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Race and STD telemetry modes
This commit is contained in:
phobos-
parent
e45afb3a76
commit
63e7ccbc9a
3 changed files with 32 additions and 50 deletions
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@ -76,7 +76,7 @@ static uint8_t bindingRateIndex = 0;
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static bool connectionHasModelMatch = false;
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static uint8_t txPower = 0;
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static uint8_t wideSwitchIndex = 0;
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static uint8_t currTlmDenom = 1;
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static simpleLowpassFilter_t rssiFilter;
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static volatile DMA_DATA uint8_t dmaBuffer[ELRS_RX_TX_BUFF_SIZE];
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@ -280,7 +280,7 @@ static void unpackChannelDataHybridWide(uint16_t *rcData, const uint8_t *payload
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} else {
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uint8_t bins;
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uint16_t switchValue;
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if (tlmRatioEnumToValue(receiver.modParams->tlmInterval) < 8) {
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if (currTlmDenom < 8) {
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bins = 63;
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switchValue = switchByte & 0x3F; // 6-bit
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} else {
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@ -377,8 +377,8 @@ bool expressLrsIsFhssReq(void)
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bool expressLrsTelemRespReq(void)
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{
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uint8_t modresult = (receiver.nonceRX + 1) % tlmRatioEnumToValue(receiver.modParams->tlmInterval);
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if (receiver.inBindingMode || (receiver.connectionState == ELRS_DISCONNECTED) || (receiver.modParams->tlmInterval == TLM_RATIO_NO_TLM) || (modresult != 0)) {
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uint8_t modresult = (receiver.nonceRX + 1) % currTlmDenom;
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if (receiver.inBindingMode || (receiver.connectionState == ELRS_DISCONNECTED) || (currTlmDenom == 1) || (modresult != 0)) {
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return false; // don't bother sending tlm if disconnected or TLM is off
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} else {
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return true;
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@ -662,9 +662,8 @@ static bool processRFSyncPacket(volatile uint8_t *packet, const uint32_t timeSta
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receiver.lastSyncPacketMs = timeStampMs;
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// Will change the packet air rate in loop() if this changes
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receiver.nextRateIndex = (packet[3] & 0xC0) >> 6;
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uint8_t tlmRateIn = (packet[3] & 0x38) >> 3;
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uint8_t switchEncMode = ((packet[3] & 0x06) >> 1) - 1; //spi implementation uses 0 based index for hybrid
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receiver.nextRateIndex = ((packet[3] & 0xE0) >> 5) - 3;
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uint8_t switchEncMode = ((packet[3] & 0x03) >> 0) - 1; //spi implementation uses 0 based index for hybrid
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// Update switch mode encoding immediately
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if (switchEncMode != rxExpressLrsSpiConfig()->switchMode) {
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@ -673,8 +672,10 @@ static bool processRFSyncPacket(volatile uint8_t *packet, const uint32_t timeSta
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}
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// Update TLM ratio
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if (receiver.modParams->tlmInterval != tlmRateIn) {
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receiver.modParams->tlmInterval = tlmRateIn;
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uint8_t tlmRateIn = ((packet[3] & 0x1C) >> 2) + TLM_RATIO_NO_TLM;
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uint8_t tlmDenom = tlmRatioEnumToValue(tlmRateIn);
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if (currTlmDenom != tlmDenom) {
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currTlmDenom = tlmDenom;
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telemBurstValid = false;
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}
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@ -730,7 +731,7 @@ rx_spi_received_e processRFPacket(volatile uint8_t *payload, uint32_t timeStampU
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if (receiver.connectionState == ELRS_CONNECTED && connectionHasModelMatch) {
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if (rxExpressLrsSpiConfig()->switchMode == SM_HYBRID_WIDE) {
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wideSwitchIndex = hybridWideNonceToSwitchIndex(receiver.nonceRX);
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if ((tlmRatioEnumToValue(receiver.modParams->tlmInterval) < 8) || wideSwitchIndex == 7) {
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if ((currTlmDenom < 8) || wideSwitchIndex == 7) {
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confirmCurrentTelemetryPayload((dmaBuffer[6] & 0x40) >> 6);
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}
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} else {
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@ -776,8 +777,7 @@ static void updateTelemetryBurst(void)
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telemBurstValid = true;
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uint32_t hz = rateEnumToHz(receiver.modParams->enumRate);
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uint32_t ratiodiv = tlmRatioEnumToValue(receiver.modParams->tlmInterval);
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telemetryBurstMax = TELEM_MIN_LINK_INTERVAL * hz / ratiodiv / 1000U;
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telemetryBurstMax = TELEM_MIN_LINK_INTERVAL * hz / currTlmDenom / 1000U;
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// Reserve one slot for LINK telemetry
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if (telemetryBurstMax > 1) {
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@ -787,7 +787,7 @@ static void updateTelemetryBurst(void)
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}
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// Notify the sender to adjust its expected throughput
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updateTelemetryRate(hz, ratiodiv, telemetryBurstMax);
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updateTelemetryRate(hz, currTlmDenom, telemetryBurstMax);
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}
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/* If not connected will rotate through the RF modes looking for sync
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@ -56,8 +56,8 @@ elrsModSettings_t airRateConfig[][ELRS_RATE_MAX] = {
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{
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{0, RATE_200HZ, SX127x_BW_500_00_KHZ, SX127x_SF_6, SX127x_CR_4_7, 5000, TLM_RATIO_1_64, 4, 8},
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{1, RATE_100HZ, SX127x_BW_500_00_KHZ, SX127x_SF_7, SX127x_CR_4_7, 10000, TLM_RATIO_1_64, 4, 8},
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{2, RATE_50HZ, SX127x_BW_500_00_KHZ, SX127x_SF_8, SX127x_CR_4_7, 20000, TLM_RATIO_NO_TLM, 4, 10},
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{3, RATE_25HZ, SX127x_BW_500_00_KHZ, SX127x_SF_9, SX127x_CR_4_7, 40000, TLM_RATIO_NO_TLM, 2, 10}
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{2, RATE_50HZ, SX127x_BW_500_00_KHZ, SX127x_SF_8, SX127x_CR_4_7, 20000, TLM_RATIO_1_16, 4, 10},
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{3, RATE_25HZ, SX127x_BW_500_00_KHZ, SX127x_SF_9, SX127x_CR_4_7, 40000, TLM_RATIO_1_8, 2, 10}
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},
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#endif
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#ifdef USE_RX_SX1280
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@ -65,7 +65,7 @@ elrsModSettings_t airRateConfig[][ELRS_RATE_MAX] = {
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{0, RATE_500HZ, SX1280_LORA_BW_0800, SX1280_LORA_SF5, SX1280_LORA_CR_LI_4_6, 2000, TLM_RATIO_1_128, 4, 12},
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{1, RATE_250HZ, SX1280_LORA_BW_0800, SX1280_LORA_SF6, SX1280_LORA_CR_LI_4_7, 4000, TLM_RATIO_1_64, 4, 14},
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{2, RATE_150HZ, SX1280_LORA_BW_0800, SX1280_LORA_SF7, SX1280_LORA_CR_LI_4_7, 6666, TLM_RATIO_1_32, 4, 12},
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{3, RATE_50HZ, SX1280_LORA_BW_0800, SX1280_LORA_SF9, SX1280_LORA_CR_LI_4_6, 20000, TLM_RATIO_NO_TLM, 2, 12}
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{3, RATE_50HZ, SX1280_LORA_BW_0800, SX1280_LORA_SF9, SX1280_LORA_CR_LI_4_6, 20000, TLM_RATIO_1_16, 2, 12}
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},
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#endif
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#if !defined(USE_RX_SX127X) && !defined(USE_RX_SX1280)
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@ -472,34 +472,14 @@ void fhssGenSequence(const uint8_t UID[], const elrsFreqDomain_e dom)
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uint8_t tlmRatioEnumToValue(const elrsTlmRatio_e enumval)
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{
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switch (enumval) {
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case TLM_RATIO_NO_TLM:
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// !! TLM_RATIO_STD/TLM_RATIO_DISARMED should be converted by the caller !!
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if (enumval == TLM_RATIO_NO_TLM) {
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return 1;
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break;
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case TLM_RATIO_1_2:
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return 2;
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break;
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case TLM_RATIO_1_4:
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return 4;
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break;
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case TLM_RATIO_1_8:
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return 8;
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break;
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case TLM_RATIO_1_16:
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return 16;
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break;
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case TLM_RATIO_1_32:
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return 32;
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break;
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case TLM_RATIO_1_64:
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return 64;
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break;
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case TLM_RATIO_1_128:
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return 128;
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break;
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default:
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return 0;
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}
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// 1 << (8 - (enumval - TLM_RATIO_NO_TLM))
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// 1_128 = 128, 1_64 = 64, 1_32 = 32, etc
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return 1 << (8 + TLM_RATIO_NO_TLM - enumval);
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}
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uint16_t rateEnumToHz(const elrsRfRate_e eRate)
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@ -86,14 +86,16 @@ typedef enum {
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} elrsSwitchMode_e;
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typedef enum {
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TLM_RATIO_NO_TLM = 0,
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TLM_RATIO_1_128 = 1,
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TLM_RATIO_1_64 = 2,
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TLM_RATIO_1_32 = 3,
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TLM_RATIO_1_16 = 4,
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TLM_RATIO_1_8 = 5,
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TLM_RATIO_1_4 = 6,
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TLM_RATIO_1_2 = 7,
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TLM_RATIO_STD = 0, // Use suggested ratio from ModParams
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TLM_RATIO_NO_TLM,
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TLM_RATIO_1_128,
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TLM_RATIO_1_64,
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TLM_RATIO_1_32,
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TLM_RATIO_1_16,
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TLM_RATIO_1_8,
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TLM_RATIO_1_4,
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TLM_RATIO_1_2,
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TLM_RATIO_DISARMED, // TLM_RATIO_STD when disarmed, TLM_RATIO_NO_TLM when armed
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} elrsTlmRatio_e;
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typedef enum {
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