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OMP: improve telemetry

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This commit is contained in:
Pascal Langer 2020-09-22 15:15:14 +02:00
parent c6ab696949
commit 090388aa1b
3 changed files with 52 additions and 20 deletions
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2
Multiprotocol/Multiprotocol.h
View File

@ -19,7 +19,7 @@
#define VERSION_MAJOR 1
#define VERSION_MINOR 3
#define VERSION_REVISION 1
#define VERSION_PATCH_LEVEL 67
#define VERSION_PATCH_LEVEL 68
//******************
// Protocols

2
Multiprotocol/NRF24l01_SPI.ino
View File

@ -529,7 +529,7 @@ boolean XN297_ReadPayload(uint8_t* msg, uint8_t len)
}
uint8_t XN297_ReadEnhancedPayload(uint8_t* msg, uint8_t len)
{ //!!! Don't forget do a +2 and if using CRC add +2 on any of the used NRF24L01_11_RX_PW_Px !!!
{ //!!! Don't forget do a +2 and if using CRC add +4 on any of the used NRF24L01_11_RX_PW_Px !!!
uint8_t buffer[32];
uint8_t pcf_size; // pcf payload size
if (xn297_crc)

66
Multiprotocol/OMP_cc2500.ino
View File

@ -121,9 +121,10 @@ static void __attribute__((unused)) OMP_init()
//Config NRF
option=0; // Select the NRF
XN297L_Init();
NRF24L01_SetTxRxMode(TXRX_OFF); // Turn it off for now
XN297_Configure(_BV(NRF24L01_00_EN_CRC));
XN297_SetRXAddr(rx_tx_addr, 5); // Set the RX address
NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, OMP_PAYLOAD_SIZE + 2); // packet length +2 bytes of CRC
NRF24L01_SetTxRxMode(TXRX_OFF); // Turn it off for now
NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, OMP_PAYLOAD_SIZE + 4); // packet length +4 bytes of PCF+CRC
#endif
}
@ -141,6 +142,19 @@ static void __attribute__((unused)) OMP_initialize_txid()
#endif
}
static void __attribute__((unused)) OMP_Send_Telemetry(uint8_t v)
{
v_lipo1=v;
telemetry_counter++; //LQI
telemetry_link=1;
if(telemetry_lost)
{
telemetry_lost = 0;
packet_count = 100;
telemetry_counter = 100;
}
}
enum {
OMP_BIND = 0x00,
OMP_PREPDATA = 0x01,
@ -178,31 +192,48 @@ uint16_t OMP_callback()
{
if( NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_RX_DR))
{ // a packet has been received
if(XN297_ReadEnhancedPayload(packet_in, 16) == 16)
if(XN297_ReadEnhancedPayload(packet_in, OMP_PAYLOAD_SIZE) == OMP_PAYLOAD_SIZE)
{ // packet with good CRC and length
#ifdef OMP_TELEM_DEBUG
for(uint8_t i=0;i<16;i++)
debug("OK :");
for(uint8_t i=0;i<OMP_PAYLOAD_SIZE;i++)
debug(" %02X",packet_in[i]);
#endif
// packet_in = 01 00 98 2C 03 19 19 F0 49 02 00 00 00 00 00 00
// all bytes are fixed and unknown except 2 and 3 which represent the battery voltage: packet_in[3]*256+packet_in[2]=lipo voltage*100 in V
telemetry_counter++; //LQI
uint16_t v=((packet_in[3]<<8)+packet_in[2]-400)/50;
if(v>255)
v_lipo1=255;
else
v_lipo1=v;
telemetry_link=1;
if(telemetry_lost)
{
telemetry_lost = 0;
packet_count = 100;
telemetry_counter = 100;
if(v>255) v=255;
v_lipo2=v;
OMP_Send_Telemetry(v);
}
else
{ // As soon as the motor spins the telem packets are becoming really bad and the CRC throws most of them in error as it should but...
#ifdef OMP_TELEM_DEBUG
debug("NOK:");
for(uint8_t i=0;i<OMP_PAYLOAD_SIZE;i++)
debug(" %02X",packet_in[i]);
#endif
if(packet_in[0]==0x01 && packet_in[1]==0x00)
{// the start of the packet looks ok...
uint16_t v=((packet_in[3]<<8)+packet_in[2]-400)/50;
if(v<260 && v>180)
{ //voltage is less than 13V and more than 9V (3V/element)
if(v>255) v=255;
uint16_t v1=v-v_lipo2;
if(v1&0x8000) v1=-v1;
if(v1<20) // the batt voltage is within 1V from a good reading...
{
OMP_Send_Telemetry(v); // ok to send
#ifdef OMP_TELEM_DEBUG
debug(" OK");
#endif
}
}
}
else
telemetry_counter++; //LQI
}
#ifdef OMP_TELEM_DEBUG
else
debug("Bad RX");
debugln("");
#endif
}
@ -235,6 +266,7 @@ uint16_t OMP_callback()
break;
}
}
NRF_CE_on;
PE1_on;PE2_off; // NRF24L01 antenna RF3
phase = OMP_DATA;
return OMP_PACKET_PERIOD-OMP_WRITE_TIME;