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FrSky R9: telemetry TX to RX attempt

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This commit is contained in:
Pascal Langer 2020-07-04 22:43:19 +02:00
parent 84132678cc
commit fbd5d7cf48
5 changed files with 137 additions and 131 deletions
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112
Multiprotocol/FrSkyDVX_common.ino
View File

@ -382,8 +382,8 @@ void Frsky_init_clone(void)
#endif
#if defined(FRSKYX_CC2500_INO) || defined(FRSKYR9_SX1276_INO)
uint8_t FrSkyX_TX_Seq, FrSkyX_TX_IN_Seq;
uint8_t FrSkyX_RX_Seq ;
uint8_t FrSkyX_TX_Seq, FrSkyX_TX_IN_Seq;
uint8_t FrSkyX_RX_Seq ;
#ifdef SPORT_SEND
struct t_FrSkyX_TX_Frame
@ -394,20 +394,102 @@ uint8_t FrSkyX_RX_Seq ;
// Store FrskyX telemetry
struct t_FrSkyX_TX_Frame FrSkyX_TX_Frames[4] ;
#endif
static void __attribute__((unused)) FrSkyX_seq_sport(uint8_t start, uint8_t end)
{
for (uint8_t i=start+1;i<=end;i++)
packet[i]=0;
packet[start] = FrSkyX_RX_Seq << 4; //TX=8 at startup
#ifdef SPORT_SEND
if (FrSkyX_TX_IN_Seq!=0xFF)
{//RX has replied at least once
if (FrSkyX_TX_IN_Seq & 0x08)
{//Request init
//debugln("Init");
FrSkyX_TX_Seq = 0 ;
for(uint8_t i=0;i<4;i++)
FrSkyX_TX_Frames[i].count=0; //Discard frames in current output buffer
}
else if (FrSkyX_TX_IN_Seq & 0x04)
{//Retransmit the requested packet
debugln("Retry:%d",FrSkyX_TX_IN_Seq&0x03);
packet[start] |= FrSkyX_TX_IN_Seq&0x03;
packet[start+1] = FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq&0x03].count;
for (uint8_t i=start+2;i<start+2+FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq&0x03].count;i++)
packet[i] = FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq&0x03].payload[i];
}
else if ( FrSkyX_TX_Seq != 0x08 )
{
if(FrSkyX_TX_Seq==FrSkyX_TX_IN_Seq)
{//Send packet from the incoming radio buffer
//debugln("Send:%d",FrSkyX_TX_Seq);
packet[start] |= FrSkyX_TX_Seq;
uint8_t nbr_bytes=0;
for (uint8_t i=start+2;i<=end;i++)
{
if(SportHead==SportTail)
break; //buffer empty
packet[i]=SportData[SportHead];
FrSkyX_TX_Frames[FrSkyX_TX_Seq].payload[i-start+2]=SportData[SportHead];
SportHead=(SportHead+1) & (MAX_SPORT_BUFFER-1);
nbr_bytes++;
}
packet[start+1]=nbr_bytes;
FrSkyX_TX_Frames[FrSkyX_TX_Seq].count=nbr_bytes;
if(nbr_bytes)
{//Check the buffer status
uint8_t used = SportTail;
if ( SportHead > SportTail )
used += MAX_SPORT_BUFFER - SportHead ;
else
used -= SportHead ;
if ( used < (MAX_SPORT_BUFFER>>1) )
{
DATA_BUFFER_LOW_off;
debugln("Ok buf:%d",used);
}
}
FrSkyX_TX_Seq = ( FrSkyX_TX_Seq + 1 ) & 0x03 ; //Next iteration send next packet
}
else
{//Not in sequence somehow, transmit what the receiver wants but why not asking for retransmit...
//debugln("RX_Seq:%d,TX:%d",FrSkyX_TX_IN_Seq,FrSkyX_TX_Seq);
packet[start] |= FrSkyX_TX_IN_Seq;
packet[start+1] = FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq].count;
for (uint8_t i=start+2;i<start+2+FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq].count;i++)
packet[i] = FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq].payload[i-start+2];
}
}
else
packet[start] |= 0x08 ; //FrSkyX_TX_Seq=8 at startup
}
if(packet[start+1])
{//Debug
debug("SP: ");
for(uint8_t i=0;i<packet[start+1];i++)
debug("%02X ",packet[start+2+i]);
debugln("");
}
#else
packet[start] |= FrSkyX_TX_Seq ;//TX=8 at startup
if ( !(FrSkyX_TX_IN_Seq & 0xF8) )
FrSkyX_TX_Seq = ( FrSkyX_TX_Seq + 1 ) & 0x03 ; // Next iteration send next packet
#endif // SPORT_SEND
}
static void __attribute__((unused)) FrSkyX_telem_init(void)
{
FrSkyX_TX_Seq = 0x08 ; // Request init
#ifdef SPORT_SEND
FrSkyX_TX_IN_Seq = 0xFF ; // No sequence received yet
for(uint8_t i=0;i<4;i++)
FrSkyX_TX_Frames[i].count=0;// discard frames in current output buffer
SportHead=SportTail=0; // empty data buffer
#endif
FrSkyX_RX_Seq = 0 ; // Seq 0 to start with
telemetry_lost=1;
telemetry_link=0; //Stop sending telemetry
}
static void __attribute__((unused)) FrSkyX_telem_init(void)
{
FrSkyX_TX_Seq = 0x08 ; // Request init
#ifdef SPORT_SEND
FrSkyX_TX_IN_Seq = 0xFF ; // No sequence received yet
for(uint8_t i=0;i<4;i++)
FrSkyX_TX_Frames[i].count=0;// discard frames in current output buffer
SportHead=SportTail=0; // empty data buffer
#endif
FrSkyX_RX_Seq = 0 ; // Seq 0 to start with
telemetry_lost=1;
telemetry_link=0; //Stop sending telemetry
}
#endif
#if defined(FRSKYX_CC2500_INO) || defined(FRSKYL_CC2500_INO)

26
Multiprotocol/FrSkyR9_sx1276.ino
View File

@ -45,8 +45,8 @@ static void __attribute__((unused)) FrSkyR9_build_packet()
//RX number
packet[5] = RX_num; // receiver number from OpenTX
// Set packet[6]=failsafe, packet[7]=0?? and packet[8..19]=channels data
FrSkyX_channels(6);
//Channels
FrSkyX_channels(6); // Set packet[6]=failsafe, packet[7]=0?? and packet[8..19]=channels data
//Bind
if(IS_BIND_IN_PROGRESS)
@ -60,14 +60,8 @@ static void __attribute__((unused)) FrSkyR9_build_packet()
packet[6] |= 0x80; // ch9-16
}
//SPort
packet[20] = FrSkyX_RX_Seq << 4;
packet[20] |= FrSkyX_TX_Seq ; //TX=8 at startup
if ( !(FrSkyX_TX_IN_Seq & 0xF8) )
FrSkyX_TX_Seq = ( FrSkyX_TX_Seq + 1 ) & 0x03 ; // Next iteration send next packet
packet[21] = 0x00; // length?
packet[22] = 0x00; // data1?
packet[23] = 0x00; // data2?
//Sequence and send SPort
FrSkyX_seq_sport(20,23); //20=RX|TXseq, 21=bytes count, 22&23=data
//CRC
uint16_t crc = FrSkyX_crc(packet, 24);
@ -182,23 +176,23 @@ uint16_t FrSkyR9_callback()
//TX_LQI=~(SX1276_ReadReg(SX1276_19_PACKETSNR)>>2)+1;
TX_RSSI=SX1276_ReadReg(SX1276_1A_PACKETRSSI)-157;
for(uint8_t i=0;i<9;i++)
packet[4+i]=packet_in[i]; //Adjust buffer to match FrSkyX
frsky_process_telemetry(packet,len); //Check and parse telemetry packets
packet[4+i]=packet_in[i]; // Adjust buffer to match FrSkyX
frsky_process_telemetry(packet,len); // Process telemetry packet
pps_counter++;
if(TX_LQI==0)
TX_LQI++; //Recover telemetry right away
TX_LQI++; // Recover telemetry right away
}
}
}
if (millis() - pps_timer >= 1000)
{//50pps @20ms
{//1 packet every 20ms
pps_timer = millis();
debugln("%d pps", pps_counter);
TX_LQI = pps_counter<<1; // Max=100pps
TX_LQI = pps_counter<<1; // Max=100%
pps_counter = 0;
}
if(TX_LQI==0)
FrSkyX_telem_init();
FrSkyX_telem_init(); // Reset telemetry
else
telemetry_link=1; // Send telemetry out anyway
//Clear all flags

122
Multiprotocol/FrSkyX_cc2500.ino
View File

@ -98,87 +98,11 @@ static void __attribute__((unused)) FrSkyX_build_packet()
packet[5] = FrSkyX_chanskip>>2;
packet[6] = RX_num;
//Channels
FrSkyX_channels(7); // Set packet[7]=failsafe, packet[8]=0?? and packet[9..20]=channels data
//sequence and send SPort
for (uint8_t i=22;i<packet_size-1;i++)
packet[i]=0;
packet[21] = FrSkyX_RX_Seq << 4; //TX=8 at startup
#ifdef SPORT_SEND
if (FrSkyX_TX_IN_Seq!=0xFF)
{//RX has replied at least once
if (FrSkyX_TX_IN_Seq & 0x08)
{//Request init
//debugln("Init");
FrSkyX_TX_Seq = 0 ;
for(uint8_t i=0;i<4;i++)
FrSkyX_TX_Frames[i].count=0; //Discard frames in current output buffer
}
else if (FrSkyX_TX_IN_Seq & 0x04)
{//Retransmit the requested packet
debugln("Retry:%d",FrSkyX_TX_IN_Seq&0x03);
packet[21] |= FrSkyX_TX_IN_Seq&0x03;
packet[22] = FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq&0x03].count;
for (uint8_t i=23;i<23+FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq&0x03].count;i++)
packet[i] = FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq&0x03].payload[i];
}
else if ( FrSkyX_TX_Seq != 0x08 )
{
if(FrSkyX_TX_Seq==FrSkyX_TX_IN_Seq)
{//Send packet from the incoming radio buffer
//debugln("Send:%d",FrSkyX_TX_Seq);
packet[21] |= FrSkyX_TX_Seq;
uint8_t nbr_bytes=0;
for (uint8_t i=23;i<packet_size-1;i++)
{
if(SportHead==SportTail)
break; //buffer empty
packet[i]=SportData[SportHead];
FrSkyX_TX_Frames[FrSkyX_TX_Seq].payload[i-23]=SportData[SportHead];
SportHead=(SportHead+1) & (MAX_SPORT_BUFFER-1);
nbr_bytes++;
}
packet[22]=nbr_bytes;
FrSkyX_TX_Frames[FrSkyX_TX_Seq].count=nbr_bytes;
if(nbr_bytes)
{//Check the buffer status
uint8_t used = SportTail;
if ( SportHead > SportTail )
used += MAX_SPORT_BUFFER - SportHead ;
else
used -= SportHead ;
if ( used < (MAX_SPORT_BUFFER>>1) )
{
DATA_BUFFER_LOW_off;
debugln("Ok buf:%d",used);
}
}
FrSkyX_TX_Seq = ( FrSkyX_TX_Seq + 1 ) & 0x03 ; //Next iteration send next packet
}
else
{//Not in sequence somehow, transmit what the receiver wants but why not asking for retransmit...
//debugln("RX_Seq:%d,TX:%d",FrSkyX_TX_IN_Seq,FrSkyX_TX_Seq);
packet[21] |= FrSkyX_TX_IN_Seq;
packet[22] = FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq].count;
for (uint8_t i=23;i<23+FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq].count;i++)
packet[i] = FrSkyX_TX_Frames[FrSkyX_TX_IN_Seq].payload[i-23];
}
}
else
packet[21] |= 0x08 ; //FrSkyX_TX_Seq=8 at startup
}
if(packet[22])
{//Debug
debug("SP: ");
for(uint8_t i=0;i<packet[22];i++)
debug("%02X ",packet[23+i]);
debugln("");
}
#else
packet[21] |= FrSkyX_TX_Seq ;//TX=8 at startup
if ( !(FrSkyX_TX_IN_Seq & 0xF8) )
FrSkyX_TX_Seq = ( FrSkyX_TX_Seq + 1 ) & 0x03 ; // Next iteration send next packet
#endif // SPORT_SEND
//Sequence and send SPort
FrSkyX_seq_sport(21,packet_size-2); //21=RX|TXseq, 22=bytes count, 23..packet_size-2=data
//CRC
uint16_t lcrc = FrSkyX_crc(&packet[3], packet_size-4);
@ -274,7 +198,6 @@ uint16_t ReadFrSkyX()
telemetry_set_input_sync(9000);
#endif
#if defined TELEMETRY
telemetry_link=1; //Send telemetry out anyway
len = CC2500_ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
if (len && len <= 17) //Telemetry frame is 17 bytes
{
@ -289,28 +212,33 @@ uint16_t ReadFrSkyX()
len=17;
}
}
if(len==17 && (protocol==PROTO_FRSKYX || (protocol==PROTO_FRSKYX2 && (packet_in[len-1] & 0x80))) )
{//Telemetry received with valid crc for FRSKYX2
//Debug
//for(uint8_t i=0;i<len;i++)
// debug(" %02X",packet_in[i]);
if(frsky_process_telemetry(packet_in,len)) //Check and process telemetry packets
packet_count=0; // good
else
len=0; // bad
if(len==17 && (protocol==PROTO_FRSKYX || (protocol==PROTO_FRSKYX2 && (packet_in[len-1] & 0x80))) )
{//Telemetry received with valid crc for FRSKYX2
//Debug
//for(uint8_t i=0;i<len;i++)
// debug(" %02X",packet_in[i]);
if(frsky_process_telemetry(packet_in,len)) //Check and process telemetry packet
{//good packet received
pps_counter++;
if(TX_LQI==0)
TX_LQI++; //Recover telemetry right away
}
}
//debugln("");
}
if(len!=17)
{
packet_count++;
//debugln("M %d",packet_count);
// restart sequence on missed packet - might need count or timeout instead of one missed
if(packet_count>100)//~1sec
FrSkyX_telem_init();
if (millis() - pps_timer >= 900)
{//1 packet every 9ms
pps_timer = millis();
debugln("%d pps", pps_counter);
TX_LQI = pps_counter; //Max=100%
pps_counter = 0;
}
if(TX_LQI==0)
FrSkyX_telem_init(); //Reset telemetry
else
telemetry_link=1; //Send telemetry out anyway
#endif
CC2500_Strobe(CC2500_SFRX); //Flush the RXFIFO
CC2500_Strobe(CC2500_SFRX); //Flush the RXFIFO
state = FRSKY_DATA1;
return 400; // FCC & LBT
}

2
Multiprotocol/Multiprotocol.h
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@ -19,7 +19,7 @@
#define VERSION_MAJOR 1
#define VERSION_MINOR 3
#define VERSION_REVISION 1
#define VERSION_PATCH_LEVEL 34
#define VERSION_PATCH_LEVEL 35
//******************
// Protocols

6
Multiprotocol/Multiprotocol.ino
View File

@ -119,8 +119,8 @@ uint16_t state;
uint8_t len;
uint8_t armed, arm_flags, arm_channel_previous;
uint8_t num_ch;
uint32_t pps_timer = 0;
uint16_t pps_counter = 0;
uint32_t pps_timer;
uint16_t pps_counter;
#ifdef CC2500_INSTALLED
#ifdef SCANNER_CC2500_INO
@ -1043,6 +1043,8 @@ static void protocol_init()
#endif
tx_pause();
init_frskyd_link_telemetry();
pps_timer=millis();
pps_counter=0;
#ifdef BASH_SERIAL
TIMSK0 = 0 ; // Stop all timer 0 interrupts
#ifdef INVERT_SERIAL