros() to simulate time