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Merge pull request #4541 from mikeller/cleanup_rssi 

Cleaned up handling of RSSI, added resetting to 0 for RSSI over MSP.
This commit is contained in:
Michael Keller 2017-11-12 10:35:26 +13:00 committed by GitHub
parent ba0d05a384 c6b88e5d04
commit 1c5c7476c1
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GPG Key ID: 4AEE18F83AFDEB23
13 changed files with 67 additions and 46 deletions
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2
src/main/blackbox/blackbox.c
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@ -1027,7 +1027,7 @@ static void loadMainState(timeUs_t currentTimeUs)
blackboxCurrent->sonarRaw = sonarRead();
#endif
blackboxCurrent->rssi = rssi;
blackboxCurrent->rssi = getRssi();
#ifdef USE_SERVOS
//Tail servo for tricopters

13
src/main/fc/fc_msp.c
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@ -442,7 +442,7 @@ static bool mspCommonProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProce
#ifdef USE_OSD_SLAVE
sbufWriteU16(dst, 0); // rssi
#else
sbufWriteU16(dst, rssi);
sbufWriteU16(dst, getRssi());
#endif
sbufWriteU16(dst, (int16_t)constrain(getAmperage(), -0x8000, 0x7FFF)); // send current in 0.01 A steps, range is -320A to 320A
break;
@ -1954,16 +1954,9 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#endif
case MSP_TX_INFO:
{
uint8_t rssi_tx = sbufReadU8(src);
// Ignore rssi from MSP when RSSI channel or RSSIPWM feature is enabled
if (rxConfig()->rssi_channel == 0 && !featureConfigured(FEATURE_RSSI_ADC)) {
// Range of rssi_tx is [1;100]. rssi should be in [0;1023];
rssi = (uint16_t)((rssi_tx / 100.0f) * 1023.0f);
}
}
break;
setRssiMsp(sbufReadU8(src));
break;
default:
// we do not know how to handle the (valid) message, indicate error MSP $M!
return MSP_RESULT_ERROR;

4
src/main/io/ledstrip.c
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@ -495,7 +495,7 @@ static void applyLedFixedLayers(void)
case LED_FUNCTION_RSSI:
color = HSV(RED);
hOffset += scaleRange(rssi * 100, 0, 1023, -30, 120);
hOffset += scaleRange(getRssi() * 100, 0, 1023, -30, 120);
break;
default:
@ -713,7 +713,7 @@ static void applyLedRssiLayer(bool updateNow, timeUs_t *timer)
int timerDelay = HZ_TO_US(1);
if (updateNow) {
int state = (rssi * 100) / 1023;
int state = (getRssi() * 100) / 1023;
if (state > 50) {
flash = true;

4
src/main/io/osd.c
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@ -339,7 +339,7 @@ static void osdDrawSingleElement(uint8_t item)
switch (item) {
case OSD_RSSI_VALUE:
{
uint16_t osdRssi = rssi * 100 / 1024; // change range
uint16_t osdRssi = getRssi() * 100 / 1024; // change range
if (osdRssi >= 100)
osdRssi = 99;
@ -1179,7 +1179,7 @@ STATIC_UNIT_TESTED void osdRefresh(timeUs_t currentTimeUs)
armState = ARMING_FLAG(ARMED);
}
statRssi = scaleRange(rssi, 0, 1024, 0, 100);
statRssi = scaleRange(getRssi(), 0, 1024, 0, 100);
osdUpdateStats();

4
src/main/rx/flysky.c
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@ -173,7 +173,7 @@ static void checkTimeout (void)
if(countTimeout > 31) {
timeout = timings->syncPacket;
rssi = 0;
setRssiFiltered(0);
} else {
timeout = timings->packet;
countTimeout++;
@ -197,7 +197,7 @@ static void checkRSSI (void)
rssi_dBm = 50 + sum / (3 * FLYSKY_RSSI_SAMPLE_COUNT); // range about [95...52], -dBm
int16_t tmp = 2280 - 24 * rssi_dBm;// convert to [0...1023]
rssi = (uint16_t) constrain(tmp, 0, 1023);// external variable from "rx/rx.h"
setRssiFiltered(constrain(tmp, 0, 1023));
}
static bool isValidPacket (const uint8_t *packet) {

2
src/main/rx/fport.c
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@ -260,7 +260,7 @@ static uint8_t fportFrameStatus(void)
} else {
result = sbusChannelsDecode(&frame->data.controlData.channels);
processRssi(constrain(frame->data.controlData.rssi, 0, 100));
setRssiUnfiltered(scaleRange(frame->data.controlData.rssi, 0, 100, 0, 1024));
}
break;

2
src/main/rx/frsky_d.c
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@ -133,7 +133,7 @@ static void compute_RSSIdbm(uint8_t *packet)
RSSI_dBm = ((((uint16_t)packet[18]) * 18) >> 5) + 65;
}
processRssi(constrain((RSSI_dBm << 3) / 10, 0, 100));
setRssiUnfiltered(constrain(RSSI_dBm << 3, 0, 1024));
}
#if defined(USE_TELEMETRY_FRSKY)

65
src/main/rx/rx.c
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@ -67,7 +67,11 @@
const char rcChannelLetters[] = "AERT12345678abcdefgh";
uint16_t rssi = 0; // range: [0;1023]
static uint16_t rssi = 0; // range: [0;1023]
static bool useMspRssi = true;
static timeUs_t lastMspRssiUpdateUs = 0;
#define MSP_RSSI_TIMEOUT_US 1500000 // 1.5 sec
static bool rxDataReceived = false;
static bool rxSignalReceived = false;
@ -608,6 +612,12 @@ void parseRcChannels(const char *input, rxConfig_t *rxConfig)
}
}
void setRssiFiltered(uint16_t newRssi)
{
rssi = newRssi;
useMspRssi = false;
}
static void updateRSSIPWM(void)
{
// Read value of AUX channel as rssi
@ -619,7 +629,7 @@ static void updateRSSIPWM(void)
}
// Range of rawPwmRssi is [1000;2000]. rssi should be in [0;1023];
rssi = (uint16_t)((constrain(pwmRssi - 1000, 0, 1000) / 1000.0f) * 1023.0f);
setRssiFiltered((uint16_t)((constrain(pwmRssi - 1000, 0, 1000) / 1000.0f) * 1023.0f));
}
static void updateRSSIADC(timeUs_t currentTimeUs)
@ -635,38 +645,42 @@ static void updateRSSIADC(timeUs_t currentTimeUs)
rssiUpdateAt = currentTimeUs + DELAY_50_HZ;
const uint16_t adcRssiSample = adcGetChannel(ADC_RSSI);
const uint8_t rssiPercentage = adcRssiSample / rxConfig()->rssi_scale;
unsigned rssiValue = (1024 * adcRssiSample) / (rxConfig()->rssi_scale * 100);
rssiValue = constrain(rssiValue, 0, 1024);
processRssi(rssiPercentage);
// RSSI_Invert option
if (rxConfig()->rssi_invert) {
rssiValue = 1024 - rssiValue;
}
setRssiUnfiltered((uint16_t)rssiValue);
#endif
}
#define RSSI_SAMPLE_COUNT 16
void processRssi(uint8_t rssiPercentage)
void setRssiUnfiltered(uint16_t rssiValue)
{
static uint8_t rssiSamples[RSSI_SAMPLE_COUNT];
static uint16_t rssiSamples[RSSI_SAMPLE_COUNT];
static uint8_t rssiSampleIndex = 0;
static unsigned sum = 0;
sum = sum + rssiValue;
sum = sum - rssiSamples[rssiSampleIndex];
rssiSamples[rssiSampleIndex] = rssiValue;
rssiSampleIndex = (rssiSampleIndex + 1) % RSSI_SAMPLE_COUNT;
rssiSamples[rssiSampleIndex] = rssiPercentage;
int16_t rssiMean = sum / RSSI_SAMPLE_COUNT;
int16_t rssiMean = 0;
for (int sampleIndex = 0; sampleIndex < RSSI_SAMPLE_COUNT; sampleIndex++) {
rssiMean += rssiSamples[sampleIndex];
setRssiFiltered((uint16_t)((rssiMean / 100.0f) * 1023.0f));
}
void setRssiMsp(uint8_t newMspRssi)
{
if (useMspRssi) {
rssi = ((uint16_t)newMspRssi) << 2;
lastMspRssiUpdateUs = micros();
}
rssiMean = rssiMean / RSSI_SAMPLE_COUNT;
rssiMean=constrain(rssiMean, 0, 100);
// RSSI_Invert option
if (rxConfig()->rssi_invert) {
rssiMean = 100 - rssiMean;
}
rssi = (uint16_t)((rssiMean / 100.0f) * 1023.0f);
}
void updateRSSI(timeUs_t currentTimeUs)
@ -676,9 +690,18 @@ void updateRSSI(timeUs_t currentTimeUs)
updateRSSIPWM();
} else if (feature(FEATURE_RSSI_ADC)) {
updateRSSIADC(currentTimeUs);
} else if (useMspRssi) {
if (cmpTimeUs(micros(), lastMspRssiUpdateUs) > MSP_RSSI_TIMEOUT_US) {
rssi = 0;
}
}
}
uint16_t getRssi(void)
{
return rssi;
}
uint16_t rxGetRefreshRate(void)
{
return rxRuntimeConfig.rxRefreshRate;

8
src/main/rx/rx.h
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@ -76,8 +76,6 @@ typedef enum {
#define MAX_SUPPORTED_RX_PARALLEL_PWM_OR_PPM_CHANNEL_COUNT MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT
#endif
extern uint16_t rssi;
extern const char rcChannelLetters[];
extern int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
@ -171,8 +169,11 @@ void calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs);
void parseRcChannels(const char *input, rxConfig_t *rxConfig);
void setRssiFiltered(uint16_t newRssi);
void setRssiUnfiltered(uint16_t rssiValue);
void setRssiMsp(uint8_t newMspRssi);
void updateRSSI(timeUs_t currentTimeUs);
void processRssi(uint8_t rssiPercentage);
uint16_t getRssi(void);
void resetAllRxChannelRangeConfigurations(rxChannelRangeConfig_t *rxChannelRangeConfig);
@ -180,3 +181,4 @@ void suspendRxSignal(void);
void resumeRxSignal(void);
uint16_t rxGetRefreshRate(void);

2
src/main/telemetry/ltm.c
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@ -192,7 +192,7 @@ static void ltm_sframe(void)
ltm_initialise_packet('S');
ltm_serialise_16(getBatteryVoltage() * 100); //vbat converted to mv
ltm_serialise_16(0); // current, not implemented
ltm_serialise_8((uint8_t)((rssi * 254) / 1023)); // scaled RSSI (uchar)
ltm_serialise_8((uint8_t)((getRssi() * 254) / 1023)); // scaled RSSI (uchar)
ltm_serialise_8(0); // no airspeed
ltm_serialise_8((lt_flightmode << 2) | lt_statemode);
ltm_finalise();

2
src/main/telemetry/mavlink.c
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@ -268,7 +268,7 @@ void mavlinkSendRCChannelsAndRSSI(void)
// chan8_raw RC channel 8 value, in microseconds
(rxRuntimeConfig.channelCount >= 8) ? rcData[7] : 0,
// rssi Receive signal strength indicator, 0: 0%, 255: 100%
scaleRange(rssi, 0, 1023, 0, 255));
scaleRange(getRssi(), 0, 1023, 0, 255));
msgLength = mavlink_msg_to_send_buffer(mavBuffer, &mavMsg);
mavlinkSerialWrite(mavBuffer, msgLength);
}

3
src/test/unit/ledstrip_unittest.cc
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@ -298,7 +298,6 @@ uint16_t flightModeFlags = 0;
float rcCommand[4];
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
uint32_t rcModeActivationMask;
uint16_t rssi = 0;
gpsSolutionData_t gpsSol;
batteryState_e getBatteryState(void) {
@ -384,4 +383,6 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {};
bool isArmingDisabled(void) { return false; }
uint16_t getRssi(void) { return 0; }
}

2
src/test/unit/osd_unittest.cc
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@ -932,4 +932,6 @@ extern "C" {
bool cmsDisplayPortRegister(displayPort_t *) {
return false;
}
uint16_t getRssi(void) { return rssi; }
}