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Spektrum SRXL improvements. Collect TM data in sync with transmission instead of async 30Hz, performancs +50%. B-channel Cap/Cur/temp was visible even though not used, corrected. Incomplete compile conditions corrected. (#5556)

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This commit is contained in:
Anders Höglund 2018-03-30 06:02:38 +02:00 • committed by Michael Keller
parent efef50ced1
commit 11e22e634f
5 changed files with 41 additions and 25 deletions
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2
src/main/fc/fc_init.c
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@ -633,7 +633,7 @@ void init(void)
} }
#endif #endif
#if defined(USE_CMS) && defined(USE_SPEKTRUM_CMS_TELEMETRY) #if defined(USE_CMS) && defined(USE_SPEKTRUM_CMS_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
// Register the srxl Textgen telemetry sensor as a displayport device // Register the srxl Textgen telemetry sensor as a displayport device
cmsDisplayPortRegister(displayPortSrxlInit()); cmsDisplayPortRegister(displayPortSrxlInit());
#endif #endif

2
src/main/io/displayport_srxl.c
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@ -20,7 +20,7 @@
#include <string.h> #include <string.h>
#include "platform.h" #include "platform.h"
#if defined (USE_SPEKTRUM_CMS_TELEMETRY) && defined (USE_CMS) #if defined (USE_SPEKTRUM_CMS_TELEMETRY) && defined (USE_CMS) && defined(USE_TELEMETRY_SRXL)
#include "common/utils.h" #include "common/utils.h"

35
src/main/rx/spektrum.c
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@ -39,6 +39,7 @@
#include "io/spektrum_vtx_control.h" #include "io/spektrum_vtx_control.h"
#include "telemetry/telemetry.h" #include "telemetry/telemetry.h"
#include "telemetry/srxl.h"
#include "rx/rx.h" #include "rx/rx.h"
#include "rx/spektrum.h" #include "rx/spektrum.h"
@ -61,10 +62,13 @@ static volatile uint8_t spekFrame[SPEK_FRAME_SIZE];
static rxRuntimeConfig_t *rxRuntimeConfigPtr; static rxRuntimeConfig_t *rxRuntimeConfigPtr;
static serialPort_t *serialPort; static serialPort_t *serialPort;
#if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
static uint8_t telemetryBuf[SRXL_FRAME_SIZE_MAX]; static uint8_t telemetryBuf[SRXL_FRAME_SIZE_MAX];
static uint8_t telemetryBufLen = 0; static uint8_t telemetryBufLen = 0;
void srxlRxSendTelemetryDataDispatch(dispatchEntry_t *self); void srxlRxSendTelemetryDataDispatch(dispatchEntry_t *self);
static dispatchEntry_t srxlTelemetryDispatch = { .dispatch = srxlRxSendTelemetryDataDispatch};
#endif
// Receive ISR callback // Receive ISR callback
static void spektrumDataReceive(uint16_t c, void *data) static void spektrumDataReceive(uint16_t c, void *data)
@ -95,7 +99,6 @@ static void spektrumDataReceive(uint16_t c, void *data)
uint32_t spekChannelData[SPEKTRUM_MAX_SUPPORTED_CHANNEL_COUNT]; uint32_t spekChannelData[SPEKTRUM_MAX_SUPPORTED_CHANNEL_COUNT];
static dispatchEntry_t srxlTelemetryDispatch = { .dispatch = srxlRxSendTelemetryDataDispatch};
static uint8_t spektrumFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig) static uint8_t spektrumFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
{ {
@ -139,10 +142,21 @@ static uint8_t spektrumFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
} }
} }
/* only process if srxl enabled, some data in buffer AND servos in phase 0 */ #if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
if (srxlEnabled && telemetryBufLen && (spekFrame[2] & 0x80) == 0) { if (srxlEnabled) {
dispatchAdd(&srxlTelemetryDispatch, SPEKTRUM_TELEMETRY_FRAME_DELAY); /* Only dispatch for transmission if there are some data in buffer AND servos in phase 0 */
if (telemetryBufLen && (spekFrame[2] & 0x80) == 0) {
dispatchAdd(&srxlTelemetryDispatch, SPEKTRUM_TELEMETRY_FRAME_DELAY);
}
/* Trigger tm data collection if buffer has been sent and is empty,
so data will be ready to transmit in the next phase 0 */
if (telemetryBufLen == 0) {
srxlCollectTelemetryNow();
}
} }
#endif
return RX_FRAME_COMPLETE; return RX_FRAME_COMPLETE;
} }
@ -218,12 +232,12 @@ void spektrumBind(rxConfig_t *rxConfig)
// Take care half-duplex case // Take care half-duplex case
switch (rxConfig->serialrx_provider) { switch (rxConfig->serialrx_provider) {
case SERIALRX_SRXL: case SERIALRX_SRXL:
#ifdef USE_TELEMETRY #if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
if (feature(FEATURE_TELEMETRY) && !telemetryCheckRxPortShared(portConfig)) { if (feature(FEATURE_TELEMETRY) && !telemetryCheckRxPortShared(portConfig)) {
bindPin = txPin; bindPin = txPin;
} }
break; break;
#endif // USE_TELEMETRY #endif // USE_TELEMETRY && USE_TELEMETRY_SRXL
default: default:
bindPin = rxConfig->halfDuplex ? txPin : rxPin; bindPin = rxConfig->halfDuplex ? txPin : rxPin;
@ -294,7 +308,7 @@ bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
} }
srxlEnabled = false; srxlEnabled = false;
#ifdef USE_TELEMETRY #if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
bool portShared = telemetryCheckRxPortShared(portConfig); bool portShared = telemetryCheckRxPortShared(portConfig);
#else #else
bool portShared = false; bool portShared = false;
@ -302,7 +316,7 @@ bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
switch (rxConfig->serialrx_provider) { switch (rxConfig->serialrx_provider) {
case SERIALRX_SRXL: case SERIALRX_SRXL:
#ifdef USE_TELEMETRY #if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
srxlEnabled = (feature(FEATURE_TELEMETRY) && !portShared); srxlEnabled = (feature(FEATURE_TELEMETRY) && !portShared);
FALLTHROUGH; FALLTHROUGH;
#endif #endif
@ -337,8 +351,7 @@ bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
portShared || srxlEnabled ? MODE_RXTX : MODE_RX, portShared || srxlEnabled ? MODE_RXTX : MODE_RX,
(rxConfig->serialrx_inverted ? SERIAL_INVERTED : 0) | ((srxlEnabled || rxConfig->halfDuplex) ? SERIAL_BIDIR : 0) (rxConfig->serialrx_inverted ? SERIAL_INVERTED : 0) | ((srxlEnabled || rxConfig->halfDuplex) ? SERIAL_BIDIR : 0)
); );
#if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
#ifdef USE_TELEMETRY
if (portShared) { if (portShared) {
telemetrySharedPort = serialPort; telemetrySharedPort = serialPort;
} }
@ -355,6 +368,7 @@ bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
return serialPort != NULL; return serialPort != NULL;
} }
#if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
void srxlRxWriteTelemetryData(const void *data, int len) void srxlRxWriteTelemetryData(const void *data, int len)
{ {
len = MIN(len, (int)sizeof(telemetryBuf)); len = MIN(len, (int)sizeof(telemetryBuf));
@ -371,6 +385,7 @@ void srxlRxSendTelemetryDataDispatch(dispatchEntry_t* self)
telemetryBufLen = 0; // reset telemetry buffer telemetryBufLen = 0; // reset telemetry buffer
} }
} }
#endif
bool srxlRxIsActive(void) bool srxlRxIsActive(void)
{ {

26
src/main/telemetry/srxl.c
View file

@ -21,7 +21,7 @@
#include "platform.h" #include "platform.h"
#ifdef USE_TELEMETRY #if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_SRXL)
#include "build/version.h" #include "build/version.h"
@ -58,8 +58,6 @@
#include "io/vtx_tramp.h" #include "io/vtx_tramp.h"
#include "io/vtx_smartaudio.h" #include "io/vtx_smartaudio.h"
#define SRXL_CYCLETIME_US 33000 // 33ms, 30 Hz
#define SRXL_ADDRESS_FIRST 0xA5 #define SRXL_ADDRESS_FIRST 0xA5
#define SRXL_ADDRESS_SECOND 0x80 #define SRXL_ADDRESS_SECOND 0x80
#define SRXL_PACKET_LENGTH 0x15 #define SRXL_PACKET_LENGTH 0x15
@ -73,6 +71,13 @@
static bool srxlTelemetryEnabled; static bool srxlTelemetryEnabled;
static uint8_t srxlFrame[SRXL_FRAME_SIZE_MAX]; static uint8_t srxlFrame[SRXL_FRAME_SIZE_MAX];
static bool srxlTelemetryNow = false;
void srxlCollectTelemetryNow(void)
{
srxlTelemetryNow = true;
}
static void srxlInitializeFrame(sbuf_t *dst) static void srxlInitializeFrame(sbuf_t *dst)
{ {
@ -191,8 +196,8 @@ bool srxlFrameFlightPackCurrent(sbuf_t *dst, timeUs_t currentTimeUs)
sbufWriteU16(dst, amps); sbufWriteU16(dst, amps);
sbufWriteU16(dst, mah); sbufWriteU16(dst, mah);
sbufWriteU16(dst, 0x7fff); // temp A sbufWriteU16(dst, 0x7fff); // temp A
sbufWriteU16(dst, 0xffff); // Amps B sbufWriteU16(dst, 0x7fff); // Amps B
sbufWriteU16(dst, 0xffff); // mAH B sbufWriteU16(dst, 0x7fff); // mAH B
sbufWriteU16(dst, 0x7fff); // temp B sbufWriteU16(dst, 0x7fff); // temp B
sbufWriteU16(dst, 0xffff); sbufWriteU16(dst, 0xffff);
@ -507,16 +512,11 @@ bool checkSrxlTelemetryState(void)
*/ */
void handleSrxlTelemetry(timeUs_t currentTimeUs) void handleSrxlTelemetry(timeUs_t currentTimeUs)
{ {
static uint32_t srxlLastCycleTime; if (!srxlTelemetryNow) {
if (!srxlTelemetryEnabled) {
return; return;
} }
// Actual telemetry data only needs to be sent at a low frequency, ie 10Hz srxlTelemetryNow = false;
if (currentTimeUs >= srxlLastCycleTime + SRXL_CYCLETIME_US) { processSrxl(currentTimeUs);
srxlLastCycleTime = currentTimeUs;
processSrxl(currentTimeUs);
}
} }
#endif #endif

1
src/main/telemetry/srxl.h
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@ -19,6 +19,7 @@
#include "common/time.h" #include "common/time.h"
void srxlCollectTelemetryNow(void);
void initSrxlTelemetry(void); void initSrxlTelemetry(void);
bool checkSrxlTelemetryState(void); bool checkSrxlTelemetryState(void);
void handleSrxlTelemetry(timeUs_t currentTimeUs); void handleSrxlTelemetry(timeUs_t currentTimeUs);