Support for walkera telemetry.

vlad_vy
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25 Apr 2015 04:44 #31587 by vlad_vy

Replied by vlad_vy on topic Support for walkera telemetry.

Indigo, why you write to NULL? I think it's not "black hole", it's something like (void *)0L. Results can be unpredictable.

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Indigo
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25 Apr 2015 06:03 - 25 Apr 2015 06:05 #31589 by Indigo

Replied by Indigo on topic Support for walkera telemetry.

vlad_vy wrote: Indigo, why you write to NULL? I think it's not "black hole", it's something like (void *)0L. Results can be unpredictable.

Thanks for reviewing my code.
I'm not writing to NULL, in an earlier commit I changed ReadRegisterMulti() to enable dummy reads.

ReadRegisterMulti() is now this:

static void ReadRegisterMulti(u8 address, u8 data[], u8 length)
{
    CS_LO();
    PROTOSPI_xfer(address);
    for(u8 i = 0; i < length; i++)
    {
        u8 byte = PROTOSPI_xfer(0);
        if (data != NULL)
            data[i] = byte;
    }
    CS_HI();
}

That's OK, isn't it? If data is NULL, the byte(s) read is not stored.

Last edit: 25 Apr 2015 06:05 by Indigo.

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vlad_vy
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25 Apr 2015 06:30 - 25 Apr 2015 06:50 #31590 by vlad_vy

Replied by vlad_vy on topic Support for walkera telemetry.

Build a9e60ff, Devo GPS Speed always invariable with red background. If reboot Tx, value changed, but remains invariable with red background.

Last edit: 25 Apr 2015 06:50 by vlad_vy.

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PhracturedBlue
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25 Apr 2015 07:11 - 25 Apr 2015 07:12 #31592 by PhracturedBlue

Replied by PhracturedBlue on topic Support for walkera telemetry.

Where is this all going?
I have to admit I'm very skeptical of the process at the moment. When I look at Indigo's code, it has a lot of change compared to the trunk in DSM and Devo protocols. I don't really understand what much of that change is buying me. In Devo, it may result in eliminating the 'Reboot' condition, but at least at the moment, it will come at the cost of major refactoring of the callback loop, and the Reboot condition itself is not causing any issues (any more). In DSM2 the code refactor may reduce Holds? I belive the original intent was to improve reception rate (eliminate invalids and bogus data)? What else does it achieve? All of that change comes with inherent stability risk to the most commonly used protocols. It makes me very nervous, especially with 9 out of 10 builds seeming to have major issues that make it unusable. I really need to see concrete gains, and then I will wonder whether those gains can be had with less change to the protocol code.

Last edit: 25 Apr 2015 07:12 by PhracturedBlue.

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Francisco
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25 Apr 2015 14:15 - 25 Apr 2015 14:16 #31608 by Francisco

Replied by Francisco on topic Support for walkera telemetry.

Hi, i have a SuperCP and v120d2s both with updated firmware for telemetry.
The telemetry works, but sometimes turn to inverted( black/White) and the voltaje dont change anymore, especially when the voltaje is low.
I use the 4.01, tried with build from yesterday but the problem persists.

Last edit: 25 Apr 2015 14:16 by Francisco.

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vlad_vy
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25 Apr 2015 17:04 - 27 Apr 2015 05:24 #31611 by vlad_vy

Replied by vlad_vy on topic Support for walkera telemetry.

deleted

Last edit: 27 Apr 2015 05:24 by vlad_vy.

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vlad_vy
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25 Apr 2015 17:41 #31612 by vlad_vy

Replied by vlad_vy on topic Support for walkera telemetry.

PB, can you at least revert back code in main trunk, telemetry will work much better.

    } else {
        if(CYRF_ReadRegister(0x07) & 0x20) { // this won't be true in emulator so we need to simulate it somehow
            CYRF_ReadDataPacket(packet);
            parse_telemetry_packet(packet);
            delay = 100 * (16 - txState);
            txState = 15;
        }

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PhracturedBlue
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25 Apr 2015 17:53 #31613 by PhracturedBlue

Replied by PhracturedBlue on topic Support for walkera telemetry.

why?
The current code uses a strict rule set: must have received a complete 16byte packet without any errors. It may be necessary to change the check to be more robust (which I think is what Indigo has been working on), but changing that line without anything else will make it more likelythat bad packets get to the telemetry parser which doesn't seem very helpful.

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vlad_vy
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25 Apr 2015 18:02 #31614 by vlad_vy

Replied by vlad_vy on topic Support for walkera telemetry.

I don't know why, but it works much better than current code.

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Indigo
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25 Apr 2015 20:26 #31618 by Indigo

Replied by Indigo on topic Support for walkera telemetry.

Yes, you need to check and respond to bit 1 "receive complete" because if it receives a packet less than 16 bytes then it will stop receiving data unless overwrite enable bit is set in RX_CTRL register, in which case you might get a valid packet of less than 16 bytes, followed by half on next packet and then it will overflow. Bit 5 (buffer full) will then be true, but you have bad data.

If you want to keep it simple use same rule as dsm protocol:

        if((CYRF_ReadRegister(0x07) & 0x07) == 0x02) // complete with no errors.

Whenever complete bit (0x02) is set you should read it to clear the buffer ready for next packet.

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Indigo
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26 Apr 2015 15:23 - 26 Apr 2015 21:25 #31646 by Indigo

Replied by Indigo on topic Support for walkera telemetry.

Here is new version of CYRF_ReadDataPacketLen((), aka CYRF_RxPacketIsGood()

int CYRF_ReadDataPacketLen(u8 dpbuffer[], u8 len)
{
    unsigned rx_state = CYRF_ReadRegister(CYRF_07_RX_IRQ_STATUS);
    if ((rx_state & 0x03) == 0x02) {
        // RXC=1, RXE=0 then 2nd check is required (debouncing)
        rx_state |= CYRF_ReadRegister(CYRF_07_RX_IRQ_STATUS);
    }
    if (rx_state) {
        CYRF_WriteRegister(CYRF_07_RX_IRQ_STATUS, 0x80); // need to set RXOW before data read.
        u8 length;
        if (rx_state & 0x07)
            // if complete or error, we can get the actual count
            length = CYRF_ReadRegister(CYRF_09_RX_COUNT);
        else
            // otherwise, use length reported by start of packet
            length = CYRF_ReadRegister(CYRF_0A_RX_LENGTH);

        if (!length)
            length = 1;
        else if (((rx_state & 0x87) == 0x02) && length == len) {
            // complete with no errors
            ReadRegisterMulti(CYRF_21_RX_BUFFER, dpbuffer, length);
            return 1;
        }
        // else, empty buffer
        ReadRegisterMulti(CYRF_21_RX_BUFFER, NULL, length);
    }
    return 0;
}

A second check of CYRF_07_RX_IRQ_STATUS is illegal if RXC=1 and RXE=1, and is only needed if RXC=1 and RXE=0 so that check we need.
if status is zero, nothing has happened and buffer will still be empty.
CYRF_09_RX_COUNT can only be used if receive complete or error has occured. Next best length field is
CYRF_0A_RX_LENGTH updated after reception of a new length field (shortly after start of packet detected)

Last edit: 26 Apr 2015 21:25 by Indigo. Reason: Restore original post

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Indigo
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26 Apr 2015 21:28 - 26 Apr 2015 21:40 #31678 by Indigo

Replied by Indigo on topic Support for walkera telemetry.

Here is new version with added parameter exit receiving for final call (buffer clean-up).

int CYRF_ReadDataPacketLen(u8 dpbuffer[], u8 len, int exit)
{
    unsigned rx_state = CYRF_ReadRegister(CYRF_07_RX_IRQ_STATUS);
    unsigned length;
    // if receive complete, any error, or exit receiving
    if ((rx_state & 0x07) || exit) {
        if (rx_state) {
            length = CYRF_ReadRegister(CYRF_09_RX_COUNT);
            if (length) {
                // need to set RXOW before data read.
                CYRF_WriteRegister(CYRF_07_RX_IRQ_STATUS, rx_state | 0x80);

                // if RXE=0 then 2nd check is required to get true value of RXE
                if (!(rx_state & 0x01))
                    rx_state |= CYRF_ReadRegister(CYRF_07_RX_IRQ_STATUS);
                if (((rx_state & 0x07) == 0x02) && length == len) {
                    // good data (complete with no errors)
                    ReadRegisterMulti(CYRF_21_RX_BUFFER, dpbuffer, length);
                    return 1;
                }
                // else empty buffer (clean-up)
                ReadRegisterMulti(CYRF_21_RX_BUFFER, NULL, length);
            }
        }
    }
    return 0;
}

The Devo protocol calls this multiple times, the final call is when state == 15

        if (CYRF_ReadDataPacketLen(packet, 0x10, txState == 15)) {

Last edit: 26 Apr 2015 21:40 by Indigo.

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vlad_vy
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27 Apr 2015 09:28 #31695 by vlad_vy

Replied by vlad_vy on topic Support for walkera telemetry.

At first glance build 342e9de working with Devo protocol.

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vlad_vy
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27 Apr 2015 15:26 - 30 Apr 2015 05:33 #31699 by vlad_vy

Replied by vlad_vy on topic Support for walkera telemetry.

It seems that I was able to get an alternative version of the code that works really well. I had several flights with Ladybird without any problems. DSMX protocol also tested with telemetry, but on bench only.

PB, can you build test version?

cyrf6936.c

int CYRF_ReadDataPacketLen(u8 dpbuffer[])
{
    u8 rx_state;
    u8 length;
    
    rx_state = CYRF_ReadRegister(CYRF_07_RX_IRQ_STATUS);
    if (rx_state & 0x02) {              // receive complete
        if (!(rx_state & 0x01)) {       // RXC=1, RXE=0 then 2nd check is required (debouncing)
            rx_state |= CYRF_ReadRegister(CYRF_07_RX_IRQ_STATUS);
        }
        CYRF_WriteRegister(CYRF_07_RX_IRQ_STATUS, 0x80);    // need to set RXOW before data read.
        length = CYRF_ReadRegister(CYRF_09_RX_COUNT);
        if (rx_state & 0x05) {  //if any error
            // bad data, empty buffer
            while (length) {
                CYRF_ReadRegister(CYRF_21_RX_BUFFER);
                length--;
            }
            return 2;  //bad data
        } else {
            // good data (complete with no errors)
            ReadRegisterMulti(CYRF_21_RX_BUFFER, dpbuffer, length);
            return 1;  //good data
        }
    }
    return 0;  //receive not complete
}

devo_cyrf6936.c

    } else { // this won't be true in emulator so we need to simulate it somehow
        u8 rx_state = CYRF_ReadDataPacketLen(packet);
        if(rx_state) {
            if(rx_state == 1) {
              parse_telemetry_packet(packet);
            }
            delay = 100 * (16 - txState);
            txState = 15;
        }
#ifdef EMULATOR

dsm2_cyrf6936_b45.c

    } else if(state == DSM2_CH2_READ_A || state == DSM2_CH2_READ_B) {
        //Read telemetry if needed
        u8 rx_state = CYRF_ReadDataPacketLen(packet);
        if(rx_state == 1) {
            parse_telemetry_packet(packet);
        }
        if (state == DSM2_CH2_READ_A && num_channels < 8) {

Changed files:

Last edit: 30 Apr 2015 05:33 by vlad_vy.

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PhracturedBlue
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27 Apr 2015 16:09 - 27 Apr 2015 16:10 #31702 by PhracturedBlue

Replied by PhracturedBlue on topic Support for walkera telemetry.

Done:
www.deviationtx.com/downloads-new/catego...vlad-s-devo-dsm-test

If you want, I can give you access that you can make your own test builds. It only requires that you have 'curl' installed, and can run 'make zip'

Last edit: 27 Apr 2015 16:10 by PhracturedBlue.

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Indigo
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27 Apr 2015 16:23 #31704 by Indigo

Replied by Indigo on topic Support for walkera telemetry.

Looks good

And it will work even better if we use:

    CYRF_WriteRegister(CYRF_06_RX_CFG, 0x4A);

and don't waste time manually emptying the receive buffer.

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vlad_vy
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27 Apr 2015 16:32 #31706 by vlad_vy

Replied by vlad_vy on topic Support for walkera telemetry.

Unfortunately we have to do it with DSMX protocol. Therefore will be better to have the same setup for all CYRF protocols.

PB, i have the local build environment only, all other is dark forest for me.

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PhracturedBlue
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27 Apr 2015 16:46 #31707 by PhracturedBlue

Replied by PhracturedBlue on topic Support for walkera telemetry.

Given your involvement, maybe it is time to move to the next level then

Learning to use HG to keep up to date, and to create diffs is pretty easy.
Just let me know if you are interested and I'll give you developers permissions which will give you upload access

Assuming you are using windows, all you'd need would be curl from here (get Win32-Generic or Win64-Generic as needed):
curl.haxx.se/download.html
and put it in your /usr/bin directory in MSYS

then just follow the instructions here:
www.deviationtx.com/forum/7-development/...ly-to-the-test#30367

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Indigo
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27 Apr 2015 19:10 #31716 by Indigo

Replied by Indigo on topic Support for walkera telemetry.

Looks good

And it will work even better if we use:

    CYRF_WriteRegister(CYRF_06_RX_CFG, 0x4A);

so we don't waste cpu time emptying the receive buffer.

cyrf6936.c:

int CYRF_ReadDataPacket(u8 dpbuffer[])
{
    u8 rx_state = CYRF_ReadRegister(CYRF_07_RX_IRQ_STATUS);
    if (rx_state & 0x02) {          // receive complete
        if (!(rx_state & 0x01)) {   // RXC=1, RXE=0 then 2nd check is required (debouncing)
            rx_state |= CYRF_ReadRegister(CYRF_07_RX_IRQ_STATUS);
        }
        if (rx_state & 0x05) {
            return -1; // bad data
        }
        // good data (complete with no errors)
        CYRF_WriteRegister(CYRF_07_RX_IRQ_STATUS, 0x80);    // set RXOW before data read
        u8 length = CYRF_ReadRegister(CYRF_09_RX_COUNT);
        ReadRegisterMulti(CYRF_21_RX_BUFFER, dpbuffer, length);
        return 1;
    }
    return 0; // no data
}

devo_cyrf6936.c:

    } else {
        int status = CYRF_ReadDataPacket(packet);
        if (status) {
            if (status == 1) {
                scramble_pkt(); //This will unscramble the packet
                if ((packet[0] & 0xF0) == TELEMETRY_ENABLE && (fixed_id & 0x00ffffff) ==
                    (((u32)packet[15] << 16) | ((u32)packet[14] << 8) | packet[13]))
                {
                    parse_telemetry_packet();
                }
            }
            delay = 100 * (16 - txState);
            txState = 15;
        }
#ifdef EMULATOR

dsm2_cyrf6936.c:

    } else if(state == DSM2_CH2_READ_A || state == DSM2_CH2_READ_B) {
        if (CYRF_ReadDataPacket(packet) == 1)
            parse_telemetry_packet();
        if (state == DSM2_CH2_READ_A && num_channels < 8) {

Updated build 342e9de with this has been uploaded to Test Builds

Source

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vlad_vy
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28 Apr 2015 07:20 - 28 Apr 2015 07:23 #31734 by vlad_vy

Replied by vlad_vy on topic Support for walkera telemetry.

By the way, disable buffer overwrite bit is a good way to test that receiving work without any problems. If anything get stuck in the buffer, telemetry stop working. The next code will work with any setup:

int CYRF_ReadDataPacketLen(u8 dpbuffer[])
{
    u8 rx_state;
    u8 length;
    
    rx_state = CYRF_ReadRegister(CYRF_07_RX_IRQ_STATUS);
    if (rx_state & 0x02) {              // receive complete
        if (!(rx_state & 0x01)) {       // RXC=1, RXE=0 then 2nd check is required (debouncing)
            rx_state |= CYRF_ReadRegister(CYRF_07_RX_IRQ_STATUS);
        }
        length = CYRF_ReadRegister(CYRF_09_RX_COUNT);
        if (rx_state & 0x05) {  //if any error
            if( !(CYRF_ReadRegister(CYRF_06_RX_CFG) & 0x02)) {  //if buffer overwrite disabled (RXOW bit)
                // bad data, empty buffer
                CYRF_WriteRegister(CYRF_07_RX_IRQ_STATUS, 0x80);  // need to set RXOW before data read
                while (length) {
                    CYRF_ReadRegister(CYRF_21_RX_BUFFER);
                    length--;
                }
            }
            return 2;  //bad data
        } else {
            // good data (complete with no errors)
            CYRF_WriteRegister(CYRF_07_RX_IRQ_STATUS, 0x80);  // need to set RXOW before data read
            ReadRegisterMulti(CYRF_21_RX_BUFFER, dpbuffer, length);
            return 1;  //good data
        }
    }
    return 0;  //receive not complete
}

Last edit: 28 Apr 2015 07:23 by vlad_vy.

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