diff --git a/Makefile b/Makefile
index 311fd88d80..75a857ead0 100644
--- a/Makefile
+++ b/Makefile
@@ -745,6 +745,8 @@ COMMON_SRC = \
drivers/sonar_hcsr04.c \
drivers/vtx_common.c \
drivers/transponder_ir.c \
+ drivers/transponder_ir_arcitimer.c \
+ drivers/transponder_ir_ilap.c \
flight/navigation.c \
io/dashboard.c \
io/displayport_max7456.c \
diff --git a/src/main/drivers/transponder_ir.c b/src/main/drivers/transponder_ir.c
index efe6a1b022..6f87185ec5 100644
--- a/src/main/drivers/transponder_ir.c
+++ b/src/main/drivers/transponder_ir.c
@@ -30,36 +30,8 @@
#include "timer.h"
#include "transponder_ir.h"
-
-#define TRANSPONDER_TIMER_MHZ 24
-#define TRANSPONDER_CARRIER_HZ 460750
-
-static uint8_t bitToggleOne = 0;
-#define BIT_TOGGLE_0 0
-
-#define TRANSPONDER_BITS_PER_BYTE 10 // start + 8 data + stop
-#define TRANSPONDER_DATA_LENGTH 6
-#define TRANSPONDER_TOGGLES_PER_BIT 11
-#define TRANSPONDER_GAP_TOGGLES 1
-#define TRANSPONDER_TOGGLES (TRANSPONDER_TOGGLES_PER_BIT + TRANSPONDER_GAP_TOGGLES)
-
-#define TRANSPONDER_DMA_BUFFER_SIZE ((TRANSPONDER_TOGGLES_PER_BIT + 1) * TRANSPONDER_BITS_PER_BYTE * TRANSPONDER_DATA_LENGTH)
-
-/*
- * Implementation note:
- * Using around over 700 bytes for a transponder DMA buffer is a little excessive, likely an alternative implementation that uses a fast
- * ISR to generate the output signal dynamically based on state would be more memory efficient and would likely be more appropriate for
- * other targets. However this approach requires very little CPU time and is just fire-and-forget.
- *
- * On an STM32F303CC 720 bytes is currently fine and that is the target for which this code was designed for.
- */
-#if defined(STM32F3)
-uint8_t transponderIrDMABuffer[TRANSPONDER_DMA_BUFFER_SIZE];
-#elif defined(STM32F4)
-uint32_t transponderIrDMABuffer[TRANSPONDER_DMA_BUFFER_SIZE];
-#else
-#error "Transponder not supported on this MCU."
-#endif
+#include "drivers/transponder_ir_arcitimer.h"
+#include "drivers/transponder_ir_ilap.h"
volatile uint8_t transponderIrDataTransferInProgress = 0;
@@ -74,6 +46,8 @@ static DMA_Stream_TypeDef *dmaRef = NULL;
#error "Transponder not supported on this MCU."
#endif
+transponder_t transponder;
+
static void TRANSPONDER_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
{
if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
@@ -84,7 +58,7 @@ static void TRANSPONDER_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
}
}
-void transponderIrHardwareInit(ioTag_t ioTag)
+void transponderIrHardwareInit(ioTag_t ioTag, transponder_t *transponder)
{
if (!ioTag) {
return;
@@ -110,11 +84,10 @@ void transponderIrHardwareInit(ioTag_t ioTag)
RCC_ClockCmd(timerRCC(timer), ENABLE);
- uint16_t prescaler = timerGetPrescalerByDesiredMhz(timer, TRANSPONDER_TIMER_MHZ);
- uint16_t period = timerGetPeriodByPrescaler(timer, prescaler, TRANSPONDER_CARRIER_HZ);
+ uint16_t prescaler = timerGetPrescalerByDesiredMhz(timer, transponder->timer_hz);
+ uint16_t period = timerGetPeriodByPrescaler(timer, prescaler, transponder->timer_carrier_hz);
- bitToggleOne = period / 2;
-
+ transponder->bitToggleOne = period / 2;
/* Time base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = period;
@@ -149,15 +122,15 @@ void transponderIrHardwareInit(ioTag_t ioTag)
DMA_StructInit(&DMA_InitStructure);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)timerCCR(timer, timerHardware->channel);
#if defined(STM32F3)
- DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)transponderIrDMABuffer;
+ DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)&(transponder->transponderIrDMABuffer);
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
#elif defined(STM32F4)
DMA_InitStructure.DMA_Channel = timerHardware->dmaChannel;
- DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)transponderIrDMABuffer;
+ DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&(transponder->transponderIrDMABuffer);
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
#endif
- DMA_InitStructure.DMA_BufferSize = TRANSPONDER_DMA_BUFFER_SIZE;
+ DMA_InitStructure.DMA_BufferSize = transponder->dma_buffer_size;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
#if defined(STM32F3)
@@ -178,10 +151,8 @@ void transponderIrHardwareInit(ioTag_t ioTag)
DMA_ITConfig(dmaRef, DMA_IT_TC, ENABLE);
}
-bool transponderIrInit(void)
+bool transponderIrInit(const TransponderProvider* transponderProvider)
{
- memset(&transponderIrDMABuffer, 0, TRANSPONDER_DMA_BUFFER_SIZE);
-
ioTag_t ioTag = IO_TAG_NONE;
for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT; i++) {
if (timerHardware[i].usageFlags & TIM_USE_TRANSPONDER) {
@@ -194,8 +165,17 @@ bool transponderIrInit(void)
return false;
}
+ uint8_t transponderProviderLocal = *transponderProvider;
+ switch(transponderProviderLocal){
+ case ARCITIMER:
+ transponderIrInitArcitimer(&transponder);
+ break;
+ case ILAP:
+ transponderIrInitIlap(&transponder);
+ break;
+ }
- transponderIrHardwareInit(ioTag);
+ transponderIrHardwareInit(ioTag, &transponder);
return true;
}
@@ -207,42 +187,6 @@ bool isTransponderIrReady(void)
static uint16_t dmaBufferOffset;
-void updateTransponderDMABuffer(const uint8_t* transponderData)
-{
- uint8_t byteIndex;
- uint8_t bitIndex;
- uint8_t toggleIndex;
-
- for (byteIndex = 0; byteIndex < TRANSPONDER_DATA_LENGTH; byteIndex++) {
-
- uint8_t byteToSend = *transponderData;
- transponderData++;
- for (bitIndex = 0; bitIndex < TRANSPONDER_BITS_PER_BYTE; bitIndex++)
- {
- bool doToggles = false;
- if (bitIndex == 0) {
- doToggles = true;
- } else if (bitIndex == TRANSPONDER_BITS_PER_BYTE - 1) {
- doToggles = false;
- } else {
- doToggles = byteToSend & (1 << (bitIndex - 1));
- }
-
- for (toggleIndex = 0; toggleIndex < TRANSPONDER_TOGGLES_PER_BIT; toggleIndex++)
- {
- if (doToggles) {
- transponderIrDMABuffer[dmaBufferOffset] = bitToggleOne;
- } else {
- transponderIrDMABuffer[dmaBufferOffset] = BIT_TOGGLE_0;
- }
- dmaBufferOffset++;
- }
- transponderIrDMABuffer[dmaBufferOffset] = BIT_TOGGLE_0;
- dmaBufferOffset++;
- }
- }
-}
-
void transponderIrWaitForTransmitComplete(void)
{
static uint32_t waitCounter = 0;
@@ -254,14 +198,13 @@ void transponderIrWaitForTransmitComplete(void)
void transponderIrUpdateData(const uint8_t* transponderData)
{
- transponderIrWaitForTransmitComplete();
-
- updateTransponderDMABuffer(transponderData);
+ transponderIrWaitForTransmitComplete();
+ transponder.vTable->updateTransponderDMABuffer(&transponder, transponderData);
}
-void transponderIrDMAEnable(void)
+void transponderIrDMAEnable(transponder_t *transponder)
{
- DMA_SetCurrDataCounter(dmaRef, TRANSPONDER_DMA_BUFFER_SIZE); // load number of bytes to be transferred
+ DMA_SetCurrDataCounter(dmaRef, transponder->dma_buffer_size); // load number of bytes to be transferred
TIM_SetCounter(timer, 0);
TIM_Cmd(timer, ENABLE);
DMA_Cmd(dmaRef, ENABLE);
@@ -289,6 +232,6 @@ void transponderIrTransmit(void)
dmaBufferOffset = 0;
transponderIrDataTransferInProgress = 1;
- transponderIrDMAEnable();
+ transponderIrDMAEnable(&transponder);
}
#endif
diff --git a/src/main/drivers/transponder_ir.h b/src/main/drivers/transponder_ir.h
index fb0c276427..c3bf07f271 100644
--- a/src/main/drivers/transponder_ir.h
+++ b/src/main/drivers/transponder_ir.h
@@ -19,11 +19,80 @@
#include "io_types.h"
-bool transponderIrInit();
+/*** ARCITIMER ***/
+#define TRANSPONDER_BITS_PER_BYTE_ARCITIMER 8
+#define TRANSPONDER_DATA_LENGTH_ARCITIMER 9
+#define TRANSPONDER_TOGGLES_PER_BIT_ARCITIMER 4
+#define TRANSPONDER_GAP_TOGGLES_ARCITIMER 0
+#define TRANSPONDER_TOGGLES_ARCITIMER (TRANSPONDER_TOGGLES_PER_BIT_ARCITIMER + TRANSPONDER_GAP_TOGGLES_ARCITIMER)
+#define TRANSPONDER_DMA_BUFFER_SIZE_ARCITIMER 155 * TRANSPONDER_TOGGLES_PER_BIT_ARCITIMER // 620
+#define TRANSPONDER_TIMER_MHZ_ARCITIMER 24
+#define TRANSPONDER_CARRIER_HZ_ARCITIMER 41886
+/*** ******** ***/
+
+
+/*** ILAP ***/
+#define TRANSPONDER_BITS_PER_BYTE_ILAP 10 // start + 8 data + stop
+#define TRANSPONDER_DATA_LENGTH_ILAP 6
+#define TRANSPONDER_TOGGLES_PER_BIT_ILAP 11
+#define TRANSPONDER_GAP_TOGGLES_ILAP 1
+#define TRANSPONDER_TOGGLES (TRANSPONDER_TOGGLES_PER_BIT_ILAP + TRANSPONDER_GAP_TOGGLES_ILAP)
+#define TRANSPONDER_DMA_BUFFER_SIZE_ILAP ((TRANSPONDER_TOGGLES_PER_BIT_ILAP + 1) * TRANSPONDER_BITS_PER_BYTE_ILAP * TRANSPONDER_DATA_LENGTH_ILAP) //720
+#define TRANSPONDER_TIMER_MHZ_ILAP 24
+#define TRANSPONDER_CARRIER_HZ_ILAP 460750
+/*** ******** ***/
+
+/*
+ * Implementation note:
+ * Using around over 700 bytes for a transponder DMA buffer is a little excessive, likely an alternative implementation that uses a fast
+ * ISR to generate the output signal dynamically based on state would be more memory efficient and would likely be more appropriate for
+ * other targets. However this approach requires very little CPU time and is just fire-and-forget.
+ *
+ * On an STM32F303CC 720 bytes is currently fine and that is the target for which this code was designed for.
+ */
+#if defined(STM32F3) || defined(UNIT_TEST)
+
+ typedef union transponderIrDMABuffer_s {
+ uint8_t arcitimer[TRANSPONDER_DMA_BUFFER_SIZE_ARCITIMER]; // 620
+ uint8_t ilap[TRANSPONDER_DMA_BUFFER_SIZE_ILAP]; // 720
+ } transponderIrDMABuffer_t;
+
+#elif defined(STM32F4)
+
+ typedef union transponderIrDMABuffer_s {
+ uint32_t arcitimer[TRANSPONDER_DMA_BUFFER_SIZE_ARCITIMER]; // 620
+ uint32_t ilap[TRANSPONDER_DMA_BUFFER_SIZE_ILAP]; // 720
+ } transponderIrDMABuffer_t;
+#endif
+
+typedef struct transponder_s {
+ uint8_t gap_toggles;
+ uint32_t timer_hz;
+ uint32_t timer_carrier_hz;
+ uint16_t bitToggleOne;
+ uint32_t dma_buffer_size;
+
+ #if defined(STM32F3) || defined(STM32F4)|| defined(UNIT_TEST)
+ transponderIrDMABuffer_t transponderIrDMABuffer;
+ #endif
+
+ const struct transponderVTable *vTable;
+} transponder_t;
+
+typedef enum TransponderProvider{
+ ARCITIMER,
+ ILAP
+} TransponderProvider;
+
+struct transponderVTable {
+ void (*updateTransponderDMABuffer)(transponder_t *transponder, const uint8_t* transponderData);
+};
+
+bool transponderIrInit(const TransponderProvider* transponderProvider);
void transponderIrDisable(void);
-void transponderIrHardwareInit(ioTag_t ioTag);
-void transponderIrDMAEnable(void);
+void transponderIrHardwareInit(ioTag_t ioTag, transponder_t *transponder);
+void transponderIrDMAEnable(transponder_t *transponder);
void transponderIrWaitForTransmitComplete(void);
diff --git a/src/main/drivers/transponder_ir_arcitimer.c b/src/main/drivers/transponder_ir_arcitimer.c
new file mode 100644
index 0000000000..2ec8214df4
--- /dev/null
+++ b/src/main/drivers/transponder_ir_arcitimer.c
@@ -0,0 +1,66 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see .
+ */
+#include
+#include
+#include
+#include
+#include "drivers/transponder_ir.h"
+#include "drivers/transponder_ir_arcitimer.h"
+
+#if defined(STM32F3) || defined(STM32F4) || defined(UNIT_TEST)
+
+extern const struct transponderVTable arcitimerTansponderVTable;
+static uint16_t dmaBufferOffset;
+
+void transponderIrInitArcitimer(transponder_t *transponder){
+ // from drivers/transponder_ir.h
+ transponder->gap_toggles = TRANSPONDER_GAP_TOGGLES_ARCITIMER;
+ transponder->dma_buffer_size = TRANSPONDER_DMA_BUFFER_SIZE_ARCITIMER;
+ transponder->vTable = &arcitimerTansponderVTable;
+ transponder->timer_hz = TRANSPONDER_TIMER_MHZ_ARCITIMER;
+ transponder->timer_carrier_hz = TRANSPONDER_CARRIER_HZ_ARCITIMER;
+ memset(&(transponder->transponderIrDMABuffer.arcitimer), 0, TRANSPONDER_DMA_BUFFER_SIZE_ARCITIMER);
+}
+
+void updateTransponderDMABufferArcitimer(transponder_t *transponder, const uint8_t* transponderData)
+{
+ uint8_t byteIndex;
+ uint8_t bitIndex;
+ uint8_t hightStateIndex;
+ for (byteIndex = 0; byteIndex < TRANSPONDER_DATA_LENGTH_ARCITIMER; byteIndex++) {
+ uint8_t byteToSend = *transponderData;
+ transponderData++;
+ for (bitIndex = 0; bitIndex < TRANSPONDER_BITS_PER_BYTE_ARCITIMER; bitIndex++)
+ {
+ bool isHightState = byteToSend & (1 << (bitIndex));
+ for (hightStateIndex = 0; hightStateIndex < TRANSPONDER_TOGGLES_PER_BIT_ARCITIMER; hightStateIndex++)
+ {
+ transponder->transponderIrDMABuffer.arcitimer[dmaBufferOffset] = isHightState ? transponder->bitToggleOne : 0;
+ dmaBufferOffset++;
+ }
+ }
+ }
+ dmaBufferOffset = 0;
+}
+
+
+
+const struct transponderVTable arcitimerTansponderVTable = {
+ updateTransponderDMABufferArcitimer,
+};
+
+#endif
diff --git a/src/main/drivers/transponder_ir_arcitimer.h b/src/main/drivers/transponder_ir_arcitimer.h
new file mode 100644
index 0000000000..534f5634d8
--- /dev/null
+++ b/src/main/drivers/transponder_ir_arcitimer.h
@@ -0,0 +1,34 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see .
+ */
+#pragma once
+
+// aRCiTimer transponder codes:
+//
+// ID1 0x1F, 0xFC, 0x8F, 0x3, 0xF0, 0x1, 0xF8, 0x1F, 0x0 // E00370FC0FFE07E0FF
+// ID2 0xFF, 0x83, 0xFF, 0xC1, 0x7, 0xFF, 0x3, 0xF0, 0x1 // 007C003EF800FC0FFE
+// ID3 0x7, 0x7E, 0xE0, 0x7, 0x7E, 0xE0, 0x0, 0x38, 0x0 // F8811FF8811FFFC7FF
+// ID4 0xFF, 0x83, 0xFF, 0xC1, 0x7, 0xE0, 0x7F, 0xF0, 0x1 // 007C003EF81F800FFE
+// ID5 0xF, 0xF0, 0x0, 0xFF, 0x0, 0xF, 0xF0, 0xF, 0x0 // F00FFF00FFF00FF0FF
+// ID6 0xFF, 0x83, 0xF, 0x3E, 0xF8, 0xE0, 0x83, 0xFF, 0xF // 007CF0C1071F7C00F0
+// ID7 0x1F, 0xFC, 0xF, 0xC0, 0xFF, 0x0, 0xFC, 0xF, 0x3E // E003F03F00FF03F0C1
+// ID8 0xFF, 0x3, 0xF0, 0x1, 0xF8, 0xE0, 0xC1, 0xFF, 0x1 // 00FC0FFE071F3E00FE
+// ID9 0x1F, 0x7C, 0x40, 0xF, 0xF0, 0x61, 0xC7, 0x3F, 0x0 // E083BFF00F9E38C0FF
+
+
+
+void transponderIrInitArcitimer(transponder_t *transponder);
+void updateTransponderDMABufferArcitimer(transponder_t *transponder, const uint8_t* transponderData);
diff --git a/src/main/drivers/transponder_ir_ilap.c b/src/main/drivers/transponder_ir_ilap.c
new file mode 100644
index 0000000000..fc2b0e09b4
--- /dev/null
+++ b/src/main/drivers/transponder_ir_ilap.c
@@ -0,0 +1,81 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see .
+ */
+#include
+#include
+#include
+#include
+#include "drivers/transponder_ir.h"
+#include "drivers/transponder_ir_ilap.h"
+
+#if defined(STM32F3) || defined(STM32F4) || defined(UNIT_TEST)
+
+static uint16_t dmaBufferOffset;
+extern const struct transponderVTable ilapTansponderVTable;
+
+void transponderIrInitIlap(transponder_t *transponder){
+ // from drivers/transponder_ir.h
+ transponder->gap_toggles = TRANSPONDER_GAP_TOGGLES_ILAP;
+ transponder->dma_buffer_size = TRANSPONDER_DMA_BUFFER_SIZE_ILAP;
+ transponder->vTable = &ilapTansponderVTable;
+ transponder->timer_hz = TRANSPONDER_TIMER_MHZ_ILAP;
+ transponder->timer_carrier_hz = TRANSPONDER_CARRIER_HZ_ILAP;
+ memset(&(transponder->transponderIrDMABuffer.ilap), 0, TRANSPONDER_DMA_BUFFER_SIZE_ILAP);
+
+}
+
+void updateTransponderDMABufferIlap(transponder_t *transponder, const uint8_t* transponderData)
+{
+ uint8_t byteIndex;
+ uint8_t bitIndex;
+ uint8_t toggleIndex;
+ for (byteIndex = 0; byteIndex < TRANSPONDER_DATA_LENGTH_ILAP; byteIndex++) {
+ uint8_t byteToSend = *transponderData;
+ transponderData++;
+ for (bitIndex = 0; bitIndex < TRANSPONDER_BITS_PER_BYTE_ILAP; bitIndex++)
+ {
+ bool doToggles = false;
+ if (bitIndex == 0) {
+ doToggles = true;
+ }
+ else if (bitIndex == TRANSPONDER_BITS_PER_BYTE_ILAP - 1) {
+ doToggles = false;
+ }
+ else {
+ doToggles = byteToSend & (1 << (bitIndex - 1));
+ }
+ for (toggleIndex = 0; toggleIndex < TRANSPONDER_TOGGLES_PER_BIT_ILAP; toggleIndex++)
+ {
+ if (doToggles) {
+ transponder->transponderIrDMABuffer.ilap[dmaBufferOffset] = transponder->bitToggleOne;
+ }
+ else {
+ transponder->transponderIrDMABuffer.ilap[dmaBufferOffset] = 0;
+ }
+ dmaBufferOffset++;
+ }
+ transponder->transponderIrDMABuffer.ilap[dmaBufferOffset] = 0;
+ dmaBufferOffset++;
+ }
+ }
+ dmaBufferOffset = 0;
+}
+
+const struct transponderVTable ilapTansponderVTable = {
+ updateTransponderDMABufferIlap,
+};
+
+#endif
diff --git a/src/main/drivers/transponder_ir_ilap.h b/src/main/drivers/transponder_ir_ilap.h
new file mode 100644
index 0000000000..6e683bb514
--- /dev/null
+++ b/src/main/drivers/transponder_ir_ilap.h
@@ -0,0 +1,20 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see .
+ */
+#pragma once
+
+void transponderIrInitIlap(transponder_t *transponder);
+void updateTransponderDMABufferIlap(transponder_t *transponder, const uint8_t* transponderData);
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index d55fafefda..d9ab5423ec 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -58,6 +58,7 @@
#include "drivers/system.h"
#include "drivers/timer.h"
#include "drivers/vcd.h"
+#include "drivers/transponder_ir.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
@@ -745,9 +746,9 @@ void createDefaultConfig(master_t *config)
#endif
#ifdef TRANSPONDER
- static const uint8_t defaultTransponderData[6] = { 0x12, 0x34, 0x56, 0x78, 0x9A, 0xBC }; // Note, this is NOT a valid transponder code, it's just for testing production hardware
-
+ static const uint8_t defaultTransponderData[9] = {0x12, 0x34, 0x56, 0x78, 0x9A, 0xBC, 0x0, 0x0, 0x0 }; // Note, this is NOT a valid transponder code, it's just for testing production hardware
memcpy(config->transponderConfig.data, &defaultTransponderData, sizeof(defaultTransponderData));
+ config->transponderConfig.provider = ILAP;
#endif
#ifndef USE_PARAMETER_GROUPS
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 57b5c30f12..19f36769d6 100644
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -37,6 +37,7 @@
#include "drivers/light_led.h"
#include "drivers/system.h"
#include "drivers/gyro_sync.h"
+#include "drivers/transponder_ir.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 8b06b3989d..8c05408496 100755
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -53,6 +53,7 @@
#include "drivers/vcd.h"
#include "drivers/vtx_common.h"
#include "drivers/vtx_soft_spi_rtc6705.h"
+#include "drivers/transponder_ir.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
@@ -1085,8 +1086,24 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
break;
case MSP_TRANSPONDER_CONFIG:
+ {
#ifdef TRANSPONDER
- sbufWriteU8(dst, 1); //Transponder supported
+ uint8_t header = 1; //transponder supported
+
+ switch(transponderConfig()->provider){
+ case ILAP:
+ header |= 0x02;
+ break;
+ case ARCITIMER:
+ header |= 0x04;
+ break;
+ default:
+ break;
+ }
+
+ header |= (sizeof(transponderConfig()->data) << 4);
+
+ sbufWriteU8(dst, header);
for (unsigned int i = 0; i < sizeof(transponderConfig()->data); i++) {
sbufWriteU8(dst, transponderConfig()->data[i]);
}
@@ -1094,7 +1111,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU8(dst, 0); // Transponder not supported
#endif
break;
-
+ }
case MSP_OSD_CONFIG:
#ifdef OSD
sbufWriteU8(dst, 1); // OSD supported
@@ -1606,7 +1623,26 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#ifdef TRANSPONDER
case MSP_SET_TRANSPONDER_CONFIG:
- if (dataSize != sizeof(transponderConfig()->data)) {
+ {
+ uint8_t tmp = sbufReadU8(src);
+
+ uint8_t type;
+ switch(tmp){
+ case 0x02:
+ type = ILAP;
+ break;
+ case 0x04:
+ type = ARCITIMER;
+ break;
+ }
+
+ if(type != transponderConfig()->provider){
+ transponderStopRepeating();
+ }
+
+ transponderConfigMutable()->provider = type;
+
+ if (dataSize != sizeof(transponderConfig()->data) + 1) {
return MSP_RESULT_ERROR;
}
for (unsigned int i = 0; i < sizeof(transponderConfig()->data); i++) {
@@ -1614,6 +1650,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
}
transponderUpdateData();
break;
+}
#endif
#ifdef OSD
diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c
index 4ceb6a555e..5dc95b9dcc 100644
--- a/src/main/fc/fc_tasks.c
+++ b/src/main/fc/fc_tasks.c
@@ -39,6 +39,7 @@
#include "drivers/serial.h"
#include "drivers/stack_check.h"
#include "drivers/vtx_common.h"
+#include "drivers/transponder_ir.h"
#include "fc/config.h"
#include "fc/fc_msp.h"
diff --git a/src/main/io/transponder_ir.c b/src/main/io/transponder_ir.c
index eb99977f04..1a1b0ec753 100644
--- a/src/main/io/transponder_ir.c
+++ b/src/main/io/transponder_ir.c
@@ -40,7 +40,8 @@
PG_REGISTER_WITH_RESET_TEMPLATE(transponderConfig_t, transponderConfig, PG_TRANSPONDER_CONFIG, 0);
PG_RESET_TEMPLATE(transponderConfig_t, transponderConfig,
- .data = { 0x12, 0x34, 0x56, 0x78, 0x9A, 0xBC } // Note, this is NOT a valid transponder code, it's just for testing production hardware
+ .data = { 0x12, 0x34, 0x56, 0x78, 0x9A, 0xBC, 0x0, 0x0, 0x0 }, // Note, this is NOT a valid transponder code, it's just for testing production hardware
+ .provider = ILAP
);
static bool transponderInitialised = false;
@@ -85,7 +86,7 @@ void transponderUpdate(timeUs_t currentTimeUs)
void transponderInit(void)
{
- transponderInitialised = transponderIrInit();
+ transponderInitialised = transponderIrInit(&(transponderConfig()->provider));
if (!transponderInitialised) {
return;
}
diff --git a/src/main/io/transponder_ir.h b/src/main/io/transponder_ir.h
index dd6e9c0ad5..afb603b4ab 100644
--- a/src/main/io/transponder_ir.h
+++ b/src/main/io/transponder_ir.h
@@ -21,7 +21,8 @@
#include "config/parameter_group.h"
typedef struct transponderConfig_s {
- uint8_t data[6];
+ TransponderProvider provider;
+ uint8_t data[9];
} transponderConfig_t;
PG_DECLARE(transponderConfig_t, transponderConfig);
diff --git a/src/test/Makefile b/src/test/Makefile
index 9273b6402d..44d5f2b1a4 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -874,6 +874,42 @@ $(OBJECT_DIR)/telemetry_ibus_unittest : \
$(CXX) $(CXX_FLAGS) $(PG_FLAGS) $^ -o $(OBJECT_DIR)/$@
+$(OBJECT_DIR)/drivers/transponder_ir_arcitimer.o : \
+ $(USER_DIR)/drivers/transponder_ir_arcitimer.c \
+ $(USER_DIR)/drivers/transponder_ir.h \
+ $(USER_DIR)/drivers/transponder_ir_arcitimer.h \
+ $(GTEST_HEADERS)
+
+ @mkdir -p $(dir $@)
+ $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/transponder_ir_arcitimer.c -o $@
+
+$(OBJECT_DIR)/drivers/transponder_ir_ilap.o : \
+ $(USER_DIR)/drivers/transponder_ir_ilap.c \
+ $(USER_DIR)/drivers/transponder_ir.h \
+ $(USER_DIR)/drivers/transponder_ir_ilap.h \
+ $(GTEST_HEADERS)
+
+ @mkdir -p $(dir $@)
+ $(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/transponder_ir_ilap.c -o $@
+
+$(OBJECT_DIR)/transponder_unittest.o : \
+ $(TEST_DIR)/transponder_unittest.cc \
+ $(USER_DIR)/drivers/transponder_ir.h \
+ $(USER_DIR)/drivers/transponder_ir_arcitimer.h \
+ $(USER_DIR)/drivers/transponder_ir_ilap.h \
+ $(GTEST_HEADERS)
+
+ @mkdir -p $(dir $@)
+ $(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/transponder_unittest.cc -o $@
+
+$(OBJECT_DIR)/transponder_unittest : \
+ $(OBJECT_DIR)/drivers/transponder_ir_arcitimer.o \
+ $(OBJECT_DIR)/drivers/transponder_ir_ilap.o \
+ $(OBJECT_DIR)/transponder_unittest.o \
+ $(OBJECT_DIR)/gtest_main.a
+
+ $(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
## test : Build and run the Unit Tests
test: $(TESTS:%=test-%)
diff --git a/src/test/unit/transponder_unittest.cc b/src/test/unit/transponder_unittest.cc
new file mode 100644
index 0000000000..769728f5eb
--- /dev/null
+++ b/src/test/unit/transponder_unittest.cc
@@ -0,0 +1,102 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see .
+ */
+
+
+#include
+#include
+#include
+extern "C" {
+ #include
+ #include "build/build_config.h"
+ #include "drivers/dma.h"
+ #include "drivers/transponder_ir.h"
+ #include "drivers/transponder_ir_arcitimer.h"
+ #include "drivers/transponder_ir_ilap.h"
+}
+#include "unittest_macros.h"
+#include "gtest/gtest.h"
+extern "C" {
+ STATIC_UNIT_TESTED extern uint16_t dmaBufferOffset;
+}
+TEST(transponderTest, updateTransponderDMABufferArcitimer) {
+ //input
+ uint8_t data[9] = {0x1F, 0xFC, 0x8F, 0x3, 0xF0, 0x1, 0xF8, 0x1F, 0x0};
+ //excepted
+ uint8_t excepted[TRANSPONDER_DMA_BUFFER_SIZE_ARCITIMER] = {
+ 78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,78,78,78,78,
+ 78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,0,0,
+ 0,0,0,0,0,0,0,0,0,0,78,78,78,78,78,78,78,78,78,78,78,78,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0,0,0,0,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,
+ 78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0
+ };
+ uint8_t* transponderData = data;
+ transponder_t transponder;
+ transponder.dma_buffer_size = TRANSPONDER_DMA_BUFFER_SIZE_ARCITIMER;
+ transponder.bitToggleOne = 78;
+ memset(&(transponder.transponderIrDMABuffer.arcitimer), 0, TRANSPONDER_DMA_BUFFER_SIZE_ARCITIMER);
+
+ updateTransponderDMABufferArcitimer(&transponder, transponderData);
+ uint16_t i;
+ for(i = 0; i < transponder.dma_buffer_size; i++) {
+ EXPECT_EQ(transponder.transponderIrDMABuffer.arcitimer[i], excepted[i]);
+ }
+}
+TEST(transponderTest, updateTransponderDMABufferIlap) {
+ uint8_t data[9] = {0x1F, 0xFC, 0x8F, 0x3, 0xF0, 0x1, 0x0, 0x0, 0x0};
+
+ uint8_t excepted[TRANSPONDER_DMA_BUFFER_SIZE_ILAP] = {
+ 78,78,78,78,78,78,78,78,78,78,78,0,78,78,78,78,78,78,78,78,78,78,78,0,78,78,78,78,78,78,78,78,78,78,78,0,78,
+ 78,78,78,78,78,78,78,78,78,78,0,78,78,78,78,78,78,78,78,78,78,78,0,78,78,78,78,78,78,78,78,78,78,78,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,78,78,78,78,78,78,
+ 78,78,78,78,78,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,78,78,78,78,78,78,78,78,78,78,78,0,78,78,78,
+ 78,78,78,78,78,78,78,78,0,78,78,78,78,78,78,78,78,78,78,78,0,78,78,78,78,78,78,78,78,78,78,78,0,78,78,78,78,
+ 78,78,78,78,78,78,78,0,78,78,78,78,78,78,78,78,78,78,78,0,0,0,0,0,0,0,0,0,0,0,0,0,78,78,78,78,78,78,78,78,78,
+ 78,78,0,78,78,78,78,78,78,78,78,78,78,78,0,78,78,78,78,78,78,78,78,78,78,78,0,78,78,78,78,78,78,78,78,78,78,
+ 78,0,78,78,78,78,78,78,78,78,78,78,78,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,78,78,78,78,78,78,78,78,78,78,78,0,0,0,0,0,0,0,0,0,0,0,0,0,78,78,78,78,78,78,78,78,78,78,78,0,78,78,78,
+ 78,78,78,78,78,78,78,78,0,78,78,78,78,78,78,78,78,78,78,78,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,78,78,78,78,78,78,78,78,78,78,78,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,78,78,78,78,78,78,78,78,78,78,78,0,78,78,78,78,78,78,78,78,78,78,78,
+ 0,78,78,78,78,78,78,78,78,78,78,78,0,78,78,78,78,78,78,78,78,78,78,78,0,0,0,0,0,0,0,0,0,0,0,0,0,78,78,78,78,
+ 78,78,78,78,78,78,78,0,78,78,78,78,78,78,78,78,78,78,78,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+ };
+
+ uint8_t* transponderData = data;
+ transponder_t transponder;
+ transponder.dma_buffer_size = TRANSPONDER_DMA_BUFFER_SIZE_ILAP;
+ transponder.bitToggleOne = 78;
+
+ updateTransponderDMABufferIlap(&transponder, transponderData);
+
+ uint16_t i;
+ for(i = 0; i < transponder.dma_buffer_size; i++) {
+ EXPECT_EQ(transponder.transponderIrDMABuffer.ilap[i], excepted[i]);
+ }
+
+
+}