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Code Issues Wiki Activity

VTX improvements from iNav.

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This commit is contained in:
mikeller 2018-06-24 11:32:35 +12:00
parent 43e6ea31da
commit b4db764b46
8 changed files with 54 additions and 11 deletions
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7
docs/Cli.md
View file

@ -279,3 +279,10 @@ Click on a variable to jump to the relevant documentation page.
| `magzero_x` | Magnetometer calibration X offset | -32768 | 32767 | 0 | Master | INT16 | | `magzero_x` | Magnetometer calibration X offset | -32768 | 32767 | 0 | Master | INT16 |
| `magzero_y` | Magnetometer calibration Y offset | -32768 | 32767 | 0 | Master | INT16 | | `magzero_y` | Magnetometer calibration Y offset | -32768 | 32767 | 0 | Master | INT16 |
| `magzero_z` | Magnetometer calibration Z offset | -32768 | 32767 | 0 | Master | INT16 | | `magzero_z` | Magnetometer calibration Z offset | -32768 | 32767 | 0 | Master | INT16 |
| `vtx_band` | Configure the VTX band. Set to zero to use `vtx_freq`. Bands: 1: A, 2: B, 3: E, 4: F, 5: Race. | 0 | 5 | 4 | Master | UINT8 |
| `vtx_channel` | Channel to use within the configured `vtx_band`. Valid values are [1, 8]. | 1 | 8 | 1 | Master | UINT8 |
| `vtx_freq` | Set the VTX frequency using raw MHz. This parameter is ignored unless `vtx_band` is 0. | 0 | 5900 | 5740 | Master | UINT16 |
| `vtx_halfduplex` | Use half duplex UART to communicate with the VTX, using only a TX pin in the FC. | OFF | ON | ON | Master | UINT8 |
| `vtx_low_power_disarm` | When the craft is disarmed, set the VTX to its lowest power. `ON` will set the power to its minimum value on startup, increase it to `vtx_power` when arming and change it back to its lowest setting after disarming. `UNTIL_FIRST_ARM` will start with minimum power, but once the craft is armed it will increase to `vtx_power` and it will never decrease until the craft is power cycled. | | | OFF | Master | UINT8 |
| `vtx_pit_mode_freq` | Frequency to use (in MHz) when the VTX is in pit mode. | 0 | 5900 | 0 | Master | UINT16 |
| `vtx_power` | VTX RF power level to use. The exact number of mw depends on the VTX hardware. | 0 | 3 | 1 | Master | UINT8 |

9
src/main/drivers/vtx_common.c
View file

@ -57,6 +57,15 @@ vtxDevType_e vtxCommonGetDeviceType(const vtxDevice_t *vtxDevice)
return vtxDevice->vTable->getDeviceType(vtxDevice); return vtxDevice->vTable->getDeviceType(vtxDevice);
} }
bool vtxCommonDeviceIsReady(const vtxDevice_t *vtxDevice)
{
if (vtxDevice && vtxDevice->vTable->isReady) {
return vtxDevice->vTable->isReady(vtxDevice);
}
return false;
}
void vtxCommonProcess(vtxDevice_t *vtxDevice, timeUs_t currentTimeUs) void vtxCommonProcess(vtxDevice_t *vtxDevice, timeUs_t currentTimeUs)
{ {
if (vtxDevice) { if (vtxDevice) {

2
src/main/drivers/vtx_common.h
View file

@ -40,7 +40,6 @@
#define VTX_SETTINGS_DEFAULT_CHANNEL 1 #define VTX_SETTINGS_DEFAULT_CHANNEL 1
#define VTX_SETTINGS_DEFAULT_FREQ 5740 #define VTX_SETTINGS_DEFAULT_FREQ 5740
#define VTX_SETTINGS_DEFAULT_PITMODE_FREQ 0 #define VTX_SETTINGS_DEFAULT_PITMODE_FREQ 0
#define VTX_SETTINGS_DEFAULT_LOW_POWER_DISARM 0
#define VTX_SETTINGS_MAX_FREQUENCY_MHZ 5999 //max freq (in MHz) for 'vtx_freq' setting #define VTX_SETTINGS_MAX_FREQUENCY_MHZ 5999 //max freq (in MHz) for 'vtx_freq' setting
@ -167,6 +166,7 @@ vtxDevice_t *vtxCommonDevice(void);
// VTable functions // VTable functions
void vtxCommonProcess(vtxDevice_t *vtxDevice, timeUs_t currentTimeUs); void vtxCommonProcess(vtxDevice_t *vtxDevice, timeUs_t currentTimeUs);
vtxDevType_e vtxCommonGetDeviceType(const vtxDevice_t *vtxDevice); vtxDevType_e vtxCommonGetDeviceType(const vtxDevice_t *vtxDevice);
bool vtxCommonDeviceIsReady(const vtxDevice_t *vtxDevice);
void vtxCommonSetBandAndChannel(vtxDevice_t *vtxDevice, uint8_t band, uint8_t channel); void vtxCommonSetBandAndChannel(vtxDevice_t *vtxDevice, uint8_t band, uint8_t channel);
void vtxCommonSetPowerByIndex(vtxDevice_t *vtxDevice, uint8_t level); void vtxCommonSetPowerByIndex(vtxDevice_t *vtxDevice, uint8_t level);
void vtxCommonSetPitMode(vtxDevice_t *vtxDevice, uint8_t onoff); void vtxCommonSetPitMode(vtxDevice_t *vtxDevice, uint8_t onoff);

17
src/main/interface/msp.c
View file

@ -1363,11 +1363,13 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
case MSP_VTX_CONFIG: case MSP_VTX_CONFIG:
{ {
const vtxDevice_t *vtxDevice = vtxCommonDevice(); const vtxDevice_t *vtxDevice = vtxCommonDevice();
uint8_t pitmode=0; uint8_t pitmode = 0;
vtxDevType_e vtxType = VTXDEV_UNKNOWN; vtxDevType_e vtxType = VTXDEV_UNKNOWN;
uint8_t deviceIsReady = 0;
if (vtxDevice) { if (vtxDevice) {
vtxCommonGetPitMode(vtxDevice, &pitmode); vtxCommonGetPitMode(vtxDevice, &pitmode);
vtxType = vtxCommonGetDeviceType(vtxDevice); vtxType = vtxCommonGetDeviceType(vtxDevice);
deviceIsReady = vtxCommonDeviceIsReady(vtxDevice) ? 1 : 0;
} }
sbufWriteU8(dst, vtxType); sbufWriteU8(dst, vtxType);
sbufWriteU8(dst, vtxSettingsConfig()->band); sbufWriteU8(dst, vtxSettingsConfig()->band);
@ -1375,6 +1377,8 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU8(dst, vtxSettingsConfig()->power); sbufWriteU8(dst, vtxSettingsConfig()->power);
sbufWriteU8(dst, pitmode); sbufWriteU8(dst, pitmode);
sbufWriteU16(dst, vtxSettingsConfig()->freq); sbufWriteU16(dst, vtxSettingsConfig()->freq);
sbufWriteU8(dst, deviceIsReady);
sbufWriteU8(dst, vtxSettingsConfig()->lowPowerDisarm);
// future extensions here... // future extensions here...
} }
break; break;
@ -2026,18 +2030,19 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
vtxType = vtxCommonGetDeviceType(vtxDevice); vtxType = vtxCommonGetDeviceType(vtxDevice);
} }
uint16_t newFrequency = sbufReadU16(src); uint16_t newFrequency = sbufReadU16(src);
if (newFrequency <= VTXCOMMON_MSP_BANDCHAN_CHKVAL) { //value is band and channel if (newFrequency <= VTXCOMMON_MSP_BANDCHAN_CHKVAL) { // Value is band and channel
const uint8_t newBand = (newFrequency / 8) + 1; const uint8_t newBand = (newFrequency / 8) + 1;
const uint8_t newChannel = (newFrequency % 8) + 1; const uint8_t newChannel = (newFrequency % 8) + 1;
vtxSettingsConfigMutable()->band = newBand; vtxSettingsConfigMutable()->band = newBand;
vtxSettingsConfigMutable()->channel = newChannel; vtxSettingsConfigMutable()->channel = newChannel;
vtxSettingsConfigMutable()->freq = vtx58_Bandchan2Freq(newBand, newChannel); vtxSettingsConfigMutable()->freq = vtx58_Bandchan2Freq(newBand, newChannel);
} else { //value is frequency in MHz } else if (newFrequency <= VTX_SETTINGS_MAX_FREQUENCY_MHZ) { // Value is frequency in MHz
vtxSettingsConfigMutable()->band = 0; vtxSettingsConfigMutable()->band = 0;
vtxSettingsConfigMutable()->channel = 0;
vtxSettingsConfigMutable()->freq = newFrequency; vtxSettingsConfigMutable()->freq = newFrequency;
} }
if (sbufBytesRemaining(src) > 1) { if (sbufBytesRemaining(src) >= 2) {
vtxSettingsConfigMutable()->power = sbufReadU8(src); vtxSettingsConfigMutable()->power = sbufReadU8(src);
if (vtxType != VTXDEV_UNKNOWN) { if (vtxType != VTXDEV_UNKNOWN) {
// Delegate pitmode to vtx directly // Delegate pitmode to vtx directly
@ -2047,6 +2052,10 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
if (currentPitmode != newPitmode) { if (currentPitmode != newPitmode) {
vtxCommonSetPitMode(vtxDevice, newPitmode); vtxCommonSetPitMode(vtxDevice, newPitmode);
} }
if (sbufBytesRemaining(src)) {
vtxSettingsConfigMutable()->lowPowerDisarm = sbufReadU8(src);
}
} }
} }
} }

12
src/main/interface/settings.c
View file

@ -381,6 +381,12 @@ static const char * const lookupTableDynamicFilterRange[] = {
}; };
#endif // USE_GYRO_DATA_ANALYSE #endif // USE_GYRO_DATA_ANALYSE
#ifdef USE_VTX_COMMON
static const char * const lookupTableVtxLowPowerDisarm[] = {
"OFF", "ON", "UNTIL_FIRST_ARM"
};
#endif
#define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) } #define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
const lookupTableEntry_t lookupTables[] = { const lookupTableEntry_t lookupTables[] = {
@ -474,7 +480,9 @@ const lookupTableEntry_t lookupTables[] = {
LOOKUP_TABLE_ENTRY(lookupTableDynamicFftLocation), LOOKUP_TABLE_ENTRY(lookupTableDynamicFftLocation),
LOOKUP_TABLE_ENTRY(lookupTableDynamicFilterRange), LOOKUP_TABLE_ENTRY(lookupTableDynamicFilterRange),
#endif // USE_GYRO_DATA_ANALYSE #endif // USE_GYRO_DATA_ANALYSE
#ifdef USE_VTX_COMMON
LOOKUP_TABLE_ENTRY(lookupTableVtxLowPowerDisarm),
#endif
}; };
#undef LOOKUP_TABLE_ENTRY #undef LOOKUP_TABLE_ENTRY
@ -1040,7 +1048,7 @@ const clivalue_t valueTable[] = {
{ "vtx_band", VAR_UINT8 | MASTER_VALUE, .config.minmax = { VTX_SETTINGS_NO_BAND, VTX_SETTINGS_MAX_BAND }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, band) }, { "vtx_band", VAR_UINT8 | MASTER_VALUE, .config.minmax = { VTX_SETTINGS_NO_BAND, VTX_SETTINGS_MAX_BAND }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, band) },
{ "vtx_channel", VAR_UINT8 | MASTER_VALUE, .config.minmax = { VTX_SETTINGS_MIN_CHANNEL, VTX_SETTINGS_MAX_CHANNEL }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, channel) }, { "vtx_channel", VAR_UINT8 | MASTER_VALUE, .config.minmax = { VTX_SETTINGS_MIN_CHANNEL, VTX_SETTINGS_MAX_CHANNEL }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, channel) },
{ "vtx_power", VAR_UINT8 | MASTER_VALUE, .config.minmax = { VTX_SETTINGS_MIN_POWER, VTX_SETTINGS_POWER_COUNT-1 }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, power) }, { "vtx_power", VAR_UINT8 | MASTER_VALUE, .config.minmax = { VTX_SETTINGS_MIN_POWER, VTX_SETTINGS_POWER_COUNT-1 }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, power) },
{ "vtx_low_power_disarm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, lowPowerDisarm) }, { "vtx_low_power_disarm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_VTX_LOW_POWER_DISARM }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, lowPowerDisarm) },
#ifdef VTX_SETTINGS_FREQCMD #ifdef VTX_SETTINGS_FREQCMD
{ "vtx_freq", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, VTX_SETTINGS_MAX_FREQUENCY_MHZ }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, freq) }, { "vtx_freq", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, VTX_SETTINGS_MAX_FREQUENCY_MHZ }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, freq) },
{ "vtx_pit_mode_freq", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, VTX_SETTINGS_MAX_FREQUENCY_MHZ }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, pitModeFreq) }, { "vtx_pit_mode_freq", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, VTX_SETTINGS_MAX_FREQUENCY_MHZ }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, pitModeFreq) },

4
src/main/interface/settings.h
View file

@ -116,7 +116,9 @@ typedef enum {
TABLE_DYNAMIC_FFT_LOCATION, TABLE_DYNAMIC_FFT_LOCATION,
TABLE_DYNAMIC_FILTER_RANGE, TABLE_DYNAMIC_FILTER_RANGE,
#endif // USE_GYRO_DATA_ANALYSE #endif // USE_GYRO_DATA_ANALYSE
#ifdef USE_VTX_COMMON
TABLE_VTX_LOW_POWER_DISARM,
#endif
LOOKUP_TABLE_COUNT LOOKUP_TABLE_COUNT
} lookupTableIndex_e; } lookupTableIndex_e;

6
src/main/io/vtx.c
View file

@ -54,7 +54,7 @@ PG_RESET_TEMPLATE(vtxSettingsConfig_t, vtxSettingsConfig,
.power = VTX_SETTINGS_DEFAULT_POWER, .power = VTX_SETTINGS_DEFAULT_POWER,
.freq = VTX_SETTINGS_DEFAULT_FREQ, .freq = VTX_SETTINGS_DEFAULT_FREQ,
.pitModeFreq = VTX_SETTINGS_DEFAULT_PITMODE_FREQ, .pitModeFreq = VTX_SETTINGS_DEFAULT_PITMODE_FREQ,
.lowPowerDisarm = VTX_SETTINGS_DEFAULT_LOW_POWER_DISARM, .lowPowerDisarm = VTX_LOW_POWER_DISARM_OFF,
); );
typedef enum { typedef enum {
@ -111,7 +111,9 @@ STATIC_UNIT_TESTED vtxSettingsConfig_t vtxGetSettings(void)
} }
#endif #endif
if (!ARMING_FLAG(ARMED) && settings.lowPowerDisarm && !failsafeIsActive()) { if (!ARMING_FLAG(ARMED) && !failsafeIsActive() &&
(settings.lowPowerDisarm == VTX_LOW_POWER_DISARM_ALWAYS ||
(settings.lowPowerDisarm == VTX_LOW_POWER_DISARM_UNTIL_FIRST_ARM && !ARMING_FLAG(WAS_EVER_ARMED)))) {
settings.power = VTX_SETTINGS_DEFAULT_POWER; settings.power = VTX_SETTINGS_DEFAULT_POWER;
} }

8
src/main/io/vtx.h
View file

@ -26,13 +26,19 @@
#include "common/time.h" #include "common/time.h"
#include "pg/pg.h" #include "pg/pg.h"
typedef enum {
VTX_LOW_POWER_DISARM_OFF = 0,
VTX_LOW_POWER_DISARM_ALWAYS,
VTX_LOW_POWER_DISARM_UNTIL_FIRST_ARM, // Set low power until arming for the first time
} vtxLowerPowerDisarm_e;
typedef struct vtxSettingsConfig_s { typedef struct vtxSettingsConfig_s {
uint8_t band; // 1=A, 2=B, 3=E, 4=F(Airwaves/Fatshark), 5=Raceband uint8_t band; // 1=A, 2=B, 3=E, 4=F(Airwaves/Fatshark), 5=Raceband
uint8_t channel; // 1-8 uint8_t channel; // 1-8
uint8_t power; // 0 = lowest uint8_t power; // 0 = lowest
uint16_t freq; // sets freq in MHz if band=0 uint16_t freq; // sets freq in MHz if band=0
uint16_t pitModeFreq; // sets out-of-range pitmode frequency uint16_t pitModeFreq; // sets out-of-range pitmode frequency
uint8_t lowPowerDisarm; // min power while disarmed uint8_t lowPowerDisarm; // min power while disarmed, from vtxLowerPowerDisarm_e
} vtxSettingsConfig_t; } vtxSettingsConfig_t;
PG_DECLARE(vtxSettingsConfig_t, vtxSettingsConfig); PG_DECLARE(vtxSettingsConfig_t, vtxSettingsConfig);