Cherry-pick CF/fbb3f92

Makefile

@@ -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 \

src/main/drivers/transponder_ir.c

@@ -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;
     }

src/main/drivers/transponder_ir.h

@@ -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,
+    TRANSPONDER_NONE = 0,
-    ARCITIMER,
+    TRANSPONDER_ILAP,
-    ILAP
+    TRANSPONDER_ARCITIMER,
+    TRANSPONDER_ERLT
 } transponderProvider_e;
 
+#define TRANSPONDER_PROVIDER_COUNT 3
+
 struct transponderVTable {
     void (*updateTransponderDMABuffer)(transponder_t *transponder, const uint8_t* transponderData);
 };

src/main/drivers/transponder_ir_erlt.c

@@ -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

src/main/drivers/transponder_ir_erlt.h

@@ -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);

src/main/io/transponder_ir.c

@@ -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.
+    uint8_t provider = transponderConfig()->provider;
-    uint32_t jitter = (1000 * jitterDurations[jitterIndex++]);
+
+    // 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.

src/main/io/transponder_ir.h

@@ -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);