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Code Issues Wiki Activity

USE_CRSF_LINK_STATISTICS Split from pr 8042

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This commit is contained in:
laz2wiringpi 2019-05-04 22:02:25 -04:00 • committed by laz2wiringpi
parent de1c1d5377
commit 653618d0f6
9 changed files with 108 additions and 0 deletions
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3
src/main/build/debug.c
View file

@ -87,4 +87,7 @@ const char * const debugModeNames[DEBUG_COUNT] = {
"AC_ERROR",
"DUAL_GYRO_SCALED",
"DSHOT_RPM_ERRORS",
"CRSF_LINK_STATISTICS_UPLINK",
"CRSF_LINK_STATISTICS_PWR",
"CRSF_LINK_STATISTICS_DOWN",
};

3
src/main/build/debug.h
View file

@ -103,6 +103,9 @@ typedef enum {
DEBUG_AC_ERROR,
DEBUG_DUAL_GYRO_SCALED,
DEBUG_DSHOT_RPM_ERRORS,
DEBUG_CRSF_LINK_STATISTICS_UPLINK,
DEBUG_CRSF_LINK_STATISTICS_PWR,
DEBUG_CRSF_LINK_STATISTICS_DOWN,
DEBUG_COUNT
} debugType_e;

95
src/main/rx/crsf.c
View file

@ -56,6 +56,8 @@
#define CRSF_PAYLOAD_OFFSET offsetof(crsfFrameDef_t, type)
#define CRSF_LINK_STATUS_UPDATE_US 250000 // 250ms, 4 Hz mode 1 telemetry
STATIC_UNIT_TESTED bool crsfFrameDone = false;
STATIC_UNIT_TESTED crsfFrame_t crsfFrame;
STATIC_UNIT_TESTED uint32_t crsfChannelData[CRSF_MAX_CHANNEL];
@ -114,6 +116,80 @@ struct crsfPayloadRcChannelsPacked_s {
typedef struct crsfPayloadRcChannelsPacked_s crsfPayloadRcChannelsPacked_t;
#if defined(USE_CRSF_LINK_STATISTICS)
/*
* 0x14 Link statistics
* Payload:
*
* uint8_t Uplink RSSI Ant. 1 ( dBm * -1 )
* uint8_t Uplink RSSI Ant. 2 ( dBm * -1 )
* uint8_t Uplink Package success rate / Link quality ( % )
* int8_t Uplink SNR ( db )
* uint8_t Diversity active antenna ( enum ant. 1 = 0, ant. 2 )
* uint8_t RF Mode ( enum 4fps = 0 , 50fps, 150hz)
* uint8_t Uplink TX Power ( enum 0mW = 0, 10mW, 25 mW, 100 mW, 500 mW, 1000 mW, 2000mW )
* uint8_t Downlink RSSI ( dBm * -1 )
* uint8_t Downlink package success rate / Link quality ( % )
* int8_t Downlink SNR ( db )
* Uplink is the connection from the ground to the UAV and downlink the opposite direction.
*/
typedef struct crsfPayloadLinkstatistics_s {
uint8_t uplink_RSSI_1;
uint8_t uplink_RSSI_2;
uint8_t uplink_Link_quality;
int8_t uplink_SNR;
uint8_t active_antenna;
uint8_t rf_Mode;
uint8_t uplink_TX_Power;
uint8_t downlink_RSSI;
uint8_t downlink_Link_quality;
int8_t downlink_SNR;
} crsfLinkStatistics_t;
static timeUs_t lastLinkStatisticsFrameUs;
static void handleCrsfLinkStatisticsFrame(const crsfLinkStatistics_t* statsPtr, timeUs_t currentTimeUs)
{
const crsfLinkStatistics_t stats = *statsPtr;
lastLinkStatisticsFrameUs = currentTimeUs;
const uint8_t rssiDbm = stats.active_antenna ? stats.uplink_RSSI_2 : stats.uplink_RSSI_1;
const uint16_t rssiPercentScaled = scaleRange(rssiDbm, 130, 0, 0, RSSI_MAX_VALUE);
setRssi(rssiPercentScaled, RSSI_SOURCE_RX_PROTOCOL_CRSF);
switch (debugMode) {
case DEBUG_CRSF_LINK_STATISTICS_UPLINK:
DEBUG_SET(DEBUG_CRSF_LINK_STATISTICS_UPLINK, 0, stats.uplink_RSSI_1);
DEBUG_SET(DEBUG_CRSF_LINK_STATISTICS_UPLINK, 1, stats.uplink_RSSI_2);
DEBUG_SET(DEBUG_CRSF_LINK_STATISTICS_UPLINK, 2, stats.uplink_Link_quality);
DEBUG_SET(DEBUG_CRSF_LINK_STATISTICS_UPLINK, 3, stats.rf_Mode);
break;
case DEBUG_CRSF_LINK_STATISTICS_PWR:
DEBUG_SET(DEBUG_CRSF_LINK_STATISTICS_PWR, 0, stats.active_antenna);
DEBUG_SET(DEBUG_CRSF_LINK_STATISTICS_PWR, 1, stats.uplink_SNR);
DEBUG_SET(DEBUG_CRSF_LINK_STATISTICS_PWR, 2, stats.uplink_TX_Power);
break;
case DEBUG_CRSF_LINK_STATISTICS_DOWN:
DEBUG_SET(DEBUG_CRSF_LINK_STATISTICS_DOWN, 0, stats.downlink_RSSI);
DEBUG_SET(DEBUG_CRSF_LINK_STATISTICS_DOWN, 1, stats.downlink_Link_quality);
DEBUG_SET(DEBUG_CRSF_LINK_STATISTICS_DOWN, 2, stats.downlink_SNR);
break;
}
}
#endif
static void crsfCheckRssi(uint32_t currentTimeUs) {
UNUSED(currentTimeUs);
#if defined(USE_CRSF_LINK_STATISTICS)
if (cmpTimeUs(currentTimeUs, lastLinkStatisticsFrameUs) > CRSF_LINK_STATUS_UPDATE_US) {
setRssiDirect(0,RSSI_SOURCE_RX_PROTOCOL_CRSF);
}
#endif
}
STATIC_UNIT_TESTED uint8_t crsfFrameCRC(void)
{
// CRC includes type and payload
@ -178,6 +254,19 @@ STATIC_UNIT_TESTED void crsfDataReceive(uint16_t c, void *data)
crsfProcessDisplayPortCmd(frameStart);
break;
}
#endif
#if defined(USE_CRSF_LINK_STATISTICS)
case CRSF_FRAMETYPE_LINK_STATISTICS: {
// if to FC and 10 bytes + CRSF_FRAME_ORIGIN_DEST_SIZE
if ((rssiSource == RSSI_SOURCE_RX_PROTOCOL_CRSF) &&
(crsfFrame.frame.deviceAddress == CRSF_ADDRESS_FLIGHT_CONTROLLER) &&
(crsfFrame.frame.frameLength == CRSF_FRAME_ORIGIN_DEST_SIZE + CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE)) {
const crsfLinkStatistics_t* statsFrame = (const crsfLinkStatistics_t*)&crsfFrame.frame.payload;
handleCrsfLinkStatisticsFrame(statsFrame, currentTimeUs);
}
break;
}
#endif
default:
break;
@ -192,6 +281,8 @@ STATIC_UNIT_TESTED uint8_t crsfFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
{
UNUSED(rxRuntimeConfig);
crsfCheckRssi(micros());
if (crsfFrameDone) {
crsfFrameDone = false;
if (crsfFrame.frame.type == CRSF_FRAMETYPE_RC_CHANNELS_PACKED) {
@ -280,6 +371,10 @@ bool crsfRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
CRSF_PORT_OPTIONS | (rxConfig->serialrx_inverted ? SERIAL_INVERTED : 0)
);
if (rssiSource == RSSI_SOURCE_NONE) {
rssiSource = RSSI_SOURCE_RX_PROTOCOL_CRSF;
}
return serialPort != NULL;
}

1
src/main/rx/rx.h
View file

@ -143,6 +143,7 @@ typedef enum {
RSSI_SOURCE_RX_PROTOCOL,
RSSI_SOURCE_MSP,
RSSI_SOURCE_FRAME_ERRORS,
RSSI_SOURCE_RX_PROTOCOL_CRSF,
} rssiSource_e;
extern rssiSource_e rssiSource;

1
src/main/target/common_post.h
View file

@ -93,6 +93,7 @@
#if !defined(USE_SERIALRX_CRSF)
#undef USE_TELEMETRY_CRSF
#undef USE_CRSF_LINK_STATISTICS
#endif
#if !defined(USE_TELEMETRY_CRSF) || !defined(USE_CMS)

1
src/main/target/common_pre.h
View file

@ -262,6 +262,7 @@
#define USE_RX_MSP
#define USE_ESC_SENSOR_INFO
#define USE_CRSF_CMS_TELEMETRY
#define USE_CRSF_LINK_STATISTICS
#endif
#endif // FLASH_SIZE > 128

2
src/test/unit/rx_crsf_unittest.cc
View file

@ -41,6 +41,8 @@ extern "C" {
#include "telemetry/msp_shared.h"
rssiSource_e rssiSource;
void crsfDataReceive(uint16_t c);
uint8_t crsfFrameCRC(void);
uint8_t crsfFrameStatus(void);

1
src/test/unit/telemetry_crsf_msp_unittest.cc
View file

@ -63,6 +63,7 @@ extern "C" {
#include "telemetry/smartport.h"
#include "sensors/acceleration.h"
rssiSource_e rssiSource;
bool handleMspFrame(uint8_t *frameStart, int frameLength, uint8_t *skipsBeforeResponse);
bool sendMspReply(uint8_t payloadSize, mspResponseFnPtr responseFn);
uint8_t sbufReadU8(sbuf_t *src);

1
src/test/unit/telemetry_crsf_unittest.cc
View file

@ -61,6 +61,7 @@ extern "C" {
#include "telemetry/telemetry.h"
#include "telemetry/msp_shared.h"
rssiSource_e rssiSource;
bool airMode;
uint16_t testBatteryVoltage = 0;