rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Cherry-pick CF/fbb3f92

This commit is contained in:
Dominic Clifton 2017-05-08 19:19:59 +01:00 committed by jflyper
parent d373857e59
commit fac694ce4b
7 changed files with 157 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
Makefile
View File

@ -696,6 +696,9 @@ COMMON_SRC = \
drivers/system.c \
drivers/timer.c \
drivers/transponder_ir.c \
drivers/transponder_ir_arcitimer.c \
drivers/transponder_ir_ilap.c \
drivers/transponder_ir_erlt.c \
fc/config.c \
fc/fc_dispatch.c \
fc/fc_hardfaults.c \
@ -783,9 +786,6 @@ FC_SRC = \
drivers/serial_escserial.c \
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 \

4
src/main/drivers/transponder_ir.c
View File

@ -32,6 +32,7 @@
#include "transponder_ir.h"
#include "drivers/transponder_ir_arcitimer.h"
#include "drivers/transponder_ir_ilap.h"
#include "drivers/transponder_ir_erlt.h"
volatile uint8_t transponderIrDataTransferInProgress = 0;
@ -172,6 +173,9 @@ bool transponderIrInit(const transponderProvider_e provider)
case ILAP:
transponderIrInitIlap(&transponder);
break;
case TRANSPONDER_ERLT:
transponderIrInitERLT(&transponder);
break;
default:
return false;
}

32
src/main/drivers/transponder_ir.h
View File

@ -28,6 +28,8 @@
#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
#define TRANSPONDER_TRANSMIT_DELAY_ARCITIMER 4500
#define TRANSPONDER_TRANSMIT_JITTER_ARCITIMER 10000
/*** ******** ***/
@ -36,12 +38,29 @@
#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_TOGGLES_ILAP (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
#define TRANSPONDER_TRANSMIT_DELAY_ILAP 4500
#define TRANSPONDER_TRANSMIT_JITTER_ILAP 10000
/*** ******** ***/
/*** ERLT ***/
#define TRANSPONDER_DATA_LENGTH_ERLT 1
#define ERLTBitQuiet 0
#define ERLTCyclesForOneBit 25
#define ERLTCyclesForZeroBit 10
#define TRANSPONDER_DMA_BUFFER_SIZE_ERLT 200 // actually ERLT is variable length 91-196 depending on the ERLT id
#define TRANSPONDER_TIMER_MHZ_ERLT 18
#define TRANSPONDER_CARRIER_HZ_ERLT 38000
#define TRANSPONDER_TRANSMIT_DELAY_ERLT 22500
#define TRANSPONDER_TRANSMIT_JITTER_ERLT 5000
/*** ******** ***/
/*
* Implementation note:
* Using around over 700 bytes for a transponder DMA buffer is a little excessive, likely an alternative implementation that uses a fast
@ -55,6 +74,7 @@
typedef union transponderIrDMABuffer_s {
uint8_t arcitimer[TRANSPONDER_DMA_BUFFER_SIZE_ARCITIMER]; // 620
uint8_t ilap[TRANSPONDER_DMA_BUFFER_SIZE_ILAP]; // 720
uint8_t erlt[TRANSPONDER_DMA_BUFFER_SIZE_ERLT]; // 91-200
} transponderIrDMABuffer_t;
#elif defined(STM32F4)
@ -62,6 +82,7 @@
typedef union transponderIrDMABuffer_s {
uint32_t arcitimer[TRANSPONDER_DMA_BUFFER_SIZE_ARCITIMER]; // 620
uint32_t ilap[TRANSPONDER_DMA_BUFFER_SIZE_ILAP]; // 720
uint32_t erlt[TRANSPONDER_DMA_BUFFER_SIZE_ERLT]; // 91-200
} transponderIrDMABuffer_t;
#endif
@ -80,11 +101,14 @@ typedef struct transponder_s {
} transponder_t;
typedef enum {
NONE,
ARCITIMER,
ILAP
TRANSPONDER_NONE = 0,
TRANSPONDER_ILAP,
TRANSPONDER_ARCITIMER,
TRANSPONDER_ERLT
} transponderProvider_e;
#define TRANSPONDER_PROVIDER_COUNT 3
struct transponderVTable {
void (*updateTransponderDMABuffer)(transponder_t *transponder, const uint8_t* transponderData);
};

79
src/main/drivers/transponder_ir_erlt.c Normal file
View File

@ -0,0 +1,79 @@
/*
* 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 <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <platform.h>
#include "drivers/transponder_ir.h"
#include "drivers/transponder_ir_erlt.h"
#if defined(STM32F3) || defined(STM32F4) || defined(UNIT_TEST)
static uint16_t dmaBufferOffset;
extern const struct transponderVTable erltTansponderVTable;
void transponderIrInitERLT(transponder_t *transponder){
transponder->dma_buffer_size = TRANSPONDER_DMA_BUFFER_SIZE_ERLT;
transponder->vTable = &erltTansponderVTable;
transponder->timer_hz = TRANSPONDER_TIMER_MHZ_ERLT;
transponder->timer_carrier_hz = TRANSPONDER_CARRIER_HZ_ERLT;
memset(&(transponder->transponderIrDMABuffer.erlt), 0, TRANSPONDER_DMA_BUFFER_SIZE_ERLT);
}
void addBitToBuffer(transponder_t *transponder, uint8_t cycles, uint8_t pulsewidth)
{
for (int i = 0; i < cycles; i++) {
transponder->transponderIrDMABuffer.erlt[dmaBufferOffset++] = pulsewidth;
}
}
void updateTransponderDMABufferERLT(transponder_t *transponder, const uint8_t* transponderData)
{
uint8_t byteToSend = ~(*transponderData); //transponderData is stored inverted, so invert before using
uint8_t paritysum = 0; //sum of one bits
dmaBufferOffset = 0; //reset buffer count
//start bit 1, always pulsed, bit value = 0
addBitToBuffer(transponder, ERLTCyclesForZeroBit, transponder->bitToggleOne);
//start bit 2, always not pulsed, bit value = 0
addBitToBuffer(transponder, ERLTCyclesForZeroBit, ERLTBitQuiet);
//add data bits, only the 6 LSB
for(int i = 5; i >= 0; i--)
{
uint8_t bv = (byteToSend >> i) & 0x01;
paritysum += bv;
addBitToBuffer(transponder, (bv ? ERLTCyclesForOneBit : ERLTCyclesForZeroBit), ((i % 2) ? transponder->bitToggleOne : ERLTBitQuiet));
}
//parity bit, always pulsed, bit value is zero if sum is even, one if odd
addBitToBuffer(transponder, ((paritysum % 2) ? ERLTCyclesForOneBit : ERLTCyclesForZeroBit), transponder->bitToggleOne);
//add final zero after the pulsed parity bit to stop pulses until the next update
transponder->transponderIrDMABuffer.erlt[dmaBufferOffset++] = ERLTBitQuiet;
//reset buffer size to that required by this ERLT id
transponder->dma_buffer_size = dmaBufferOffset;
}
const struct transponderVTable erltTansponderVTable = {
updateTransponderDMABufferERLT,
};
#endif

21
src/main/drivers/transponder_ir_erlt.h Normal file
View File

@ -0,0 +1,21 @@
/*
* 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 <http://www.gnu.org/licenses/>.
*/
#pragma once
void transponderIrInitERLT(transponder_t *transponder);
void updateTransponderDMABufferERLT(transponder_t *transponder, const uint8_t* transponderData);
void addBitToBuffer(transponder_t *transponder, uint8_t cycles, uint8_t pulsewidth);

17
src/main/io/transponder_ir.c
View File

@ -30,6 +30,7 @@
#include "config/parameter_group_ids.h"
#include "drivers/transponder_ir.h"
#include "drivers/system.h"
#include "drivers/usb_io.h"
#include "fc/config.h"
@ -39,7 +40,7 @@
PG_REGISTER_WITH_RESET_TEMPLATE(transponderConfig_t, transponderConfig, PG_TRANSPONDER_CONFIG, 0);
PG_RESET_TEMPLATE(transponderConfig_t, transponderConfig,
.provider = ILAP,
.provider = TRANSPONDER_ILAP,
.reserved = 0,
.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
);
@ -53,6 +54,12 @@ static timeUs_t nextUpdateAtUs = 0;
#define JITTER_DURATION_COUNT (sizeof(jitterDurations) / sizeof(uint8_t))
static uint8_t jitterDurations[] = {0,9,4,8,3,9,6,7,1,6,9,7,8,2,6};
const transponderRequirement_t transponderRequirements[TRANSPONDER_PROVIDER_COUNT] = {
{TRANSPONDER_ILAP, TRANSPONDER_DATA_LENGTH_ILAP, TRANSPONDER_TRANSMIT_DELAY_ILAP, TRANSPONDER_TRANSMIT_JITTER_ILAP},
{TRANSPONDER_ARCITIMER, TRANSPONDER_DATA_LENGTH_ARCITIMER, TRANSPONDER_TRANSMIT_DELAY_ARCITIMER, TRANSPONDER_TRANSMIT_JITTER_ARCITIMER},
{TRANSPONDER_ERLT, TRANSPONDER_DATA_LENGTH_ERLT, TRANSPONDER_TRANSMIT_DELAY_ERLT, TRANSPONDER_TRANSMIT_JITTER_ERLT}
};
void transponderUpdate(timeUs_t currentTimeUs)
{
static uint32_t jitterIndex = 0;
@ -66,13 +73,15 @@ void transponderUpdate(timeUs_t currentTimeUs)
return;
}
// TODO use a random number genenerator for random jitter? The idea here is to avoid multiple transmitters transmitting at the same time.
uint32_t jitter = (1000 * jitterDurations[jitterIndex++]);
uint8_t provider = transponderConfig()->provider;
// TODO use a random number generator for random jitter? The idea here is to avoid multiple transmitters transmitting at the same time.
uint32_t jitter = (transponderRequirements[provider - 1].transmitJitter / 10 * jitterDurations[jitterIndex++]);
if (jitterIndex >= JITTER_DURATION_COUNT) {
jitterIndex = 0;
}
nextUpdateAtUs = currentTimeUs + 4500 + jitter;
nextUpdateAtUs = currentTimeUs + transponderRequirements[provider - 1].transmitDelay + jitter;
#ifdef REDUCE_TRANSPONDER_CURRENT_DRAW_WHEN_USB_CABLE_PRESENT
// reduce current draw when USB cable is plugged in by decreasing the transponder transmit rate.

9
src/main/io/transponder_ir.h
View File

@ -26,6 +26,15 @@ typedef struct transponderConfig_s {
uint8_t data[9];
} transponderConfig_t;
typedef struct transponderRequirement_s {
uint8_t provider; // See transponderProvider_e
uint8_t dataLength;
uint16_t transmitDelay;
uint16_t transmitJitter;
} transponderRequirement_t;
extern const transponderRequirement_t transponderRequirements[TRANSPONDER_PROVIDER_COUNT];
PG_DECLARE(transponderConfig_t, transponderConfig);
void transponderInit(void);