BetaFlight模块设计之十八：图传模块同步任务分析

基于BetaFlight开源代码框架简介的框架设计，逐步分析内部模块功能设计。

图传模块同步任务

描述：主要用于图传数据的同步处理，目前主要支持SPI硬件集成RTC6705无线图传芯片和串行总线SmartAudio & Tramp Telemetry协议的图传外接模块。

 ├──> 初始化
 │   ├──> [v]硬件初始化vtxRTC6705Init/pgResetFn_vtxIOConfig/vtxSmartAudioInit/vtxTrampInit
 │   └──> [v]业务初始化vtxTableInit/vtxControlInit/vtxCommonInit
 ├──> 任务
 │   ├──> [x]实时任务
 │   ├──> [x]事件任务
 │   └──> [v]时间任务[TASK_VTXCTRL] = DEFINE_TASK("VTXCTRL", NULL, NULL, vtxUpdate, TASK_PERIOD_HZ(5), TASK_PRIORITY_LOWEST),
 ├──> 驱动
 │   ├──> [x]查询
 │   └──> [x]中断
 └──> 接口
     ├──> void vtxCommonSetDevice(vtxDevice_t *pDevice)
     ├──> 支持SPI硬件集成RTC6705无线图传芯片
     └──> 支持串行总线SmartAudio & Tramp Telemetry协议

硬件及功能配置

板级集成RTC6705芯片方案

./src/main/target/BEEBRAIN_V2F/target.h:92:#define USE_VTX_RTC6705
./src/main/target/SPRACINGF4EVO/target.h:135:#define USE_VTX_RTC6705
./src/main/target/SPRACINGF3NEO/target.h:101:#define USE_VTX_RTC6705
./src/main/target/SINGULARITY/target.h:78:#define USE_VTX_RTC6705
./src/main/target/SPRACINGF7DUAL/target.h:146:#define USE_VTX_RTC6705
./src/main/target/SPRACINGF4NEO/target.h:143:#define USE_VTX_RTC6705
./src/main/target/STM32_UNIFIED/target.h:336:#define USE_VTX_RTC6705
./src/main/target/FISHDRONEF4/target.h:116:#define USE_VTX_RTC6705
./src/main/target/SPRACINGH7EXTREME/target.h:178:#define USE_VTX_RTC6705
./src/main/target/MOTOLABF4/target.h:101:#define USE_VTX_RTC6705
./src/main/target/SIRINFPV/target.h:111:#define USE_VTX_RTC6705

通用外接模块方案

\src\main\target\common_pre.h
#if ((TARGET_FLASH_SIZE > 256) || (FEATURE_CUT_LEVEL < 11))
#define USE_VTX_COMMON
#define USE_VTX_CONTROL
#define USE_VTX_SMARTAUDIO
#define USE_VTX_TRAMP
#endif

VTX模块接口

RTC6705芯片方案接口

\src\main\io\vtx_rtc6705.c
static vtxVTable_t rtc6705VTable = {
    .process = vtxRTC6705Process,
    .getDeviceType = vtxRTC6705GetDeviceType,
    .isReady = vtxRTC6705IsReady,
    .setBandAndChannel = vtxRTC6705SetBandAndChannel,
    .setPowerByIndex = vtxRTC6705SetPowerByIndex,
    .setPitMode = vtxRTC6705SetPitMode,
    .setFrequency = vtxRTC6705SetFrequency,
    .getBandAndChannel = vtxRTC6705GetBandAndChannel,
    .getPowerIndex = vtxRTC6705GetPowerIndex,
    .getFrequency = vtxRTC6705GetFreq,
    .getStatus = vtxRTC6705GetStatus,
    .getPowerLevels = vtxRTC6705GetPowerLevels,
    .serializeCustomDeviceStatus = NULL,
};

Tramp Telemetry协议接口

Tramp Telemetry is a protocol created by ImmersionRC for the Tramp HV video transmitter. Nowadays both protocols are used in several other video transmitters.

\src\main\io\vtx_tramp.c
static const vtxVTable_t trampVTable = {
    .process = vtxTrampProcess,
    .getDeviceType = vtxTrampGetDeviceType,
    .isReady = vtxTrampIsReady,
    .setBandAndChannel = vtxTrampSetBandAndChannel,
    .setPowerByIndex = vtxTrampSetPowerByIndex,
    .setPitMode = vtxTrampSetPitMode,
    .setFrequency = vtxTrampSetFreq,
    .getBandAndChannel = vtxTrampGetBandAndChannel,
    .getPowerIndex = vtxTrampGetPowerIndex,
    .getFrequency = vtxTrampGetFreq,
    .getStatus = vtxTrampGetStatus,
    .getPowerLevels = vtxTrampGetPowerLevels,
    .serializeCustomDeviceStatus = NULL,
};

SmartAudio协议接口

SmartAudio is a protocol created by TBS (Team Blacksheep) for it’s brand video transmitters.

\src\main\io\vtx_smartaudio.c
static const vtxVTable_t saVTable = {
    .process = vtxSAProcess,
    .getDeviceType = vtxSAGetDeviceType,
    .isReady = vtxSAIsReady,
    .setBandAndChannel = vtxSASetBandAndChannel,
    .setPowerByIndex = vtxSASetPowerByIndex,
    .setPitMode = vtxSASetPitMode,
    .setFrequency = vtxSASetFreq,
    .getBandAndChannel = vtxSAGetBandAndChannel,
    .getPowerIndex = vtxSAGetPowerIndex,
    .getFrequency = vtxSAGetFreq,
    .getStatus = vtxSAGetStatus,
    .getPowerLevels = vtxSAGetPowerLevels,
    .serializeCustomDeviceStatus = vtxSASerializeCustomDeviceStatus,
};

注：关于协议方面的详细版本,详见链接.

函数分析

vtxUpdate

主要同步功率、频道、频点（频率）等图传模块配置信息。

vtxUpdate
 ├──> <cliMode>
 │   └──> return //命令行模式下，直接返回
 ├──> <!vtxDevice>
 │   └──> return //vtx设备无效，直接返回
 ├──> vtxControlInputPoll
 ├──> do //状态机切换currentSchedule，并记录startingSchedule = currentSchedule;
 │   ├──> <VTX_PARAM_POWER>
 │   │   └──> vtxUpdatePending = vtxProcessPower(vtxDevice);
 │   ├──> <VTX_PARAM_BANDCHAN>
 │   │   ├──> <vtxGetSettings().band>
 │   │   │   └──> vtxUpdatePending = vtxProcessBandAndChannel(vtxDevice);
 │   │   └──> <!vtxGetSettings().band><VTX_SETTINGS_FREQCMD>
 │   │       └──> vtxUpdatePending = vtxProcessFrequency(vtxDevice);
 │   ├──> <VTX_PARAM_PITMODE>
 │   │   └──> vtxUpdatePending = vtxProcessPitMode(vtxDevice);
 │   ├──> <VTX_PARAM_CONFIRM>
 │   │   └──> vtxUpdatePending = vtxProcessStateUpdate(vtxDevice);
 │   ├──> currentSchedule = (currentSchedule + 1) % VTX_PARAM_COUNT;
 │   └──> <!vtxUpdatePending && currentSchedule != startingSchedule> //满足条件循环do，否则退出循环
 └──> <!ARMING_FLAG(ARMED) || vtxUpdatePending>
     └──> vtxCommonProcess(vtxDevice, currentTimeUs);

vtxControlInputPoll

配置参数更新

vtxControlInputPoll
 └──> <USE_SPEKTRUM_VTX_CONTROL>
     └──> spektrumVtxControl

vtxProcessPower

功率参数同步

vtxProcessPower
 └──> <vtxCommonGetPowerIndex(vtxDevice, &vtxPower)>
     ├──> const vtxSettingsConfig_t settings = vtxGetSettings();
     └──> <vtxPower != settings.power>
         └──> vtxCommonSetPowerByIndex(vtxDevice, settings.power);

vtxProcessBandAndChannel

频点，通道参数同步

vtxProcessBandAndChannel
 └──> <!ARMING_FLAG(ARMED)><vtxCommonGetBandAndChannel(vtxDevice, &vtxBand, &vtxChan)>
     ├──> const vtxSettingsConfig_t settings = vtxGetSettings();
     └──> <vtxBand != settings.band || vtxChan != settings.channel>
         └──> vtxCommonSetBandAndChannel(vtxDevice, settings.band, settings.channel);

vtxProcessFrequency

频率参数同步

vtxProcessFrequency
 └──> <!ARMING_FLAG(ARMED)><vtxCommonGetFrequency(vtxDevice, &vtxFreq)>
     ├──> const vtxSettingsConfig_t settings = vtxGetSettings();
     └──> <vtxFreq != settings.freq>
         └──> vtxCommonSetFrequency(vtxDevice, settings.freq);

vtxProcessPitMode

PitMode(维修站模式)设置同步

vtxProcessPitMode
 ├──> <!ARMING_FLAG(ARMED) && vtxCommonGetStatus(vtxDevice, &vtxStatus)>
 │   ├──> bool currPmSwitchState = IS_RC_MODE_ACTIVE(BOXVTXPITMODE);
 │   └──> <currPmSwitchState != prevPmSwitchState>
 │       └──> <currPmSwitchState>
 │           ├──> <VTX_SETTINGS_FREQCMD><vtxSettingsConfig()->pitModeFreq>
 │           │   └──> return false
 │           ├──> <!(vtxStatus & VTX_STATUS_PIT_MODE)>
 │           │   ├──> vtxCommonSetPitMode(vtxDevice, true);
 │           │   └──> return true
 │           └──> <!currPmSwitchState><vtxStatus & VTX_STATUS_PIT_MODE>
 │               ├──> vtxCommonSetPitMode(vtxDevice, false);
 │               └──> return false
 └──> return false

vtxProcessStateUpdate

频段，通道参数同步

vtxProcessStateUpdate
 ├──> <vtxSettingsState.band>
 │   └──> vtxCommonGetBandAndChannel(vtxDevice, &vtxState.band, &vtxState.channel);
 ├──> <!vtxSettingsState.band><VTX_SETTINGS_FREQCMD>
 │   └──> vtxCommonGetFrequency(vtxDevice, &vtxState.freq);
 └──> vtxCommonGetPowerIndex(vtxDevice, &vtxState.power);

vtxCommonProcess

通信操作，确认通信操作事务完成情况，并根据异常进行处理。

vtxCommonProcess
 └──> <vtxDevice>
     └──> vtxDevice->vTable->process(vtxDevice, currentTimeUs);