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Code Issues Releases Activity

LP-518 OpenLRS: Simple beacon tone, cpu free. Apply to Sparky2 and Revo

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This commit is contained in:
Laurent Lalanne 2018-08-13 17:54:04 +02:00
parent 794c18233e
commit 6ab47fd06c
4 changed files with 91 additions and 5 deletions
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92
flight/pios/common/pios_openlrs.c
View File

@ -465,6 +465,57 @@ static void tx_packet(struct pios_openlrs_dev *openlrs_dev, uint8_t *pkt, uint8_
} }
} }
#ifdef OPENLRS_SIMPLE_BEACON_TONE
// Basic tone
static void beacon_simpletone(struct pios_openlrs_dev *openlrs_dev, uint8_t tone, int16_t len __attribute__((unused)))
{
DEBUG_PRINTF(2, "beacon_morse: %d\r\n", len);
#if defined(PIOS_LED_LINK)
PIOS_LED_On(PIOS_LED_LINK);
#endif /* PIOS_LED_LINK */
rfm22_claimBus(openlrs_dev);
GPIO_TypeDef *gpio = openlrs_dev->cfg.spi_cfg->mosi.gpio;
uint16_t pin_source = openlrs_dev->cfg.spi_cfg->mosi.init.GPIO_Pin;
uint8_t remap = openlrs_dev->cfg.spi_cfg->remap;
GPIO_InitTypeDef init = {
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
};
init.GPIO_Pin = pin_source;
// Set MOSI to digital out for bit banging
GPIO_PinAFConfig(gpio, pin_source, 0);
GPIO_Init(gpio, &init);
int16_t cycles = (len * 50) / tone;
for (int16_t i = 0; i < cycles; i++) {
GPIO_SetBits(gpio, pin_source);
PIOS_Thread_Sleep(tone);
GPIO_ResetBits(gpio, pin_source);
PIOS_Thread_Sleep(tone);
}
GPIO_Init(gpio, (GPIO_InitTypeDef *)&openlrs_dev->cfg.spi_cfg->mosi.init);
GPIO_PinAFConfig(gpio, pin_source, remap);
rfm22_releaseBus(openlrs_dev);
#if defined(PIOS_LED_LINK)
PIOS_LED_Off(PIOS_LED_LINK);
#endif /* PIOS_LED_LINK */
#if defined(PIOS_INCLUDE_WDG) && defined(PIOS_WDG_RFM22B)
// Update the watchdog timer
PIOS_WDG_UpdateFlag(PIOS_WDG_RFM22B);
#endif /* PIOS_WDG_RFM22B */
}
#else /* OPENLRS_SIMPLE_BEACON_TONE */
static void beacon_tone(struct pios_openlrs_dev *openlrs_dev, int16_t hz, int16_t len __attribute__((unused))) // duration is now in half seconds. static void beacon_tone(struct pios_openlrs_dev *openlrs_dev, int16_t hz, int16_t len __attribute__((unused))) // duration is now in half seconds.
{ {
DEBUG_PRINTF(2, "beacon_tone: %d %d\r\n", hz, len * 2); DEBUG_PRINTF(2, "beacon_tone: %d %d\r\n", hz, len * 2);
@ -481,7 +532,7 @@ static void beacon_tone(struct pios_openlrs_dev *openlrs_dev, int16_t hz, int16_
rfm22_claimBus(openlrs_dev); rfm22_claimBus(openlrs_dev);
// This need fixed for F1 // This need fixed for F1
#ifdef GPIO_Mode_OUT #ifdef GPIO_MODE_OUT
GPIO_TypeDef *gpio = openlrs_dev->cfg.spi_cfg->mosi.gpio; GPIO_TypeDef *gpio = openlrs_dev->cfg.spi_cfg->mosi.gpio;
uint16_t pin_source = openlrs_dev->cfg.spi_cfg->mosi.init.GPIO_Pin; uint16_t pin_source = openlrs_dev->cfg.spi_cfg->mosi.init.GPIO_Pin;
uint8_t remap = openlrs_dev->cfg.spi_cfg->remap; uint8_t remap = openlrs_dev->cfg.spi_cfg->remap;
@ -515,7 +566,7 @@ static void beacon_tone(struct pios_openlrs_dev *openlrs_dev, int16_t hz, int16_
GPIO_Init(gpio, (GPIO_InitTypeDef *)&openlrs_dev->cfg.spi_cfg->mosi.init); GPIO_Init(gpio, (GPIO_InitTypeDef *)&openlrs_dev->cfg.spi_cfg->mosi.init);
GPIO_PinAFConfig(gpio, pin_source, remap); GPIO_PinAFConfig(gpio, pin_source, remap);
#endif /* ifdef GPIO_Mode_OUT */ #endif /* ifdef GPIO_MODE_OUT */
rfm22_releaseBus(openlrs_dev); rfm22_releaseBus(openlrs_dev);
#if defined(PIOS_LED_LINK) #if defined(PIOS_LED_LINK)
@ -528,6 +579,7 @@ static void beacon_tone(struct pios_openlrs_dev *openlrs_dev, int16_t hz, int16_
#endif /* PIOS_WDG_RFM22B */ #endif /* PIOS_WDG_RFM22B */
} }
#endif /* OPENLRS_SIMPLE_BEACON_TONE */
static uint8_t beaconGetRSSI(struct pios_openlrs_dev *openlrs_dev) static uint8_t beaconGetRSSI(struct pios_openlrs_dev *openlrs_dev)
{ {
@ -588,9 +640,40 @@ static void beacon_send(struct pios_openlrs_dev *openlrs_dev, bool static_tone)
if (static_tone) { if (static_tone) {
uint8_t i = 0; uint8_t i = 0;
while (i++ < 20) { while (i++ < 20) {
#ifdef OPENLRS_SIMPLE_BEACON_TONE
beacon_simpletone(openlrs_dev, 2, 3);
#else
beacon_tone(openlrs_dev, 440, 1); beacon_tone(openlrs_dev, 440, 1);
#endif
} }
} else { } else {
#ifdef OPENLRS_SIMPLE_BEACON_TONE
for (uint32_t tone = 1; tone < 4; tone++) {
if (tone == 1) {
rfm22_write(openlrs_dev, 0x6d, 0x05); // 5 set min power 25mW
} else {
rfm22_write(openlrs_dev, 0x6d, 0x00); // 0 set min power 1.3mW
}
// L - --- - -
beacon_simpletone(openlrs_dev, tone, 1);
PIOS_Thread_Sleep(100);
beacon_simpletone(openlrs_dev, tone, 3);
PIOS_Thread_Sleep(100);
beacon_simpletone(openlrs_dev, tone, 1);
PIOS_Thread_Sleep(100);
beacon_simpletone(openlrs_dev, tone, 1);
PIOS_Thread_Sleep(600);
// P - --- --- -
beacon_simpletone(openlrs_dev, tone, 1);
PIOS_Thread_Sleep(100);
beacon_simpletone(openlrs_dev, tone, 3);
PIOS_Thread_Sleep(100);
beacon_simpletone(openlrs_dev, tone, 3);
PIOS_Thread_Sleep(100);
beacon_simpletone(openlrs_dev, tone, 1);
PIOS_Thread_Sleep(2000);
}
#else /* ifdef OPENLRS_SIMPLE_BEACON_TONE */
// close encounters tune // close encounters tune
// G, A, F, F(lower octave), C // G, A, F, F(lower octave), C
// octave 3: 392 440 349 175 261 // octave 3: 392 440 349 175 261
@ -612,6 +695,7 @@ static void beacon_send(struct pios_openlrs_dev *openlrs_dev, bool static_tone)
rfm22_write(openlrs_dev, 0x6d, 0x00); // 0 set min power 1.3mW rfm22_write(openlrs_dev, 0x6d, 0x00); // 0 set min power 1.3mW
PIOS_Thread_Sleep(10); PIOS_Thread_Sleep(10);
beacon_tone(openlrs_dev, 261, 2); beacon_tone(openlrs_dev, 261, 2);
#endif /* #ifdef OPENLRS_SIMPLE_BEACON_TONE */
} }
rfm22_write_claim(openlrs_dev, 0x07, RF22B_PWRSTATE_READY); rfm22_write_claim(openlrs_dev, 0x07, RF22B_PWRSTATE_READY);
} }
@ -974,7 +1058,7 @@ static void pios_openlrs_rx_loop(struct pios_openlrs_dev *openlrs_dev)
DEBUG_PRINTF(2, "Failsafe activated: %d %d\r\n", timeMs, openlrs_dev->linkLossTimeMs); DEBUG_PRINTF(2, "Failsafe activated: %d %d\r\n", timeMs, openlrs_dev->linkLossTimeMs);
oplink_status.LinkState = OPLINKSTATUS_LINKSTATE_DISCONNECTED; oplink_status.LinkState = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
// failsafeApply(); // failsafeApply();
openlrs_dev->nextBeaconTimeMs = (timeMs + 1000UL * openlrs_dev->beacon_period) | 1; // beacon activating... openlrs_dev->nextBeaconTimeMs = (timeMs + (1000UL * openlrs_dev->beacon_delay)) | 1; // beacon activating...
} }
if ((openlrs_dev->beacon_frequency) && (openlrs_dev->nextBeaconTimeMs) && if ((openlrs_dev->beacon_frequency) && (openlrs_dev->nextBeaconTimeMs) &&
@ -990,7 +1074,7 @@ static void pios_openlrs_rx_loop(struct pios_openlrs_dev *openlrs_dev)
beacon_send(openlrs_dev, false); // play cool tune beacon_send(openlrs_dev, false); // play cool tune
init_rfm(openlrs_dev, 0); // go back to normal RX init_rfm(openlrs_dev, 0); // go back to normal RX
rx_reset(openlrs_dev); rx_reset(openlrs_dev);
openlrs_dev->nextBeaconTimeMs = (timeMs + 1000UL * openlrs_dev->beacon_period) | 1; // avoid 0 in time openlrs_dev->nextBeaconTimeMs = (timeMs + (1000UL * openlrs_dev->beacon_period)) | 1; // avoid 0 in time
} }
} }
} }

1
flight/targets/boards/revolution/firmware/inc/pios_config.h
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@ -138,6 +138,7 @@
#define PIOS_INCLUDE_RFM22B #define PIOS_INCLUDE_RFM22B
#define PIOS_INCLUDE_RFM22B_COM #define PIOS_INCLUDE_RFM22B_COM
#define PIOS_INCLUDE_OPENLRS #define PIOS_INCLUDE_OPENLRS
#define OPENLRS_SIMPLE_BEACON_TONE
/* #define PIOS_INCLUDE_PPM_OUT */ /* #define PIOS_INCLUDE_PPM_OUT */
/* #define PIOS_RFM22B_DEBUG_ON_TELEM */ /* #define PIOS_RFM22B_DEBUG_ON_TELEM */

1
flight/targets/boards/sparky2/firmware/inc/pios_config.h
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@ -141,6 +141,7 @@
#define PIOS_INCLUDE_RFM22B #define PIOS_INCLUDE_RFM22B
#define PIOS_INCLUDE_RFM22B_COM #define PIOS_INCLUDE_RFM22B_COM
#define PIOS_INCLUDE_OPENLRS #define PIOS_INCLUDE_OPENLRS
#define OPENLRS_SIMPLE_BEACON_TONE
/* #define PIOS_INCLUDE_PPM_OUT */ /* #define PIOS_INCLUDE_PPM_OUT */
/* #define PIOS_RFM22B_DEBUG_ON_TELEM */ /* #define PIOS_RFM22B_DEBUG_ON_TELEM */

2
shared/uavobjectdefinition/oplinksettings.xml
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@ -39,7 +39,7 @@
<!-- beacon options --> <!-- beacon options -->
<field name="BeaconFrequency" units="Hz" type="uint32" elements="1" defaultvalue="462712500"/> <field name="BeaconFrequency" units="Hz" type="uint32" elements="1" defaultvalue="462712500"/>
<field name="BeaconDelay" units="s" type="uint8" elements="1" defaultvalue="30"/> <field name="BeaconDelay" units="s" type="uint8" elements="1" defaultvalue="30"/>
<field name="BeaconPeriod" units="s" type="uint8" elements="1" defaultvalue="15"/> <field name="BeaconPeriod" units="s" type="uint8" elements="1" defaultvalue="30"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>