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Fix IRC tramp for both protocol varients.

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Prevent IRC tramp from briefly entering pitmode at startup.
Backout of PR #10166, ensuring pitmode can be correctly set from OSD and MSP.
Add CLI option to allow non-conforming tramp implementations to work with betaflight.
This commit is contained in:
Phil Greenland 2020-11-12 22:20:53 +00:00
parent 42dd70da35
commit 73f72ea9a3
6 changed files with 47 additions and 29 deletions
Download patch file Download diff file Expand all files Collapse all files

3
src/main/cli/settings.c
View file

@ -1464,6 +1464,9 @@ const clivalue_t valueTable[] = {
#if defined(USE_VTX_CONTROL) && defined(USE_VTX_COMMON)
{ "vtx_halfduplex", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_VTX_CONFIG, offsetof(vtxConfig_t, halfDuplex) },
#endif
#ifdef USE_VTX_TRAMP
{ "vtx_tramp_pitmode_inverted", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_VTX_CONFIG, offsetof(vtxConfig_t, trampPitModeInverted) },
#endif
// PG_VTX_IO
#ifdef USE_VTX_RTC6705

21
src/main/io/vtx.c
View file

@ -185,11 +185,16 @@ static bool vtxProcessPower(vtxDevice_t *vtxDevice)
static bool vtxProcessPitMode(vtxDevice_t *vtxDevice)
{
static bool prevPmSwitchState = false;
unsigned vtxStatus;
if (vtxCommonGetStatus(vtxDevice, &vtxStatus)) {
if (!ARMING_FLAG(ARMED) && vtxCommonGetStatus(vtxDevice, &vtxStatus)) {
bool currPmSwitchState = IS_RC_MODE_ACTIVE(BOXVTXPITMODE);
if (currPmSwitchState) {
if (!ARMING_FLAG(ARMED)) {
if (currPmSwitchState != prevPmSwitchState) {
prevPmSwitchState = currPmSwitchState;
if (currPmSwitchState) {
#if defined(VTX_SETTINGS_FREQCMD)
if (vtxSettingsConfig()->pitModeFreq) {
return false;
@ -200,12 +205,12 @@ static bool vtxProcessPitMode(vtxDevice_t *vtxDevice)
return true;
}
}
} else {
if (vtxStatus & VTX_STATUS_PIT_MODE) {
vtxCommonSetPitMode(vtxDevice, false);
} else {
if (vtxStatus & VTX_STATUS_PIT_MODE) {
vtxCommonSetPitMode(vtxDevice, false);
return true;
return true;
}
}
}
}

1
src/main/io/vtx_control.h
View file

@ -41,6 +41,7 @@ typedef struct vtxChannelActivationCondition_s {
typedef struct vtxConfig_s {
vtxChannelActivationCondition_t vtxChannelActivationConditions[MAX_CHANNEL_ACTIVATION_CONDITION_COUNT];
uint8_t halfDuplex;
uint8_t trampPitModeInverted;
} vtxConfig_t;
PG_DECLARE(vtxConfig_t, vtxConfig);

8
src/main/io/vtx_smartaudio.c
View file

@ -918,8 +918,6 @@ static void vtxSASetPowerByIndex(vtxDevice_t *vtxDevice, uint8_t index)
static void vtxSASetPitMode(vtxDevice_t *vtxDevice, uint8_t onoff)
{
static bool lastOnOff = false;
if (!vtxSAIsReady(vtxDevice) || saDevice.version < 2) {
return;
}
@ -929,12 +927,6 @@ static void vtxSASetPitMode(vtxDevice_t *vtxDevice, uint8_t onoff)
return;
}
// Only issue pit mode commands on status change
if (lastOnOff == onoff) {
return;
}
lastOnOff = onoff;
if (saDevice.version >= 3 && !saDevice.willBootIntoPitMode) {
if (onoff) {
// enable pitmode using SET_POWER command with 0 dbm.

42
src/main/io/vtx_tramp.c
View file

@ -94,6 +94,7 @@ typedef enum {
TRAMP_STATUS_ONLINE_CONFIG
} trampStatus_e;
// Module state
static trampStatus_e trampStatus = TRAMP_STATUS_OFFLINE;
// Device limits, read from device during init
@ -105,20 +106,20 @@ static uint32_t trampRFPowerMax;
static uint32_t trampCurFreq = 0;
static uint16_t trampCurConfPower = 0; // Configured power
static uint16_t trampCurActPower = 0; // Actual power
static uint8_t trampCurPitMode = 0;
static uint8_t trampCurPitMode = 0; // Expect to startup out of pitmode
static int16_t trampCurTemp = 0;
static uint8_t trampCurControlMode = 0;
// Device configuration, desired state of device
static uint32_t trampConfFreq = 0;
static uint16_t trampConfPower = 0;
static uint8_t trampConfPitMode = 0;
static uint8_t trampConfPitMode = 0; // Initially configured out of pitmode
// Last device configuration, last desired state of device - used to reset
// retry count
static uint32_t trampLastConfFreq = 0;
static uint16_t trampLastConfPower = 0;
static uint8_t trampLastConfPitMode = 0;
static uint8_t trampLastConfPitMode = 0; // Mirror trampConfPitMode
// Retry count
static uint8_t trampRetryCount = TRAMP_MAX_RETRIES;
@ -210,7 +211,13 @@ static char trampHandleResponse(void)
trampCurFreq = freq;
trampCurConfPower = trampRespBuffer[4]|(trampRespBuffer[5] << 8);
trampCurControlMode = trampRespBuffer[6]; // Currently only used for race lock
trampCurPitMode = trampRespBuffer[7];
if (vtxConfig()->trampPitModeInverted) {
// Invert pitmode (for devices which don't implement protocol correctly)
trampCurPitMode = !trampRespBuffer[7];
} else {
// Use official pitmode value
trampCurPitMode = trampRespBuffer[7];
}
trampCurActPower = trampRespBuffer[8]|(trampRespBuffer[9] << 8);
// Init config with current status if not set
@ -325,7 +332,7 @@ static void trampQuery(uint8_t cmd)
static void vtxTrampProcess(vtxDevice_t *vtxDevice, timeUs_t currentTimeUs)
{
UNUSED(vtxDevice);
uint8_t configUpdateRequired = 0;
bool configUpdateRequired = false;
// Read response from device
const char replyCode = trampReceive();
@ -374,19 +381,19 @@ static void vtxTrampProcess(vtxDevice_t *vtxDevice, timeUs_t currentTimeUs)
trampSendCommand('F', trampConfFreq);
// Set flag
configUpdateRequired = 1;
configUpdateRequired = true;
} else if (!trampVtxRaceLockEnabled() && (trampConfPower != trampCurConfPower)) {
// Power can be and needs to be updated, issue request
trampSendCommand('P', trampConfPower);
// Set flag
configUpdateRequired = 1;
configUpdateRequired = true;
} else if (trampConfPitMode != trampCurPitMode) {
// Pit mode needs to be updated, issue request
trampSendCommand('I', trampConfPitMode);
trampSendCommand('I', trampConfPitMode ? 0 : 1);
// Set flag
configUpdateRequired = 1;
configUpdateRequired = true;
}
if (configUpdateRequired) {
@ -464,7 +471,14 @@ static void vtxTrampProcess(vtxDevice_t *vtxDevice, timeUs_t currentTimeUs)
DEBUG_SET(DEBUG_VTX_TRAMP, 0, trampStatus);
DEBUG_SET(DEBUG_VTX_TRAMP, 1, replyCode);
DEBUG_SET(DEBUG_VTX_TRAMP, 2, configUpdateRequired);
DEBUG_SET(DEBUG_VTX_TRAMP, 2, ((trampConfPitMode << 14) & 0xC000) |
((trampCurPitMode << 12) & 0x3000) |
((trampConfPower << 8) & 0x0F00) |
((trampCurConfPower << 4) & 0x00F0) |
((trampConfFreq != trampCurFreq) ? 0x0008 : 0x0000) |
((trampConfPower != trampCurConfPower) ? 0x0004 : 0x0000) |
((trampConfPitMode != trampCurPitMode) ? 0x0002 : 0x0000) |
(configUpdateRequired ? 0x0001 : 0x0000));
DEBUG_SET(DEBUG_VTX_TRAMP, 3, trampRetryCount);
#ifdef USE_CMS
@ -515,7 +529,7 @@ static void vtxTrampSetPitMode(vtxDevice_t *vtxDevice, uint8_t onoff)
{
UNUSED(vtxDevice);
trampConfPitMode = onoff ? 0 : 1; // note inverted values
trampConfPitMode = onoff;
if (trampConfPitMode != trampLastConfPitMode) {
// Requested pitmode changed, reset retry count
trampRetryCount = TRAMP_MAX_RETRIES;
@ -602,8 +616,10 @@ static bool vtxTrampGetStatus(const vtxDevice_t *vtxDevice, unsigned *status)
return false;
}
// Return pitmode from latest query response
*status = (trampCurPitMode ? 0 : VTX_STATUS_PIT_MODE);
// Mirror configued pit mode state rather than use current pitmode as we
// should, otherwise the logic in vtxProcessPitMode may not get us to the
// correct state if pitmode is toggled quickly
*status = (trampConfPitMode ? VTX_STATUS_PIT_MODE : 0);
// Check VTX is not locked
*status |= ((trampCurControlMode & TRAMP_CONTROL_RACE_LOCK) ? VTX_STATUS_LOCKED : 0);