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LibrePilot/flight/pios/common/pios_rfm22b.c

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Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
/**
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RFM22B Radio Functions
* @brief PIOS interface for for the RFM22B radio
* @{
*
* @file pios_rfm22b.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Implements a driver the the RFM22B driver
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
/*
* This program 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.
*
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
// *****************************************************************
// RFM22B hardware layer
//
// This module uses the RFM22B's internal packet handling hardware to
// encapsulate our own packet data.
//
// The RFM22B internal hardware packet handler configuration is as follows ..
//
// 4-byte (32-bit) preamble .. alternating 0's & 1's
// 4-byte (32-bit) sync
// 1-byte packet length (number of data bytes to follow)
// 0 to 255 user data bytes
//
// Our own packet data will also contain it's own header and 32-bit CRC
// as a single 16-bit CRC is not sufficient for wireless comms.
//
// *****************************************************************
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
#include "pios.h"
pios: common PIOS #ifdef guards Conflicts: flight/PiOS/Common/pios_com.c flight/PiOS/Common/pios_mpu6000.c
2013-03-15 15:28:53 +01:00
#ifdef PIOS_INCLUDE_RFM22B
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
Split out the PipX radio interface from RadioComBridge module to a separate Radio module. Now the RadioComBridge module just routes messages between the com ports and handles sending/receiving the PipX UAVOs.
2012-08-25 04:25:02 +02:00
#include <pios_spi_priv.h>
Added start at a modified PipX packet handler.
2012-03-16 03:29:54 +01:00
#include <packet_handler.h>
Changed test for GCSRECEIVER in OPLink to PIOS_INCLUDE_GCSRCVR to match new define in pios_config.
2013-03-31 17:37:14 +02:00
#if defined(PIOS_INCLUDE_GCSRCVR)
Added optional output of GCSReceiver from the OPLink to the FC. This will happen automatically if a PPM packet is receive, and PPM output is disabled.
2013-02-18 03:55:58 +01:00
#include <gcsreceiver.h>
#endif
Added start at a modified PipX packet handler.
2012-03-16 03:29:54 +01:00
#include <pios_rfm22b_priv.h>
Added PPM output to OPLink firmware
2013-01-04 14:51:27 +01:00
#include <pios_ppm_out_priv.h>
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
#include <ecc.h>
Working PipX com relay.
2012-03-08 02:05:42 +01:00
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
/* Local Defines */
RFM22B: Moved ISR processing thread into the rfm22b driver.
2012-09-12 05:34:26 +02:00
#define STACK_SIZE_BYTES 200
#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
#define ISR_TIMEOUT 2 // ms
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
#define EVENT_QUEUE_SIZE 5
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
#define RFM22B_DEFAULT_RX_DATARATE RFM22_datarate_9600
Fixed setting max Tx power on Revo.
2013-04-07 03:16:46 +02:00
#define RFM22B_DEFAULT_TX_POWER RFM22_tx_pwr_txpow_0
USB/COM/RFM22B: Added a standard com callback to test for link availability. This replaces the PIOS_USB_CheckAvailable function with a generic PIOS_COM_Available function. This is now used by the RFM22B com driver to test if a good link is up. This was originally written by James, and Brian merged it into the latest RFM22B branch.
2012-10-26 23:25:41 +02:00
#define RFM22B_LINK_QUALITY_THRESHOLD 20
Added setting of min/max frequencies on OPLink coordinator.
2013-04-06 02:32:15 +02:00
#define RFM22B_NOMINAL_CARRIER_FREQUENCY 430000000
#define RFM22B_MAXIMUM_FREQUENCY 440000000
#define RFM22B_DEFAULT_FREQUENCY 433000000
#define RFM22B_FREQUENCY_HOP_STEP_SIZE 75000
Added frequency hopping to the RFM22B driver. Currently it defaults to 128 channels between 430 and 440 MHz.
2013-02-25 00:05:51 +01:00
//#define RFM22B_TEST_DROPPED_PACKETS 1
RFM22B: Improved reliability, especially with reconnection after a timeout, although there is still too many resent packets.
2012-11-14 05:08:33 +01:00
// The maximum amount of time since the last message received to consider the connection broken.
#define DISCONNECT_TIMEOUT_MS 1000 // ms
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
// The maximum amount of time without activity before initiating a reset.
RFM22B: Start at cleaning up the processing interrupt handling, and starting to make it more of a state machine. Also removed the supervisor, which was causing unnecessary resets. The supervisor functionality is not in the the driver thread.
2012-09-15 04:30:02 +02:00
#define PIOS_RFM22B_SUPERVISOR_TIMEOUT 100 // ms
Added a RTC supervisor timer to RFM22B driver.
2012-04-22 03:31:49 +02:00
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
// The time between updates for sending stats the radio link.
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
#define RADIOSTATS_UPDATE_PERIOD_MS 250
RFM22B: Changing configuration parameters over-the-air working. Added tracking of Tx/Rx sequence number. Still seeing too many resent packets.
2012-11-11 16:52:53 +01:00
// The number of stats updates that a modem can miss before it's considered disconnected
#define MAX_RADIOSTATS_MISS_COUNT 3
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
// The time between PPM updates
RFM22B/RM: Tweaked some PPM parameters to make PPM more stable on OPLink/RM. Conflicts: flight/PiOS/Common/pios_rfm22b.c
2013-03-10 19:38:35 +01:00
#define PPM_UPDATE_PERIOD_MS 20
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
// this is too adjust the RF module so that it is on frequency
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
#define OSC_LOAD_CAP 0x7F // cap = 12.5pf .. default
Added start at a modified PipX packet handler.
2012-03-16 03:29:54 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
#define TX_PREAMBLE_NIBBLES 12 // 7 to 511 (number of nibbles)
#define RX_PREAMBLE_NIBBLES 6 // 5 to 31 (number of nibbles)
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// the size of the rf modules internal FIFO buffers
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
#define FIFO_SIZE 64
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
#define TX_FIFO_HI_WATERMARK 62 // 0-63
#define TX_FIFO_LO_WATERMARK 32 // 0-63
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
#define RX_FIFO_HI_WATERMARK 32 // 0-63
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// preamble byte (preceeds SYNC_BYTE's)
#define PREAMBLE_BYTE 0x55
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// RF sync bytes (32-bit in all)
#define SYNC_BYTE_1 0x2D
#define SYNC_BYTE_2 0xD4
#define SYNC_BYTE_3 0x4B
#define SYNC_BYTE_4 0x59
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
Split out the PipX radio interface from RadioComBridge module to a separate Radio module. Now the RadioComBridge module just routes messages between the com ports and handles sending/receiving the PipX UAVOs.
2012-08-25 04:25:02 +02:00
#ifndef RX_LED_ON
#define RX_LED_ON
#define RX_LED_OFF
#define TX_LED_ON
#define TX_LED_OFF
#define LINK_LED_ON
#define LINK_LED_OFF
#define USB_LED_ON
#define USB_LED_OFF
#endif
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
/* Local type definitions */
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
struct pios_rfm22b_transition {
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
enum pios_rfm22b_event (*entry_fn) (struct pios_rfm22b_dev *rfm22b_dev);
enum pios_rfm22b_state next_state[RFM22B_EVENT_NUM_EVENTS];
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
};
RFM22b: Block transfers for more large SPI transfers Preallocated buffers with various preambles etc. Used SPI_TransferBlock for anything over a few bytes instead of burstWrite. Also make more of the communications wrappered in a large semaphore grab using a new rfm22_write_noclaim() Still needs work - probably because most of the methods to repeated calls they should all use the noclaim, or more specifically that function becomes rfm22_write/read.
2012-09-02 20:31:09 +02:00
// Must ensure these prefilled arrays match the define sizes
Added frequency hopping to the RFM22B driver. Currently it defaults to 128 channels between 430 and 440 MHz.
2013-02-25 00:05:51 +01:00
static const uint8_t FULL_PREAMBLE[FIFO_SIZE] = {
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE}; // 64 bytes
RFM22b: Block transfers for more large SPI transfers Preallocated buffers with various preambles etc. Used SPI_TransferBlock for anything over a few bytes instead of burstWrite. Also make more of the communications wrappered in a large semaphore grab using a new rfm22_write_noclaim() Still needs work - probably because most of the methods to repeated calls they should all use the noclaim, or more specifically that function becomes rfm22_write/read.
2012-09-02 20:31:09 +02:00
static const uint8_t HEADER[(TX_PREAMBLE_NIBBLES + 1)/2 + 2] = {PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE,PREAMBLE_BYTE, PREAMBLE_BYTE, SYNC_BYTE_1, SYNC_BYTE_2};
Added frequency hopping to the RFM22B driver. Currently it defaults to 128 channels between 430 and 440 MHz.
2013-02-25 00:05:51 +01:00
static const uint8_t OUT_FF[64] = {
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
RFM22b: Block transfers for more large SPI transfers Preallocated buffers with various preambles etc. Used SPI_TransferBlock for anything over a few bytes instead of burstWrite. Also make more of the communications wrappered in a large semaphore grab using a new rfm22_write_noclaim() Still needs work - probably because most of the methods to repeated calls they should all use the noclaim, or more specifically that function becomes rfm22_write/read.
2012-09-02 20:31:09 +02:00
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
/* Local function forwared declarations */
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
static void pios_rfm22_task(void *parameters);
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
static bool rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Changing configuration parameters over-the-air working. Added tracking of Tx/Rx sequence number. Still seeing too many resent packets.
2012-11-11 16:52:53 +01:00
static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening);
OP-914 - Converted PIOS_RFM22B_Validate back into a normal function from an inline.
2013-04-13 05:10:40 +02:00
static void pios_rfm22_inject_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR);
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_detectPreamble(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_detectSync(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Improved link stability, and added tracking of error encountered in the processes of transmitting and receiving.
2012-11-17 21:18:34 +01:00
static enum pios_rfm22b_event rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
static enum pios_rfm22b_event rfm22_receiveStatus(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
static enum pios_rfm22b_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Changed the way the frequencies and power settings are set for the rfm22b device.
2012-10-21 00:02:49 +02:00
static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Improved link stability, and added tracking of error encountered in the processes of transmitting and receiving.
2012-11-17 21:18:34 +01:00
static enum pios_rfm22b_event rfm22_txFailure(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
static enum pios_rfm22b_event rfm22_process_state_transition(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event);
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
static void rfm22_process_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event);
RFM22B: Added a message timeout event to the RFM22B state machine that will fire if a packet takes too long to transmit / receive.
2012-09-25 05:51:34 +02:00
static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_fatal_error(struct pios_rfm22b_dev *rfm22b_dev);
RFM22: Don't send status until the link is connected.
2012-12-15 17:56:27 +01:00
static void rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Modified the method of tracking RX errors, and now reporting Good, Corrected, Error, and Missed packets to the GCS. Also removed some less useful fields from the PipXStatus.
2012-10-13 21:06:17 +02:00
static void rfm22b_add_rx_status(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_rx_packet_status status);
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHandle p, uint16_t rx_len);
Added setting of min/max frequencies on OPLink coordinator.
2013-04-06 02:32:15 +02:00
static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t min_frequency, uint32_t max_frequency, uint32_t step_size);
Mostly working periodic (as opposed to per message) channel hopping. This version should have less risk of getting hopelessly out of sync, but currently drops some packets. The dropped packets are likely around the channel hops.
2013-03-04 05:08:17 +01:00
static bool rfm22_setFreqHopChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t channel);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Finised handshacking on ACK and changed the link quality metric to use resent packets rather than missed packets.
2012-11-05 01:50:12 +01:00
static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B/RM: Added GPIO debugging to revomini to test rfm22b. Fixed (apparently) the reset issues with the rfm22b frequency hopping. Periodic frequency hopping is working pretty well now.
2013-03-09 02:06:42 +01:00
static bool rfm22_isConnected(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Changing configuration parameters over-the-air working. Added tracking of Tx/Rx sequence number. Still seeing too many resent packets.
2012-11-11 16:52:53 +01:00
static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B/RM: Added GPIO debugging to revomini to test rfm22b. Fixed (apparently) the reset issues with the rfm22b frequency hopping. Periodic frequency hopping is working pretty well now.
2013-03-09 02:06:42 +01:00
static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, portTickType ticks);
static bool rfm22_inChannelBuffer(struct pios_rfm22b_dev *rfm22b_dev);
Mostly working periodic (as opposed to per message) channel hopping. This version should have less risk of getting hopelessly out of sync, but currently drops some packets. The dropped packets are likely around the channel hops.
2013-03-04 05:08:17 +01:00
static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev);
static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Added optional debug signals on the telemetry port of the PipX. Also fixed a couple of bugs that were causing excessive re-transmissions (found using the debug signals).
2012-12-02 17:41:48 +01:00
static void rfm22_clearLEDs();
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Utility functions.
static uint32_t pios_rfm22_time_difference_ms(portTickType start_time, portTickType end_time);
static struct pios_rfm22b_dev *pios_rfm22_alloc(void);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// SPI read/write functions
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
static void rfm22_assertCs(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_deassertCs(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_claimBus(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_releaseBus(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_write(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data);
static uint8_t rfm22_read(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr);
static uint8_t rfm22_read_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr);
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
OP-914 - Converted PIOS_RFM22B_Validate back into a normal function from an inline.
2013-04-13 05:10:40 +02:00
/* The state transition table */
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_STATES] = {
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Initialization thread
[RFM22B_STATE_UNINITIALIZED] = {
.entry_fn = 0,
.next_state = {
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
},
},
[RFM22B_STATE_INITIALIZING] = {
.entry_fn = rfm22_init,
.next_state = {
[RFM22B_EVENT_INITIALIZED] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_REQUESTING_CONNECTION] = {
.entry_fn = rfm22_requestConnection,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR
},
},
[RFM22B_STATE_ACCEPTING_CONNECTION] = {
.entry_fn = rfm22_acceptConnection,
.next_state = {
[RFM22B_EVENT_DEFAULT] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RX_MODE] = {
.entry_fn = rfm22_setRxMode,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_WAIT_PREAMBLE] = {
.entry_fn = rfm22_detectPreamble,
.next_state = {
[RFM22B_EVENT_PREAMBLE_DETECTED] = RFM22B_STATE_WAIT_SYNC,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_WAIT_SYNC] = {
.entry_fn = rfm22_detectSync,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_SYNC,
[RFM22B_EVENT_SYNC_DETECTED] = RFM22B_STATE_RX_DATA,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RX_DATA] = {
.entry_fn = rfm22_rxData,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_RX_DATA,
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_RX_ERROR] = RFM22B_STATE_SENDING_NACK,
[RFM22B_EVENT_STATUS_RECEIVED] = RFM22B_STATE_RECEIVING_STATUS,
[RFM22B_EVENT_CONNECTION_REQUESTED] = RFM22B_STATE_ACCEPTING_CONNECTION,
[RFM22B_EVENT_PACKET_ACKED] = RFM22B_STATE_RECEIVING_ACK,
[RFM22B_EVENT_PACKET_NACKED] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RX_FAILURE] = {
.entry_fn = rfm22_rxFailure,
.next_state = {
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_ACK] = {
.entry_fn = rfm22_receiveAck,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_NACK] = {
.entry_fn = rfm22_receiveNack,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_STATUS] = {
.entry_fn = rfm22_receiveStatus,
.next_state = {
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_START] = {
.entry_fn = rfm22_txStart,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_DATA] = {
.entry_fn = rfm22_txData,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
[RFM22B_EVENT_REQUEST_CONNECTION] = RFM22B_STATE_REQUESTING_CONNECTION,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_TX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_FAILURE] = {
.entry_fn = rfm22_txFailure,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_SENDING_ACK] = {
.entry_fn = rfm22_sendAck,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_SENDING_NACK] = {
.entry_fn = rfm22_sendNack,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TIMEOUT] = {
.entry_fn = rfm22_timeout,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_ERROR] = {
.entry_fn = rfm22_error,
.next_state = {
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_FATAL_ERROR] = {
.entry_fn = rfm22_fatal_error,
.next_state = {
},
},
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
};
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
// xtal 10 ppm, 434MHz
Added 57600 kbps air datarate mode, and added setting of registers 69 and 58.
2013-04-03 03:05:51 +02:00
static const uint32_t data_rate[] = { 500, 1000, 2000, 4000, 8000, 9600, 16000, 19200, 24000, 32000, 57600, 64000, 128000, 192000, 256000};
Added 56k data rate mode to rfm22 driver.
2013-03-18 04:28:13 +01:00
static const uint8_t modulation_index[] = { 16, 8, 4, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
Added 57600 kbps air datarate mode, and added setting of registers 69 and 58.
2013-04-03 03:05:51 +02:00
static const uint8_t reg_1C[] = { 0x37, 0x37, 0x37, 0x37, 0x3A, 0x3B, 0x26, 0x28, 0x2E, 0x16, 0x06, 0x07, 0x83, 0x8A, 0x8C}; // rfm22_if_filter_bandwidth
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
Added 56k data rate mode to rfm22 driver.
2013-03-18 04:28:13 +01:00
static const uint8_t reg_1D[] = { 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x40, 0x44, 0x44, 0x44, 0x44}; // rfm22_afc_loop_gearshift_override
static const uint8_t reg_1E[] = { 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x02}; // rfm22_afc_timing_control
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
Added 56k data rate mode to rfm22 driver.
2013-03-18 04:28:13 +01:00
static const uint8_t reg_1F[] = { 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03}; // rfm22_clk_recovery_gearshift_override
Added 57600 kbps air datarate mode, and added setting of registers 69 and 58.
2013-04-03 03:05:51 +02:00
static const uint8_t reg_20[] = { 0xE8, 0xF4, 0xFA, 0x70, 0x3F, 0x34, 0x3F, 0x34, 0x2A, 0x3F, 0x45, 0x3F, 0x5E, 0x3F, 0x2F}; // rfm22_clk_recovery_oversampling_ratio
Added 56k data rate mode to rfm22 driver.
2013-03-18 04:28:13 +01:00
static const uint8_t reg_21[] = { 0x60, 0x20, 0x00, 0x01, 0x02, 0x02, 0x02, 0x02, 0x03, 0x02, 0x01, 0x02, 0x01, 0x02, 0x02}; // rfm22_clk_recovery_offset2
Added 57600 kbps air datarate mode, and added setting of registers 69 and 58.
2013-04-03 03:05:51 +02:00
static const uint8_t reg_22[] = { 0x20, 0x41, 0x83, 0x06, 0x0C, 0x75, 0x0C, 0x75, 0x12, 0x0C, 0xD7, 0x0c, 0x5D, 0x0C, 0xBB}; // rfm22_clk_recovery_offset1
static const uint8_t reg_23[] = { 0xC5, 0x89, 0x12, 0x25, 0x4A, 0x25, 0x4A, 0x25, 0x6F, 0x4A, 0xDC, 0x4A, 0x86, 0x4A, 0x0D}; // rfm22_clk_recovery_offset0
static const uint8_t reg_24[] = { 0x00, 0x00, 0x00, 0x02, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x05, 0x07, 0x07}; // rfm22_clk_recovery_timing_loop_gain1
static const uint8_t reg_25[] = { 0x0A, 0x23, 0x85, 0x0E, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x6E, 0xFF, 0x74, 0xFF, 0xFF}; // rfm22_clk_recovery_timing_loop_gain0
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
Added 57600 kbps air datarate mode, and added setting of registers 69 and 58.
2013-04-03 03:05:51 +02:00
static const uint8_t reg_2A[] = { 0x0E, 0x0E, 0x0E, 0x0E, 0x0E, 0x0D, 0x0D, 0x0E, 0x12, 0x17, 0x2D, 0x31, 0x50, 0x50, 0x50}; // rfm22_afc_limiter .. AFC_pull_in_range = <20>AFCLimiter[7:0] x (hbsel+1) x 625 Hz
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
Added 57600 kbps air datarate mode, and added setting of registers 69 and 58.
2013-04-03 03:05:51 +02:00
static const uint8_t reg_58[] = { 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80}; // rfm22_cpcuu
static const uint8_t reg_69[] = { 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x60, 0x20, 0x20, 0x20, 0x20}; // rfm22_agc_override1
Added 56k data rate mode to rfm22 driver.
2013-03-18 04:28:13 +01:00
static const uint8_t reg_6E[] = { 0x04, 0x08, 0x10, 0x20, 0x41, 0x4E, 0x83, 0x9D, 0xC4, 0x08, 0x0E, 0x10, 0x20, 0x31, 0x41}; // rfm22_tx_data_rate1
Added 57600 kbps air datarate mode, and added setting of registers 69 and 58.
2013-04-03 03:05:51 +02:00
static const uint8_t reg_6F[] = { 0x19, 0x31, 0x62, 0xC5, 0x89, 0xA5, 0x12, 0x49, 0x9C, 0x31, 0xBF, 0x62, 0xC5, 0x27, 0x89}; // rfm22_tx_data_rate0
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
Added 56k data rate mode to rfm22 driver.
2013-03-18 04:28:13 +01:00
static const uint8_t reg_70[] = { 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x0D, 0x0C, 0x0C, 0x0D, 0x0D, 0x0D}; // rfm22_modulation_mode_control1
Added 57600 kbps air datarate mode, and added setting of registers 69 and 58.
2013-04-03 03:05:51 +02:00
static const uint8_t reg_71[] = { 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23}; // rfm22_modulation_mode_control2
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
Added 57600 kbps air datarate mode, and added setting of registers 69 and 58.
2013-04-03 03:05:51 +02:00
static const uint8_t reg_72[] = { 0x06, 0x06, 0x06, 0x06, 0x06, 0x08, 0x0D, 0x0F, 0x13, 0x1A, 0x2E, 0x33, 0x66, 0x9A, 0xCD}; // rfm22_frequency_deviation
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
static struct pios_rfm22b_dev * g_rfm22b_dev = NULL;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/*****************************************************************************
* External Interface Functions
*****************************************************************************/
RFM22b: Start to move the ISR into userspace
2012-08-26 09:41:19 +02:00
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
/**
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
* Initialise an RFM22B device
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
*
* @param[out] rfm22b_id A pointer to store the device ID in.
* @param[in] spi_id The SPI bus index.
* @param[in] slave_num The SPI bus slave number.
* @param[in] cfg The device configuration.
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
*/
RFM22b: Abstract out the port into the driver initiation Also use a separate function to claim the bus semaphore and assert the CS line.
2012-09-05 07:25:06 +02:00
int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_num, const struct pios_rfm22b_cfg *cfg)
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
PIOS_DEBUG_Assert(rfm22b_id);
PIOS_DEBUG_Assert(cfg);
// Allocate the device structure.
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)pios_rfm22_alloc();
if (!rfm22b_dev) {
return(-1);
}
*rfm22b_id = (uint32_t)rfm22b_dev;
g_rfm22b_dev = rfm22b_dev;
// Store the SPI handle
rfm22b_dev->slave_num = slave_num;
rfm22b_dev->spi_id = spi_id;
// Initialize our configuration parameters
rfm22b_dev->send_ppm = false;
rfm22b_dev->datarate = RFM22B_DEFAULT_RX_DATARATE;
rfm22b_dev->tx_power = RFM22B_DEFAULT_TX_POWER;
// Initialize the com callbacks.
rfm22b_dev->com_config_cb = NULL;
rfm22b_dev->rx_in_cb = NULL;
rfm22b_dev->tx_out_cb = NULL;
// Initialize the stats.
rfm22b_dev->stats.packets_per_sec = 0;
rfm22b_dev->stats.rx_good = 0;
rfm22b_dev->stats.rx_corrected = 0;
rfm22b_dev->stats.rx_error = 0;
rfm22b_dev->stats.rx_missed = 0;
rfm22b_dev->stats.tx_dropped = 0;
rfm22b_dev->stats.tx_resent = 0;
rfm22b_dev->stats.resets = 0;
rfm22b_dev->stats.timeouts = 0;
rfm22b_dev->stats.link_quality = 0;
rfm22b_dev->stats.rssi = 0;
rfm22b_dev->stats.tx_seq = 0;
rfm22b_dev->stats.rx_seq = 0;
// Initialize the frequencies.
PIOS_RFM22B_SetInitialFrequency(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY);
PIOS_RFM22B_SetFrequencyRange(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY, RFM22B_DEFAULT_FREQUENCY, RFM22B_FREQUENCY_HOP_STEP_SIZE);
// Initialize the bindings.
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
rfm22b_dev->bindings[i].pairID = 0;
}
rfm22b_dev->coordinator = false;
// Create the event queue
rfm22b_dev->eventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(enum pios_rfm22b_event));
// Bind the configuration to the device instance
rfm22b_dev->cfg = *cfg;
// Create a semaphore to know if an ISR needs responding to
vSemaphoreCreateBinary( rfm22b_dev->isrPending );
// Create our (hopefully) unique 32 bit id from the processor serial number.
uint8_t crcs[] = { 0, 0, 0, 0 };
{
char serial_no_str[33];
PIOS_SYS_SerialNumberGet(serial_no_str);
// Create a 32 bit value using 4 8 bit CRC values.
for (uint8_t i = 0; serial_no_str[i] != 0; ++i)
crcs[i % 4] = PIOS_CRC_updateByte(crcs[i % 4], serial_no_str[i]);
}
rfm22b_dev->deviceID = crcs[0] | crcs[1] << 8 | crcs[2] << 16 | crcs[3] << 24;
DEBUG_PRINTF(2, "RF device ID: %x\n\r", rfm22b_dev->deviceID);
Added PipXStatus and PipXSettings UAVObjects and added support the sending/receiving UAVTalk objects on the PipX.
2012-04-11 05:22:53 +02:00
Changed test for GCSRECEIVER in OPLink to PIOS_INCLUDE_GCSRCVR to match new define in pios_config.
2013-03-31 17:37:14 +02:00
#if defined(PIOS_INCLUDE_GCSRCVR)
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Initialize the GCSReceive object
GCSReceiverInitialize();
Added optional output of GCSReceiver from the OPLink to the FC. This will happen automatically if a PPM packet is receive, and PPM output is disabled.
2013-02-18 03:55:58 +01:00
#endif
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Initialize the external interrupt.
PIOS_EXTI_Init(cfg->exti_cfg);
Split out the PipX radio interface from RadioComBridge module to a separate Radio module. Now the RadioComBridge module just routes messages between the com ports and handles sending/receiving the PipX UAVOs.
2012-08-25 04:25:02 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Register the watchdog timer for the radio driver task
RFM22B: Moved ISR processing thread into the rfm22b driver.
2012-09-12 05:34:26 +02:00
#ifdef PIOS_WDG_RFM22B
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
PIOS_WDG_RegisterFlag(PIOS_WDG_RFM22B);
RFM22B: Moved ISR processing thread into the rfm22b driver.
2012-09-12 05:34:26 +02:00
#endif /* PIOS_WDG_RFM22B */
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Initialize the ECC library.
initialize_ecc();
Added initialization of the ECC, which was removed with the removal of the packet handler. Removed a couple of test functions from RadioComBridge module. Turned on watchdog timers in RadioComBridge (and RFM22B driver).
2012-12-18 03:33:42 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Set the state to initializing.
rfm22b_dev->state = RFM22B_STATE_UNINITIALIZED;
RFM22B: Moved ISR processing thread into the rfm22b driver.
2012-09-12 05:34:26 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Initialize the radio device.
pios_rfm22_inject_event(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Start the driver task. This task controls the radio state machine and removed all of the IO from the IRQ handler.
xTaskCreate(pios_rfm22_task, (signed char *)"PIOS_RFM22B_Task", STACK_SIZE_BYTES, (void*)rfm22b_dev, TASK_PRIORITY, &(rfm22b_dev->taskHandle));
RFM22B: Improved reliability, especially with reconnection after a timeout, although there is still too many resent packets.
2012-11-14 05:08:33 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
return(0);
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
}
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
/**
* Re-initialize the modem after a configuration change.
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
*
* @param[in] rbm22b_id The RFM22B device ID.
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
*/
void PIOS_RFM22B_Reinit(uint32_t rfm22b_id)
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_Validate(rfm22b_dev)) {
pios_rfm22_inject_event(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
}
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
}
RFM22B: Start at cleaning up the processing interrupt handling, and starting to make it more of a state machine. Also removed the supervisor, which was causing unnecessary resets. The supervisor functionality is not in the the driver thread.
2012-09-15 04:30:02 +02:00
/**
* The RFM22B external interrupt routine.
*/
Fixed some declaration to Exti functions to make it compile.
2012-09-30 17:04:36 +02:00
bool PIOS_RFM22_EXT_Int(void)
RFM22B: Start at cleaning up the processing interrupt handling, and starting to make it more of a state machine. Also removed the supervisor, which was causing unnecessary resets. The supervisor functionality is not in the the driver thread.
2012-09-15 04:30:02 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
if (!PIOS_RFM22B_Validate(g_rfm22b_dev)) {
Fixed some declaration to Exti functions to make it compile.
2012-09-30 17:04:36 +02:00
return false;
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
}
// Inject an interrupt event into the state machine.
pios_rfm22_inject_event(g_rfm22b_dev, RFM22B_EVENT_INT_RECEIVED, true);
return false;
RFM22B: Start at cleaning up the processing interrupt handling, and starting to make it more of a state machine. Also removed the supervisor, which was causing unnecessary resets. The supervisor functionality is not in the the driver thread.
2012-09-15 04:30:02 +02:00
}
/**
RFM22B: Modified the method of tracking RX errors, and now reporting Good, Corrected, Error, and Missed packets to the GCS. Also removed some less useful fields from the PipXStatus.
2012-10-13 21:06:17 +02:00
* Returns the unique device ID for the RFM22B device.
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
*
* @param[in] rfm22b_id The RFM22B device index.
* @return The unique device ID
RFM22B: Start at cleaning up the processing interrupt handling, and starting to make it more of a state machine. Also removed the supervisor, which was causing unnecessary resets. The supervisor functionality is not in the the driver thread.
2012-09-15 04:30:02 +02:00
*/
Added PipXStatus and PipXSettings UAVObjects and added support the sending/receiving UAVTalk objects on the PipX.
2012-04-11 05:22:53 +02:00
uint32_t PIOS_RFM22B_DeviceID(uint32_t rfm22b_id)
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_Validate(rfm22b_dev)) {
return rfm22b_dev->deviceID;
}
return 0;
Added PipXStatus and PipXSettings UAVObjects and added support the sending/receiving UAVTalk objects on the PipX.
2012-04-11 05:22:53 +02:00
}
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
/**
* Returns true if the modem is configured as a coordinator.
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
*
* @param[in] rfm22b_id The RFM22B device index.
* @return True if the modem is configured as a coordinator.
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
*/
bool PIOS_RFM22B_IsCoordinator(uint32_t rfm22b_id)
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_Validate(rfm22b_dev)) {
return rfm22b_dev->coordinator;
}
return false;
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
}
RFM22B: Changed the way the frequencies and power settings are set for the rfm22b device.
2012-10-21 00:02:49 +02:00
/**
* Sets the radio device transmit power.
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
*
* @param[in] rfm22b_id The RFM22B device index.
* @param[in] tx_pwr The transmit power.
RFM22B: Changed the way the frequencies and power settings are set for the rfm22b device.
2012-10-21 00:02:49 +02:00
*/
RFM22B: Added back configuration of the RF Power and RF Datarate. Also added setting of the destination ID in the rfm22b driver.
2012-10-04 05:03:35 +02:00
void PIOS_RFM22B_SetTxPower(uint32_t rfm22b_id, enum rfm22b_tx_power tx_pwr)
RFM22B: Removed incorrect defaulting of tx power level.
2012-09-13 03:24:19 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
rfm22b_dev->tx_power = tx_pwr;
RFM22B: Added back configuration of the RF Power and RF Datarate. Also added setting of the destination ID in the rfm22b driver.
2012-10-04 05:03:35 +02:00
}
RFM22B: Removed incorrect defaulting of tx power level.
2012-09-13 03:24:19 +02:00
Added setting of min/max frequencies on OPLink coordinator.
2013-04-06 02:32:15 +02:00
/**
* Sets the radio frequency range and initial frequency
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
*
* @param[in] rfm22b_id The RFM22B device index.
* @param[in] min_freq The minimum frequency
* @param[in] max_freq The maximum frequency
* @param[in] step_size The channel step size
Added setting of min/max frequencies on OPLink coordinator.
2013-04-06 02:32:15 +02:00
*/
void PIOS_RFM22B_SetFrequencyRange(uint32_t rfm22b_id, uint32_t min_freq, uint32_t max_freq, uint32_t step_size)
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
rfm22b_dev->con_packet.min_frequency = min_freq;
rfm22b_dev->con_packet.max_frequency = max_freq;
rfm22b_dev->con_packet.channel_spacing = step_size;
Added setting of min/max frequencies on OPLink coordinator.
2013-04-06 02:32:15 +02:00
}
/**
* Sets the initial radio frequency range
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
*
* @param[in] rfm22b_id The RFM22B device index.
* @param[in] init_freq The initial frequency
Added setting of min/max frequencies on OPLink coordinator.
2013-04-06 02:32:15 +02:00
*/
void PIOS_RFM22B_SetInitialFrequency(uint32_t rfm22b_id, uint32_t init_freq)
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
rfm22b_dev->init_frequency = init_freq;
Added setting of min/max frequencies on OPLink coordinator.
2013-04-06 02:32:15 +02:00
}
RFM22B/OPLink: Auto-configuration of remote com port now working.
2012-11-26 03:40:49 +01:00
/**
* Set the com port configuration callback (to receive com configuration over the air)
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
*
* @param[in] rfm22b_id The rfm22b device.
* @param[in] cb A pointer to the callback function
RFM22B/OPLink: Auto-configuration of remote com port now working.
2012-11-26 03:40:49 +01:00
*/
void PIOS_RFM22B_SetComConfigCallback(uint32_t rfm22b_id, PIOS_RFM22B_ComConfigCallback cb)
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
rfm22b_dev->com_config_cb = cb;
RFM22B/OPLink: Auto-configuration of remote com port now working.
2012-11-26 03:40:49 +01:00
}
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
/**
* Set the list of modems that this modem will bind with.
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
*
* @param[in] rfm22b_id The rfm22b device.
* @param[in] bindingPairIDs The array of binding IDs.
* @param[in] mainPortSettings The array of main com port configurations.
* @param[in] flexiPortSettings The array of flexi com port configurations.
* @param[in] vcpPortSettings The array of VCP com port configurations.
* @param[in] comSpeeds The array of com port speeds.
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
*/
Added the ability to store bindings and configuration paramaters for multiple (up to 8) modems from an OPLink controller modem.
2013-02-18 02:49:13 +01:00
void PIOS_RFM22B_SetBindings(uint32_t rfm22b_id, const uint32_t bindingPairIDs[], const uint8_t mainPortSettings[],
const uint8_t flexiPortSettings[], const uint8_t vcpPortSettings[], const uint8_t comSpeeds[])
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
// This modem will be considered a coordinator if any bindings have been set.
rfm22b_dev->coordinator = false;
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
rfm22b_dev->bindings[i].pairID = bindingPairIDs[i];
rfm22b_dev->bindings[i].main_port = mainPortSettings[i];
rfm22b_dev->bindings[i].flexi_port = flexiPortSettings[i];
rfm22b_dev->bindings[i].vcp_port = vcpPortSettings[i];
rfm22b_dev->bindings[i].com_speed = comSpeeds[i];
rfm22b_dev->coordinator |= (rfm22b_dev->bindings[i].pairID != 0);
}
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
}
RFM22B: Modified the method of tracking RX errors, and now reporting Good, Corrected, Error, and Missed packets to the GCS. Also removed some less useful fields from the PipXStatus.
2012-10-13 21:06:17 +02:00
/**
* Returns the device statistics RFM22B device.
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
*
* @param[in] rfm22b_id The RFM22B device index.
* @param[out] stats The stats are returned in this structure
RFM22B: Modified the method of tracking RX errors, and now reporting Good, Corrected, Error, and Missed packets to the GCS. Also removed some less useful fields from the PipXStatus.
2012-10-13 21:06:17 +02:00
*/
void PIOS_RFM22B_GetStats(uint32_t rfm22b_id, struct rfm22b_stats *stats) {
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
// Calculate the current link quality
rfm22_calculateLinkQuality(rfm22b_dev);
// We are connected if our destination ID is in the pair stats.
if (rfm22b_dev->destination_id != 0xffffffff) {
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i) {
if ((rfm22b_dev->pair_stats[i].pairID == rfm22b_dev->destination_id) &&
(rfm22b_dev->pair_stats[i].rssi > -127)) {
rfm22b_dev->stats.rssi = rfm22b_dev->pair_stats[i].rssi;
rfm22b_dev->stats.afc_correction = rfm22b_dev->pair_stats[i].afc_correction;
break;
}
}
}
*stats = rfm22b_dev->stats;
RFM22B: Added link quality calculation based on number of dropped packets. Also added packet error correction, which apparently wasn't being done before.
2012-10-05 06:11:40 +02:00
}
Added frequency hopping to the RFM22B driver. Currently it defaults to 128 channels between 430 and 440 MHz.
2013-02-25 00:05:51 +01:00
/**
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
* Get the stats of the oter radio devices that are in range.
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
*
* @param[out] device_ids A pointer to the array to store the device IDs.
* @param[out] RSSIs A pointer to the array to store the RSSI values in.
* @param[in] mx_pairs The length of the pdevice_ids and RSSIs arrays.
* @return The number of pair stats returned.
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
*/
uint8_t PIOS_RFM2B_GetPairStats(uint32_t rfm22b_id, uint32_t *device_ids, int8_t *RSSIs, uint8_t max_pairs)
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return 0;
}
uint8_t mp = (max_pairs >= OPLINKSTATUS_PAIRIDS_NUMELEM) ? max_pairs : OPLINKSTATUS_PAIRIDS_NUMELEM;
for (uint8_t i = 0; i < mp; ++i) {
device_ids[i] = rfm22b_dev->pair_stats[i].pairID;
RSSIs[i] = rfm22b_dev->pair_stats[i].rssi;
}
return mp;
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
}
Working PipX com relay.
2012-03-08 02:05:42 +01:00
USB/COM/RFM22B: Added a standard com callback to test for link availability. This replaces the PIOS_USB_CheckAvailable function with a generic PIOS_COM_Available function. This is now used by the RFM22B com driver to test if a good link is up. This was originally written by James, and Brian merged it into the latest RFM22B branch.
2012-10-26 23:25:41 +02:00
/**
* Check the radio device for a valid connection
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
*
* @param[in] rfm22b_id The rfm22b device.
* @return true if there is a valid connection to paired radio, false otherwise.
USB/COM/RFM22B: Added a standard com callback to test for link availability. This replaces the PIOS_USB_CheckAvailable function with a generic PIOS_COM_Available function. This is now used by the RFM22B com driver to test if a good link is up. This was originally written by James, and Brian merged it into the latest RFM22B branch.
2012-10-26 23:25:41 +02:00
*/
bool PIOS_RFM22B_LinkStatus(uint32_t rfm22b_id)
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_Validate(rfm22b_dev)) {
return false;
}
return (rfm22_isConnected(rfm22b_dev) && (rfm22b_dev->stats.link_quality > RFM22B_LINK_QUALITY_THRESHOLD));
USB/COM/RFM22B: Added a standard com callback to test for link availability. This replaces the PIOS_USB_CheckAvailable function with a generic PIOS_COM_Available function. This is now used by the RFM22B com driver to test if a good link is up. This was originally written by James, and Brian merged it into the latest RFM22B branch.
2012-10-26 23:25:41 +02:00
}
OP-914 - Converted PIOS_RFM22B_Validate back into a normal function from an inline.
2013-04-16 15:56:21 +02:00
/**
* Validate that the device structure is valid.
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
*/
inline bool PIOS_RFM22B_Validate(struct pios_rfm22b_dev *rfm22b_dev)
{
return (rfm22b_dev != NULL && rfm22b_dev->magic == PIOS_RFM22B_DEV_MAGIC);
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/*****************************************************************************
* The Device Control Thread
*****************************************************************************/
RFM22B: Moved ISR processing thread into the rfm22b driver.
2012-09-12 05:34:26 +02:00
/**
* The task that controls the radio state machine.
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
*
* @param[in] paramters The task parameters.
RFM22B: Moved ISR processing thread into the rfm22b driver.
2012-09-12 05:34:26 +02:00
*/
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
static void pios_rfm22_task(void *parameters)
RFM22B: Moved ISR processing thread into the rfm22b driver.
2012-09-12 05:34:26 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)parameters;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
portTickType lastEventTicks = xTaskGetTickCount();
portTickType lastStatusTicks = lastEventTicks;
portTickType lastPPMTicks = lastEventTicks;
while(1) {
RFM22B: Moved ISR processing thread into the rfm22b driver.
2012-09-12 05:34:26 +02:00
#ifdef PIOS_WDG_RFM22B
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Update the watchdog timer
PIOS_WDG_UpdateFlag(PIOS_WDG_RFM22B);
RFM22B: Moved ISR processing thread into the rfm22b driver.
2012-09-12 05:34:26 +02:00
#endif /* PIOS_WDG_RFM22B */
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Wait for a signal indicating an external interrupt or a pending send/receive request.
if (xSemaphoreTake(rfm22b_dev->isrPending, ISR_TIMEOUT / portTICK_RATE_MS) == pdTRUE) {
lastEventTicks = xTaskGetTickCount();
// Process events through the state machine.
enum pios_rfm22b_event event;
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE) {
if ((event == RFM22B_EVENT_INT_RECEIVED) &&
((rfm22b_dev->state == RFM22B_STATE_UNINITIALIZED) || (rfm22b_dev->state == RFM22B_STATE_INITIALIZING)))
continue;
rfm22_process_event(rfm22b_dev, event);
}
} else {
// Has it been too long since the last event?
portTickType curTicks = xTaskGetTickCount();
if (pios_rfm22_time_difference_ms(lastEventTicks, curTicks) > PIOS_RFM22B_SUPERVISOR_TIMEOUT) {
// Transsition through an error event.
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
// Clear the event queue.
enum pios_rfm22b_event event;
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE) {
// Do nothing;
}
lastEventTicks = xTaskGetTickCount();
}
}
// Change channels if necessary.
if ((rfm22b_dev->state == RFM22B_STATE_RX_MODE) || (rfm22b_dev->state == RFM22B_STATE_WAIT_PREAMBLE)) {
rfm22_changeChannel(rfm22b_dev);
}
portTickType curTicks = xTaskGetTickCount();
uint32_t last_rec_ms = (rfm22b_dev->rx_complete_ticks == 0) ? 0 : pios_rfm22_time_difference_ms(rfm22b_dev->rx_complete_ticks, curTicks);
// Have we been sending this packet too long?
if ((rfm22b_dev->packet_start_ticks > 0) && (pios_rfm22_time_difference_ms(rfm22b_dev->packet_start_ticks, curTicks) > (rfm22b_dev->max_packet_time * 3))) {
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TIMEOUT);
// Has it been too long since we received a packet
} else if (last_rec_ms > DISCONNECT_TIMEOUT_MS) {
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
} else {
RFM22B: Changing configuration parameters over-the-air working. Added tracking of Tx/Rx sequence number. Still seeing too many resent packets.
2012-11-11 16:52:53 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Are we waiting for an ACK?
if (rfm22b_dev->prev_tx_packet) {
// Should we resend the packet?
if (pios_rfm22_time_difference_ms(rfm22b_dev->tx_complete_ticks, curTicks) > rfm22b_dev->max_ack_delay) {
rfm22b_dev->tx_complete_ticks = curTicks;
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ACK_TIMEOUT);
}
} else {
// Queue up a PPM packet if it's time.
if (pios_rfm22_time_difference_ms(lastPPMTicks, curTicks) > PPM_UPDATE_PERIOD_MS) {
rfm22_sendPPM(rfm22b_dev);
lastPPMTicks = curTicks;
}
// Queue up a status packet if it's time.
if ((pios_rfm22_time_difference_ms(lastStatusTicks, curTicks) > RADIOSTATS_UPDATE_PERIOD_MS) || (last_rec_ms > rfm22b_dev->max_packet_time * 4)) {
rfm22_sendStatus(rfm22b_dev);
lastStatusTicks = curTicks;
}
}
}
// Send a packet if it's our time slice
rfm22b_dev->time_to_send = (((curTicks - rfm22b_dev->time_to_send_offset) & 0x6) == 0);
OP-932: Fixed GPIO debugging on RevoMini (both V1 and V2)
2013-04-21 04:50:37 +02:00
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
if (rfm22b_dev->time_to_send) {
D4_LED_ON;
} else {
D4_LED_OFF;
}
if (rfm22_inChannelBuffer(rfm22b_dev)) {
D3_LED_ON;
} else {
D3_LED_OFF;
}
OP-914 - Converted PIOS_RFM22B_Validate back into a normal function from an inline.
2013-04-13 05:10:40 +02:00
#endif
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
if (rfm22b_dev->time_to_send) {
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TX_START);
}
}
}
/*****************************************************************************
* The State Machine Functions
*****************************************************************************/
/**
* Inject an event into the RFM22B state machine.
*
* @param[in] rfm22b_dev The device structure
* @param[in] event The event to inject
* @param[in] inISR Is this being called from an interrrup service routine?
*/
static void pios_rfm22_inject_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR)
{
// Store the event.
if (xQueueSend(rfm22b_dev->eventQueue, &event, portMAX_DELAY) != pdTRUE)
return;
// Signal the semaphore to wake up the handler thread.
if (inISR) {
portBASE_TYPE pxHigherPriorityTaskWoken;
if (xSemaphoreGiveFromISR(rfm22b_dev->isrPending, &pxHigherPriorityTaskWoken) != pdTRUE) {
// Something went fairly seriously wrong
rfm22b_dev->errors++;
}
portEND_SWITCHING_ISR(pxHigherPriorityTaskWoken);
} else {
if (xSemaphoreGive(rfm22b_dev->isrPending) != pdTRUE) {
// Something went fairly seriously wrong
rfm22b_dev->errors++;
}
}
}
/**
* Process the next state transition from the given event.
*
* @param[in] rfm22b_dev The device structure
* @param[in] event The event to process
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_process_state_transition(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event)
{
// No event
if (event == RFM22B_EVENT_NUM_EVENTS) {
return RFM22B_EVENT_NUM_EVENTS;
}
// Don't transition if there is no transition defined
enum pios_rfm22b_state next_state = rfm22b_transitions[rfm22b_dev->state].next_state[event];
if (!next_state) {
return RFM22B_EVENT_NUM_EVENTS;
}
/*
* Move to the next state
*
* This is done prior to calling the new state's entry function to
* guarantee that the entry function never depends on the previous
* state. This way, it cannot ever know what the previous state was.
*/
rfm22b_dev->state = next_state;
/* Call the entry function (if any) for the next state. */
if (rfm22b_transitions[rfm22b_dev->state].entry_fn) {
return rfm22b_transitions[rfm22b_dev->state].entry_fn(rfm22b_dev);
}
return RFM22B_EVENT_NUM_EVENTS;
}
/**
* Process the given event through the state transition table.
* This could cause a series of events and transitions to take place.
*
* @param[in] rfm22b_dev The device structure
* @param[in] event The event to process
*/
static void rfm22_process_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event)
{
// Process all state transitions.
while(event != RFM22B_EVENT_NUM_EVENTS) {
event = rfm22_process_state_transition(rfm22b_dev, event);
}
OP-914 - Converted PIOS_RFM22B_Validate back into a normal function from an inline.
2013-04-13 05:10:40 +02:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/*****************************************************************************
* The Device Initialization / Configuration Functions
*****************************************************************************/
OP-914 - Converted PIOS_RFM22B_Validate back into a normal function from an inline.
2013-04-13 05:10:40 +02:00
/**
* Initialize (or re-initialize) the RFM22B radio device.
*
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
OP-914 - Converted PIOS_RFM22B_Validate back into a normal function from an inline.
2013-04-13 05:10:40 +02:00
*/
static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Initialize the register values.
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
rfm22b_dev->status_regs.int_status_1.raw = 0;
rfm22b_dev->status_regs.int_status_2.raw = 0;
rfm22b_dev->status_regs.device_status.raw = 0;
rfm22b_dev->status_regs.ezmac_status.raw = 0;
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Clean the LEDs
rfm22_clearLEDs();
// Initialize the detected device statistics.
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i) {
rfm22b_dev->pair_stats[i].pairID = 0;
rfm22b_dev->pair_stats[i].rssi = -127;
rfm22b_dev->pair_stats[i].afc_correction = 0;
rfm22b_dev->pair_stats[i].lastContact = 0;
}
// Initlize the link stats.
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i) {
rfm22b_dev->rx_packet_stats[i] = 0;
}
// Initialize the state
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
rfm22b_dev->destination_id = 0xffffffff;
rfm22b_dev->time_to_send = false;
rfm22b_dev->time_to_send_offset = 0;
rfm22b_dev->send_status = false;
rfm22b_dev->send_connection_request = false;
// Initialize the packets.
rfm22b_dev->rx_packet_len = 0;
rfm22b_dev->tx_packet = NULL;
rfm22b_dev->prev_tx_packet = NULL;
rfm22b_dev->data_packet.header.data_size = 0;
rfm22b_dev->in_rx_mode = false;
// Initialize the devide state
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
rfm22b_dev->frequency_hop_channel = 0;
rfm22b_dev->afc_correction_Hz = 0;
rfm22b_dev->packet_start_ticks = 0;
rfm22b_dev->tx_complete_ticks = 0;
rfm22b_dev->rx_complete_ticks = 0;
// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
for (uint8_t i = 0; i < 50; ++i) {
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// read the status registers
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
rfm22_readStatus(rfm22b_dev);
// Is the chip ready?
if (rfm22b_dev->status_regs.int_status_2.chip_ready)
break;
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
// Wait 1ms if not.
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
PIOS_DELAY_WaitmS(1);
}
// ****************
// read status - clears interrupt
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
rfm22_readStatus(rfm22b_dev);
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// disable all interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// read the RF chip ID bytes
// read the device type
uint8_t device_type = rfm22_read(rfm22b_dev, RFM22_DEVICE_TYPE) & RFM22_DT_MASK;
// read the device version
uint8_t device_version = rfm22_read(rfm22b_dev, RFM22_DEVICE_VERSION) & RFM22_DV_MASK;
OP-914 - Converted PIOS_RFM22B_Validate back into a normal function from an inline.
2013-04-13 05:10:40 +02:00
#if defined(RFM22_DEBUG)
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
DEBUG_PRINTF(2, "rf device type: %d\n\r", device_type);
DEBUG_PRINTF(2, "rf device version: %d\n\r", device_version);
OP-914 - Converted PIOS_RFM22B_Validate back into a normal function from an inline.
2013-04-13 05:10:40 +02:00
#endif
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
if (device_type != 0x08) {
OP-914 - Converted PIOS_RFM22B_Validate back into a normal function from an inline.
2013-04-13 05:10:40 +02:00
#if defined(RFM22_DEBUG)
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
DEBUG_PRINTF(2, "rf device type: INCORRECT - should be 0x08\n\r");
OP-914 - Converted PIOS_RFM22B_Validate back into a normal function from an inline.
2013-04-13 05:10:40 +02:00
#endif
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// incorrect RF module type
return RFM22B_EVENT_FATAL_ERROR;
}
if (device_version != RFM22_DEVICE_VERSION_B1) {
OP-914 - Converted PIOS_RFM22B_Validate back into a normal function from an inline.
2013-04-13 05:10:40 +02:00
#if defined(RFM22_DEBUG)
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
DEBUG_PRINTF(2, "rf device version: INCORRECT\n\r");
OP-914 - Converted PIOS_RFM22B_Validate back into a normal function from an inline.
2013-04-13 05:10:40 +02:00
#endif
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// incorrect RF module version
return RFM22B_EVENT_FATAL_ERROR;
}
// calibrate our RF module to be exactly on frequency .. different for every module
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, OSC_LOAD_CAP);
// disable Low Duty Cycle Mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
// 1MHz clock output
rfm22_write(rfm22b_dev, RFM22_cpu_output_clk, RFM22_coc_1MHz);
// READY mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_xton);
// choose the 3 GPIO pin functions
// GPIO port use default value
rfm22_write(rfm22b_dev, RFM22_io_port_config, RFM22_io_port_default);
if (rfm22b_dev->cfg.gpio_direction == GPIO0_TX_GPIO1_RX) {
// GPIO0 = TX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_txstate);
// GPIO1 = RX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_rxstate);
} else {
// GPIO0 = TX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_rxstate);
// GPIO1 = RX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_txstate);
}
// GPIO2 = Clear Channel Assessment
rfm22_write(rfm22b_dev, RFM22_gpio2_config, RFM22_gpio2_config_drv3 | RFM22_gpio2_config_cca);
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(rfm22b_dev, RFM22_modulation_mode_control2, RFM22_mmc2_trclk_clk_none | RFM22_mmc2_dtmod_fifo | fd_bit | RFM22_mmc2_modtyp_gfsk);
// setup to read the internal temperature sensor
// ADC used to sample the temperature sensor
uint8_t adc_config = RFM22_ac_adcsel_temp_sensor | RFM22_ac_adcref_bg;
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config);
// adc offset
rfm22_write(rfm22b_dev, RFM22_adc_sensor_amp_offset, 0);
// temp sensor calibration .. <20>40C to +64C 0.5C resolution
rfm22_write(rfm22b_dev, RFM22_temp_sensor_calib, RFM22_tsc_tsrange0 | RFM22_tsc_entsoffs);
// temp sensor offset
rfm22_write(rfm22b_dev, RFM22_temp_value_offset, 0);
// start an ADC conversion
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config | RFM22_ac_adcstartbusy);
// set the RSSI threshold interrupt to about -90dBm
rfm22_write(rfm22b_dev, RFM22_rssi_threshold_clear_chan_indicator, (-90 + 122) * 2);
// enable the internal Tx & Rx packet handlers (without CRC)
rfm22_write(rfm22b_dev, RFM22_data_access_control, RFM22_dac_enpacrx | RFM22_dac_enpactx);
// x-nibbles tx preamble
rfm22_write(rfm22b_dev, RFM22_preamble_length, TX_PREAMBLE_NIBBLES);
// x-nibbles rx preamble detection
rfm22_write(rfm22b_dev, RFM22_preamble_detection_ctrl1, RX_PREAMBLE_NIBBLES << 3);
// header control - using a 4 by header with broadcast of 0xffffffff
rfm22_write(rfm22b_dev, RFM22_header_control1,
RFM22_header_cntl1_bcen_0 |
RFM22_header_cntl1_bcen_1 |
RFM22_header_cntl1_bcen_2 |
RFM22_header_cntl1_bcen_3 |
RFM22_header_cntl1_hdch_0 |
RFM22_header_cntl1_hdch_1 |
RFM22_header_cntl1_hdch_2 |
RFM22_header_cntl1_hdch_3);
// Check all bit of all bytes of the header
rfm22_write(rfm22b_dev, RFM22_header_enable0, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable1, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable2, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable3, 0xff);
// Set the ID to be checked
uint32_t id = rfm22b_dev->deviceID;
rfm22_write(rfm22b_dev, RFM22_check_header0, id & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header1, (id >> 8) & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header2, (id >> 16) & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header3, (id >> 24) & 0xff);
// 4 header bytes, synchronization word length 3, 2, 1 & 0 used, packet length included in header.
rfm22_write(rfm22b_dev, RFM22_header_control2,
RFM22_header_cntl2_hdlen_3210 |
RFM22_header_cntl2_synclen_3210 |
((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
// sync word
rfm22_write(rfm22b_dev, RFM22_sync_word3, SYNC_BYTE_1);
rfm22_write(rfm22b_dev, RFM22_sync_word2, SYNC_BYTE_2);
rfm22_write(rfm22b_dev, RFM22_sync_word1, SYNC_BYTE_3);
rfm22_write(rfm22b_dev, RFM22_sync_word0, SYNC_BYTE_4);
// set the tx power
rfm22_write(rfm22b_dev, RFM22_tx_power, RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power);
// TX FIFO Almost Full Threshold (0 - 63)
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control1, TX_FIFO_HI_WATERMARK);
// TX FIFO Almost Empty Threshold (0 - 63)
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control2, TX_FIFO_LO_WATERMARK);
// RX FIFO Almost Full Threshold (0 - 63)
rfm22_write(rfm22b_dev, RFM22_rx_fifo_control, RX_FIFO_HI_WATERMARK);
// Set the frequency calibration
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, rfm22b_dev->cfg.RFXtalCap);
// Initialize the frequency and datarate to te default.
rfm22_setNominalCarrierFrequency(rfm22b_dev, rfm22b_dev->init_frequency, rfm22b_dev->init_frequency, RFM22B_FREQUENCY_HOP_STEP_SIZE);
rfm22_setDatarate(rfm22b_dev, RFM22B_DEFAULT_RX_DATARATE, true);
return RFM22B_EVENT_INITIALIZED;
RFM22B: Moved ISR processing thread into the rfm22b driver.
2012-09-12 05:34:26 +02:00
}
OP-914 - Converted PIOS_RFM22B_Validate back into a normal function from an inline.
2013-04-13 05:10:40 +02:00
/**
* Set the air datarate for the RFM22B device.
*
* Carson's rule:
* The signal bandwidth is about 2(Delta-f + fm) ..
*
* Delta-f = frequency deviation
* fm = maximum frequency of the signal
*
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
* @param[in] rfm33b_dev The device structure pointer.
* @param[in] datarate The air datarate.
* @param[in] data_whitening Is data whitening desired?
OP-914 - Converted PIOS_RFM22B_Validate back into a normal function from an inline.
2013-04-13 05:10:40 +02:00
*/
static void rfm22_setDatarate(struct pios_rfm22b_dev *rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening)
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
uint32_t datarate_bps = data_rate[datarate];
rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(datarate_bps) + 0.5);
// Generate a pseudo-random number from 0-8 to add to the delay
uint8_t random = PIOS_CRC_updateByte(0, (uint8_t)(xTaskGetTickCount() & 0xff)) & 0x03;
rfm22b_dev->max_ack_delay = (uint16_t)((float)((sizeof(PHAckNackPacket) * 8 + TX_PREAMBLE_NIBBLES * 4) * 1000) / (float)(datarate_bps) + 0.5) * 4 + 4 + random;
// rfm22_if_filter_bandwidth
rfm22_write(rfm22b_dev, 0x1C, reg_1C[datarate]);
// rfm22_afc_loop_gearshift_override
rfm22_write(rfm22b_dev, 0x1D, reg_1D[datarate]);
// RFM22_afc_timing_control
rfm22_write(rfm22b_dev, 0x1E, reg_1E[datarate]);
// RFM22_clk_recovery_gearshift_override
rfm22_write(rfm22b_dev, 0x1F, reg_1F[datarate]);
// rfm22_clk_recovery_oversampling_ratio
rfm22_write(rfm22b_dev, 0x20, reg_20[datarate]);
// rfm22_clk_recovery_offset2
rfm22_write(rfm22b_dev, 0x21, reg_21[datarate]);
// rfm22_clk_recovery_offset1
rfm22_write(rfm22b_dev, 0x22, reg_22[datarate]);
// rfm22_clk_recovery_offset0
rfm22_write(rfm22b_dev, 0x23, reg_23[datarate]);
// rfm22_clk_recovery_timing_loop_gain1
rfm22_write(rfm22b_dev, 0x24, reg_24[datarate]);
// rfm22_clk_recovery_timing_loop_gain0
rfm22_write(rfm22b_dev, 0x25, reg_25[datarate]);
// rfm22_agc_override1
rfm22_write(rfm22b_dev, RFM22_agc_override1, reg_69[datarate]);
// rfm22_afc_limiter
rfm22_write(rfm22b_dev, 0x2A, reg_2A[datarate]);
// rfm22_tx_data_rate1
rfm22_write(rfm22b_dev, 0x6E, reg_6E[datarate]);
// rfm22_tx_data_rate0
rfm22_write(rfm22b_dev, 0x6F, reg_6F[datarate]);
if (!data_whitening) {
// rfm22_modulation_mode_control1
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] & ~RFM22_mmc1_enwhite);
} else {
// rfm22_modulation_mode_control1
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] | RFM22_mmc1_enwhite);
}
// rfm22_modulation_mode_control2
rfm22_write(rfm22b_dev, 0x71, reg_71[datarate]);
// rfm22_frequency_deviation
rfm22_write(rfm22b_dev, 0x72, reg_72[datarate]);
// rfm22_cpcuu
rfm22_write(rfm22b_dev, 0x58, reg_58[datarate]);
rfm22_write(rfm22b_dev, RFM22_ook_counter_value1, 0x00);
rfm22_write(rfm22b_dev, RFM22_ook_counter_value2, 0x00);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Set the nominal carrier frequency and channel step size.
*
* @param[in] rfm33b_dev The device structure pointer.
* @param[in] min_frequency The minimum frequenc to transmit on (in Hz).
* @param[in] max_frequency The maximum frequenc to transmit on (in Hz).
* @param[in] step_size The channel spacing (in Hz).
*/
static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t min_frequency, uint32_t max_frequency, uint32_t step_size)
RFM22b: Claim the bus semaphore before reading and writing.
2012-08-26 06:07:00 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
uint32_t frequency_hz = min_frequency;
// holds the hbsel (1 or 2)
uint8_t hbsel;
if (frequency_hz < 480000000) {
hbsel = 0;
} else {
hbsel = 1;
}
float freq_mhz = (float)(frequency_hz) / 1000000.0;
float xtal_freq_khz = 30000;
float sfreq = freq_mhz / (10.0 * (xtal_freq_khz / 30000.0) * (1 + hbsel));
uint32_t fb = (uint32_t)sfreq - 24 + (64 + 32 * hbsel);
uint32_t fc = (uint32_t)((sfreq - (uint32_t)sfreq) * 64000.0);
uint8_t fch = (fc >> 8) & 0xff;
uint8_t fcl = fc & 0xff;
// Calculate the number of frequency hopping channels.
rfm22b_dev->num_channels = (step_size == 0) ? 1 : (uint16_t)((max_frequency - min_frequency) / step_size);
// initialize the frequency hopping step size (specified in 10khz increments).
uint32_t freq_hop_step_size = step_size / 10000;
if (freq_hop_step_size > 255) {
freq_hop_step_size = 255;
}
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_step_size, (uint8_t)freq_hop_step_size);
// frequency hopping channel (0-255)
rfm22b_dev->frequency_step_size = 156.25f * hbsel;
// frequency hopping channel (0-255)
rfm22b_dev->frequency_hop_channel = 0;
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, 0);
// no frequency offset
rfm22_write(rfm22b_dev, RFM22_frequency_offset1, 0);
rfm22_write(rfm22b_dev, RFM22_frequency_offset2, 0);
// set the carrier frequency
rfm22_write(rfm22b_dev, RFM22_frequency_band_select, fb & 0xff);
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency1, fch);
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency0, fcl);
RFM22b: Claim the bus semaphore before reading and writing.
2012-08-26 06:07:00 +02:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Set the frequency hopping channel.
*
* @param[in] rfm33b_dev The device structure pointer.
*/
static bool rfm22_setFreqHopChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t channel)
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// set the frequency hopping channel
if (rfm22b_dev->frequency_hop_channel == channel) {
return false;
}
rfm22b_dev->frequency_hop_channel = channel;
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, channel);
return true;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/*****************************************************************************
* Radio Transmit and Receive functions.
*****************************************************************************/
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
RFM22b: Get rid of the burst read commands and do a block transfer
2012-09-05 07:56:48 +02:00
/**
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
* Read the RFM22B interrupt and device status registers
*
* @param[in] rfm22b_dev The device structure
RFM22b: Get rid of the burst read commands and do a block transfer
2012-09-05 07:56:48 +02:00
*/
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
static bool rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev)
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// 1. Read the interrupt statuses with burst read
rfm22_claimBus(rfm22b_dev); // Set RC and the semaphore
uint8_t write_buf[3] = {RFM22_interrupt_status1 & 0x7f, 0xFF, 0xFF};
uint8_t read_buf[3];
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, write_buf, read_buf, sizeof(write_buf), NULL);
rfm22_deassertCs(rfm22b_dev);
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
rfm22b_dev->status_regs.int_status_1.raw = read_buf[1];
rfm22b_dev->status_regs.int_status_2.raw = read_buf[2];
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Device status
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
rfm22b_dev->status_regs.device_status.raw = rfm22_read_noclaim(rfm22b_dev, RFM22_device_status);
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// EzMAC status
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
rfm22b_dev->status_regs.ezmac_status.raw = rfm22_read_noclaim(rfm22b_dev, RFM22_ezmac_status);
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Release the bus
rfm22_releaseBus(rfm22b_dev);
// the RF module has gone and done a reset - we need to re-initialize the rf module
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
if (rfm22b_dev->status_regs.int_status_2.poweron_reset) {
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
return false;
}
return true;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
}
RFM22b: Block transfers for more large SPI transfers Preallocated buffers with various preambles etc. Used SPI_TransferBlock for anything over a few bytes instead of burstWrite. Also make more of the communications wrappered in a large semaphore grab using a new rfm22_write_noclaim() Still needs work - probably because most of the methods to repeated calls they should all use the noclaim, or more specifically that function becomes rfm22_write/read.
2012-09-02 20:31:09 +02:00
/**
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
* Switch the radio into receive mode.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
RFM22b: Block transfers for more large SPI transfers Preallocated buffers with various preambles etc. Used SPI_TransferBlock for anything over a few bytes instead of burstWrite. Also make more of the communications wrappered in a large semaphore grab using a new rfm22_write_noclaim() Still needs work - probably because most of the methods to repeated calls they should all use the noclaim, or more specifically that function becomes rfm22_write/read.
2012-09-02 20:31:09 +02:00
*/
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev)
RFM22b: Block transfers for more large SPI transfers Preallocated buffers with various preambles etc. Used SPI_TransferBlock for anything over a few bytes instead of burstWrite. Also make more of the communications wrappered in a large semaphore grab using a new rfm22_write_noclaim() Still needs work - probably because most of the methods to repeated calls they should all use the noclaim, or more specifically that function becomes rfm22_write/read.
2012-09-02 20:31:09 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Are we already in Rx mode?
if (rfm22b_dev->in_rx_mode) {
return RFM22B_EVENT_NUM_EVENTS;
}
rfm22b_dev->packet_start_ticks = 0;
OP-932: Fixed GPIO debugging on RevoMini (both V1 and V2)
2013-04-21 04:50:37 +02:00
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
D2_LED_ON;
#endif // PIOS_RFM22B_DEBUG_ON_TELEM
RFM22b: Block transfers for more large SPI transfers Preallocated buffers with various preambles etc. Used SPI_TransferBlock for anything over a few bytes instead of burstWrite. Also make more of the communications wrappered in a large semaphore grab using a new rfm22_write_noclaim() Still needs work - probably because most of the methods to repeated calls they should all use the noclaim, or more specifically that function becomes rfm22_write/read.
2012-09-02 20:31:09 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// disable interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
Added start at a modified PipX packet handler.
2012-03-16 03:29:54 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Switch to TUNE mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
RX_LED_OFF;
TX_LED_OFF;
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// empty the rx buffer
rfm22b_dev->rx_buffer_wr = 0;
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Clear the TX buffer.
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// clear FIFOs
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// enable RX interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_encrcerror | RFM22_ie1_enpkvalid |
RFM22_ie1_enrxffafull | RFM22_ie1_enfferr);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, RFM22_ie2_enpreainval | RFM22_ie2_enpreaval |
RFM22_ie2_enswdet);
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// enable the receiver
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_rxon);
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Indicate that we're in RX mode.
rfm22b_dev->in_rx_mode = true;
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// No event generated
return RFM22B_EVENT_NUM_EVENTS;
}
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Detect the preamble
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_detectPreamble(struct pios_rfm22b_dev *rfm22b_dev)
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_FAILURE;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Valid preamble detected
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
if (rfm22b_dev->status_regs.int_status_2.valid_preamble_detected) {
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_ticks == 0)
rfm22b_dev->packet_start_ticks = 1;
RX_LED_ON;
return RFM22B_EVENT_PREAMBLE_DETECTED;
}
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
return RFM22B_EVENT_NUM_EVENTS;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Detect the sync
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_detectSync(struct pios_rfm22b_dev *rfm22b_dev)
Added frequency hopping to the RFM22B driver. Currently it defaults to 128 channels between 430 and 440 MHz.
2013-02-25 00:05:51 +01:00
{
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_FAILURE;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Sync word detected
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
if (rfm22b_dev->status_regs.int_status_2.sync_word_detected) {
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
RX_LED_ON;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// read the 10-bit signed afc correction value
// bits 9 to 2
uint16_t afc_correction = (uint16_t)rfm22_read(rfm22b_dev, RFM22_afc_correction_read) << 8;
// bits 1 & 0
afc_correction |= (uint16_t)rfm22_read(rfm22b_dev, RFM22_ook_counter_value1) & 0x00c0;
afc_correction >>= 6;
// convert the afc value to Hz
int32_t afc_corr = (int32_t)(rfm22b_dev->frequency_step_size * afc_correction + 0.5f);
rfm22b_dev->afc_correction_Hz = (afc_corr < -127) ? -127 : ((afc_corr > 127) ? 127 : afc_corr);
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// read rx signal strength .. 45 = -100dBm, 205 = -20dBm
uint8_t rssi = rfm22_read(rfm22b_dev, RFM22_rssi);
// convert to dBm
rfm22b_dev->rssi_dBm = (int8_t)(rssi >> 1) - 122;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
return RFM22B_EVENT_SYNC_DETECTED;
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
}
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
return RFM22B_EVENT_NUM_EVENTS;
}
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Receive the packet data.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
{
// Swap in the next packet buffer if required.
uint8_t *rx_buffer = (uint8_t*)&(rfm22b_dev->rx_packet);
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev)) {
return RFM22B_EVENT_FAILURE;
}
// FIFO under/over flow error. Restart RX mode.
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
if (rfm22b_dev->status_regs.int_status_1.fifo_underoverflow_error) {
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
return RFM22B_EVENT_FAILURE;
}
// RX FIFO almost full, it needs emptying
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
if (rfm22b_dev->status_regs.int_status_1.rx_fifo_almost_full) {
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// read data from the rf chips FIFO buffer
// read the total length of the packet data
uint16_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
// The received packet is going to be larger than the specified length
if ((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) > len) {
return RFM22B_EVENT_FAILURE;
}
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Another packet length error.
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
if (((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) >= len) && !(rfm22b_dev->status_regs.int_status_1.valid_packet_received)) {
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
return RFM22B_EVENT_FAILURE;
}
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Fetch the data from the RX FIFO
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id ,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], RX_FIFO_HI_WATERMARK, NULL) == 0) ? RX_FIFO_HI_WATERMARK : 0;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
// Valid packet received
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
if (rfm22b_dev->status_regs.int_status_1.valid_packet_received) {
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// read the total length of the packet data
uint32_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
// their must still be data in the RX FIFO we need to get
if (rfm22b_dev->rx_buffer_wr < len) {
int32_t bytes_to_read = len - rfm22b_dev->rx_buffer_wr;
// Fetch the data from the RX FIFO
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], bytes_to_read, NULL) == 0) ? bytes_to_read : 0;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
if (rfm22b_dev->rx_buffer_wr != len) {
return RFM22B_EVENT_FAILURE;
}
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// we have a valid received packet
enum pios_rfm22b_event ret_event = RFM22B_EVENT_RX_COMPLETE;
if (rfm22b_dev->rx_buffer_wr > 0) {
rfm22b_dev->stats.rx_byte_count += rfm22b_dev->rx_buffer_wr;
// Check the packet for errors.
if (rfm22_receivePacket(rfm22b_dev, &(rfm22b_dev->rx_packet), rfm22b_dev->rx_buffer_wr)) {
switch (rfm22b_dev->rx_packet.header.type) {
case PACKET_TYPE_STATUS:
ret_event = RFM22B_EVENT_STATUS_RECEIVED;
break;
case PACKET_TYPE_CON_REQUEST:
ret_event = RFM22B_EVENT_CONNECTION_REQUESTED;
break;
case PACKET_TYPE_DATA:
{
// Send the data to the com port
bool rx_need_yield;
if (rfm22b_dev->rx_in_cb)
(rfm22b_dev->rx_in_cb)(rfm22b_dev->rx_in_context, rfm22b_dev->rx_packet.data, rfm22b_dev->rx_packet.header.data_size, NULL, &rx_need_yield);
#ifdef RFM22B_TEST_DROPPED_PACKETS
// Inject radnom missed ACKs
{
static uint8_t crc = 0;
static uint8_t cntr = 0;
crc = PIOS_CRC_updateByte(crc, cntr++);
if ((crc & 0x7) == 0)
ret_event = RFM22B_EVENT_RX_MODE;
}
#endif
break;
}
case PACKET_TYPE_DUPLICATE_DATA:
break;
case PACKET_TYPE_ACK:
case PACKET_TYPE_ACK_RTS:
ret_event = RFM22B_EVENT_PACKET_ACKED;
break;
case PACKET_TYPE_NACK:
ret_event = RFM22B_EVENT_PACKET_NACKED;
break;
case PACKET_TYPE_PPM:
{
#if defined(PIOS_INCLUDE_GCSRCVR) || (defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT)) || defined(PIOS_INCLUDE_RFM22B_RCVR)
PHPpmPacketHandle ppmp = (PHPpmPacketHandle)&(rfm22b_dev->rx_packet);
#if defined(PIOS_INCLUDE_GCSRCVR) || (defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT))
bool ppm_output = false;
#endif
#endif
#if defined(PIOS_INCLUDE_RFM22B_RCVR)
ppm_output = true;
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
rfm22b_dev->ppm_channel[i] = ppmp->channels[i];
}
#endif
#if defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT)
if (PIOS_PPM_OUTPUT) {
ppm_output = true;
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, ppmp->channels[i]);
}
}
#endif
#if defined(PIOS_INCLUDE_GCSRCVR)
if (!ppm_output) {
GCSReceiverData gcsRcvr;
for (uint8_t i = 0; (i < PIOS_RFM22B_RCVR_MAX_CHANNELS) && (i < GCSRECEIVER_CHANNEL_NUMELEM); ++i) {
gcsRcvr.Channel[i] = ppmp->channels[i];
}
GCSReceiverSet(&gcsRcvr);
}
#endif
break;
}
default:
break;
}
}
else {
ret_event = RFM22B_EVENT_RX_ERROR;
}
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
if (rfm22b_dev->rx_complete_ticks == 0)
rfm22b_dev->rx_complete_ticks = 1;
OP-932: Fixed GPIO debugging on RevoMini (both V1 and V2)
2013-04-21 04:50:37 +02:00
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
D2_LED_OFF;
#endif
}
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// We're finished with Rx mode
rfm22b_dev->in_rx_mode = false;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Start a new transaction
rfm22b_dev->packet_start_ticks = 0;
return ret_event;
}
RFM22B: Added timing synchronization on transmit to try to eliminate both sides transmitting at the same time. This now achieves virtually 0 re-transmissions for close range transmission while transmitting both full telemety and PPM at 64k.
2012-12-11 04:47:35 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
return RFM22B_EVENT_NUM_EVENTS;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Complete the receipt of a packet.
*
* @param[in] rfm22b_dev The device structure
* @param[in] p The packet handle of the received packet.
* @param[in] rc_len The number of bytes received.
*/
static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHandle p, uint16_t rx_len)
RFM22B: Finised handshacking on ACK and changed the link quality metric to use resent packets rather than missed packets.
2012-11-05 01:50:12 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Attempt to correct any errors in the packet.
decode_data((unsigned char*)p, rx_len);
bool good_packet = check_syndrome() == 0;
bool corrected_packet = false;
// We have an error. Try to correct it.
if(!good_packet && (correct_errors_erasures((unsigned char*)p, rx_len, 0, 0) != 0)) {
// We corrected it
corrected_packet = true;
}
// Add any missed packets into the stats.
bool ack_nack_packet = ((p->header.type == PACKET_TYPE_ACK) || (p->header.type == PACKET_TYPE_ACK_RTS) || (p->header.type == PACKET_TYPE_NACK));
if (!ack_nack_packet && (good_packet || corrected_packet)) {
uint16_t seq_num = p->header.seq_num;
if (rfm22_isConnected(rfm22b_dev)) {
static bool first_time = true;
uint16_t missed_packets = 0;
if (first_time) {
first_time = false;
} else {
uint16_t prev_seq_num = rfm22b_dev->stats.rx_seq;
if (seq_num > prev_seq_num)
missed_packets = seq_num - prev_seq_num - 1;
else if((seq_num == prev_seq_num) && (p->header.type == PACKET_TYPE_DATA))
p->header.type = PACKET_TYPE_DUPLICATE_DATA;
}
rfm22b_dev->stats.rx_missed += missed_packets;
}
rfm22b_dev->stats.rx_seq = seq_num;
}
// Set the packet status
if (good_packet) {
rfm22b_add_rx_status(rfm22b_dev, RFM22B_GOOD_RX_PACKET);
} else if(corrected_packet) {
// We corrected the error.
rfm22b_add_rx_status(rfm22b_dev, RFM22B_CORRECTED_RX_PACKET);
} else {
// We couldn't correct the error, so drop the packet.
rfm22b_add_rx_status(rfm22b_dev, RFM22B_ERROR_RX_PACKET);
}
return (good_packet || corrected_packet);
RFM22B/RM: Added GPIO debugging to revomini to test rfm22b. Fixed (apparently) the reset issues with the rfm22b frequency hopping. Periodic frequency hopping is working pretty well now.
2013-03-09 02:06:42 +01:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Start a transmit if possible
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
PHPacketHandle p = NULL;
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Don't send if it's not our turn.
if (!rfm22b_dev->time_to_send || (rfm22_inChannelBuffer(rfm22b_dev) && rfm22_isConnected(rfm22b_dev))) {
return RFM22B_EVENT_RX_MODE;
}
RFM22B: Added timing synchronization on transmit to try to eliminate both sides transmitting at the same time. This now achieves virtually 0 re-transmissions for close range transmission while transmitting both full telemety and PPM at 64k.
2012-12-11 04:47:35 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// See if there's a packet ready to send.
if (rfm22b_dev->tx_packet) {
p = rfm22b_dev->tx_packet;
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
} else {
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Don't send a packet if we're waiting for an ACK
if (rfm22b_dev->prev_tx_packet) {
return RFM22B_EVENT_RX_MODE;
}
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Send a connection request?
if (!p && rfm22b_dev->send_connection_request) {
p = (PHPacketHandle)&(rfm22b_dev->con_packet);
rfm22b_dev->send_connection_request = false;
}
RFM22B: Added TX Resent to OPLink status. Also removed the need for the packet queue.
2012-11-04 00:03:23 +01:00
#ifdef PIOS_PPM_RECEIVER
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Send a PPM packet?
if (!p && rfm22b_dev->send_ppm) {
p = (PHPacketHandle)&(rfm22b_dev->ppm_packet);
rfm22b_dev->send_ppm = false;
}
RFM22B: Added TX Resent to OPLink status. Also removed the need for the packet queue.
2012-11-04 00:03:23 +01:00
#endif
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Send status?
if (!p && rfm22b_dev->send_status) {
p = (PHPacketHandle)&(rfm22b_dev->status_packet);
rfm22b_dev->send_status = false;
}
// Try to get some data to send
if (!p) {
bool need_yield = false;
p = &rfm22b_dev->data_packet;
p->header.type = PACKET_TYPE_DATA;
p->header.destination_id = rfm22b_dev->destination_id;
if (rfm22b_dev->tx_out_cb && (p->header.data_size == 0)) {
p->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, p->data, PH_MAX_DATA, NULL, &need_yield);
}
// Don't send any data until we're connected.
if (!rfm22_isConnected(rfm22b_dev)) {
p->header.data_size = 0;
}
if (p->header.data_size == 0) {
p = NULL;
}
}
if (p) {
p->header.seq_num = rfm22b_dev->stats.tx_seq++;
}
}
if (!p) {
return RFM22B_EVENT_RX_MODE;
}
// We're transitioning out of Rx mode.
rfm22b_dev->in_rx_mode = false;
RFM22B: Added timing synchronization on transmit to try to eliminate both sides transmitting at the same time. This now achieves virtually 0 re-transmissions for close range transmission while transmitting both full telemety and PPM at 64k.
2012-12-11 04:47:35 +01:00
OP-932: Fixed GPIO debugging on RevoMini (both V1 and V2)
2013-04-21 04:50:37 +02:00
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
D1_LED_ON;
D2_LED_OFF;
RFM22B: Added optional debug signals on the telemetry port of the PipX. Also fixed a couple of bugs that were causing excessive re-transmissions (found using the debug signals).
2012-12-02 17:41:48 +01:00
#endif
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Change the channel if necessary.
if (((p->header.type != PACKET_TYPE_ACK) && (p->header.type != PACKET_TYPE_ACK_RTS)) ||
(rfm22b_dev->rx_packet.header.type != PACKET_TYPE_CON_REQUEST)) {
rfm22_changeChannel(rfm22b_dev);
}
Mostly working periodic (as opposed to per message) channel hopping. This version should have less risk of getting hopelessly out of sync, but currently drops some packets. The dropped packets are likely around the channel hops.
2013-03-04 05:08:17 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Add the error correcting code.
encode_data((unsigned char*)p, PHPacketSize(p), (unsigned char*)p);
RFM22B: Added link quality calculation based on number of dropped packets. Also added packet error correction, which apparently wasn't being done before.
2012-10-05 06:11:40 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
rfm22b_dev->tx_packet = p;
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_ticks == 0) {
rfm22b_dev->packet_start_ticks = 1;
}
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// disable interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
Revert "RFM22b: More block claims for rfm22_txStart" This reverts commit fa4ca426abf5671fc7d0b7206f85f14bcbf92c3d.
2012-09-03 05:16:59 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// TUNE mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
Revert "RFM22b: More block claims for rfm22_txStart" This reverts commit fa4ca426abf5671fc7d0b7206f85f14bcbf92c3d.
2012-09-03 05:16:59 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Queue the data up for sending
rfm22b_dev->tx_data_wr = PH_PACKET_SIZE(rfm22b_dev->tx_packet);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
RX_LED_OFF;
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Set the destination address in the transmit header.
// The destination address is the first 4 bytes of the message.
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
rfm22_write(rfm22b_dev, RFM22_transmit_header0, tx_buffer[0]);
rfm22_write(rfm22b_dev, RFM22_transmit_header1, tx_buffer[1]);
rfm22_write(rfm22b_dev, RFM22_transmit_header2, tx_buffer[2]);
rfm22_write(rfm22b_dev, RFM22_transmit_header3, tx_buffer[3]);
Added PipXStatus and PipXSetting UAVobjects and some initial support for them.
2012-04-18 02:36:05 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(rfm22b_dev, RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo |
RFM22_mmc2_modtyp_gfsk);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// clear FIFOs
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// *******************
// add some data to the chips TX FIFO before enabling the transmitter
Revert "RFM22b: More block claims for rfm22_txStart" This reverts commit fa4ca426abf5671fc7d0b7206f85f14bcbf92c3d.
2012-09-03 05:16:59 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// set the total number of data bytes we are going to transmit
rfm22_write(rfm22b_dev, RFM22_transmit_packet_length, rfm22b_dev->tx_data_wr);
Revert "RFM22b: More block claims for rfm22_txStart" This reverts commit fa4ca426abf5671fc7d0b7206f85f14bcbf92c3d.
2012-09-03 05:16:59 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// add some data
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
bytes_to_write = (bytes_to_write > FIFO_SIZE) ? FIFO_SIZE: bytes_to_write;
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
rfm22b_dev->tx_data_rd += bytes_to_write;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
Revert "RFM22b: More block claims for rfm22_txStart" This reverts commit fa4ca426abf5671fc7d0b7206f85f14bcbf92c3d.
2012-09-03 05:16:59 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// enable TX interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem);
// enable the transmitter
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_txon);
TX_LED_ON;
return RFM22B_EVENT_NUM_EVENTS;
}
Revert "RFM22b: More block claims for rfm22_txStart" This reverts commit fa4ca426abf5671fc7d0b7206f85f14bcbf92c3d.
2012-09-03 05:16:59 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Receive packet data.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
{
enum pios_rfm22b_event ret_event = RFM22B_EVENT_NUM_EVENTS;
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev)) {
return RFM22B_EVENT_FAILURE;
}
// TX FIFO almost empty, it needs filling up
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
if (rfm22b_dev->status_regs.int_status_1.tx_fifo_almost_empty) {
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// top-up the rf chips TX FIFO buffer
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
uint16_t max_bytes = FIFO_SIZE - TX_FIFO_LO_WATERMARK - 1;
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
bytes_to_write = (bytes_to_write > max_bytes) ? max_bytes: bytes_to_write;
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
rfm22b_dev->tx_data_rd += bytes_to_write;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
// Packet has been sent
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
} else if (rfm22b_dev->status_regs.int_status_1.packet_sent_interrupt) {
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
portTickType curTicks = xTaskGetTickCount();
rfm22b_dev->stats.tx_byte_count += PH_PACKET_SIZE(rfm22b_dev->tx_packet);
// Is this an ACK?
bool is_ack = ((rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK) || (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS));
ret_event = RFM22B_EVENT_RX_MODE;
if (is_ack) {
// If this is an ACK for a connection request message we need to
// configure this modem from the connection request message.
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
rfm22_setConnectionParameters(rfm22b_dev);
} else if (rfm22b_dev->coordinator && !rfm22_isConnected(rfm22b_dev) && (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_STATUS)) {
// Send a connection request message if we're not connected, and this is a status message from a modem that we're bound to.
PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
uint32_t source_id = status->source_id;
for (uint8_t i = 0; OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
if (rfm22b_dev->bindings[i].pairID == source_id) {
rfm22b_dev->cur_binding = i;
ret_event = RFM22B_EVENT_REQUEST_CONNECTION;
break;
}
}
}
// Change the channel
// On the remote side, we initialize the time delta when we finish sending the ACK for the connection request message.
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
rfm22b_dev->time_delta = portMAX_DELAY - curTicks;
}
} else if (rfm22b_dev->tx_packet->header.type != PACKET_TYPE_NACK) {
// We need to wait for an ACK if this packet it not an ACK or NACK.
rfm22b_dev->prev_tx_packet = rfm22b_dev->tx_packet;
rfm22b_dev->tx_complete_ticks = xTaskGetTickCount();
}
// Set the Tx period
if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK) {
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
} else if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS) {
rfm22b_dev->time_to_send_offset = curTicks;
}
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
// Start a new transaction
rfm22b_dev->packet_start_ticks = 0;
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
OP-932: Fixed GPIO debugging on RevoMini (both V1 and V2)
2013-04-21 04:50:37 +02:00
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
D1_LED_OFF;
#endif
}
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
return ret_event;
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/*****************************************************************************
* Packet Transmition Functions
*****************************************************************************/
/**
* Send a radio status message.
*
* @param[in] rfm22b_dev The device structure
*/
RFM22: Don't send status until the link is connected.
2012-12-15 17:56:27 +01:00
static void rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// The coordinator doesn't send status.
if (rfm22b_dev->coordinator) {
return;
}
// Update the link quality metric.
rfm22_calculateLinkQuality(rfm22b_dev);
// Queue the status message
if (rfm22_isConnected(rfm22b_dev)) {
rfm22b_dev->status_packet.header.destination_id = rfm22b_dev->destination_id;
} else if (rfm22b_dev->coordinator) {
return;
} else {
rfm22b_dev->status_packet.header.destination_id = 0xffffffff; // Broadcast
}
rfm22b_dev->status_packet.header.type = PACKET_TYPE_STATUS;
rfm22b_dev->status_packet.header.data_size = PH_STATUS_DATA_SIZE(&(rfm22b_dev->status_packet));
rfm22b_dev->status_packet.source_id = rfm22b_dev->deviceID;
rfm22b_dev->status_packet.link_quality = rfm22b_dev->stats.link_quality;
rfm22b_dev->status_packet.received_rssi = rfm22b_dev->rssi_dBm;
rfm22b_dev->send_status = true;
return;
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Send a PPM packet.
*
* @param[in] rfm22b_dev The device structure
*/
RFM22: Don't send status until the link is connected.
2012-12-15 17:56:27 +01:00
static void rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
{
#ifdef PIOS_PPM_RECEIVER
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Only send PPM if we're connected
if (!rfm22_isConnected(rfm22b_dev)) {
return;
}
// Just return if the PPM receiver is not configured.
if (PIOS_PPM_RECEIVER == 0) {
return;
}
// See if we have any valid channels.
bool valid_input_detected = false;
OP-924: Ensures that the PPM pulse turns off between PPM frames.
2013-04-28 16:16:41 +02:00
for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS; ++i) {
rfm22b_dev->ppm_packet.channels[i] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i + 1);
if((rfm22b_dev->ppm_packet.channels[i] != PIOS_RCVR_INVALID) && (rfm22b_dev->ppm_packet.channels[i] != PIOS_RCVR_TIMEOUT))
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
valid_input_detected = true;
}
// Send the PPM packet if it's valid
if (valid_input_detected) {
rfm22b_dev->ppm_packet.header.destination_id = rfm22b_dev->destination_id;
rfm22b_dev->ppm_packet.header.type = PACKET_TYPE_PPM;
rfm22b_dev->ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&(rfm22b_dev->ppm_packet));
rfm22b_dev->send_ppm = true;
}
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
#endif
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
}
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
/**
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
* Send an ACK to a received packet.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
*/
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
static enum pios_rfm22b_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev)
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
aph->header.destination_id = rfm22b_dev->destination_id;
aph->header.type = rfm22_ready_to_send(rfm22b_dev) ? PACKET_TYPE_ACK_RTS : PACKET_TYPE_ACK;
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
aph->packet_recv_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->rx_complete_ticks);
rfm22b_dev->tx_packet = (PHPacketHandle)aph;
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
}
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Send an NACK to a received packet.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev)
{
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
aph->header.destination_id = rfm22b_dev->destination_id;
aph->header.type = PACKET_TYPE_NACK;
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
rfm22b_dev->tx_packet = (PHPacketHandle)aph;
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
}
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Send a connection request message.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev)
{
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Set our connection state to requesting connection.
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTING;
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Fill in the connection request
rfm22b_dev->destination_id = rfm22b_dev->bindings[rfm22b_dev->cur_binding].pairID;
cph->header.destination_id = rfm22b_dev->destination_id;
cph->header.type = PACKET_TYPE_CON_REQUEST;
cph->header.data_size = PH_CONNECTION_DATA_SIZE(&(rfm22b_dev->con_packet));
cph->source_id = rfm22b_dev->deviceID;
cph->main_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].main_port;
cph->flexi_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].flexi_port;
cph->vcp_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].vcp_port;
cph->com_speed = rfm22b_dev->bindings[rfm22b_dev->cur_binding].com_speed;
rfm22b_dev->time_to_send = true;
rfm22b_dev->send_connection_request = true;
rfm22b_dev->prev_tx_packet = NULL;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
return RFM22B_EVENT_TX_START;
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/*****************************************************************************
* Packet Receipt Functions
*****************************************************************************/
RFM22B: Modified the method of tracking RX errors, and now reporting Good, Corrected, Error, and Missed packets to the GCS. Also removed some less useful fields from the PipXStatus.
2012-10-13 21:06:17 +02:00
/**
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
* Receive an ACK.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
RFM22B: Modified the method of tracking RX errors, and now reporting Good, Corrected, Error, and Missed packets to the GCS. Also removed some less useful fields from the PipXStatus.
2012-10-13 21:06:17 +02:00
*/
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
static enum pios_rfm22b_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B: Modified the method of tracking RX errors, and now reporting Good, Corrected, Error, and Missed packets to the GCS. Also removed some less useful fields from the PipXStatus.
2012-10-13 21:06:17 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
PHPacketHandle prev = rfm22b_dev->prev_tx_packet;
portTickType curTicks = xTaskGetTickCount();
// Clear the previous TX packet.
rfm22b_dev->prev_tx_packet = NULL;
// Was this a connection request?
switch (prev->header.type) {
case PACKET_TYPE_CON_REQUEST:
rfm22_setConnectionParameters(rfm22b_dev);
break;
case PACKET_TYPE_DATA:
rfm22b_dev->data_packet.header.data_size = 0;
break;
}
// On the coordinator side, we initialize the time delta when we receive the ACK for the connection request message.
if (prev->header.type == PACKET_TYPE_CON_REQUEST) {
rfm22b_dev->time_delta = portMAX_DELAY - rfm22b_dev->rx_complete_ticks;
} else if (!rfm22b_dev->coordinator) {
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->rx_packet));
portTickType local_tx_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->tx_complete_ticks);
portTickType remote_rx_time = aph->packet_recv_time;
// Adjust the time delta based on the difference between our estimated time offset and the coordinator offset.
// This is not working yet
rfm22b_dev->time_delta += remote_rx_time - local_tx_time;
}
// Should we try to start another TX?
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_ACK) {
rfm22b_dev->time_to_send_offset = curTicks;
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
} else {
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
return RFM22B_EVENT_RX_MODE;
}
RFM22B: Modified the method of tracking RX errors, and now reporting Good, Corrected, Error, and Missed packets to the GCS. Also removed some less useful fields from the PipXStatus.
2012-10-13 21:06:17 +02:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Receive an MACK.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Resend the previous TX packet.
rfm22b_dev->tx_packet = rfm22b_dev->prev_tx_packet;
rfm22b_dev->prev_tx_packet = NULL;
// Increment the reset packet counter if we're connected.
if (rfm22_isConnected(rfm22b_dev)) {
rfm22b_add_rx_status(rfm22b_dev, RFM22B_RESENT_TX_PACKET);
}
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Receive a status packet
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_receiveStatus(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
int8_t rssi = rfm22b_dev->rssi_dBm;
int8_t afc = rfm22b_dev->afc_correction_Hz;
uint32_t id = status->source_id;
// Have we seen this device recently?
bool found = false;
uint8_t id_idx = 0;
for ( ; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx) {
if(rfm22b_dev->pair_stats[id_idx].pairID == id) {
found = true;
break;
}
}
// If we have seen it, update the RSSI and reset the last contact couter
if(found) {
rfm22b_dev->pair_stats[id_idx].rssi = rssi;
rfm22b_dev->pair_stats[id_idx].afc_correction = afc;
rfm22b_dev->pair_stats[id_idx].lastContact = 0;
// If we haven't seen it, find a slot to put it in.
} else {
uint8_t min_idx = 0;
int8_t min_rssi = rfm22b_dev->pair_stats[0].rssi;
for (id_idx = 1; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx) {
if(rfm22b_dev->pair_stats[id_idx].rssi < min_rssi) {
min_rssi = rfm22b_dev->pair_stats[id_idx].rssi;
min_idx = id_idx;
}
}
rfm22b_dev->pair_stats[min_idx].pairID = id;
rfm22b_dev->pair_stats[min_idx].rssi = rssi;
rfm22b_dev->pair_stats[min_idx].afc_correction = afc;
rfm22b_dev->pair_stats[min_idx].lastContact = 0;
}
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
return RFM22B_EVENT_RX_COMPLETE;
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/*****************************************************************************
* Link Statistics Functions
*****************************************************************************/
/**
* Calculate the link quality from the packet receipt, tranmittion statistics.
*
* @param[in] rfm22b_dev The device structure
*/
static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Add the RX packet statistics
rfm22b_dev->stats.rx_good = 0;
rfm22b_dev->stats.rx_corrected = 0;
rfm22b_dev->stats.rx_error = 0;
rfm22b_dev->stats.tx_resent = 0;
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i) {
uint32_t val = rfm22b_dev->rx_packet_stats[i];
for (uint8_t j = 0; j < 16; ++j) {
switch ((val >> (j * 2)) & 0x3) {
case RFM22B_GOOD_RX_PACKET:
rfm22b_dev->stats.rx_good++;
break;
case RFM22B_CORRECTED_RX_PACKET:
rfm22b_dev->stats.rx_corrected++;
break;
case RFM22B_ERROR_RX_PACKET:
rfm22b_dev->stats.rx_error++;
break;
case RFM22B_RESENT_TX_PACKET:
rfm22b_dev->stats.tx_resent++;
break;
}
}
}
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Calculate the link quality metric, which is related to the number of good packets in relation to the number of bad packets.
// Note: This assumes that the number of packets sampled for the stats is 64.
// Using this equation, error and resent packets are counted as -2, and corrected packets are counted as -1.
// The range is 0 (all error or resent packets) to 128 (all good packets).
rfm22b_dev->stats.link_quality = 64 + rfm22b_dev->stats.rx_good - rfm22b_dev->stats.rx_error - rfm22b_dev->stats.tx_resent;
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Add a status value to the RX packet status array.
*
* @param[in] rfm22b_dev The device structure
* @param[in] status The packet status value
*/
static void rfm22b_add_rx_status(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_rx_packet_status status)
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Shift the status registers
for (uint8_t i = RFM22B_RX_PACKET_STATS_LEN - 1; i > 0; --i) {
rfm22b_dev->rx_packet_stats[i] = (rfm22b_dev->rx_packet_stats[i] << 2) | (rfm22b_dev->rx_packet_stats[i - 1] >> 30);
}
rfm22b_dev->rx_packet_stats[0] = (rfm22b_dev->rx_packet_stats[0] << 2) | status;
}
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Is it this modem's turn to send?
*
* @param[in] rfm22b_dev The device structure
*/
static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev)
{
// Is there a status of PPM packet ready to send?
if (rfm22b_dev->prev_tx_packet || rfm22b_dev->send_ppm || rfm22b_dev->send_status) {
return true;
}
RFM22B: Added timing synchronization on transmit to try to eliminate both sides transmitting at the same time. This now achieves virtually 0 re-transmissions for close range transmission while transmitting both full telemety and PPM at 64k.
2012-12-11 04:47:35 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Are we not connected yet?
if (!rfm22_isConnected(rfm22b_dev)) {
return true;
}
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Is there some data ready to sent?
PHPacketHandle dp = &rfm22b_dev->data_packet;
if (dp->header.data_size > 0) {
return true;
}
bool need_yield = false;
if (rfm22b_dev->tx_out_cb) {
dp->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, dp->data, PH_MAX_DATA, NULL, &need_yield);
}
if (dp->header.data_size > 0) {
return true;
}
return false;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/*****************************************************************************
* Connection Handling Functions
*****************************************************************************/
/**
* Are we connected to the remote modem?
*
* @param[in] rfm22b_dev The device structure
*/
static bool rfm22_isConnected(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B: Improved link stability, and added tracking of error encountered in the processes of transmitting and receiving.
2012-11-17 21:18:34 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
return (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED);
RFM22B: Improved link stability, and added tracking of error encountered in the processes of transmitting and receiving.
2012-11-17 21:18:34 +01:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Set the connection parameters from a connection request message.
*
* @param[in] rfm22b_dev The device structure
*/
static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev)
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
RFM22B: Added optional debug signals on the telemetry port of the PipX. Also fixed a couple of bugs that were causing excessive re-transmissions (found using the debug signals).
2012-12-02 17:41:48 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Set our connection state to connected
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Call the com port configuration function
if (rfm22b_dev->com_config_cb) {
rfm22b_dev->com_config_cb(cph->main_port, cph->flexi_port, cph->vcp_port, cph->com_speed,
cph->min_frequency, cph->max_frequency, cph->channel_spacing);
}
// Configure this modem from the connection request message.
rfm22_setNominalCarrierFrequency(rfm22b_dev, cph->min_frequency, cph->max_frequency, cph->channel_spacing);
rfm22_setDatarate(rfm22b_dev, rfm22b_dev->datarate, true);
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Accept a connection request.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B: Improved link stability, and added tracking of error encountered in the processes of transmitting and receiving.
2012-11-17 21:18:34 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// Set our connection state to connected
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
// Copy the connection packet
PHConnectionPacketHandle cph = (PHConnectionPacketHandle)(&(rfm22b_dev->rx_packet));
PHConnectionPacketHandle lcph = (PHConnectionPacketHandle)(&(rfm22b_dev->con_packet));
memcpy((uint8_t*)lcph, (uint8_t*)cph, PH_PACKET_SIZE((PHPacketHandle)cph));
// Set the destination ID to the source of the connection request message.
rfm22b_dev->destination_id = cph->source_id;
return RFM22B_EVENT_DEFAULT;
RFM22B: Improved link stability, and added tracking of error encountered in the processes of transmitting and receiving.
2012-11-17 21:18:34 +01:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/*****************************************************************************
* Frequency Hopping Functions
*****************************************************************************/
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
/**
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
* There needs to be a buffer in time around a channel change in which we delay starting a new packet transmit.
* This function returns true of we are in that range of time.
*
* @param[in] rfm22b_dev The device structure
* @return True if we're near a channel change time.
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
*/
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
static bool rfm22_inChannelBuffer(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
uint8_t window = (uint8_t)(time & 0x7e);
return ((window == 0x7f) || (window == 0));
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
}
/**
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
* Return the extimated current clock ticks count on the coordinator modem.
* This is the master clock used for all synchronization.
*
* @param[in] rfm22b_dev The device structure
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
*/
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, portTickType ticks)
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
return ticks + rfm22b_dev->time_delta;
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
}
/**
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
* Calculate what the current channel shold be.
*
* @param[in] rfm22b_dev The device structure
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
*/
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
// We change channels every 128 ms.
uint16_t n = (time >> 7) & 0xffff;
// The channel is calculated using the 16 bit CRC as the pseudo random number generator.
n = PIOS_CRC16_updateByte(n, 0);
float num_channels = rfm22b_dev->num_channels;
return (uint8_t)(num_channels * (float)n / (float)0xffff);
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
}
/**
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
* Change channels to the calculated current channel.
*
* @param[in] rfm22b_dev The device structure
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
*/
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
if (rfm22_isConnected(rfm22b_dev)) {
return rfm22_setFreqHopChannel(rfm22b_dev, rfm22_calcChannel(rfm22b_dev));
}
return false;
}
RFM22B/RM: Added GPIO debugging to revomini to test rfm22b. Fixed (apparently) the reset issues with the rfm22b frequency hopping. Periodic frequency hopping is working pretty well now.
2013-03-09 02:06:42 +01:00
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/*****************************************************************************
* Error Handling Functions
*****************************************************************************/
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
/**
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
* Recover from a failure in receiving a packet.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
*/
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
static enum pios_rfm22b_event rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
rfm22b_dev->stats.rx_failure++;
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
rfm22b_dev->in_rx_mode = false;
if (rfm22b_dev->rx_complete_ticks == 0) {
rfm22b_dev->rx_complete_ticks = 1;
}
return RFM22B_EVENT_RX_MODE;
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Recover from a transmit failure.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_txFailure(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B: Changed the way the frequencies and power settings are set for the rfm22b device.
2012-10-21 00:02:49 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
rfm22b_dev->stats.tx_failure++;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
return RFM22B_EVENT_TX_START;
RFM22B: Changed the way the frequencies and power settings are set for the rfm22b device.
2012-10-21 00:02:49 +02:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Recover from a timeout event.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B: Changing configuration parameters over-the-air working. Added tracking of Tx/Rx sequence number. Still seeing too many resent packets.
2012-11-11 16:52:53 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
rfm22b_dev->stats.timeouts++;
rfm22b_dev->packet_start_ticks = 0;
// Release the Tx packet if it's set.
if (rfm22b_dev->tx_packet != 0) {
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
}
rfm22b_dev->rx_buffer_wr = 0;
TX_LED_OFF;
RX_LED_OFF;
OP-932: Fixed GPIO debugging on RevoMini (both V1 and V2)
2013-04-21 04:50:37 +02:00
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
D1_LED_OFF;
D2_LED_OFF;
D3_LED_OFF;
D4_LED_OFF;
#endif
return RFM22B_EVENT_TX_START;
RFM22B: Changing configuration parameters over-the-air working. Added tracking of Tx/Rx sequence number. Still seeing too many resent packets.
2012-11-11 16:52:53 +01:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Recover from a severe error.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev)
Mostly working periodic (as opposed to per message) channel hopping. This version should have less risk of getting hopelessly out of sync, but currently drops some packets. The dropped packets are likely around the channel hops.
2013-03-04 05:08:17 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
rfm22b_dev->stats.resets++;
rfm22_clearLEDs();
return RFM22B_EVENT_INITIALIZE;
RFM22B/RM: Added GPIO debugging to revomini to test rfm22b. Fixed (apparently) the reset issues with the rfm22b frequency hopping. Periodic frequency hopping is working pretty well now.
2013-03-09 02:06:42 +01:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* A fatal error has occured in the state machine.
* this should not happen.
*
* @parem [in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_fatal_error(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B/RM: Added GPIO debugging to revomini to test rfm22b. Fixed (apparently) the reset issues with the rfm22b frequency hopping. Periodic frequency hopping is working pretty well now.
2013-03-09 02:06:42 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
// RF module error .. flash the LED's
rfm22_clearLEDs();
for(unsigned int j = 0; j < 16; j++) {
USB_LED_ON;
LINK_LED_ON;
RX_LED_OFF;
TX_LED_OFF;
PIOS_DELAY_WaitmS(200);
USB_LED_OFF;
LINK_LED_OFF;
RX_LED_ON;
TX_LED_ON;
PIOS_DELAY_WaitmS(200);
}
PIOS_DELAY_WaitmS(1000);
PIOS_Assert(0);
return RFM22B_EVENT_FATAL_ERROR;
Mostly working periodic (as opposed to per message) channel hopping. This version should have less risk of getting hopelessly out of sync, but currently drops some packets. The dropped packets are likely around the channel hops.
2013-03-04 05:08:17 +01:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/*****************************************************************************
* Utility Functions
*****************************************************************************/
/**
* Calculate the time difference between the start time and end time.
* Times are in ticks. Also handles rollover.
*
* @param[in] start_time The start time in ticks.
* @param[in] end_time The end time in ticks.
*/
static uint32_t pios_rfm22_time_difference_ms(portTickType start_time, portTickType end_time)
Mostly working periodic (as opposed to per message) channel hopping. This version should have less risk of getting hopelessly out of sync, but currently drops some packets. The dropped packets are likely around the channel hops.
2013-03-04 05:08:17 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
if(end_time >= start_time) {
return (end_time - start_time) * portTICK_RATE_MS;
}
// Rollover
return ((portMAX_DELAY - start_time) + end_time) * portTICK_RATE_MS;
Mostly working periodic (as opposed to per message) channel hopping. This version should have less risk of getting hopelessly out of sync, but currently drops some packets. The dropped packets are likely around the channel hops.
2013-03-04 05:08:17 +01:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Allocate the device structure
*/
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_rfm22b_dev *pios_rfm22_alloc(void)
Mostly working periodic (as opposed to per message) channel hopping. This version should have less risk of getting hopelessly out of sync, but currently drops some packets. The dropped packets are likely around the channel hops.
2013-03-04 05:08:17 +01:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
struct pios_rfm22b_dev * rfm22b_dev;
Mostly working periodic (as opposed to per message) channel hopping. This version should have less risk of getting hopelessly out of sync, but currently drops some packets. The dropped packets are likely around the channel hops.
2013-03-04 05:08:17 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
rfm22b_dev = (struct pios_rfm22b_dev *)pvPortMalloc(sizeof(*rfm22b_dev));
rfm22b_dev->spi_id = 0;
if (!rfm22b_dev) {
return NULL;
}
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
return(rfm22b_dev);
}
#else
static struct pios_rfm22b_dev pios_rfm22b_devs[PIOS_RFM22B_MAX_DEVS];
static uint8_t pios_rfm22b_num_devs;
static struct pios_rfm22b_dev *pios_rfm22_alloc(void)
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
struct pios_rfm22b_dev * rfm22b_dev;
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
if (pios_rfm22b_num_devs >= PIOS_RFM22B_MAX_DEVS) {
return NULL;
}
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
rfm22b_dev = &pios_rfm22b_devs[pios_rfm22b_num_devs++];
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
return (rfm22b_dev);
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
#endif
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Turn off all of the LEDs
*/
static void rfm22_clearLEDs(void) {
LINK_LED_OFF;
RX_LED_OFF;
TX_LED_OFF;
OP-932: Fixed GPIO debugging on RevoMini (both V1 and V2)
2013-04-21 04:50:37 +02:00
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
D1_LED_OFF;
D2_LED_OFF;
D3_LED_OFF;
D4_LED_OFF;
RFM22B: Added optional debug signals on the telemetry port of the PipX. Also fixed a couple of bugs that were causing excessive re-transmissions (found using the debug signals).
2012-12-02 17:41:48 +01:00
#endif
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/*****************************************************************************
* SPI Read/Write Functions
*****************************************************************************/
/**
* Assert the chip select line.
*
* @param[in] rfm22b_dev The RFM22B device.
*/
static void rfm22_assertCs(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B: Added a message timeout event to the RFM22B state machine that will fire if a packet takes too long to transmit / receive.
2012-09-25 05:51:34 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
PIOS_DELAY_WaituS(1);
if(rfm22b_dev->spi_id != 0) {
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 0);
}
RFM22B: Added a message timeout event to the RFM22B state machine that will fire if a packet takes too long to transmit / receive.
2012-09-25 05:51:34 +02:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Deassert the chip select line.
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
*/
static void rfm22_deassertCs(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
if(rfm22b_dev->spi_id != 0) {
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 1);
}
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
}
/**
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
* Claim the SPI bus.
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
*/
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
static void rfm22_claimBus(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
{
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
if(rfm22b_dev->spi_id != 0) {
PIOS_SPI_ClaimBus(rfm22b_dev->spi_id);
}
}
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Release the SPI bus.
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
*/
static void rfm22_releaseBus(struct pios_rfm22b_dev *rfm22b_dev)
{
if(rfm22b_dev->spi_id != 0) {
PIOS_SPI_ReleaseBus(rfm22b_dev->spi_id);
}
}
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Claim the semaphore and write a byte to a register
*
* @param[in] rfm22b_dev The RFM22B device.
* @param[in] addr The address to write to
* @param[in] data The datat to write to that address
*/
static void rfm22_write(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data)
{
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
uint8_t buf[2] = {addr | 0x80, data};
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Read a byte from an RFM22b register
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
* @param[in] addr The address to read from
* @return Returns the result of the register read
*/
static uint8_t rfm22_read(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
{
uint8_t in[2];
uint8_t out[2] = {addr & 0x7f, 0xFF};
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
return in[1];
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
}
OP-914: Additional cleanup of the RFM22B driver code. Updated to code to the current coding standard. Added Doxygen documentation. Rearranged functions into functional groups to simplify reading the code.
2013-04-13 18:43:50 +02:00
/**
* Read a byte from an RFM22b register without claiming the bus
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
* @param[in] addr The address to read from
* @return Returns the result of the register read
*/
static uint8_t rfm22_read_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
{
uint8_t out[2] = {addr & 0x7F, 0xFF};
uint8_t in[2];
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
rfm22_deassertCs(rfm22b_dev);
return in[1];
}
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
pios: common PIOS #ifdef guards Conflicts: flight/PiOS/Common/pios_com.c flight/PiOS/Common/pios_mpu6000.c
2013-03-15 15:28:53 +01:00
#endif /* PIOS_INCLUDE_RFM22B */
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
/**
* @}
* @}
*/
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