first implementation

Author: xznhj8129

src/main/blackbox/blackbox.c

@@ -494,6 +494,11 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
     {"failsafePhase",         -1, UNSIGNED, PREDICT(0),      ENCODING(TAG2_3S32)},
     {"rxSignalReceived",      -1, UNSIGNED, PREDICT(0),      ENCODING(TAG2_3S32)},
     {"rxFlightChannelsValid", -1, UNSIGNED, PREDICT(0),      ENCODING(TAG2_3S32)},
+    {"rxActiveLink",          -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
+    {"rxValidLinkMask",       -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
+    {"rxSwitchReason",        -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
+    {"rxSwitchTimeMs",        -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
+    {"rxDualStatus",          -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
     {"rxUpdateRate",          -1, UNSIGNED, PREDICT(PREVIOUS),      ENCODING(UNSIGNED_VB)},
 
     {"hwHealthStatus",        -1, UNSIGNED, PREDICT(0),      ENCODING(UNSIGNED_VB)},
@@ -616,6 +621,11 @@ typedef struct blackboxSlowState_s {
     uint8_t failsafePhase;
     bool rxSignalReceived;
     bool rxFlightChannelsValid;
+    uint8_t rxActiveLink;
+    uint8_t rxValidLinkMask;
+    uint8_t rxSwitchReason;
+    uint32_t rxSwitchTimeMs;
+    uint8_t rxDualStatus;
     int32_t hwHealthStatus;
     uint16_t powerSupplyImpedance;
     uint16_t sagCompensatedVBat;
@@ -1397,6 +1407,11 @@ static void writeSlowFrame(void)
     values[1] = slowHistory.rxSignalReceived ? 1 : 0;
     values[2] = slowHistory.rxFlightChannelsValid ? 1 : 0;
     blackboxWriteTag2_3S32(values);
+    blackboxWriteUnsignedVB(slowHistory.rxActiveLink);
+    blackboxWriteUnsignedVB(slowHistory.rxValidLinkMask);
+    blackboxWriteUnsignedVB(slowHistory.rxSwitchReason);
+    blackboxWriteUnsignedVB(slowHistory.rxSwitchTimeMs);
+    blackboxWriteUnsignedVB(slowHistory.rxDualStatus);
 
     blackboxWriteUnsignedVB(slowHistory.rxUpdateRate);
 
@@ -1474,6 +1489,11 @@ static void loadSlowState(blackboxSlowState_t *slow)
     slow->failsafePhase = failsafePhase();
     slow->rxSignalReceived = rxIsReceivingSignal();
     slow->rxFlightChannelsValid = rxAreFlightChannelsValid();
+    slow->rxActiveLink = rxGetActiveLink();
+    slow->rxValidLinkMask = rxGetValidLinkMask();
+    slow->rxSwitchReason = rxGetLastSwitchReason();
+    slow->rxSwitchTimeMs = rxGetLastSwitchTimeMs();
+    slow->rxDualStatus = rxGetDualRxStatus();
     slow->rxUpdateRate = getRcUpdateFrequency();
     slow->hwHealthStatus = (getHwGyroStatus()           << 2 * 0) |     // Pack hardware health status into a bit field.
                            (getHwAccelerometerStatus()  << 2 * 1) |     // Use raw hardwareSensorStatus_e values and pack them using 2 bits per value
@@ -2094,6 +2114,9 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("mag_hardware", "%d",                    MAG_NONE);
 #endif
         BLACKBOX_PRINT_HEADER_LINE("serialrx_provider", "%d",               rxConfig()->serialrx_provider);
+        BLACKBOX_PRINT_HEADER_LINE("dual_rx_enabled", "%d",                  rxConfig()->dualRxEnabled);
+        BLACKBOX_PRINT_HEADER_LINE("receiver_type_rx2", "%d",                rxConfig()->receiverTypeSecondary);
+        BLACKBOX_PRINT_HEADER_LINE("serialrx_provider_rx2", "%d",            rxConfig()->serialrx_provider_secondary);
         BLACKBOX_PRINT_HEADER_LINE("motor_pwm_protocol", "%d",              motorConfig()->motorPwmProtocol);
         BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate", "%d",                  getEscUpdateFrequency());
         BLACKBOX_PRINT_HEADER_LINE("debug_mode", "%d",                      systemConfig()->debug_mode);

src/main/cms/cms_menu_osd.c

@@ -290,6 +290,9 @@ static const OSD_Entry menuOsdElemsEntries[] =
 #if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
     OSD_ELEMENT_ENTRY("RC SOURCE", OSD_RC_SOURCE),
 #endif
+    OSD_ELEMENT_ENTRY("ACTIVE RX", OSD_ACTIVE_RX_LINK),
+    OSD_ELEMENT_ENTRY("RX1 STATS", OSD_RX1_LINK_STATS),
+    OSD_ELEMENT_ENTRY("RX2 STATS", OSD_RX2_LINK_STATS),
 
     OSD_ELEMENT_ENTRY("IMU TEMP", OSD_IMU_TEMPERATURE),
 #ifdef USE_BARO

src/main/fc/cli.c

@@ -3619,27 +3619,50 @@ static void cliDfu(char *cmdline)
     cliRebootEx(true);
 }
 
-#if defined (USE_SERIALRX_SRXL2)
-void cliRxBind(char *cmdline){
-    UNUSED(cmdline);
-    if (rxConfig()->receiverType == RX_TYPE_SERIAL) {
-        switch (rxConfig()->serialrx_provider) {
-        default:
-            cliPrint("Not supported.");
-            break;
+#if defined(USE_SERIALRX_SRXL2) || defined(USE_SERIALRX_CRSF)
+void cliRxBind(char *cmdline)
+{
+    rxLink_e link = rxGetActiveLink();
+    if (!isEmpty(cmdline)) {
+        const int requestedRx = fastA2I(cmdline);
+        if (requestedRx < 1 || requestedRx > RX_LINK_COUNT) {
+            cliShowArgumentRangeError("rx", 1, RX_LINK_COUNT);
+            return;
+        }
+        link = (rxLink_e)(requestedRx - 1);
+    }
+
+    if (!rxIsLinkConfigured(link)) {
+        cliPrint("RX not configured.");
+        return;
+    }
+
+    const uint8_t receiverType = link == RX_LINK_PRIMARY ? rxConfig()->receiverType : rxConfig()->receiverTypeSecondary;
+    const uint8_t provider = link == RX_LINK_PRIMARY ? rxConfig()->serialrx_provider : rxConfig()->serialrx_provider_secondary;
+    if (receiverType != RX_TYPE_SERIAL) {
+        cliPrint("Not supported.");
+        return;
+    }
+
+    switch (provider) {
+    default:
+        cliPrint("Not supported.");
+        break;
 #if defined(USE_SERIALRX_SRXL2)
-        case SERIALRX_SRXL2:
-            srxl2Bind();
-            cliPrint("Binding SRXL2 receiver...");
-            break;
+    case SERIALRX_SRXL2:
+        srxl2Bind();
+        cliPrint("Binding SRXL2 receiver...");
+        break;
 #endif
 #if defined(USE_SERIALRX_CRSF)
-        case SERIALRX_CRSF:
-            crsfBind();
+    case SERIALRX_CRSF:
+        if (crsfBindLink(link)) {
             cliPrint("Binding CRSF receiver...");
-            break;
-#endif
+        } else {
+            cliPrint("RX not initialized.");
         }
+        break;
+#endif
     }
 }
 #endif
@@ -4960,8 +4983,8 @@ const clicmd_t cmdTable[] = {
             "\t<+|->[name]", cliBeeper),
 #endif
     CLI_COMMAND_DEF("bind_msp_rx", "initiate binding for MSP receivers (mLRS)", "<port>", cliBindMspRx),
-#if defined (USE_SERIALRX_SRXL2)
-    CLI_COMMAND_DEF("bind_rx", "initiate binding for RX SPI or SRXL2", NULL, cliRxBind),
+#if defined(USE_SERIALRX_SRXL2) || defined(USE_SERIALRX_CRSF)
+    CLI_COMMAND_DEF("bind_rx", "bind serial receiver; defaults to active RX", "[1|2]", cliRxBind),
 #endif
 #if defined(USE_BOOTLOG)
     CLI_COMMAND_DEF("bootlog", "show boot log", NULL, printBootLog),

src/main/fc/fc_core.c

@@ -645,10 +645,17 @@ void releaseSharedTelemetryPorts(void) {
     }
 }
 
-void processRx(timeUs_t currentTimeUs)
+static bool processRx(timeUs_t currentTimeUs)
 {
-    // Calculate RPY channel data
-    calculateRxChannelsAndUpdateFailsafe(currentTimeUs);
+    // Calculate RPY channel data. Standby-link traffic is processed by the RX
+    // task but must not look like a new active RC sample to smoothing/navigation.
+    const bool rxOutputUpdated = calculateRxChannelsAndUpdateFailsafe(currentTimeUs);
+    if (!rxOutputUpdated) {
+        // Standby RX traffic has already been decoded and its freshness/state
+        // updated. Do not let it advance stick commands, mode logic, smoothing
+        // or other active-control state machines.
+        return false;
+    }
 
     // in 3D mode, we need to be able to disarm by switch at any time
     if (feature(FEATURE_REVERSIBLE_MOTORS)) {
@@ -858,6 +865,8 @@ void processRx(timeUs_t currentTimeUs)
 #endif
     // Sound a beeper if the flight mode state has changed
     updateFlightModeChangeBeeper();
+
+    return rxOutputUpdated;
 }
 
 // Function for loop trigger
@@ -1076,8 +1085,7 @@ bool taskUpdateRxCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
 
 void taskUpdateRxMain(timeUs_t currentTimeUs)
 {
-    processRx(currentTimeUs);
-    isRXDataNew = true;
+    isRXDataNew = processRx(currentTimeUs) || isRXDataNew;
 }
 
 // returns seconds

src/main/fc/fc_init.c

@@ -267,16 +267,16 @@ void init(void)
 #endif
 
 #if defined(USE_SPEKTRUM_BIND) && defined(USE_SERIALRX_SPEKTRUM)
-    if (rxConfig()->receiverType == RX_TYPE_SERIAL) {
-        switch (rxConfig()->serialrx_provider) {
-            case SERIALRX_SPEKTRUM1024:
-            case SERIALRX_SPEKTRUM2048:
-                // Spektrum satellite binding if enabled on startup.
-                // Must be called before that 100ms sleep so that we don't lose satellite's binding window after startup.
-                // The rest of Spektrum initialization will happen later - via spektrumInit()
-                spektrumBind(rxConfigMutable());
-                break;
-        }
+    const bool rx1Spektrum = rxConfig()->receiverType == RX_TYPE_SERIAL &&
+        (rxConfig()->serialrx_provider == SERIALRX_SPEKTRUM1024 || rxConfig()->serialrx_provider == SERIALRX_SPEKTRUM2048);
+    const bool rx2Spektrum = rxConfig()->dualRxEnabled && rxConfig()->receiverTypeSecondary == RX_TYPE_SERIAL &&
+        (rxConfig()->serialrx_provider_secondary == SERIALRX_SPEKTRUM1024 || rxConfig()->serialrx_provider_secondary == SERIALRX_SPEKTRUM2048);
+    if (rx1Spektrum || rx2Spektrum) {
+        // Spektrum satellite binding if enabled on startup. Must be called
+        // before the startup delay so the bind window is not missed. The bind
+        // settings/pin are board-wide, so this applies whichever RX slot owns
+        // the Spektrum receiver.
+        spektrumBind(rxConfigMutable());
     }
 #endif