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Add reporting of input lag via telemetry message

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This commit is contained in:
Arne Schwabe 2017-05-04 05:38:09 +02:00
parent 3e9359b6be
commit f5d2ce87f2
36 changed files with 134 additions and 37 deletions
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1
Multiprotocol/AFHDS2A_a7105.ino
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@ -291,6 +291,7 @@ uint16_t ReadAFHDS2A()
}
return 3850;
case AFHDS2A_DATA:
telemetry_set_input_sync(3850);
AFHDS2A_build_packet(packet_type);
if((A7105_ReadReg(A7105_00_MODE) & 0x01)) // Check if something has been received...
data_rx=0;

1
Multiprotocol/ASSAN_nrf24l01.ino
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@ -127,6 +127,7 @@ uint16_t ASSAN_callback()
phase=ASSAN_DATA2;
return 2000;
case ASSAN_DATA2:
telemetry_set_input_sync(12000);
case ASSAN_DATA3:
ASSAN_send_packet();
phase++; // DATA 3 or 4

4
Multiprotocol/Bayang_nrf24l01.ino
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@ -249,8 +249,10 @@ uint16_t BAYANG_callback()
{
if(IS_BIND_DONE)
{
if(packet_count==0)
if(packet_count==0) {
telemetry_set_input_sync(10000);
BAYANG_send_packet(0);
}
packet_count++;
#ifdef BAYANG_HUB_TELEMETRY
if (option)

1
Multiprotocol/CABELL_nrf224l01.ino
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@ -403,6 +403,7 @@ static void CABELL_SetPower() // This over-ride the standard Set Power to all
//-----------------------------------------------------------------------------------------
uint16_t CABELL_callback()
{
telemetry_set_input_sync(CABELL_PACKET_PERIOD);
if (IS_BIND_DONE)
{
CABELL_send_packet(0); // packet_period is set/adjusted in CABELL_send_packet

1
Multiprotocol/CG023_nrf24l01.ino
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@ -145,6 +145,7 @@ uint16_t CG023_callback()
BIND_DONE;
else
{
telemetry_set_input_sync(packet_period);
CG023_send_packet(1);
bind_counter--;
}

1
Multiprotocol/CX10_nrf24l01.ino
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@ -229,6 +229,7 @@ uint16_t CX10_callback()
}
break;
case CX10_DATA:
telemetry_set_input_sync(packet_period);
CX10_Write_Packet(0);
break;
}

5
Multiprotocol/DM002_nrf24l01.ino
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@ -112,9 +112,10 @@ static void __attribute__((unused)) DM002_init()
uint16_t DM002_callback()
{
if(IS_BIND_DONE)
if(IS_BIND_DONE) {
telemetry_set_input_sync(DM002_PACKET_PERIOD);
DM002_send_packet(0);
else
} else
{
if (bind_counter == 0)
{

1
Multiprotocol/DSM_cyrf6936.ino
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@ -436,6 +436,7 @@ uint16_t ReadDsm()
DSM_set_sop_data_crc();
return 10000;
case DSM_CH1_WRITE_A:
telemetry_set_input_sync(11000); //Always request 11ms spacing even if we don't use half of it in 22ms mode
case DSM_CH1_WRITE_B:
case DSM_CH2_WRITE_A:
case DSM_CH2_WRITE_B:

1
Multiprotocol/Devo_cyrf6936.ino
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@ -276,6 +276,7 @@ uint16_t devo_callback()
if (txState == 0)
{
txState = 1;
telemetry_set_input_sync(2400);
DEVO_BuildPacket();
CYRF_WriteDataPacket(packet);
return 1200;

1
Multiprotocol/ESky_nrf24l01.ino
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@ -143,6 +143,7 @@ uint16_t ESKY_callback()
{
if (packet_sent && NRF24L01_packet_ack() != PKT_ACKED)
return ESKY_PACKET_CHKTIME;
telemetry_set_input_sync(ESKY_PACKET_PERIOD);
ESKY_send_packet(0);
}
else

4
Multiprotocol/FQ777_nrf24l01.ino
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@ -187,8 +187,10 @@ uint16_t FQ777_callback()
BIND_DONE;
}
}
else
else {
telemetry_set_input_sync(FQ777_PACKET_PERIOD);
FQ777_send_packet(0);
}
return FQ777_PACKET_PERIOD;
}

1
Multiprotocol/FY326_nrf24l01.ino
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@ -188,6 +188,7 @@ uint16_t FY326_callback()
return FY326_PACKET_CHKTIME;
break;
case FY326_DATA:
telemetry_set_input_sync(FY326_PACKET_PERIOD);
FY326_send_packet(0);
break;
}

14
Multiprotocol/FlySky_a7105.ino
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@ -158,7 +158,13 @@ uint16_t ReadFlySky()
#ifndef FORCE_FLYSKY_TUNING
A7105_AdjustLOBaseFreq(1);
#endif
if(IS_BIND_IN_PROGRESS)
uint16_t packet_period = 1510; //1460 on deviation but not working with the latest V911 bricks... Turnigy 9X v2 is 1533, Flysky TX for 9XR/9XR Pro is 1510, V911 TX is 1490.
if(sub_protocol==CX20)
packet_period=3984;
if(IS_BIND_DONE)
{
flysky_build_packet(1);
A7105_WriteData(21, 1);
@ -168,16 +174,14 @@ uint16_t ReadFlySky()
}
else
{
telemetry_set_input_sync(packet_period);
flysky_build_packet(0);
A7105_WriteData(21, hopping_frequency[hopping_frequency_no & 0x0F]);
A7105_SetPower();
}
hopping_frequency_no++;
if(sub_protocol==CX20)
return 3984;
else
return 1510; //1460 on deviation but not working with the latest V911 bricks... Turnigy 9X v2 is 1533, Flysky TX for 9XR/9XR Pro is 1510, V911 TX is 1490.
return packet_period;
}
const uint8_t PROGMEM tx_channels[8][4] = {

1
Multiprotocol/FrSkyD_cc2500.ino
View File

@ -156,6 +156,7 @@ uint16_t ReadFrSky_2way()
{
if (state == FRSKY_DATA1)
{
telemetry_set_input_sync(9000);
len = CC2500_ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
if (len && len<=(0x11+3))// 20bytes
{

1
Multiprotocol/FrSkyV_cc2500.ino
View File

@ -125,6 +125,7 @@ uint16_t ReadFRSKYV()
prev_option=option;
}
CC2500_WriteReg(CC2500_0A_CHANNR, chan * 5 + 6);
telemetry_set_input_sync(9006);
FRSKYV_build_data_packet();
if (phase == FRSKYV_DATA5)

1
Multiprotocol/FrSkyX_cc2500.ino
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@ -310,6 +310,7 @@ uint16_t ReadFrSkyX()
CC2500_Strobe(CC2500_SFRX); //flush the RXFIFO
}
frskyX_data_frame();
telemetry_set_input_sync(9000);
if ( FrX_send_seq != 0x08 )
{
FrX_send_seq = ( FrX_send_seq + 1 ) & 0x03 ;

1
Multiprotocol/GW008_nrf24l01.ino
View File

@ -139,6 +139,7 @@ uint16_t GW008_callback()
return 5000;
break;
case GW008_DATA:
telemetry_set_input_sync(GW008_PACKET_PERIOD);
send_packet(0);
break;
}

1
Multiprotocol/H8_3D_nrf24l01.ino
View File

@ -176,6 +176,7 @@ static void __attribute__((unused)) H8_3D_init()
uint16_t H8_3D_callback()
{
telemetry_set_input_sync(packet_period);
if(IS_BIND_DONE)
H8_3D_send_packet(0);
else

4
Multiprotocol/Hisky_nrf24l01.ino
View File

@ -223,6 +223,10 @@ uint16_t hisky_cb()
default:
//Send normal packet
phase = 0;
if (sub_protocol==HK310)
telemetry_set_input_sync(5000);
else
telemetry_set_input_sync(9000);
NRF24L01_WritePayload(packet,10);
break;
}

7
Multiprotocol/Hontai_nrf24l01.ino
View File

@ -231,6 +231,7 @@ static void __attribute__((unused)) HONTAI_initialize_txid()
uint16_t HONTAI_callback()
{
uint16_t packet_period = (sub_protocol == FORMAT_FQ777_951) ? FQ777_951_PACKET_PERIOD : HONTAI_PACKET_PERIOD;
if(bind_counter!=0)
{
HONTAI_send_packet(1);
@ -241,10 +242,12 @@ uint16_t HONTAI_callback()
BIND_DONE;
}
}
else
else {
telemetry_set_input_sync(packet_period);
HONTAI_send_packet(0);
}
return sub_protocol == FORMAT_FQ777_951 ? FQ777_951_PACKET_PERIOD : HONTAI_PACKET_PERIOD;
return packet_period;
}
uint16_t initHONTAI()

1
Multiprotocol/Hubsan_a7105.ino
View File

@ -361,6 +361,7 @@ uint16_t ReadHubsan()
#endif
if( phase == DATA_1)
A7105_SetPower(); //Keep transmit power in sync
telemetry_set_input_sync(10000);
hubsan_build_packet();
A7105_Strobe(A7105_STANDBY);
uint8_t ch;

1
Multiprotocol/J6Pro_cyrf6936.ino
View File

@ -203,6 +203,7 @@ uint16_t ReadJ6Pro()
case J6PRO_CHAN_1:
//Keep transmit power updated
CYRF_SetPower(0x28);
telemetry_set_input_sync(24550);
j6pro_build_data_packet();
//return 3400;
case J6PRO_CHAN_2:

1
Multiprotocol/KN_nrf24l01.ino
View File

@ -321,6 +321,7 @@ uint16_t kn_callback()
packet_sent = 0;
hopping_frequency_no++;
if(hopping_frequency_no >= KN_RF_CH_COUNT) hopping_frequency_no = 0;
telemetry_set_input_sync(packet_count * packet_period);
kn_update_packet_control_data();
NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no]);
}

5
Multiprotocol/MJXQ_nrf24l01.ino
View File

@ -299,9 +299,10 @@ static void __attribute__((unused)) MJXQ_initialize_txid()
uint16_t MJXQ_callback()
{
if(IS_BIND_DONE)
if(IS_BIND_DONE) {
telemetry_set_input_sync(MJXQ_PACKET_PERIOD);
MJXQ_send_packet(0);
else
} else
{
if (bind_counter == 0)
{

5
Multiprotocol/MT99xx_nrf24l01.ino
View File

@ -221,9 +221,10 @@ static void __attribute__((unused)) MT99XX_initialize_txid()
uint16_t MT99XX_callback()
{
if(IS_BIND_DONE)
if(IS_BIND_DONE) {
telemetry_set_input_sync(packet_period);
MT99XX_send_packet();
else
} else
{
if (bind_counter == 0)
{

35
Multiprotocol/Multiprotocol.ino
View File

@ -68,6 +68,7 @@
uint32_t MProtocol_id;//tx id,
uint32_t MProtocol_id_master;
uint32_t blink=0,last_signal=0;
uint32_t last_serial_input=0;
//
uint16_t counter;
uint8_t channel;
@ -521,11 +522,11 @@ void loop()
next_callback=2000; // No PPM/serial signal check again in 2ms...
TX_MAIN_PAUSE_off;
tx_resume();
while(next_callback>4000)
while(next_callback>1000)
{ // start to wait here as much as we can...
next_callback-=2000; // We will wait below for 2ms
next_callback-=500; // We will wait below for 0.5ms
cli(); // Disable global int due to RW of 16 bits registers
OCR1A += 2000*2 ; // set compare A for callback
OCR1A += 500*2 ; // set compare A for callback
#ifndef STM32_BOARD
TIFR1=OCF1A_bm; // clear compare A=callback flag
#else
@ -538,12 +539,12 @@ void loop()
break;
}
#ifndef STM32_BOARD
while((TIFR1 & OCF1A_bm) == 0); // wait 2ms...
while((TIFR1 & OCF1A_bm) == 0); // wait 0.5ms...
#else
while((TIMER2_BASE->SR & TIMER_SR_CC1IF)==0);//2ms wait
while((TIMER2_BASE->SR & TIMER_SR_CC1IF)==0);//0.5ms wait
#endif
}
// at this point we have a maximum of 4ms in next_callback
// at this point we have a maximum of 1ms in next_callback
next_callback *= 2 ;
cli(); // Disable global int due to RW of 16 bits registers
OCR1A+= next_callback ; // set compare A for callback
@ -659,7 +660,7 @@ static void update_channels_aux(void)
static void update_led_status(void)
{
if(IS_INPUT_SIGNAL_on)
if(millis()-last_signal>70)
if(millis()-last_signal> 70)
INPUT_SIGNAL_off; //no valid signal (PPM or Serial) received for 70ms
if(blink<millis())
{
@ -1256,6 +1257,7 @@ void read_multimodule_config() {
void parse_serial_multi_command()
{
debug("multi command type %d, len %d", rx_buff[2], rx_buff[3]);
// Header 'M', 'P, Type, Len
if (rx_buff[1] != 'P')
return;
@ -1274,6 +1276,7 @@ void parse_serial_multi_command()
Serial_write (newconfig);
if (newconfig != multi_config)
{
debug("New multimodule config: %x -> %x", multi_config, newconfig);
multi_config = newconfig;
eeprom_write_byte(CONFIG_EEPROM_OFFSET, newconfig);
// Reinit serial port to enable/disable inversion
@ -1282,8 +1285,8 @@ void parse_serial_multi_command()
}
break;
#endif
default:
;
default:
;
}
}
#endif
@ -1346,6 +1349,13 @@ void modules_reset()
}
#endif // CHECK_FOR_BOOTLOADER
#elif defined STM32_BOARD
if (IS_TELEMTRY_INVERSION_ON) {
TX_INV_on;//activated inverter for both serial TX and RX signals
RX_INV_on;
} else {
TX_INV_off;
RX_INV_off;
}
#ifdef CHECK_FOR_BOOTLOADER
if ( boot )
{
@ -1529,7 +1539,7 @@ static uint32_t random_id(uint16_t address, uint8_t create_new)
#ifndef FORCE_GLOBAL_ID
uint32_t id=0;
if(eeprom_read_byte((EE_ADDR)(address+10))==0xf0 && !create_new)
if(eeprom_read_byte((EE_ADDR)(address+EEPROM_ID_VALID_OFFSET))==0xf0 && !create_new)
{ // TXID exists in EEPROM
for(uint8_t i=4;i>0;i--)
{
@ -1662,8 +1672,11 @@ static uint32_t random_id(uint16_t address, uint8_t create_new)
else
{
rx_buff[idx++]=UDR0; // Store received byte
if(idx>=RXBUFFER_SIZE || (rx_buff[0] == 'M' && idx >= 4 && rx_buff[3] == idx-4)) // A full frame has been received or a long enough multicommand message
if(idx>=RXBUFFER_SIZE || (rx_buff[0] == 'M' && idx >= 4 && rx_buff[3] == idx-4))
{
// A full frame has been received or a long enough multicommand message
last_serial_input=TCNT1;
if(!IS_RX_DONOTUPDTAE_on)
{ //Good frame received and main is not working on the buffer
memcpy((void*)rx_ok_buff,(const void*)rx_buff,RXBUFFER_SIZE);// Duplicate the buffer

5
Multiprotocol/Q303_nrf24l01.ino
View File

@ -354,9 +354,10 @@ static void __attribute__((unused)) Q303_initialize_txid()
uint16_t Q303_callback()
{
if(IS_BIND_DONE)
if(IS_BIND_DONE) {
telemetry_set_input_sync(packet_period);
Q303_send_packet(0);
else
} else
{
if (bind_counter == 0)
{

1
Multiprotocol/SFHSS_cc2500.ino
View File

@ -235,6 +235,7 @@ uint16_t ReadSFHSS()
#define SFHSS_PACKET_PERIOD 6800
#define SFHSS_DATA2_TIMING 1625 // Adjust this value between 1600 and 1650 if your RX(s) are not operating properly
case SFHSS_DATA1:
telemetry_set_input_sync(6800);
SFHSS_build_data_packet();
SFHSS_send_packet();
phase = SFHSS_DATA2;

2
Multiprotocol/SHENQI_nrf24l01.ino
View File

@ -63,6 +63,8 @@ void SHENQI_send_packet()
}
else
{
if (packet_count==1)
telemetry_set_input_sync(3000+2508+6*1750);
LT8900_SetAddress(rx_tx_addr,4);
packet[1]=255-convert_channel_8b(RUDDER);
packet[2]=255-convert_channel_16b_limit(THROTTLE,0x60,0xA0);

1
Multiprotocol/SLT_nrf24l01.ino
View File

@ -145,6 +145,7 @@ uint16_t SLT_callback()
switch (phase)
{
case SLT_BUILD:
telemetry_set_input_sync(22000);
SLT_build_packet();
phase++;
return 1000;

1
Multiprotocol/Symax_nrf24l01.ino
View File

@ -359,6 +359,7 @@ uint16_t symax_callback()
}
break;
case SYMAX_DATA:
telemetry_set_input_sync(SYMAX_PACKET_PERIOD);
SYMAX_send_packet(0);
break;
}

40
Multiprotocol/Telemetry.ino
View File

@ -24,8 +24,12 @@ uint8_t RetrySequence ;
#define INPUT_SYNC_TIME 100 //in ms
#define INPUT_ADDITIONAL_DELAY 100 // in 10µs, 100 => 1000 µs
uint32_t lastMulti = 0;
uint32_t lastInputSync = 0;
uint16_t inputDelay = 0;
uint16_t inputRefreshRate = 9000;
#endif // MULTI_TELEMETRY/MULTI_STATUS
#if defined SPORT_TELEMETRY
#define SPORT_TIME 12000 //12ms
#define FRSKY_SPORT_PACKET_SIZE 8
@ -86,6 +90,38 @@ static void multi_send_header(uint8_t type, uint8_t len)
Serial_write(len);
}
inline void telemetry_set_input_sync(uint16_t refreshRate)
{
static int c=0;
#if defined(STM32_BOARD)
if (c++%2==0)
SPI_CSN_on;
else
SPI_CSN_off;
#endif
// Only record input Delay after a frame has really been received
// Otherwise protocols with faster refresh rates then the TX sends (e.g. 3ms vs 6ms) will screw up the calcualtion
inputRefreshRate = refreshRate;
if (last_serial_input != 0) {
inputDelay = (TCNT1 - last_serial_input)/2;
if(inputDelay > 0x8000)
inputDelay =inputDelay - 0x8000;
last_serial_input=0;
}
}
static void mult_send_inputsync()
{
multi_send_header(MULTI_TELEMETRY_INPUTSYNC, 6);
Serial_write(inputRefreshRate >> 8);
Serial_write(inputRefreshRate & 0xff);
Serial_write(inputDelay >> 8);
Serial_write(inputDelay & 0xff);
Serial_write(INPUT_SYNC_TIME);
Serial_write(INPUT_ADDITIONAL_DELAY);
}
static void multi_send_status()
{
#ifdef SPORT_POLLING
@ -847,6 +883,10 @@ void TelemetryUpdate()
multi_send_status();
lastMulti = now;
return;
} else if (IS_EXTRA_TELEMETRY_ON && now - lastInputSync > INPUT_SYNC_TIME) {
mult_send_inputsync();
lastInputSync = now;
return;
}
}
#endif

1
Multiprotocol/V2X2_nrf24l01.ino
View File

@ -264,6 +264,7 @@ uint16_t ReadV2x2()
case V202_DATA:
if (packet_sent && NRF24L01_packet_ack() != PKT_ACKED)
return V2X2_PACKET_CHKTIME;
telemetry_set_input_sync(V2X2_PACKET_PERIOD);
V2X2_send_packet(0);
break;
}

1
Multiprotocol/WK2x01_cyrf6936.ino
View File

@ -436,6 +436,7 @@ uint16_t WK_cb()
if (packet_sent == 0)
{
packet_sent = 1;
telemetry_set_input_sync(3800);
if(sub_protocol == WK2801)
WK_BuildPacket_2801();
else if(sub_protocol == WK2401)

5
Multiprotocol/YD717_nrf24l01.ino
View File

@ -154,9 +154,10 @@ static void __attribute__((unused)) yd717_init()
uint16_t yd717_callback()
{
if(IS_BIND_DONE)
if(IS_BIND_DONE) {
telemetry_set_input_sync(YD717_PACKET_PERIOD);
yd717_send_packet(0);
else
} else
{
if (bind_counter == 0)
{