gomaomao/DIY-Multiprotocol-TX-Module
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Changed telemetry to 250 kbps and adjustable packet period - imporves reliability/range

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This commit is contained in:
Dennis 2017-05-29 16:22:18 -04:00
parent d26404ca85
commit 4f880ec083
2 changed files with 33 additions and 41 deletions
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68
Multiprotocol/CABELL_nrf224l01.ino
View File

@ -104,42 +104,32 @@ static uint8_t __attribute__((unused)) CABELL_getNextChannel (uint8_t seqArray[]
#if defined TELEMETRY
static void __attribute__((unused)) CABELL_get_telemetry()
{
static unsigned long telemetryProcessingTime = 50; // initial guess. This will get adjusted below once telemetry packts are recieved
// calculate TX rssi based on telemetry packets recieved per half second. Cannot use full second count because telemetry_counter is not large enough
// calculate TX rssi based on past 250 expected telemetry packets. Cannot use full second count because telemetry_counter is not large enough
state++;
if (state > (500000 / CABELL_PACKET_PERIOD))
if (state > 250)
{
//calculate telemetry reception RSSI - based on packet rate per 1000ms where 255 is 100%
state--; //This is the number of packets expected
TX_RSSI = constrain(((uint16_t)(((float)telemetry_counter / (float)state * (float)255))),0,255);
TX_RSSI = telemetry_counter;
telemetry_counter = 0;
state = 0;
telemetry_lost=0;
// Serial.print(TX_RSSI);
// Serial.print(" ");
// Serial.println(RX_RSSI);
}
// Process incomming telementry packet of it was recieved
if (NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_RX_DR)) { // data received from model
unsigned long telemetryProcessingStart = micros();
NRF24L01_ReadPayload(packet, CABELL_TELEMETRY_PACKET_LENGTH);
if ((packet[0] & 0x7F) == CABELL_RxTxPacket_t::RxMode_t::telemetryResponse) // ignore first bit in compare becasue it toggles with each packet
if ((packet[0] & 0x7F) == CABELL_RxTxPacket_t::RxMode_t::telemetryResponse) // ignore high order bit in compare becasue it toggles with each packet
{
RX_RSSI = packet[1]; // Packet rate 0 to 255 where 255 is 100% packet rate
v_lipo1 = packet[2]; // Directly from analog input of reciever, but reduced to 8-bit depth (0 to 255). Scaling depends on the input to the analog pin of the reciever.
v_lipo2 = packet[3]; // Directly from analog input of reciever, but reduced to 8-bit depth (0 to 255). Scaling depends on the input to the analog pin of the reciever.
telemetry_counter++;
if(telemetry_lost==0) telemetry_link=1;
telemetryProcessingTime = micros() - telemetryProcessingStart;
}
} else {
// If no telemetry packet was recieved then delay by the typical telemetry packet processing time
// This is done to try to keep the sendPacket process timing more consistent. Since the SPI payload read takes some time
delayMicroseconds(telemetryProcessingTime);
delayMicroseconds(50);
}
NRF24L01_SetTxRxMode(TX_EN);
NRF24L01_FlushRx();
}
@ -149,7 +139,7 @@ static void __attribute__((unused)) CABELL_get_telemetry()
static void __attribute__((unused)) CABELL_send_packet(uint8_t bindMode)
{
#if defined TELEMETRY
if (sub_protocol == CABELL_V3_TELEMETRY) { // check for incommimg packet and switch radio back to TX mode if we were listening for telemetry
if (!bindMode && (sub_protocol == CABELL_V3_TELEMETRY)) { // check for incommimg packet and switch radio back to TX mode if we were listening for telemetry
CABELL_get_telemetry();
}
#endif
@ -237,31 +227,30 @@ static void __attribute__((unused)) CABELL_send_packet(uint8_t bindMode)
rf_ch_num = CABELL_getNextChannel (hopping_frequency,CABELL_RADIO_CHANNELS, rf_ch_num);
NRF24L01_WriteReg(NRF24L01_05_RF_CH,rf_ch_num);
NRF24L01_FlushTx(); //just in case things got hung up
NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
//NRF24L01_FlushTx(); //just in case things got hung up
//NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
uint8_t* p = reinterpret_cast<uint8_t*>(&TxPacket.RxMode);
*p &= 0x7F; // Make sure 8th bit is clear
*p |= (packet_count++)<<7; // This causes the 8th bit of the first byte to toggle with each xmit so consecrutive payloads are not identical.
// This is a work around for a reported bug in clone NRF24L01 chips that mis-took this case for a re-transmit of the same packet.
CABELL_SetPower();
NRF24L01_WritePayload((uint8_t*)&TxPacket, packetSize);
#if defined TELEMETRY
if (sub_protocol == CABELL_V3_TELEMETRY) { // switch radio to rx as soon as packet is sent
if (!bindMode && (sub_protocol == CABELL_V3_TELEMETRY)) { // switch radio to rx as soon as packet is sent
// calculate transmit time based on packet size and data rate of 1MB per sec
// This is done becasue polling the status register during xmit casued issues.
// The status register will still be chaecked after the delay to be sure xmit is complete
// bits = packstsize * 8 + 73 bits overhead
// at 1 MB per sec, one bit is 1 uS
// then add 150 uS which is 130 uS to begin the xmit and 10 uS fudge factor
delayMicroseconds(((unsigned long)packetSize * 8ul) + 73ul + 150ul) ;
while (!(NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_TX_DS))) delayMicroseconds(5);
// at 250 Kbs per sec, one bit is 4 uS
// then add 140 uS which is 130 uS to begin the xmit and 10 uS fudge factor
delayMicroseconds(((((unsigned long)packetSize * 8ul) + 73ul) * 4ul) + 140ul) ;
packet_period = CABELL_PACKET_PERIOD + (constrain(((int16_t)(CABELL_NUM_CHANNELS - channelReduction) - (int16_t)6 ),(int16_t)0 ,(int16_t)10 ) * (int16_t)100); // increase packet period by 100 us for each channel over 6
NRF24L01_WriteReg(NRF24L01_00_CONFIG, 0x0F); // RX mode with 16 bit CRC
}
} else
#endif
CABELL_SetPower();
packet_period = CABELL_PACKET_PERIOD; // Standard packet period when not in telemetry mode.
}
//-----------------------------------------------------------------------------------------
@ -334,8 +323,10 @@ static void __attribute__((unused)) CABELL_setAddress()
packet_count=0;
NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, reinterpret_cast<uint8_t*>(&CABELL_addr), 5);
NRF24L01_WriteRegisterMulti(NRF24L01_0B_RX_ADDR_P1, reinterpret_cast<uint8_t*>(&CABELL_addr), 5);
uint64_t CABELL_Telemetry_addr = ~CABELL_addr; // Invert bits for reading so that telemetry packets have a different address.
NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, reinterpret_cast<uint8_t*>(&CABELL_Telemetry_addr), 5);
NRF24L01_WriteRegisterMulti(NRF24L01_0B_RX_ADDR_P1, reinterpret_cast<uint8_t*>(&CABELL_Telemetry_addr), 5);
NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, reinterpret_cast<uint8_t*>(&CABELL_addr), 5);
}
@ -344,11 +335,7 @@ static void __attribute__((unused)) CABELL_init()
{
NRF24L01_Initialize();
CABELL_SetPower();
if (sub_protocol == CABELL_V3_TELEMETRY) {
NRF24L01_SetBitrate(NRF24L01_BR_1M); // telemeetry needs higfher data rate for there to be time for the round trip in teh 3ms interval
} else {
NRF24L01_SetBitrate(NRF24L01_BR_250K); // slower data rate when not in telemetry mode gives better range/reliability
}
NRF24L01_SetBitrate(NRF24L01_BR_250K); // slower data rate gives better range/reliability
NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0x00); // No Auto Acknowledgement on all data pipes
NRF24L01_SetTxRxMode(TX_EN); //Power up and 16 bit CRC
@ -391,8 +378,11 @@ static void CABELL_SetPower() // This over-ride the standard Set Power to all
//-----------------------------------------------------------------------------------------
uint16_t CABELL_callback()
{
if(IS_BIND_DONE_on)
CABELL_send_packet(0);
if (IS_BIND_DONE_on) {
CABELL_send_packet(0); // packet_period is set/adjusted in CABELL_send_packet
return packet_period;
}
else
{
if (bind_counter == 0)
@ -405,8 +395,8 @@ uint16_t CABELL_callback()
CABELL_send_packet(1);
bind_counter--;
}
}
return CABELL_PACKET_PERIOD;
}
}
//-----------------------------------------------------------------------------------------
@ -425,7 +415,9 @@ uint16_t initCABELL(void)
telemetry_lost=1; // do not send telemetry to TX right away until we have a TX_RSSI value to prevent warning message...
#endif
return CABELL_PACKET_PERIOD;
packet_period = CABELL_PACKET_PERIOD;
return packet_period;
}
#endif

2
Multiprotocol/Multiprotocol.ino
View File

@ -1128,7 +1128,7 @@ void Mprotocol_serial_init()
#if defined(TELEMETRY)
void PPM_Telemetry_serial_init()
{
if( (protocol==MODE_FRSKYD) || (protocol==MODE_HUBSAN) || (protocol==MODE_AFHDS2A) || (protocol==MODE_BAYANG) )
if( (protocol==MODE_FRSKYD) || (protocol==MODE_HUBSAN) || (protocol==MODE_AFHDS2A) || (protocol==MODE_BAYANG) || (protocol==MODE_CABELL) )
initTXSerial( SPEED_9600 ) ;
if(protocol==MODE_FRSKYX)
initTXSerial( SPEED_57600 ) ;