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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
/**
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******************************************************************************
* @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
*
*****************************************************************************/
/*
* 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
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
* (at your option) any later version.
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*
* 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
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
* for more details.
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*
* 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.,
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
* 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 */
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#define STACK_SIZE_BYTES 200
#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
OP-932 Changes the radio task loop to loop every 1ms, and reduces the tx transmit period back down to 8ms. Also reduces the Tx windows to 1ms for each modem, and reserves the latter half of the Tx window for channel changing.
2013-05-22 02:40:05 +02:00
#define ISR_TIMEOUT 1 // ms
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#define EVENT_QUEUE_SIZE 5
#define RFM22B_DEFAULT_RX_DATARATE RFM22_datarate_9600
#define RFM22B_DEFAULT_TX_POWER RFM22_tx_pwr_txpow_0
#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
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#define RFM22B_MAXIMUM_FREQUENCY 440000000
#define RFM22B_DEFAULT_FREQUENCY 433000000
#define RFM22B_FREQUENCY_HOP_STEP_SIZE 75000
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.
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#define DISCONNECT_TIMEOUT_MS 1000 // ms
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
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.
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#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.
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#define RADIOSTATS_UPDATE_PERIOD_MS 250
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
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
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#define MAX_RADIOSTATS_MISS_COUNT 3
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
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
// The time between PPM updates
OP-932 Changes the RFM22 frequency hopping to change channels every Tx period. Also increases the Tx clock period from 8ms to 16ms, and adds a check on calculation the the time delta that it doesn't change the previous estimated time delta by too much. If the delta between the current time delta and the previously estimated time delta is too large it could indicate that there was a delay somewhere that makes the calculated time delta inaccurate. Rearanges the packet send priority in the rfm22b driver so that PPM packets are top priority.
2013-05-21 03:21:07 +02:00
#define PPM_UPDATE_PERIOD_MS 30
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
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2013-05-19 16:37:30 +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
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2013-05-19 16:37:30 +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
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2013-05-19 16:37:30 +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
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#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
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2013-05-19 16:37:30 +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)
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#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)
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#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 {
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enum pios_radio_event (*entry_fn)(struct pios_rfm22b_dev *rfm22b_dev);
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
enum pios_radio_state next_state[RADIO_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] = {
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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
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] = {
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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);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
static bool pios_rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev);
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static void pios_rfm22_setDatarate(struct pios_rfm22b_dev *rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening);
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
static void rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev);
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
static void pios_rfm22_inject_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_radio_event event, bool inISR);
static enum pios_radio_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_receiveStatus(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
static enum pios_radio_event radio_setRxMode(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event radio_rxData(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event radio_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHandle p, uint16_t rx_len);
static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event radio_txData(struct pios_rfm22b_dev *rfm22b_dev);
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
static enum pios_radio_event rfm22_txFailure(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_process_state_transition(struct pios_rfm22b_dev *rfm22b_dev, enum pios_radio_event event);
static void rfm22_process_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_radio_event event);
static enum pios_radio_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_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);
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/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);
OP-932: Syncronize start of transmissions using the same coordinated clock as used by FHSS.
2013-05-01 04:46:46 +02:00
static bool rfm22_timeToSend(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);
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);
OP-932: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
static void rfm22_write_claim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data);
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
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);
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 */
OP-932: Fixes a bug that was preventing setting of Tx power on remote modem.
2013-05-06 02:03:15 +02:00
static const struct pios_rfm22b_transition rfm22b_transitions[RADIO_STATE_NUM_STATES] = {
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
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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[RADIO_STATE_UNINITIALIZED] = {
.entry_fn = 0,
.next_state = {
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
[RADIO_EVENT_ERROR] = RADIO_STATE_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
},
},
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
[RADIO_STATE_INITIALIZING] = {
.entry_fn = rfm22_init,
.next_state = {
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_INITIALIZED] = RADIO_STATE_RX_MODE,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_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
},
},
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_STATE_REQUESTING_CONNECTION] = {
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
.entry_fn = rfm22_requestConnection,
.next_state = {
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_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
},
},
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
[RADIO_STATE_ACCEPTING_CONNECTION] = {
.entry_fn = rfm22_acceptConnection,
.next_state = {
[RADIO_EVENT_DEFAULT] = RADIO_STATE_SENDING_ACK,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_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
},
},
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
[RADIO_STATE_RX_MODE] = {
.entry_fn = radio_setRxMode,
.next_state = {
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_ACK_TIMEOUT] = RADIO_STATE_RECEIVING_NACK,
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
[RADIO_EVENT_INT_RECEIVED] = RADIO_STATE_RX_DATA,
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
[RADIO_EVENT_FAILURE] = RADIO_STATE_RX_FAILURE,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_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
},
},
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
[RADIO_STATE_RX_DATA] = {
.entry_fn = radio_rxData,
.next_state = {
Fixes a bug in the rfm22b driver that was reading past the end of the bindings list when receiving a status message. Also adds some formatting changes that came about after doing a make uncrustify_all.
2013-05-26 17:36:38 +02:00
[RADIO_EVENT_INT_RECEIVED] = RADIO_STATE_RX_DATA,
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_ACK_TIMEOUT] = RADIO_STATE_RECEIVING_NACK,
[RADIO_EVENT_RX_COMPLETE] = RADIO_STATE_SENDING_ACK,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_RX_MODE] = RADIO_STATE_RX_MODE,
Fixes a bug in the rfm22b driver that was reading past the end of the bindings list when receiving a status message. Also adds some formatting changes that came about after doing a make uncrustify_all.
2013-05-26 17:36:38 +02:00
[RADIO_EVENT_STATUS_RECEIVED] = RADIO_STATE_RECEIVING_STATUS,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_CONNECTION_REQUESTED] = RADIO_STATE_ACCEPTING_CONNECTION,
Fixes a bug in the rfm22b driver that was reading past the end of the bindings list when receiving a status message. Also adds some formatting changes that came about after doing a make uncrustify_all.
2013-05-26 17:36:38 +02:00
[RADIO_EVENT_PACKET_ACKED] = RADIO_STATE_RECEIVING_ACK,
[RADIO_EVENT_PACKET_NACKED] = RADIO_STATE_RECEIVING_NACK,
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
[RADIO_EVENT_FAILURE] = RADIO_STATE_RX_FAILURE,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_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
},
},
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2013-05-19 16:37:30 +02:00
[RADIO_STATE_RECEIVING_ACK] = {
.entry_fn = rfm22_receiveAck,
.next_state = {
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_RX_MODE] = RADIO_STATE_RX_MODE,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_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
},
},
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
[RADIO_STATE_RECEIVING_NACK] = {
.entry_fn = rfm22_receiveNack,
.next_state = {
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_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
},
},
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
[RADIO_STATE_RECEIVING_STATUS] = {
.entry_fn = rfm22_receiveStatus,
.next_state = {
OP-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
[RADIO_EVENT_RX_COMPLETE] = RADIO_STATE_TX_START,
Fixes a bug in the rfm22b driver that was reading past the end of the bindings list when receiving a status message. Also adds some formatting changes that came about after doing a make uncrustify_all.
2013-05-26 17:36:38 +02:00
[RADIO_EVENT_REQUEST_CONNECTION] = RADIO_STATE_REQUESTING_CONNECTION,
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
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2013-05-19 16:37:30 +02:00
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_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
},
},
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
[RADIO_STATE_TX_START] = {
.entry_fn = radio_txStart,
.next_state = {
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_INT_RECEIVED] = RADIO_STATE_TX_DATA,
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
[RADIO_EVENT_RX_MODE] = RADIO_STATE_RX_MODE,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_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
},
},
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
[RADIO_STATE_TX_DATA] = {
.entry_fn = radio_txData,
.next_state = {
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_INT_RECEIVED] = RADIO_STATE_TX_DATA,
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
[RADIO_EVENT_RX_MODE] = RADIO_STATE_RX_MODE,
[RADIO_EVENT_FAILURE] = RADIO_STATE_TX_FAILURE,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_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
},
},
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2013-05-19 16:37:30 +02:00
[RADIO_STATE_TX_FAILURE] = {
.entry_fn = rfm22_txFailure,
.next_state = {
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_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
},
},
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2013-05-19 16:37:30 +02:00
[RADIO_STATE_SENDING_ACK] = {
.entry_fn = rfm22_sendAck,
.next_state = {
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_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
},
},
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2013-05-19 16:37:30 +02:00
[RADIO_STATE_SENDING_NACK] = {
.entry_fn = rfm22_sendNack,
.next_state = {
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_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
},
},
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2013-05-19 16:37:30 +02:00
[RADIO_STATE_TIMEOUT] = {
.entry_fn = rfm22_timeout,
.next_state = {
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_RX_MODE] = RADIO_STATE_RX_MODE,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_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
},
},
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2013-05-19 16:37:30 +02:00
[RADIO_STATE_ERROR] = {
.entry_fn = rfm22_error,
.next_state = {
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_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
},
},
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2013-05-19 16:37:30 +02:00
[RADIO_STATE_FATAL_ERROR] = {
.entry_fn = rfm22_fatal_error,
.next_state = {},
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: 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
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static const uint32_t data_rate[] = { 500, 1000, 2000, 4000, 8000, 9600, 16000, 19200, 24000, 32000, 57600, 64000, 128000, 192000, 256000 };
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
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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
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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
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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
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
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
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
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2013-05-19 16:37:30 +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
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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
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
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
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
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
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
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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
/*****************************************************************************
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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) {
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
return -1;
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
}
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
*rfm22b_id = (uint32_t)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
g_rfm22b_dev = rfm22b_dev;
// Store the SPI handle
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->slave_num = slave_num;
rfm22b_dev->spi_id = spi_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
// Initialize our configuration parameters
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->send_ppm = false;
rfm22b_dev->datarate = RFM22B_DEFAULT_RX_DATARATE;
rfm22b_dev->tx_power = RFM22B_DEFAULT_TX_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
// Initialize the com callbacks.
rfm22b_dev->com_config_cb = NULL;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->rx_in_cb = NULL;
rfm22b_dev->tx_out_cb = NULL;
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 stats.
rfm22b_dev->stats.packets_per_sec = 0;
rfm22b_dev->stats.rx_good = 0;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
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;
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.link_quality = 0;
rfm22b_dev->stats.rssi = 0;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->stats.tx_seq = 0;
rfm22b_dev->stats.rx_seq = 0;
rfm22b_dev->stats.tx_failure = 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
// 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
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->eventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(enum pios_radio_event));
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
// Bind the configuration to the device instance
rfm22b_dev->cfg = *cfg;
// Create a semaphore to know if an ISR needs responding to
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
vSemaphoreCreateBinary(rfm22b_dev->isrPending);
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
// 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.
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
for (uint8_t i = 0; serial_no_str[i] != 0; ++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
crcs[i % 4] = PIOS_CRC_updateByte(crcs[i % 4], serial_no_str[i]);
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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}
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->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
Fixes a bug in the rfm22b driver that was reading past the end of the bindings list when receiving a status message. Also adds some formatting changes that came about after doing a make uncrustify_all.
2013-05-26 17:36:38 +02:00
#if defined(PIOS_INCLUDE_WDG) && defined(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.
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
rfm22b_dev->state = RADIO_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.
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
pios_rfm22_inject_event(rfm22b_dev, RADIO_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.
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
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
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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 (PIOS_RFM22B_Validate(rfm22b_dev)) {
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
pios_rfm22_inject_event(rfm22b_dev, RADIO_EVENT_INITIALIZE, 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
}
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.
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
pios_rfm22_inject_event(g_rfm22b_dev, RADIO_EVENT_INT_RECEIVED, true);
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;
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;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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 (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;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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 (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
}
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
/**
* Returns true if the modem is not actively sending or receiving a packet.
*
* @param[in] rfm22b_id The RFM22B device index.
* @return True if the modem is not actively sending or receiving a packet.
*/
bool PIOS_RFM22B_InRxWait(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
if (PIOS_RFM22B_Validate(rfm22b_dev)) {
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
return (rfm22b_dev->rfm22b_state == RFM22B_STATE_RX_WAIT) || (rfm22b_dev->rfm22b_state == RFM22B_STATE_TRANSITION);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
}
return false;
}
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;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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 (!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;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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 (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->con_packet.min_frequency = min_freq;
rfm22b_dev->con_packet.max_frequency = max_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
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;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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 (!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;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
if (!PIOS_RFM22B_Validate(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
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[],
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
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;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
if (!PIOS_RFM22B_Validate(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
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) {
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->bindings[i].pairID = bindingPairIDs[i];
rfm22b_dev->bindings[i].main_port = mainPortSettings[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
rfm22b_dev->bindings[i].flexi_port = flexiPortSettings[i];
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->bindings[i].vcp_port = vcpPortSettings[i];
rfm22b_dev->bindings[i].com_speed = comSpeeds[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
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
*/
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
if (!PIOS_RFM22B_Validate(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
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;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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 (!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;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
if (!PIOS_RFM22B_Validate(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
return false;
}
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
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-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
/**
* Put the RFM22B device into receive mode.
*
* @param[in] rfm22b_id The rfm22b device.
* @param[in] p The packet to receive into.
* @return true if Rx mode was entered sucessfully.
*/
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
bool PIOS_RFM22B_ReceivePacket(uint32_t rfm22b_id, PHPacketHandle p)
{
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return false;
}
// Are we already in Rx mode?
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
if ((rfm22b_dev->rfm22b_state == RFM22B_STATE_RX_MODE) || (rfm22b_dev->rfm22b_state == RFM22B_STATE_RX_WAIT)) {
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
return false;
}
rfm22b_dev->rx_packet_handle = p;
// Claim the SPI bus.
rfm22_claimBus(rfm22b_dev);
// disable interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// Switch to TUNE mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D2_LED_OFF;
#endif // PIOS_RFM22B_DEBUG_ON_TELEM
RX_LED_OFF;
TX_LED_OFF;
// empty the rx buffer
rfm22b_dev->rx_buffer_wr = 0;
// Clear the TX buffer.
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +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);
// enable RX interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_encrcerror | RFM22_ie1_enpkvalid |
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
RFM22_ie1_enrxffafull | RFM22_ie1_enfferr);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, RFM22_ie2_enpreainval | RFM22_ie2_enpreaval |
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
RFM22_ie2_enswdet);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
// enable the receiver
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_rxon);
// Release the SPI bus.
rfm22_releaseBus(rfm22b_dev);
// Indicate that we're in RX wait mode.
rfm22b_dev->rfm22b_state = RFM22B_STATE_RX_WAIT;
return true;
}
/**
* Transmit a packet via the RFM22B device.
*
* @param[in] rfm22b_id The rfm22b device.
* @param[in] p The packet to transmit.
* @return true if there if the packet was queued for transmission.
*/
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
bool PIOS_RFM22B_TransmitPacket(uint32_t rfm22b_id, PHPacketHandle p)
{
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return false;
}
rfm22b_dev->tx_packet = p;
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_ticks == 0) {
rfm22b_dev->packet_start_ticks = 1;
}
// Claim the SPI bus.
rfm22_claimBus(rfm22b_dev);
// Disable interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
OP-932: Fixes a bug that was preventing setting of Tx power on remote modem.
2013-05-04 18:24:40 +02:00
// set the tx power
rfm22_write(rfm22b_dev, RFM22_tx_power, RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
// TUNE mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
// Queue the data up for sending
rfm22b_dev->tx_data_wr = PH_PACKET_SIZE(rfm22b_dev->tx_packet);
RX_LED_OFF;
// Set the destination address in the transmit header.
// The destination address is the first 4 bytes of the message.
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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uint8_t *tx_buffer = (uint8_t *)(rfm22b_dev->tx_packet);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
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]);
// 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);
// Clear the 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);
// 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);
OP-932: Fixes a bug that was preventing setting of Tx power on remote modem.
2013-05-04 18:24:40 +02:00
// Add some data to the chips TX FIFO before enabling the transmitter
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
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);
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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bytes_to_write = (bytes_to_write > FIFO_SIZE) ? FIFO_SIZE : bytes_to_write;
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
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);
// 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);
// Release the SPI bus.
rfm22_releaseBus(rfm22b_dev);
// We're in Tx mode.
rfm22b_dev->rfm22b_state = RFM22B_STATE_TX_MODE;
TX_LED_ON;
return true;
}
/**
* Process a Tx interrupt from the RFM22B device.
*
* @param[in] rfm22b_id The rfm22b device.
* @return PIOS_RFM22B_TX_COMPLETE on completed Tx, or PIOS_RFM22B_INT_SUCCESS/PIOS_RFM22B_INT_FAILURE.
*/
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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pios_rfm22b_int_result PIOS_RFM22B_ProcessTx(uint32_t rfm22b_id)
{
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return PIOS_RFM22B_INT_FAILURE;
}
// Read the device status registers
if (!pios_rfm22_readStatus(rfm22b_dev)) {
return PIOS_RFM22B_INT_FAILURE;
}
// TX FIFO almost empty, it needs filling up
if (rfm22b_dev->status_regs.int_status_1.tx_fifo_almost_empty) {
// Add data to the TX FIFO buffer
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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uint8_t *tx_buffer = (uint8_t *)(rfm22b_dev->tx_packet);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
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);
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
bytes_to_write = (bytes_to_write > max_bytes) ? max_bytes : bytes_to_write;
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
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);
return PIOS_RFM22B_INT_SUCCESS;
} else if (rfm22b_dev->status_regs.int_status_1.packet_sent_interrupt) {
// Transition out of Tx mode.
rfm22b_dev->rfm22b_state = RFM22B_STATE_TRANSITION;
return PIOS_RFM22B_TX_COMPLETE;
}
return 0;
}
/**
* Process a Rx interrupt from the RFM22B device.
*
* @param[in] rfm22b_id The rfm22b device.
* @return PIOS_RFM22B_RX_COMPLETE on completed Rx, or PIOS_RFM22B_INT_SUCCESS/PIOS_RFM22B_INT_FAILURE.
*/
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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pios_rfm22b_int_result PIOS_RFM22B_ProcessRx(uint32_t rfm22b_id)
{
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return PIOS_RFM22B_INT_FAILURE;
}
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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uint8_t *rx_buffer = (uint8_t *)(rfm22b_dev->rx_packet_handle);
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
pios_rfm22b_int_result ret = PIOS_RFM22B_INT_SUCCESS;
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
// Read the device status registers
if (!pios_rfm22_readStatus(rfm22b_dev)) {
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
rfm22_rxFailure(rfm22b_dev);
return PIOS_RFM22B_INT_FAILURE;
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
}
// FIFO under/over flow error. Restart RX mode.
if (rfm22b_dev->status_regs.int_status_1.fifo_underoverflow_error ||
rfm22b_dev->status_regs.int_status_1.crc_error) {
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
rfm22_rxFailure(rfm22b_dev);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
return PIOS_RFM22B_INT_FAILURE;
}
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// Valid packet received
if (rfm22b_dev->status_regs.int_status_1.valid_packet_received) {
// Claim the SPI bus.
rfm22_claimBus(rfm22b_dev);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// read the total length of the packet data
uint32_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// 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_assertCs(rfm22b_dev);
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
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],
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
bytes_to_read, NULL) == 0) ? bytes_to_read : 0;
rfm22_deassertCs(rfm22b_dev);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
}
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// Release the SPI bus.
rfm22_releaseBus(rfm22b_dev);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// Is there a length error?
if (rfm22b_dev->rx_buffer_wr != len) {
rfm22_rxFailure(rfm22b_dev);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
return PIOS_RFM22B_INT_FAILURE;
}
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// Increment the total byte received count.
rfm22b_dev->stats.rx_byte_count += rfm22b_dev->rx_buffer_wr;
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// We're finished with Rx mode
rfm22b_dev->rfm22b_state = RFM22B_STATE_TRANSITION;
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
ret = PIOS_RFM22B_RX_COMPLETE;
} else if (rfm22b_dev->status_regs.int_status_1.rx_fifo_almost_full) {
// RX FIFO almost full, it needs emptying
// read data from the rf chips FIFO buffer
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// Claim the SPI bus.
rfm22_claimBus(rfm22b_dev);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// Read the total length of the packet data
uint16_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// The received packet is going to be larger than the specified length
if ((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) > len) {
rfm22_releaseBus(rfm22b_dev);
rfm22_rxFailure(rfm22b_dev);
return PIOS_RFM22B_INT_FAILURE;
}
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// Fetch the data from the RX FIFO
rfm22_assertCs(rfm22b_dev);
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access & 0x7F);
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
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);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// Release the SPI bus.
rfm22_releaseBus(rfm22b_dev);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// Make sure that we're in RX mode.
rfm22b_dev->rfm22b_state = RFM22B_STATE_RX_MODE;
} else if (rfm22b_dev->status_regs.int_status_2.valid_preamble_detected) {
// Valid preamble detected
RX_LED_ON;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D2_LED_ON;
#endif // PIOS_RFM22B_DEBUG_ON_TELEM
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// We detected the preamble, now wait for sync.
rfm22b_dev->rfm22b_state = RFM22B_STATE_RX_WAIT_SYNC;
} else if (rfm22b_dev->status_regs.int_status_2.sync_word_detected) {
// Sync word detected
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// Claim the SPI bus.
rfm22_claimBus(rfm22b_dev);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +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
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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afc_correction |= (uint16_t)rfm22_read(rfm22b_dev, RFM22_ook_counter_value1) & 0x00c0;
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
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);
// 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;
// Release the SPI bus.
rfm22_releaseBus(rfm22b_dev);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// Indicate that we're in RX mode.
rfm22b_dev->rfm22b_state = RFM22B_STATE_RX_MODE;
} else if ((rfm22b_dev->rfm22b_state == RFM22B_STATE_RX_WAIT_SYNC) && !rfm22b_dev->status_regs.int_status_2.valid_preamble_detected) {
// Waiting for the preamble timed out.
rfm22_rxFailure(rfm22b_dev);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
return PIOS_RFM22B_INT_FAILURE;
}
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// Set the packet start time if necessary.
if ((rfm22b_dev->packet_start_ticks == 0) &&
((rfm22b_dev->rfm22b_state == RFM22B_STATE_RX_WAIT_SYNC) || (rfm22b_dev->rfm22b_state == RFM22B_STATE_RX_WAIT_SYNC))) {
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
if (rfm22b_dev->packet_start_ticks == 0) {
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
rfm22b_dev->packet_start_ticks = 1;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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}
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
}
return ret;
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +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)
{
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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return rfm22b_dev != NULL && rfm22b_dev->magic == PIOS_RFM22B_DEV_MAGIC;
OP-914 - Converted PIOS_RFM22B_Validate back into a normal function from an inline.
2013-04-16 15:56:21 +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
/*****************************************************************************
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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* The Device Control Thread
*****************************************************************************/
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: 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;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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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(rfm22b_dev)) {
return;
}
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
portTickType lastEventTicks = xTaskGetTickCount();
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 lastStatusTicks = lastEventTicks;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
portTickType lastPPMTicks = lastEventTicks;
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
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
while (1) {
Fixes a bug in the rfm22b driver that was reading past the end of the bindings list when receiving a status message. Also adds some formatting changes that came about after doing a make uncrustify_all.
2013-05-26 17:36:38 +02:00
#if defined(PIOS_INCLUDE_WDG) && defined(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.
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
if (xSemaphoreTake(rfm22b_dev->isrPending, ISR_TIMEOUT / portTICK_RATE_MS) == pdTRUE) {
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
lastEventTicks = xTaskGetTickCount();
// Process events through the state machine.
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
enum pios_radio_event event;
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
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE) {
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
if ((event == RADIO_EVENT_INT_RECEIVED) &&
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
((rfm22b_dev->state == RADIO_STATE_UNINITIALIZED) || (rfm22b_dev->state == RADIO_STATE_INITIALIZING))) {
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
continue;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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}
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
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.
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
rfm22_process_event(rfm22b_dev, RADIO_EVENT_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
// Clear the event queue.
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
enum pios_radio_event event;
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
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE) {
// Do nothing;
}
lastEventTicks = xTaskGetTickCount();
}
}
// Change channels if necessary.
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
if (PIOS_RFM22B_InRxWait((uint32_t)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
rfm22_changeChannel(rfm22b_dev);
}
portTickType curTicks = xTaskGetTickCount();
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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uint32_t last_rec_ms = (rfm22b_dev->rx_complete_ticks == 0) ? 0 : pios_rfm22_time_difference_ms(rfm22b_dev->rx_complete_ticks, curTicks);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
// Have we been sending / receiving 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))) {
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
rfm22_process_event(rfm22b_dev, RADIO_EVENT_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
} else if (last_rec_ms > DISCONNECT_TIMEOUT_MS) {
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
// Has it been too long since we received a packet
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
rfm22_process_event(rfm22b_dev, RADIO_EVENT_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
} else {
// Are we waiting for an ACK?
if (rfm22b_dev->prev_tx_packet) {
// Should we resend the packet?
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
if ((pios_rfm22_time_difference_ms(rfm22b_dev->tx_complete_ticks, curTicks) > rfm22b_dev->max_ack_delay) &&
PIOS_RFM22B_InRxWait((uint32_t)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
rfm22b_dev->tx_complete_ticks = curTicks;
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
rfm22_process_event(rfm22b_dev, RADIO_EVENT_ACK_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
}
} 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.
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
if (pios_rfm22_time_difference_ms(lastStatusTicks, curTicks) > RADIOSTATS_UPDATE_PERIOD_MS) {
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
rfm22_sendStatus(rfm22b_dev);
lastStatusTicks = curTicks;
}
}
}
// Send a packet if it's our time slice
OP-932: Syncronize start of transmissions using the same coordinated clock as used by FHSS.
2013-05-01 04:46:46 +02:00
bool time_to_send = rfm22_timeToSend(rfm22b_dev);
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-932: Syncronize start of transmissions using the same coordinated clock as used by FHSS.
2013-05-01 04:46:46 +02:00
if (time_to_send) {
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
D4_LED_ON;
} else {
D4_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-932: Syncronize start of transmissions using the same coordinated clock as used by FHSS.
2013-05-01 04:46:46 +02:00
if (time_to_send && PIOS_RFM22B_InRxWait((uint32_t)rfm22b_dev)) {
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
rfm22_process_event(rfm22b_dev, RADIO_EVENT_TX_START);
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
}
}
}
/*****************************************************************************
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* The State Machine Functions
*****************************************************************************/
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 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?
*/
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
static void pios_rfm22_inject_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_radio_event event, bool inISR)
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 (inISR) {
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// Store the event.
portBASE_TYPE pxHigherPriorityTaskWoken1;
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if (xQueueSendFromISR(rfm22b_dev->eventQueue, &event, &pxHigherPriorityTaskWoken1) != pdTRUE) {
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
return;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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}
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// Signal the semaphore to wake up the handler thread.
portBASE_TYPE pxHigherPriorityTaskWoken2;
if (xSemaphoreGiveFromISR(rfm22b_dev->isrPending, &pxHigherPriorityTaskWoken2) != pdTRUE) {
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
// Something went fairly seriously wrong
rfm22b_dev->errors++;
}
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
portEND_SWITCHING_ISR((pxHigherPriorityTaskWoken2 == pdTRUE) || (pxHigherPriorityTaskWoken2 == pdTRUE));
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 {
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// Store the event.
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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if (xQueueSend(rfm22b_dev->eventQueue, &event, portMAX_DELAY) != pdTRUE) {
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
return;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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}
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
// Signal the semaphore to wake up the handler thread.
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 (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
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
* @return enum pios_radio_event The next event to inject
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: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
static enum pios_radio_event rfm22_process_state_transition(struct pios_rfm22b_dev *rfm22b_dev, enum pios_radio_event event)
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
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
if (event >= RADIO_EVENT_NUM_EVENTS) {
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
return RADIO_EVENT_NUM_EVENTS;
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 transition if there is no transition defined
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
enum pios_radio_state next_state = rfm22b_transitions[rfm22b_dev->state].next_state[event];
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 (!next_state) {
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
return RADIO_EVENT_NUM_EVENTS;
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
}
/*
* Move to the next state
*
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* This is done prior to calling the new state's entry function to
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
* 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);
}
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
return RADIO_EVENT_NUM_EVENTS;
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
}
/**
* 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
*/
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
static void rfm22_process_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_radio_event event)
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
{
// Process all state transitions.
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
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while (event != RADIO_EVENT_NUM_EVENTS) {
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
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
/*****************************************************************************
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* The Device Initialization / Configuration Functions
*****************************************************************************/
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
/**
* 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
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
* @return enum pios_radio_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
*/
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
static enum pios_radio_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
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
// Initialize the register values.
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rfm22b_dev->status_regs.int_status_1.raw = 0;
rfm22b_dev->status_regs.int_status_2.raw = 0;
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 = 0;
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2013-05-19 16:37:30 +02:00
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;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->pair_stats[i].rssi = -127;
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->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;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->destination_id = 0xffffffff;
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->send_status = false;
rfm22b_dev->send_connection_request = false;
OP-932 Changes the radio task loop to loop every 1ms, and reduces the tx transmit period back down to 8ms. Also reduces the Tx windows to 1ms for each modem, and reserves the latter half of the Tx window for channel changing.
2013-05-22 02:40:05 +02:00
rfm22b_dev->send_ack_nack = false;
rfm22b_dev->resend_packet = 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
// Initialize the packets.
OP-932 Changes the radio task loop to loop every 1ms, and reduces the tx transmit period back down to 8ms. Also reduces the Tx windows to 1ms for each modem, and reserves the latter half of the Tx window for channel changing.
2013-05-22 02:40:05 +02:00
rfm22b_dev->rx_packet_len = 0;
rfm22b_dev->tx_packet = NULL;
rfm22b_dev->prev_tx_packet = NULL;
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->data_packet.header.data_size = 0;
// Initialize the devide state
rfm22b_dev->rx_buffer_wr = 0;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 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
rfm22b_dev->frequency_hop_channel = 0;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->afc_correction_Hz = 0;
rfm22b_dev->packet_start_ticks = 0;
rfm22b_dev->tx_complete_ticks = 0;
rfm22b_dev->rx_complete_ticks = 0;
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
rfm22b_dev->rfm22b_state = RFM22B_STATE_INITIALIZING;
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
// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
OP-932: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
rfm22_write_claim(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
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
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: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
pios_rfm22_readStatus(rfm22b_dev);
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
// Is the chip ready?
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
if (rfm22b_dev->status_regs.int_status_2.chip_ready) {
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
break;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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
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: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
pios_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
OP-932: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
// Claim the SPI bus.
rfm22_claimBus(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
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
uint8_t device_type = rfm22_read(rfm22b_dev, RFM22_DEVICE_TYPE) & RFM22_DT_MASK;
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 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
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
return RADIO_EVENT_FATAL_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
}
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
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
return RADIO_EVENT_FATAL_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
}
// 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);
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
// GPIO1 = RX State (to control RF Switch)
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
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,
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
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);
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
// 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,
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
RFM22_header_cntl2_hdlen_3210 |
RFM22_header_cntl2_synclen_3210 |
((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
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
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);
// 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);
OP-932: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
// Release the bus
rfm22_releaseBus(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 frequency and datarate to te default.
rfm22_setNominalCarrierFrequency(rfm22b_dev, rfm22b_dev->init_frequency, rfm22b_dev->init_frequency, RFM22B_FREQUENCY_HOP_STEP_SIZE);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
pios_rfm22_setDatarate(rfm22b_dev, RFM22B_DEFAULT_RX_DATARATE, true);
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: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
return RADIO_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
*/
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
static void pios_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];
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
OP-931: Makes flight code compile with -Wfloat-equal and -Wunsuffixed-float-constants enabled. Also fixes warnings (and bugs) in F4 STM32_USB_OTG_Driver code, allowing -Werror to be enabled for all flight code. Fixes all other compiler warnings that would otherwise cause the flight code to not compile with -Werror enabled. Along the way, this also adds some uses of isnan() to various places rather than questionable tests for x != x and x == x to check for NaNs. +review OPReview
2013-04-30 13:06:42 +02:00
rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(datarate_bps) + 0.5f);
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
// 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;
OP-931: Makes flight code compile with -Wfloat-equal and -Wunsuffixed-float-constants enabled. Also fixes warnings (and bugs) in F4 STM32_USB_OTG_Driver code, allowing -Werror to be enabled for all flight code. Fixes all other compiler warnings that would otherwise cause the flight code to not compile with -Werror enabled. Along the way, this also adds some uses of isnan() to various places rather than questionable tests for x != x and x == x to check for NaNs. +review OPReview
2013-04-30 13:06:42 +02:00
rfm22b_dev->max_ack_delay = (uint16_t)((float)((sizeof(PHAckNackPacket) * 8 + TX_PREAMBLE_NIBBLES * 4) * 1000) / (float)(datarate_bps) + 0.5f) * 4 + 4 + random;
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: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
// Claim the SPI bus.
rfm22_claimBus(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
// 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
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] | RFM22_mmc1_enwhite);
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
}
// 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);
OP-932: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
// Release the bus
rfm22_releaseBus(rfm22b_dev);
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)
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
uint8_t hbsel;
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 (frequency_hz < 480000000) {
hbsel = 0;
} else {
hbsel = 1;
}
OP-931: Makes flight code compile with -Wfloat-equal and -Wunsuffixed-float-constants enabled. Also fixes warnings (and bugs) in F4 STM32_USB_OTG_Driver code, allowing -Werror to be enabled for all flight code. Fixes all other compiler warnings that would otherwise cause the flight code to not compile with -Werror enabled. Along the way, this also adds some uses of isnan() to various places rather than questionable tests for x != x and x == x to check for NaNs. +review OPReview
2013-04-30 13:06:42 +02:00
float freq_mhz = (float)(frequency_hz) / 1000000.0f;
float xtal_freq_khz = 30000.0f;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
float sfreq = freq_mhz / (10.0f * (xtal_freq_khz / 30000.0f) * (1 + hbsel));
uint32_t fb = (uint32_t)sfreq - 24 + (64 + 32 * hbsel);
uint32_t fc = (uint32_t)((sfreq - (uint32_t)sfreq) * 64000.0f);
uint8_t fch = (fc >> 8) & 0xff;
uint8_t fcl = fc & 0xff;
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: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
// Claim the SPI bus.
rfm22_claimBus(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
// 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)
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->frequency_step_size = 156.25f * hbsel;
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 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);
OP-932: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
// Release the bus
rfm22_releaseBus(rfm22b_dev);
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;
}
OP-932: Improves the timing of channel changes on the radio device.
2013-05-01 15:37:47 +02:00
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D3_LED_TOGGLE;
#endif // 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
rfm22b_dev->frequency_hop_channel = channel;
OP-932: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
rfm22_write_claim(rfm22b_dev, RFM22_frequency_hopping_channel_select, channel);
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 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: 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-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
static bool pios_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
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22_claimBus(rfm22b_dev); // Set RC and the semaphore
uint8_t write_buf[3] = { RFM22_interrupt_status1 &0x7f, 0xFF, 0xFF };
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
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);
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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-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
// Device status
OP-932: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
rfm22b_dev->status_regs.device_status.raw = rfm22_read(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
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->status_regs.ezmac_status.raw = rfm22_read(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
}
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
/**
* Recover from a failure in receiving a packet.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_radio_event The next event to inject
*/
static void rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->stats.rx_failure++;
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->packet_start_ticks = 0;
rfm22b_dev->rfm22b_state = RFM22B_STATE_TRANSITION;
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
if (rfm22b_dev->rx_complete_ticks == 0) {
rfm22b_dev->rx_complete_ticks = 1;
}
}
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
/*****************************************************************************
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
* Radio Transmit and Receive functions.
*****************************************************************************/
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
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-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
* Start a transmit if possible
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: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
* @param[in] radio_dev The device structure
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
* @return enum pios_radio_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-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_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-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
PHPacketHandle p = NULL;
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-932: Improves the timing of channel changes on the radio device.
2013-05-01 15:37:47 +02:00
// Don't send if it's not our turn, or if we're receiving a packet.
if (!rfm22_timeToSend(radio_dev) || !PIOS_RFM22B_InRxWait((uint32_t)radio_dev)) {
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
return RADIO_EVENT_RX_MODE;
}
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-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
#ifdef PIOS_PPM_RECEIVER
OP-932 Changes the RFM22 frequency hopping to change channels every Tx period. Also increases the Tx clock period from 8ms to 16ms, and adds a check on calculation the the time delta that it doesn't change the previous estimated time delta by too much. If the delta between the current time delta and the previously estimated time delta is too large it could indicate that there was a delay somewhere that makes the calculated time delta inaccurate. Rearanges the packet send priority in the rfm22b driver so that PPM packets are top priority.
2013-05-21 03:21:07 +02:00
// Send a PPM packet?
if (radio_dev->send_ppm) {
p = (PHPacketHandle) & (radio_dev->ppm_packet);
radio_dev->send_ppm = false;
}
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
#endif
OP-932: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
OP-932 Changes the RFM22 frequency hopping to change channels every Tx period. Also increases the Tx clock period from 8ms to 16ms, and adds a check on calculation the the time delta that it doesn't change the previous estimated time delta by too much. If the delta between the current time delta and the previously estimated time delta is too large it could indicate that there was a delay somewhere that makes the calculated time delta inaccurate. Rearanges the packet send priority in the rfm22b driver so that PPM packets are top priority.
2013-05-21 03:21:07 +02:00
// Send an ACK/NACK?
if (!p && radio_dev->send_ack_nack) {
p = (PHPacketHandle) & (radio_dev->ack_nack_packet);
radio_dev->send_ack_nack = false;
}
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
OP-932 Changes the RFM22 frequency hopping to change channels every Tx period. Also increases the Tx clock period from 8ms to 16ms, and adds a check on calculation the the time delta that it doesn't change the previous estimated time delta by too much. If the delta between the current time delta and the previously estimated time delta is too large it could indicate that there was a delay somewhere that makes the calculated time delta inaccurate. Rearanges the packet send priority in the rfm22b driver so that PPM packets are top priority.
2013-05-21 03:21:07 +02:00
// Resend a packet?
if (!p && radio_dev->resend_packet) {
p = radio_dev->prev_tx_packet;
radio_dev->prev_tx_packet = NULL;
radio_dev->resend_packet = 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-932 Changes the RFM22 frequency hopping to change channels every Tx period. Also increases the Tx clock period from 8ms to 16ms, and adds a check on calculation the the time delta that it doesn't change the previous estimated time delta by too much. If the delta between the current time delta and the previously estimated time delta is too large it could indicate that there was a delay somewhere that makes the calculated time delta inaccurate. Rearanges the packet send priority in the rfm22b driver so that PPM packets are top priority.
2013-05-21 03:21:07 +02:00
// Don't send another packet if we're waiting for an ACK.
if (!p && radio_dev->prev_tx_packet) {
return RADIO_EVENT_RX_MODE;
}
// Send a connection request?
if (!p && radio_dev->send_connection_request) {
p = (PHPacketHandle) & (radio_dev->con_packet);
radio_dev->send_connection_request = false;
}
// Try to get some data to send
if (!p) {
bool need_yield = false;
p = &radio_dev->data_packet;
p->header.type = PACKET_TYPE_DATA;
p->header.destination_id = radio_dev->destination_id;
if (radio_dev->tx_out_cb && (p->header.data_size == 0)) {
p->header.data_size = (radio_dev->tx_out_cb)(radio_dev->tx_out_context, p->data, PH_MAX_DATA, NULL, &need_yield);
}
// Don't send any data until we're connected.
if (!rfm22_isConnected(radio_dev)) {
p->header.data_size = 0;
}
if (p->header.data_size == 0) {
p = NULL;
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
}
}
OP-932 Changes the RFM22 frequency hopping to change channels every Tx period. Also increases the Tx clock period from 8ms to 16ms, and adds a check on calculation the the time delta that it doesn't change the previous estimated time delta by too much. If the delta between the current time delta and the previously estimated time delta is too large it could indicate that there was a delay somewhere that makes the calculated time delta inaccurate. Rearanges the packet send priority in the rfm22b driver so that PPM packets are top priority.
2013-05-21 03:21:07 +02:00
// Send status?
if (!p && radio_dev->send_status) {
p = (PHPacketHandle) & (radio_dev->status_packet);
radio_dev->send_status = false;
}
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
if (!p) {
return RADIO_EVENT_RX_MODE;
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-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D1_LED_ON;
#endif
OP-932: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
OP-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
// Add the packet sequence number.
p->header.seq_num = radio_dev->stats.tx_seq++;
// Pass the time of the previous transmitted packet to use for synchronizing the clocks.
p->header.prev_tx_time = radio_dev->tx_complete_ticks;
OP-932: Improves the timing of channel changes on the radio device.
2013-05-01 15:37:47 +02:00
// Change the channel if necessary, but not when ACKing the connection request message.
if ((p->header.type != PACKET_TYPE_ACK) || (radio_dev->rx_packet.header.type != PACKET_TYPE_CON_REQUEST)) {
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
rfm22_changeChannel(radio_dev);
}
OP-932: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
// Add the error correcting code.
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
encode_data((unsigned char *)p, PHPacketSize(p), (unsigned char *)p);
OP-932: Store the device status in bitfields with meaningful names.
2013-04-21 06:09:42 +02:00
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
// Transmit the packet.
PIOS_RFM22B_TransmitPacket((uint32_t)radio_dev, p);
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-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
return RADIO_EVENT_NUM_EVENTS;
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
/**
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
* Receive packet data.
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
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
* @return enum pios_radio_event The next event to inject
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: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
static enum pios_radio_event radio_txData(struct pios_rfm22b_dev *radio_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
{
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
enum pios_radio_event ret_event = RADIO_EVENT_NUM_EVENTS;
pios_rfm22b_int_result res = PIOS_RFM22B_ProcessTx((uint32_t)radio_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
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
// Is the transmition complete
if (res == PIOS_RFM22B_TX_COMPLETE) {
radio_dev->stats.tx_byte_count += PH_PACKET_SIZE(radio_dev->tx_packet);
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
radio_dev->tx_complete_ticks = xTaskGetTickCount();
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-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
// Is this an ACK?
OP-932: Improves the timing of channel changes on the radio device.
2013-05-01 15:37:47 +02:00
bool is_ack = (radio_dev->tx_packet->header.type == PACKET_TYPE_ACK);
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
ret_event = RADIO_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 (radio_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
rfm22_setConnectionParameters(radio_dev);
}
OP-932 Changes the RFM22 frequency hopping to change channels every Tx period. Also increases the Tx clock period from 8ms to 16ms, and adds a check on calculation the the time delta that it doesn't change the previous estimated time delta by too much. If the delta between the current time delta and the previously estimated time delta is too large it could indicate that there was a delay somewhere that makes the calculated time delta inaccurate. Rearanges the packet send priority in the rfm22b driver so that PPM packets are top priority.
2013-05-21 03:21:07 +02:00
} else if ((radio_dev->tx_packet->header.type != PACKET_TYPE_NACK) &&
(radio_dev->tx_packet->header.type != PACKET_TYPE_PPM) &&
(radio_dev->tx_packet->header.type != PACKET_TYPE_STATUS)) {
// We need to wait for an ACK if this packet it not an ACK, NACK, PPM, or status packet.
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
radio_dev->prev_tx_packet = radio_dev->tx_packet;
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
}
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
radio_dev->tx_packet = 0;
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
radio_dev->tx_data_wr = radio_dev->tx_data_rd = 0;
// Start a new transaction
radio_dev->packet_start_ticks = 0;
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-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-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
D1_LED_OFF;
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
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
}
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
return ret_event;
}
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-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
/**
* Switch the radio into receive mode.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_radio_event The next event to inject
*/
static enum pios_radio_event radio_setRxMode(struct pios_rfm22b_dev *rfm22b_dev)
{
if (!PIOS_RFM22B_ReceivePacket((uint32_t)rfm22b_dev, &(rfm22b_dev->rx_packet))) {
return RADIO_EVENT_NUM_EVENTS;
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: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
rfm22b_dev->packet_start_ticks = 0;
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: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
// No event generated
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
return RADIO_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.
*
OP-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
* @param[in] radio_dev The device structure
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] p The packet handle of the received packet.
* @param[in] rc_len The number of bytes received.
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
* @return enum pios_radio_event The next event to inject
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: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
static enum pios_radio_event radio_receivePacket(struct pios_rfm22b_dev *radio_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-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
portTickType curTicks = xTaskGetTickCount();
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.
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
decode_data((unsigned char *)p, rx_len);
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
bool good_packet = check_syndrome() == 0;
bool corrected_packet = false;
// We have an error. Try to correct it.
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
if (!good_packet && (correct_errors_erasures((unsigned char *)p, rx_len, 0, 0) != 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
// We corrected it
corrected_packet = true;
}
// Set the packet status
if (good_packet) {
OP-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
rfm22b_add_rx_status(radio_dev, RADIO_GOOD_RX_PACKET);
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
} else if (corrected_packet) {
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 corrected the error.
OP-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
rfm22b_add_rx_status(radio_dev, RADIO_CORRECTED_RX_PACKET);
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 {
// We couldn't correct the error, so drop the packet.
OP-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
rfm22b_add_rx_status(radio_dev, RADIO_ERROR_RX_PACKET);
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: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
enum pios_radio_event ret_event = RADIO_EVENT_RX_COMPLETE;
if (good_packet || corrected_packet) {
switch (p->header.type) {
case PACKET_TYPE_STATUS:
ret_event = RADIO_EVENT_STATUS_RECEIVED;
break;
case PACKET_TYPE_CON_REQUEST:
ret_event = RADIO_EVENT_CONNECTION_REQUESTED;
break;
case PACKET_TYPE_DATA:
{
// Send the data to the com port
bool rx_need_yield;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
if (radio_dev->rx_in_cb) {
OP-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
(radio_dev->rx_in_cb)(radio_dev->rx_in_context, p->data, p->header.data_size, NULL, &rx_need_yield);
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
}
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
break;
}
case PACKET_TYPE_DUPLICATE_DATA:
break;
case PACKET_TYPE_ACK:
ret_event = RADIO_EVENT_PACKET_ACKED;
break;
case PACKET_TYPE_NACK:
ret_event = RADIO_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)p;
#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;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
radio_dev->ppm_fresh = true;
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
OP-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
radio_dev->ppm_channel[i] = ppmp->channels[i];
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
}
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
#endif
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
#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];
}
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
GCSReceiverSet(&gcsRcvr);
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
}
#endif
break;
}
default:
break;
}
OP-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
uint16_t seq_num = radio_dev->rx_packet.header.seq_num;
if (rfm22_isConnected(radio_dev)) {
// Adjust the clock syncronization if this is the remote modem.
// The coordinator sends the time that the previous packet was finised transmitting,
// which should match the time that the last packet was received.
uint16_t prev_seq_num = radio_dev->stats.rx_seq;
if (seq_num == (prev_seq_num + 1)) {
OP-932 Changes the radio task loop to loop every 1ms, and reduces the tx transmit period back down to 8ms. Also reduces the Tx windows to 1ms for each modem, and reserves the latter half of the Tx window for channel changing.
2013-05-22 02:40:05 +02:00
portTickType local_rx_time = radio_dev->rx_complete_ticks;
portTickType remote_tx_time = radio_dev->rx_packet.header.prev_tx_time;
portTickType time_delta = remote_tx_time - local_rx_time;
OP-932 Changes the RFM22 frequency hopping to change channels every Tx period. Also increases the Tx clock period from 8ms to 16ms, and adds a check on calculation the the time delta that it doesn't change the previous estimated time delta by too much. If the delta between the current time delta and the previously estimated time delta is too large it could indicate that there was a delay somewhere that makes the calculated time delta inaccurate. Rearanges the packet send priority in the rfm22b driver so that PPM packets are top priority.
2013-05-21 03:21:07 +02:00
portTickType time_delta_delta = (time_delta > radio_dev->time_delta) ? (time_delta - radio_dev->time_delta) : (radio_dev->time_delta - time_delta);
if (time_delta_delta <= 2) {
radio_dev->time_delta = remote_tx_time - local_rx_time;
}
OP-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
} else if (seq_num > prev_seq_num) {
// Add any missed packets into the stats.
uint16_t missed_packets = seq_num - prev_seq_num - 1;
radio_dev->stats.rx_missed += missed_packets;
}
}
// Update the sequence number
radio_dev->stats.rx_seq = seq_num;
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
} else {
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
ret_event = RADIO_EVENT_RX_COMPLETE;
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
}
OP-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
// Log the time that the packet was received.
radio_dev->rx_complete_ticks = curTicks;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
if (radio_dev->rx_complete_ticks == 0) {
OP-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
radio_dev->rx_complete_ticks = 1;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
}
OP-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
return ret_event;
}
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: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
* Receive the packet data.
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
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
* @return enum pios_radio_event The next event to inject
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: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
static enum pios_radio_event radio_rxData(struct pios_rfm22b_dev *radio_dev)
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
{
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
enum pios_radio_event ret_event = RADIO_EVENT_NUM_EVENTS;
pios_rfm22b_int_result res = PIOS_RFM22B_ProcessRx((uint32_t)radio_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
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
switch (res) {
case PIOS_RFM22B_RX_COMPLETE:
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: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
// Receive the packet.
ret_event = radio_receivePacket(radio_dev, radio_dev->rx_packet_handle, radio_dev->rx_buffer_wr);
radio_dev->rx_buffer_wr = 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-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
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
// Start a new transaction
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
radio_dev->packet_start_ticks = 0;
break;
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
case PIOS_RFM22B_INT_FAILURE:
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
ret_event = RADIO_EVENT_RX_MODE;
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
break;
default:
// do nothing.
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
}
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
/*****************************************************************************
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
* Packet Transmition Functions
*****************************************************************************/
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 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-932 Changes the RFM22 frequency hopping to change channels every Tx period. Also increases the Tx clock period from 8ms to 16ms, and adds a check on calculation the the time delta that it doesn't change the previous estimated time delta by too much. If the delta between the current time delta and the previously estimated time delta is too large it could indicate that there was a delay somewhere that makes the calculated time delta inaccurate. Rearanges the packet send priority in the rfm22b driver so that PPM packets are top priority.
2013-05-21 03:21:07 +02:00
// Don't send if a status is already queued or if we're the coordinator and not connected.
if (rfm22b_dev->send_status || (rfm22b_dev->coordinator && !rfm22_isConnected(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
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
}
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->status_packet.header.type = PACKET_TYPE_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
rfm22b_dev->status_packet.header.data_size = PH_STATUS_DATA_SIZE(&(rfm22b_dev->status_packet));
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
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;
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->send_status = 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
/**
* Send a PPM packet.
*
* @param[in] rfm22b_dev The device structure
*/
OP-931: adds -Wextra compiler option for the flight code, and makes the bazillion code changes required to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
2013-05-05 09:02:24 +02:00
static void rfm22_sendPPM(__attribute__((unused)) 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);
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
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;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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 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;
}
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
#endif /* ifdef PIOS_PPM_RECEIVER */
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
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
* @return enum pios_radio_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-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
static enum pios_radio_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-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
// We don't ACK PPM or status packets.
if ((rfm22b_dev->rx_packet.header.type != PACKET_TYPE_PPM) && (rfm22b_dev->rx_packet.header.type != PACKET_TYPE_STATUS)) {
OP-932: Removes requirement to ACK PPM packets.
2013-05-01 16:28:33 +02:00
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
aph->header.destination_id = rfm22b_dev->destination_id;
aph->header.type = PACKET_TYPE_ACK;
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
OP-932 Changes the radio task loop to loop every 1ms, and reduces the tx transmit period back down to 8ms. Also reduces the Tx windows to 1ms for each modem, and reserves the latter half of the Tx window for channel changing.
2013-05-22 02:40:05 +02:00
rfm22b_dev->send_ack_nack = true;
OP-932: Removes requirement to ACK PPM packets.
2013-05-01 16:28:33 +02:00
}
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
return RADIO_EVENT_TX_START;
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
/**
* Send an NACK to a received packet.
*
* @param[in] rfm22b_dev The device structure
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
* @return enum pios_radio_event The next event to inject
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: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
static enum pios_radio_event rfm22_sendNack(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
{
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
OP-932 Changes the RFM22 frequency hopping to change channels every Tx period. Also increases the Tx clock period from 8ms to 16ms, and adds a check on calculation the the time delta that it doesn't change the previous estimated time delta by too much. If the delta between the current time delta and the previously estimated time delta is too large it could indicate that there was a delay somewhere that makes the calculated time delta inaccurate. Rearanges the packet send priority in the rfm22b driver so that PPM packets are top priority.
2013-05-21 03:21:07 +02:00
// We don't NACK PPM or status packets.
if ((rfm22b_dev->rx_packet.header.type != PACKET_TYPE_PPM) && (rfm22b_dev->rx_packet.header.type != PACKET_TYPE_STATUS)) {
aph->header.destination_id = rfm22b_dev->destination_id;
aph->header.type = PACKET_TYPE_NACK;
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
OP-932 Changes the radio task loop to loop every 1ms, and reduces the tx transmit period back down to 8ms. Also reduces the Tx windows to 1ms for each modem, and reserves the latter half of the Tx window for channel changing.
2013-05-22 02:40:05 +02:00
rfm22b_dev->send_ack_nack = true;
OP-932 Changes the RFM22 frequency hopping to change channels every Tx period. Also increases the Tx clock period from 8ms to 16ms, and adds a check on calculation the the time delta that it doesn't change the previous estimated time delta by too much. If the delta between the current time delta and the previously estimated time delta is too large it could indicate that there was a delay somewhere that makes the calculated time delta inaccurate. Rearanges the packet send priority in the rfm22b driver so that PPM packets are top priority.
2013-05-21 03:21:07 +02:00
}
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
return RADIO_EVENT_TX_START;
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: 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
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
* @return enum pios_radio_event The next event to inject
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: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
static enum pios_radio_event rfm22_requestConnection(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
{
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
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
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;
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
cph->header.data_size = PH_CONNECTION_DATA_SIZE(&(rfm22b_dev->con_packet));
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
cph->source_id = rfm22b_dev->deviceID;
cph->status_rx_time = rfm22b_dev->rx_complete_ticks;
cph->main_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].main_port;
cph->flexi_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].flexi_port;
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
cph->vcp_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].vcp_port;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
cph->com_speed = rfm22b_dev->bindings[rfm22b_dev->cur_binding].com_speed;
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->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-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
return RADIO_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
/*****************************************************************************
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
* Packet Receipt Functions
*****************************************************************************/
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: 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
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
* @return enum pios_radio_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-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
static enum pios_radio_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;
// 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;
}
// Should we try to start another TX?
OP-932: Syncronize start of transmissions using the same coordinated clock as used by FHSS.
2013-05-01 04:46:46 +02:00
return RADIO_EVENT_TX_START;
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
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
* @return enum pios_radio_event The next event to inject
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: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
static enum pios_radio_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)) {
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
rfm22b_add_rx_status(rfm22b_dev, RADIO_RESENT_TX_PACKET);
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: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
return RADIO_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
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
* @return enum pios_radio_event The next event to inject
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
*/
Fixes a bug in the rfm22b driver that was reading past the end of the bindings list when receiving a status message. Also adds some formatting changes that came about after doing a make uncrustify_all.
2013-05-26 17:36:38 +02:00
static enum pios_radio_event rfm22_receiveStatus(struct pios_rfm22b_dev *radio_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
{
Fixes a bug in the rfm22b driver that was reading past the end of the bindings list when receiving a status message. Also adds some formatting changes that came about after doing a make uncrustify_all.
2013-05-26 17:36:38 +02:00
PHStatusPacketHandle status = (PHStatusPacketHandle) & (radio_dev->rx_packet);
int8_t rssi = radio_dev->rssi_dBm;
int8_t afc = radio_dev->afc_correction_Hz;
uint32_t id = status->source_id;
enum pios_radio_event ret_event = RADIO_EVENT_RX_COMPLETE;
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
// Have we seen this device recently?
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
bool found = 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
uint8_t id_idx = 0;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
for (; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx) {
Fixes a bug in the rfm22b driver that was reading past the end of the bindings list when receiving a status message. Also adds some formatting changes that came about after doing a make uncrustify_all.
2013-05-26 17:36:38 +02:00
if (radio_dev->pair_stats[id_idx].pairID == 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
found = true;
break;
}
}
// If we have seen it, update the RSSI and reset the last contact couter
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
if (found) {
Fixes a bug in the rfm22b driver that was reading past the end of the bindings list when receiving a status message. Also adds some formatting changes that came about after doing a make uncrustify_all.
2013-05-26 17:36:38 +02:00
radio_dev->pair_stats[id_idx].rssi = rssi;
radio_dev->pair_stats[id_idx].afc_correction = afc;
radio_dev->pair_stats[id_idx].lastContact = 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
} else {
Fixes a bug in the rfm22b driver that was reading past the end of the bindings list when receiving a status message. Also adds some formatting changes that came about after doing a make uncrustify_all.
2013-05-26 17:36:38 +02:00
// If we haven't seen it, find a slot to put it in.
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
uint8_t min_idx = 0;
Fixes a bug in the rfm22b driver that was reading past the end of the bindings list when receiving a status message. Also adds some formatting changes that came about after doing a make uncrustify_all.
2013-05-26 17:36:38 +02:00
int8_t min_rssi = radio_dev->pair_stats[0].rssi;
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
for (id_idx = 1; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx) {
Fixes a bug in the rfm22b driver that was reading past the end of the bindings list when receiving a status message. Also adds some formatting changes that came about after doing a make uncrustify_all.
2013-05-26 17:36:38 +02:00
if (radio_dev->pair_stats[id_idx].rssi < min_rssi) {
min_rssi = radio_dev->pair_stats[id_idx].rssi;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
min_idx = id_idx;
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
}
}
Fixes a bug in the rfm22b driver that was reading past the end of the bindings list when receiving a status message. Also adds some formatting changes that came about after doing a make uncrustify_all.
2013-05-26 17:36:38 +02:00
radio_dev->pair_stats[min_idx].pairID = id;
radio_dev->pair_stats[min_idx].rssi = rssi;
radio_dev->pair_stats[min_idx].afc_correction = afc;
radio_dev->pair_stats[min_idx].lastContact = 0;
}
// Send a connection request message if we're not connected, and this is a status message from a modem that we're bound to.
if (radio_dev->coordinator && !rfm22_isConnected(radio_dev)) {
for (uint8_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
if (radio_dev->bindings[i].pairID == id) {
radio_dev->cur_binding = i;
ret_event = RADIO_EVENT_REQUEST_CONNECTION;
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
}
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
Fixes a bug in the rfm22b driver that was reading past the end of the bindings list when receiving a status message. Also adds some formatting changes that came about after doing a make uncrustify_all.
2013-05-26 17:36:38 +02:00
return ret_event;
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
/*****************************************************************************
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
* Link Statistics Functions
*****************************************************************************/
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 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
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->stats.rx_good = 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
rfm22b_dev->stats.rx_corrected = 0;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
rfm22b_dev->stats.rx_error = 0;
rfm22b_dev->stats.tx_resent = 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
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) {
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
case RADIO_GOOD_RX_PACKET:
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_good++;
break;
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
case RADIO_CORRECTED_RX_PACKET:
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_corrected++;
break;
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
case RADIO_ERROR_RX_PACKET:
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_error++;
break;
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
case RADIO_RESENT_TX_PACKET:
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_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
/*****************************************************************************
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
* Connection Handling Functions
*****************************************************************************/
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 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
{
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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) {
OP-932 Moves the configuration of the com ports on the coordinator OPLink to startup.
2013-05-22 04:48:21 +02:00
rfm22b_dev->com_config_cb(cph->main_port, cph->flexi_port, cph->vcp_port, cph->com_speed);
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 Moves the configuration of the com ports on the coordinator OPLink to startup.
2013-05-22 04:48:21 +02:00
// Configure this modem min an max 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
rfm22_setNominalCarrierFrequency(rfm22b_dev, cph->min_frequency, cph->max_frequency, cph->channel_spacing);
OP-932 Moves the configuration of the com ports on the coordinator OPLink to startup.
2013-05-22 04:48:21 +02:00
// Configure the modem datarate.
rfm22b_dev->datarate = RFM22_datarate_64000;
switch (cph->com_speed) {
case OPLINKSETTINGS_COMSPEED_2400:
rfm22b_dev->datarate = RFM22_datarate_8000;
break;
case OPLINKSETTINGS_COMSPEED_4800:
rfm22b_dev->datarate = RFM22_datarate_8000;
break;
case OPLINKSETTINGS_COMSPEED_9600:
rfm22b_dev->datarate = RFM22_datarate_16000;
break;
case OPLINKSETTINGS_COMSPEED_19200:
rfm22b_dev->datarate = RFM22_datarate_32000;
break;
case OPLINKSETTINGS_COMSPEED_38400:
rfm22b_dev->datarate = RFM22_datarate_57600;
break;
case OPLINKSETTINGS_COMSPEED_57600:
rfm22b_dev->datarate = RFM22_datarate_128000;
break;
case OPLINKSETTINGS_COMSPEED_115200:
rfm22b_dev->datarate = RFM22_datarate_192000;
break;
}
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
pios_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
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
* @return enum pios_radio_event The next event to inject
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: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
static enum pios_radio_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
// Copy the connection packet
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
PHConnectionPacketHandle cph = (PHConnectionPacketHandle)(&(rfm22b_dev->rx_packet));
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 lcph = (PHConnectionPacketHandle)(&(rfm22b_dev->con_packet));
OP-932 Changes the radio task loop to loop every 1ms, and reduces the tx transmit period back down to 8ms. Also reduces the Tx windows to 1ms for each modem, and reserves the latter half of the Tx window for channel changing.
2013-05-22 02:40:05 +02:00
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
memcpy((uint8_t *)lcph, (uint8_t *)cph, PH_PACKET_SIZE((PHPacketHandle)cph));
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 ID to the source of the connection request message.
rfm22b_dev->destination_id = cph->source_id;
OP-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
// The remote modem sets the time delta between the two modems using the differene between the clock
// on the local modem when it sent the status packet and the time on the coordinator modem when it was received.
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
portTickType local_tx_time = rfm22b_dev->tx_complete_ticks;
OP-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
portTickType remote_rx_time = cph->status_rx_time;
rfm22b_dev->time_delta = remote_rx_time - local_tx_time;
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
return RADIO_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
/*****************************************************************************
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
* Frequency Hopping Functions
*****************************************************************************/
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: 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-932: Changed the clock syncronization to happen only on packts transmitted from the coordinator to the remote modem. The Tx finished time of the previous packet is now sent in the packet header. This is compared to the Rx complete time of that packet on the remote modem to calcualte the difference between two modems. This eliminates the need for ACKing, so ACKs were removed for PPM and status packet.
2013-05-04 17:50:08 +02:00
if (rfm22b_dev->coordinator) {
return ticks;
}
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-932: Syncronize start of transmissions using the same coordinated clock as used by FHSS.
2013-05-01 04:46:46 +02:00
/**
* Return true if this modem is in the send interval, which allows the modem to initiate a transmit.
*
* @param[in] rfm22b_dev The device structure
*/
static bool rfm22_timeToSend(struct pios_rfm22b_dev *rfm22b_dev)
{
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
OP-932 Changes the radio task loop to loop every 1ms, and reduces the tx transmit period back down to 8ms. Also reduces the Tx windows to 1ms for each modem, and reserves the latter half of the Tx window for channel changing.
2013-05-22 02:40:05 +02:00
// Divide time into 8ms blocks. Coordinator sends in first 1 ms, and remote send in 4th.
// Channel changes occurs in the 7th.
return (rfm22b_dev->coordinator) ? ((time & 0x7) == 0) : ((time & 0x7) == 3);
OP-932: Syncronize start of transmissions using the same coordinated clock as used by FHSS.
2013-05-01 04:46:46 +02:00
}
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());
OP-932 Changes the RFM22 frequency hopping to change channels every Tx period. Also increases the Tx clock period from 8ms to 16ms, and adds a check on calculation the the time delta that it doesn't change the previous estimated time delta by too much. If the delta between the current time delta and the previously estimated time delta is too large it could indicate that there was a delay somewhere that makes the calculated time delta inaccurate. Rearanges the packet send priority in the rfm22b driver so that PPM packets are top priority.
2013-05-21 03:21:07 +02:00
// Divide time into 8ms blocks. Coordinator sends in first 2 ms, and remote send in 5th and 6th ms.
// Channel changes occur in the last 2 ms.
OP-932 Changes the radio task loop to loop every 1ms, and reduces the tx transmit period back down to 8ms. Also reduces the Tx windows to 1ms for each modem, and reserves the latter half of the Tx window for channel changing.
2013-05-22 02:40:05 +02:00
uint8_t n = (((time + 2) >> 3) & 0xff);
OP-932 Changes the RFM22 frequency hopping to change channels every Tx period. Also increases the Tx clock period from 8ms to 16ms, and adds a check on calculation the the time delta that it doesn't change the previous estimated time delta by too much. If the delta between the current time delta and the previously estimated time delta is too large it could indicate that there was a delay somewhere that makes the calculated time delta inaccurate. Rearanges the packet send priority in the rfm22b driver so that PPM packets are top priority.
2013-05-21 03:21:07 +02:00
return PIOS_CRC_updateByte(0, n) % rfm22b_dev->num_channels;
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
/*****************************************************************************
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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
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
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
* @return enum pios_radio_event The next event to inject
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: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
static enum pios_radio_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++;
OP-932: Continued cleanup and modularization of radio code. Also fixed a bug that held the SPI lock when an error occured in an Rx.
2013-05-01 03:47:53 +02:00
rfm22b_dev->packet_start_ticks = 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
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
return RADIO_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
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
* @return enum pios_radio_event The next event to inject
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: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
static enum pios_radio_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;
}
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
rfm22b_dev->rfm22b_state = RFM22B_STATE_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
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
OP-932: Continued cleanup and modularization of the RFM22B radio code. Low-level radio driver has mostly been split out of the higher-level state machine.
2013-04-26 05:57:17 +02:00
return RADIO_EVENT_RX_MODE;
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
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
* @return enum pios_radio_event The next event to inject
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: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
static enum pios_radio_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();
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
return RADIO_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
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
* @return enum pios_radio_event The next event to inject
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: Fixes a bug that was preventing setting of Tx power on remote modem.
2013-05-06 02:03:15 +02:00
static enum pios_radio_event rfm22_fatal_error(__attribute__((unused)) 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();
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
for (unsigned int j = 0; j < 16; j++) {
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
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);
OP-932: Additional restructuring of radio code.
2013-04-22 02:12:55 +02:00
return RADIO_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
/*****************************************************************************
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
* Utility Functions
*****************************************************************************/
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 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
{
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
if (end_time >= start_time) {
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 (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
{
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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;
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
return 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
}
#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
{
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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
}
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
#endif /* if defined(PIOS_INCLUDE_FREERTOS) */
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
*/
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
static void rfm22_clearLEDs(void)
{
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_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
/*****************************************************************************
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
* SPI Read/Write Functions
*****************************************************************************/
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
/**
* 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);
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
if (rfm22b_dev->spi_id != 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
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
{
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
if (rfm22b_dev->spi_id != 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
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
{
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
if (rfm22b_dev->spi_id != 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
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)
{
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
if (rfm22b_dev->spi_id != 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
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
*/
OP-932: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
static void rfm22_write_claim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data)
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
{
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
uint8_t buf[2] = { addr | 0x80, data };
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_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
/**
OP-932: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
* Write a byte to a register without claiming the semaphore
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: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
* @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
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: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
static void rfm22_write(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data)
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
{
rfm22_assertCs(rfm22b_dev);
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
uint8_t buf[2] = { addr | 0x80, data };
OP-932: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
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
rfm22_deassertCs(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 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
*/
OP-932: Hold SPI bus semephore through multiple read/write transactions.
2013-04-21 16:57:53 +02:00
static uint8_t rfm22_read(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
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
{
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +02:00
uint8_t out[2] = { addr &0x7F, 0xFF };
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
uint8_t in[2];
Reformat source code with 'make uncrustify_all' run twice. NO CODE CHANGES
2013-05-19 16:37:30 +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
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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