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LibrePilot/flight/PiOS/Common/pios_rfm22b.c

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Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
/**
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RFM22B Radio Functions
* @brief PIOS interface for for the RFM22B radio
* @{
*
* @file pios_rfm22b.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Implements a driver the the RFM22B driver
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
// *****************************************************************
// RFM22B hardware layer
//
// This module uses the RFM22B's internal packet handling hardware to
// encapsulate our own packet data.
//
// The RFM22B internal hardware packet handler configuration is as follows ..
//
// 4-byte (32-bit) preamble .. alternating 0's & 1's
// 4-byte (32-bit) sync
// 1-byte packet length (number of data bytes to follow)
// 0 to 255 user data bytes
//
// Our own packet data will also contain it's own header and 32-bit CRC
// as a single 16-bit CRC is not sufficient for wireless comms.
//
// *****************************************************************
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_RFM22B)
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>
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
#if defined(PIOS_INCLUDE_RFM22B_GCSRECEIVER)
#include <gcsreceiver.h>
#endif
Added start at a modified PipX packet handler.
2012-03-16 03:29:54 +01:00
#include <pios_rfm22b_priv.h>
Added PPM output to OPLink firmware
2013-01-04 14:51:27 +01:00
#include <pios_ppm_out_priv.h>
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
#include <ecc.h>
Working PipX com relay.
2012-03-08 02:05:42 +01:00
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
/* Local Defines */
RFM22B: Moved ISR processing thread into the rfm22b driver.
2012-09-12 05:34:26 +02:00
#define STACK_SIZE_BYTES 200
#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
#define ISR_TIMEOUT 2 // ms
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
#define EVENT_QUEUE_SIZE 5
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
#define RFM22B_DEFAULT_RX_DATARATE RFM22_datarate_9600
Added frequency hopping to the RFM22B driver. Currently it defaults to 128 channels between 430 and 440 MHz.
2013-02-25 00:05:51 +01:00
#define RFM22B_DEFAULT_FREQUENCY 430000000
#define RFM22B_NOMINAL_CARRIER_FREQUENCY 430000000
#define RFM22B_FREQUENCY_HOP_STEP_SIZE 75000
#define RFM22B_NUM_CHANNELS 128
#define RFM22B_DEFAULT_CHANNEL 28
RFM22B: Changed the way the frequencies and power settings are set for the rfm22b device.
2012-10-21 00:02:49 +02:00
#define RFM22B_DEFAULT_TX_POWER RFM22_tx_pwr_txpow_7
USB/COM/RFM22B: Added a standard com callback to test for link availability. This replaces the PIOS_USB_CheckAvailable function with a generic PIOS_COM_Available function. This is now used by the RFM22B com driver to test if a good link is up. This was originally written by James, and Brian merged it into the latest RFM22B branch.
2012-10-26 23:25:41 +02:00
#define RFM22B_LINK_QUALITY_THRESHOLD 20
Added frequency hopping to the RFM22B driver. Currently it defaults to 128 channels between 430 and 440 MHz.
2013-02-25 00:05:51 +01:00
//#define RFM22B_TEST_DROPPED_PACKETS 1
RFM22B: Improved reliability, especially with reconnection after a timeout, although there is still too many resent packets.
2012-11-14 05:08:33 +01:00
// The maximum amount of time since the last message received to consider the connection broken.
#define DISCONNECT_TIMEOUT_MS 1000 // ms
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
// The maximum amount of time without activity before initiating a reset.
RFM22B: Start at cleaning up the processing interrupt handling, and starting to make it more of a state machine. Also removed the supervisor, which was causing unnecessary resets. The supervisor functionality is not in the the driver thread.
2012-09-15 04:30:02 +02:00
#define PIOS_RFM22B_SUPERVISOR_TIMEOUT 100 // ms
Added a RTC supervisor timer to RFM22B driver.
2012-04-22 03:31:49 +02:00
RFM22B: 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
// The time between connection attempts when not connected
#define CONNECT_ATTEMPT_PERIOD_MS 250 // ms
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
// The time between updates for sending stats the radio link.
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
#define RADIOSTATS_UPDATE_PERIOD_MS 250
RFM22B: Changing configuration parameters over-the-air working. Added tracking of Tx/Rx sequence number. Still seeing too many resent packets.
2012-11-11 16:52:53 +01:00
// The number of stats updates that a modem can miss before it's considered disconnected
#define MAX_RADIOSTATS_MISS_COUNT 3
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
// The time between PPM updates
#define PPM_UPDATE_PERIOD_MS 40
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
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
#define OSC_LOAD_CAP 0x7F // cap = 12.5pf .. default
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
#define OSC_LOAD_CAP_1 0x7D // board 1
#define OSC_LOAD_CAP_2 0x7B // board 2
#define OSC_LOAD_CAP_3 0x7E // board 3
#define OSC_LOAD_CAP_4 0x7F // board 4
Added start at a modified PipX packet handler.
2012-03-16 03:29:54 +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
// ************************************
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
#define TX_PREAMBLE_NIBBLES 12 // 7 to 511 (number of nibbles)
#define RX_PREAMBLE_NIBBLES 6 // 5 to 31 (number of nibbles)
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
#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
#define TX_FIFO_HI_WATERMARK 62 // 0-63
#define TX_FIFO_LO_WATERMARK 32 // 0-63
#define RX_FIFO_HI_WATERMARK 32 // 0-63
#define PREAMBLE_BYTE 0x55 // preamble byte (preceeds SYNC_BYTE's)
#define SYNC_BYTE_1 0x2D // RF sync bytes (32-bit in all)
#define SYNC_BYTE_2 0xD4 //
#define SYNC_BYTE_3 0x4B //
#define SYNC_BYTE_4 0x59 //
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
// ************************************
// Normal data streaming
// GFSK modulation
// no manchester encoding
// data whitening
// FIFO mode
// 5-nibble rx preamble length detection
// 10-nibble tx preamble length
// AFC enabled
/* 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 {
enum pios_rfm22b_event (*entry_fn) (struct pios_rfm22b_dev *rfm22b_dev);
enum pios_rfm22b_state next_state[RFM22B_EVENT_NUM_EVENTS];
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
};
RFM22b: Block transfers for more large SPI transfers Preallocated buffers with various preambles etc. Used SPI_TransferBlock for anything over a few bytes instead of burstWrite. Also make more of the communications wrappered in a large semaphore grab using a new rfm22_write_noclaim() Still needs work - probably because most of the methods to repeated calls they should all use the noclaim, or more specifically that function becomes rfm22_write/read.
2012-09-02 20:31:09 +02:00
// Must ensure these prefilled arrays match the define sizes
Added frequency hopping to the RFM22B driver. Currently it defaults to 128 channels between 430 and 440 MHz.
2013-02-25 00:05:51 +01:00
static const uint8_t FULL_PREAMBLE[FIFO_SIZE] = {
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
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
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] = {
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
RFM22b: Get rid of the burst read commands and do a block transfer
2012-09-05 07:56:48 +02:00
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
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 */
RFM22B: Moved ISR processing thread into the rfm22b driver.
2012-09-12 05:34:26 +02:00
static void PIOS_RFM22B_Task(void *parameters);
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
static bool rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Changing configuration parameters over-the-air working. Added tracking of Tx/Rx sequence number. Still seeing too many resent packets.
2012-11-11 16:52:53 +01:00
static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening);
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_detectPreamble(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_detectSync(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Improved link stability, and added tracking of error encountered in the processes of transmitting and receiving.
2012-11-17 21:18:34 +01:00
static enum pios_rfm22b_event rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
static enum pios_rfm22b_event rfm22_receiveStatus(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
static enum pios_rfm22b_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Changed the way the frequencies and power settings are set for the rfm22b device.
2012-10-21 00:02:49 +02:00
static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
static enum pios_rfm22b_event rfm22_initConnection(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Improved link stability, and added tracking of error encountered in the processes of transmitting and receiving.
2012-11-17 21:18:34 +01:00
static enum pios_rfm22b_event rfm22_txFailure(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
static enum pios_rfm22b_event rfm22_process_state_transition(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event);
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
static void rfm22_process_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event);
RFM22B: Added a message timeout event to the RFM22B state machine that will fire if a packet takes too long to transmit / receive.
2012-09-25 05:51:34 +02:00
static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_fatal_error(struct pios_rfm22b_dev *rfm22b_dev);
RFM22: Don't send status until the link is connected.
2012-12-15 17:56:27 +01:00
static void rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Modified the method of tracking RX errors, and now reporting Good, Corrected, Error, and Missed packets to the GCS. Also removed some less useful fields from the PipXStatus.
2012-10-13 21:06:17 +02:00
static void rfm22b_add_rx_status(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_rx_packet_status status);
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHandle p, uint16_t rx_len);
Added 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 void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t frequency_hz, uint8_t channel);
static void rfm22_setFreqHopChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t channel);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Finised handshacking on ACK and changed the link quality metric to use resent packets rather than missed packets.
2012-11-05 01:50:12 +01:00
static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: Changing configuration parameters over-the-air working. Added tracking of Tx/Rx sequence number. Still seeing too many resent packets.
2012-11-11 16:52:53 +01:00
static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev);
RFM22B: 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
// SPI read/write functions
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
static void rfm22_assertCs(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_deassertCs(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_claimBus(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_releaseBus(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_write(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data);
static uint8_t rfm22_read(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr);
static uint8_t rfm22_read_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr);
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
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
/* Te state transition table */
const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_STATES] = {
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
// Initialization thread
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
[RFM22B_STATE_UNINITIALIZED] = {
.entry_fn = 0,
.next_state = {
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
},
},
[RFM22B_STATE_INITIALIZING] = {
.entry_fn = rfm22_init,
.next_state = {
RFM22B: 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
[RFM22B_EVENT_INITIALIZED] = RFM22B_STATE_INITIATING_CONNECTION,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
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
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
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
[RFM22B_STATE_INITIATING_CONNECTION] = {
.entry_fn = rfm22_initConnection,
RFM22B: Changed the way the frequencies and power settings are set for the rfm22b device.
2012-10-21 00:02:49 +02:00
.next_state = {
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
[RFM22B_EVENT_REQUEST_CONNECTION] = RFM22B_STATE_REQUESTING_CONNECTION,
[RFM22B_EVENT_WAIT_FOR_CONNECTION] = RFM22B_STATE_RX_MODE,
RFM22B: Changed the way the frequencies and power settings are set for the rfm22b device.
2012-10-21 00:02:49 +02:00
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
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
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
RFM22B: Changed the way the frequencies and power settings are set for the rfm22b device.
2012-10-21 00:02:49 +02:00
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
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
[RFM22B_STATE_REQUESTING_CONNECTION] = {
.entry_fn = rfm22_requestConnection,
RFM22B: Changed the way the frequencies and power settings are set for the rfm22b device.
2012-10-21 00:02:49 +02:00
.next_state = {
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
[RFM22B_EVENT_TX_START] = RFM22B_STATE_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
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
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
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
RFM22B: Changed the way the frequencies and power settings are set for the rfm22b device.
2012-10-21 00:02:49 +02:00
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
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
[RFM22B_STATE_ACCEPTING_CONNECTION] = {
.entry_fn = rfm22_acceptConnection,
RFM22B: Changed the way the frequencies and power settings are set for the rfm22b device.
2012-10-21 00:02:49 +02:00
.next_state = {
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_EVENT_DEFAULT] = RFM22B_STATE_SENDING_ACK,
RFM22B: Changed the way the frequencies and power settings are set for the rfm22b device.
2012-10-21 00:02:49 +02:00
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
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
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
RFM22B: Changed the way the frequencies and power settings are set for the rfm22b device.
2012-10-21 00:02:49 +02:00
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
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
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
[RFM22B_STATE_RX_MODE] = {
.entry_fn = rfm22_setRxMode,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
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
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
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
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
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
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
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
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
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
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
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
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
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
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_WAIT_PREAMBLE] = {
.entry_fn = rfm22_detectPreamble,
.next_state = {
[RFM22B_EVENT_PREAMBLE_DETECTED] = RFM22B_STATE_WAIT_SYNC,
RFM22B: 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
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
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
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
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
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
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
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
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
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
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
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
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
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_WAIT_SYNC] = {
.entry_fn = rfm22_detectSync,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_SYNC,
[RFM22B_EVENT_SYNC_DETECTED] = RFM22B_STATE_RX_DATA,
RFM22B: Improved link stability, and added tracking of error encountered in the processes of transmitting and receiving.
2012-11-17 21:18:34 +01:00
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
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
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
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
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
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
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
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
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RX_DATA] = {
.entry_fn = rfm22_rxData,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_RX_DATA,
RFM22B: 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
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
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_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
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
[RFM22B_EVENT_RX_ERROR] = RFM22B_STATE_SENDING_NACK,
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
[RFM22B_EVENT_STATUS_RECEIVED] = RFM22B_STATE_RECEIVING_STATUS,
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
[RFM22B_EVENT_CONNECTION_REQUESTED] = RFM22B_STATE_ACCEPTING_CONNECTION,
[RFM22B_EVENT_PACKET_ACKED] = RFM22B_STATE_RECEIVING_ACK,
[RFM22B_EVENT_PACKET_NACKED] = RFM22B_STATE_RECEIVING_NACK,
RFM22B: Improved link stability, and added tracking of error encountered in the processes of transmitting and receiving.
2012-11-17 21:18:34 +01:00
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RX_FAILURE] = {
.entry_fn = rfm22_rxFailure,
.next_state = {
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
RFM22B: 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
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_ACK] = {
.entry_fn = rfm22_receiveAck,
.next_state = {
RFM22B: 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
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
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
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_NACK] = {
.entry_fn = rfm22_receiveNack,
.next_state = {
RFM22B: Improved link stability, and added tracking of error encountered in the processes of transmitting and receiving.
2012-11-17 21:18:34 +01:00
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
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
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
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
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
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
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_STATUS] = {
.entry_fn = rfm22_receiveStatus,
.next_state = {
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
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
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
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
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
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
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
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
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
[RFM22B_STATE_TX_START] = {
.entry_fn = rfm22_txStart,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
RFM22B: 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
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
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
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
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
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
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
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_DATA] = {
.entry_fn = rfm22_txData,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
RFM22B: 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
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
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
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_TX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_FAILURE] = {
.entry_fn = rfm22_txFailure,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
RFM22B: 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
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
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
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_SENDING_ACK] = {
.entry_fn = rfm22_sendAck,
.next_state = {
RFM22B: 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
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
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
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_SENDING_NACK] = {
.entry_fn = rfm22_sendNack,
.next_state = {
RFM22B: 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
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
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
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
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
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TIMEOUT] = {
.entry_fn = rfm22_timeout,
.next_state = {
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
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
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
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
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_ERROR] = {
.entry_fn = rfm22_error,
.next_state = {
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
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
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
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
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
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
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_FATAL_ERROR] = {
.entry_fn = rfm22_fatal_error,
.next_state = {
},
},
};
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
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
#define LOOKUP_SIZE 14
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
static const uint32_t data_rate[] = { 500, 1000, 2000, 4000, 8000, 9600, 16000, 19200, 24000, 32000, 64000, 128000, 192000, 256000};
static const uint8_t modulation_index[] = { 16, 8, 4, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
static const uint32_t freq_deviation[] = { 4000, 4000, 4000, 4000, 4000, 4800, 8000, 9600, 12000, 16000, 32000, 64000, 96000, 128000};
static const uint32_t rx_bandwidth[] = { 17500, 17500, 17500, 17500, 17500, 19400, 32200, 38600, 51200, 64100, 137900, 269300, 420200, 518800};
static const int8_t est_rx_sens_dBm[] = { -118, -118, -117, -116, -115, -115, -112, -112, -110, -109, -106, -103, -101, -100}; // estimated receiver sensitivity for BER = 1E-3
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: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
static const uint8_t reg_1C[] = { 0x37, 0x37, 0x37, 0x37, 0x3A, 0x3B, 0x26, 0x28, 0x2E, 0x16, 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
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
static const uint8_t reg_1D[] = { 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 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, 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
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
static const uint8_t reg_1F[] = { 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, 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, 0x02, 0x01, 0x02, 0x02}; // rfm22_clk_recovery_offset2
static const uint8_t reg_22[] = { 0x20, 0x41, 0x83, 0x06, 0x0C, 0x75, 0x0C, 0x75, 0x12, 0x0C, 0x0C, 0x5D, 0x0C, 0xBB}; // rfm22_clk_recovery_offset1
static const uint8_t reg_23[] = { 0xC5, 0x89, 0x12, 0x25, 0x4A, 0x25, 0x4A, 0x25, 0x6F, 0x4A, 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, 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, 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
Fixed some declaration to Exti functions to make it compile.
2012-09-30 17:04:36 +02:00
static const uint8_t reg_2A[] = { 0x0E, 0x0E, 0x0E, 0x0E, 0x0E, 0x0D, 0x0D, 0x0E, 0x12, 0x17, 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
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
static const uint8_t reg_6E[] = { 0x04, 0x08, 0x10, 0x20, 0x41, 0x4E, 0x83, 0x9D, 0xC4, 0x08, 0x10, 0x20, 0x31, 0x41}; // rfm22_tx_data_rate1
static const uint8_t reg_6F[] = { 0x19, 0x31, 0x62, 0xC5, 0x89, 0xA5, 0x12, 0x49, 0x9C, 0x31, 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
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
static const uint8_t reg_70[] = { 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x0D, 0x0D, 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}; // 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
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
static const uint8_t reg_72[] = { 0x06, 0x06, 0x06, 0x06, 0x06, 0x08, 0x0D, 0x0F, 0x13, 0x1A, 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
// ************************************
// Scan Spectrum settings
// GFSK modulation
// no manchester encoding
// data whitening
// FIFO mode
// 5-nibble rx preamble length detection
// 10-nibble tx preamble length
#define SS_LOOKUP_SIZE 2
// xtal 1 ppm, 434MHz
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
static const uint32_t ss_rx_bandwidth[] = { 2600, 10600};
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: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
static const uint8_t ss_reg_1C[] = { 0x51, 0x32}; // rfm22_if_filter_bandwidth
static const uint8_t ss_reg_1D[] = { 0x00, 0x00}; // rfm22_afc_loop_gearshift_override
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: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
static const uint8_t ss_reg_20[] = { 0xE8, 0x38}; // rfm22_clk_recovery_oversampling_ratio
static const uint8_t ss_reg_21[] = { 0x60, 0x02}; // rfm22_clk_recovery_offset2
static const uint8_t ss_reg_22[] = { 0x20, 0x4D}; // rfm22_clk_recovery_offset1
static const uint8_t ss_reg_23[] = { 0xC5, 0xD3}; // rfm22_clk_recovery_offset0
static const uint8_t ss_reg_24[] = { 0x00, 0x07}; // rfm22_clk_recovery_timing_loop_gain1
static const uint8_t ss_reg_25[] = { 0x0F, 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
Fixed some declaration to Exti functions to make it compile.
2012-09-30 17:04:36 +02:00
static const uint8_t ss_reg_2A[] = { 0xFF, 0xFF}; // 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
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
static const uint8_t ss_reg_70[] = { 0x24, 0x2D}; // rfm22_modulation_mode_control1
static const uint8_t ss_reg_71[] = { 0x2B, 0x23}; // rfm22_modulation_mode_control2
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +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
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 inline uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time)
{
if(end_time >= start_time)
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
return (end_time - start_time) * portTICK_RATE_MS;
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
// Rollover
return ((portMAX_DELAY - start_time) + end_time) * portTICK_RATE_MS;
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
}
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
bool PIOS_RFM22B_validate(struct pios_rfm22b_dev * rfm22b_dev)
Added framework for rfm22b com device.
2012-02-29 05:30:06 +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
return (rfm22b_dev != NULL && rfm22b_dev->magic == PIOS_RFM22B_DEV_MAGIC);
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
}
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_rfm22b_dev * PIOS_RFM22B_alloc(void)
{
struct pios_rfm22b_dev * rfm22b_dev;
rfm22b_dev = (struct pios_rfm22b_dev *)pvPortMalloc(sizeof(*rfm22b_dev));
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
rfm22b_dev->spi_id = 0;
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
if (!rfm22b_dev) return(NULL);
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
return(rfm22b_dev);
}
#else
static struct pios_rfm22b_dev pios_rfm22b_devs[PIOS_RFM22B_MAX_DEVS];
static uint8_t pios_rfm22b_num_devs;
static struct pios_rfm22b_dev * PIOS_RFM22B_alloc(void)
{
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
if (pios_rfm22b_num_devs >= PIOS_RFM22B_MAX_DEVS)
return NULL;
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
rfm22b_dev = &pios_rfm22b_devs[pios_rfm22b_num_devs++];
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
return (rfm22b_dev);
}
#endif
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
static struct pios_rfm22b_dev * g_rfm22b_dev = NULL;
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
*/
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
{
PIOS_DEBUG_Assert(rfm22b_id);
PIOS_DEBUG_Assert(cfg);
Added start at a modified PipX packet handler.
2012-03-16 03:29:54 +01:00
// Allocate the device structure.
Improved lockups on dropped packets.
2012-06-06 06:10:32 +02:00
struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *) PIOS_RFM22B_alloc();
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
if (!rfm22b_dev)
return(-1);
RFM22B: Improved reliability, especially with reconnection after a timeout, although there is still too many resent packets.
2012-11-14 05:08:33 +01:00
*rfm22b_id = (uint32_t)rfm22b_dev;
g_rfm22b_dev = rfm22b_dev;
Added framework for rfm22b com device.
2012-02-29 05:30:06 +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
// Store the SPI handle
rfm22b_dev->slave_num = slave_num;
rfm22b_dev->spi_id = spi_id;
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
// Initialize our configuration parameters
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
rfm22b_dev->send_ppm = false;
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_dev->datarate = RFM22B_DEFAULT_RX_DATARATE;
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_dev->tx_power = RFM22B_DEFAULT_TX_POWER;
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
RM: Now doesn't crash when the radio is disabled.
2012-12-16 17:16:19 +01:00
// Initialize the com callbacks.
RFM22B/OPLink: Auto-configuration of remote com port now working.
2012-11-26 03:40:49 +01:00
rfm22b_dev->com_config_cb = NULL;
RM: Now doesn't crash when the radio is disabled.
2012-12-16 17:16:19 +01:00
rfm22b_dev->rx_in_cb = NULL;
rfm22b_dev->tx_out_cb = NULL;
RFM22B/OPLink: Auto-configuration of remote com port now working.
2012-11-26 03:40:49 +01:00
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
// Initialize the stats.
rfm22b_dev->stats.packets_per_sec = 0;
rfm22b_dev->stats.rx_good = 0;
rfm22b_dev->stats.rx_corrected = 0;
rfm22b_dev->stats.rx_error = 0;
rfm22b_dev->stats.rx_missed = 0;
rfm22b_dev->stats.tx_dropped = 0;
rfm22b_dev->stats.tx_resent = 0;
rfm22b_dev->stats.resets = 0;
rfm22b_dev->stats.timeouts = 0;
rfm22b_dev->stats.link_quality = 0;
rfm22b_dev->stats.rssi = 0;
RFM22B: Some more reliability improvements for frequency hopping.
2013-03-01 15:55:00 +01:00
rfm22b_dev->stats.tx_seq = 0;
rfm22b_dev->stats.rx_seq = 0;
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
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
// initialize the frequency hopping step size (specified in 10khz increments).
uint32_t freq_hop_step_size = RFM22B_FREQUENCY_HOP_STEP_SIZE / 10000;
if (freq_hop_step_size > 255) {
freq_hop_step_size = 255;
}
rfm22b_dev->frequency_hop_step_size_reg = (uint8_t)freq_hop_step_size;
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
// Initialize the bindings.
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i)
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
rfm22b_dev->bindings[i].pairID = 0;
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
rfm22b_dev->coordinator = false;
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
// Create the event queue
rfm22b_dev->eventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(enum pios_rfm22b_event));
RFM22b: Start to move the ISR into userspace
2012-08-26 09:41:19 +02:00
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
// Bind the configuration to the device instance
rfm22b_dev->cfg = *cfg;
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
RFM22b: Start to move the ISR into userspace
2012-08-26 09:41:19 +02:00
// Create a semaphore to know if an ISR needs responding to
vSemaphoreCreateBinary( rfm22b_dev->isrPending );
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
Added PipXStatus and PipXSettings UAVObjects and added support the sending/receiving UAVTalk objects on the PipX.
2012-04-11 05:22:53 +02:00
// Create our (hopefully) unique 32 bit id from the processor serial number.
uint8_t crcs[] = { 0, 0, 0, 0 };
{
char serial_no_str[33];
PIOS_SYS_SerialNumberGet(serial_no_str);
// Create a 32 bit value using 4 8 bit CRC values.
for (uint8_t i = 0; serial_no_str[i] != 0; ++i)
crcs[i % 4] = PIOS_CRC_updateByte(crcs[i % 4], serial_no_str[i]);
}
rfm22b_dev->deviceID = crcs[0] | crcs[1] << 8 | crcs[2] << 16 | crcs[3] << 24;
DEBUG_PRINTF(2, "RF device ID: %x\n\r", rfm22b_dev->deviceID);
Added 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
#if defined(PIOS_INCLUDE_RFM22B_GCSRECEIVER)
// Initialize the GCSReceive object
GCSReceiverInitialize();
#endif
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
// Initialize the external interrupt.
PIOS_EXTI_Init(cfg->exti_cfg);
RFM22B: Moved ISR processing thread into the rfm22b driver.
2012-09-12 05:34:26 +02:00
// Register the watchdog timer for the radio driver task
#ifdef PIOS_WDG_RFM22B
PIOS_WDG_RegisterFlag(PIOS_WDG_RFM22B);
#endif /* PIOS_WDG_RFM22B */
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
// Initialize the ECC library.
initialize_ecc();
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
// Set the state to initializing.
rfm22b_dev->state = RFM22B_STATE_UNINITIALIZED;
RFM22B: Moved ISR processing thread into the rfm22b driver.
2012-09-12 05:34:26 +02:00
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
// Initialize the radio device.
PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
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
// Start the driver task. This task controls the radio state machine and removed all of the IO from the IRQ handler.
xTaskCreate(PIOS_RFM22B_Task, (signed char *)"PIOS_RFM22B_Task", STACK_SIZE_BYTES, (void*)rfm22b_dev, TASK_PRIORITY, &(rfm22b_dev->taskHandle));
Added framework for rfm22b com device.
2012-02-29 05:30:06 +01:00
return(0);
}
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.
*/
void PIOS_RFM22B_Reinit(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_validate(rfm22b_dev))
PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_INITIALIZE, 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
/**
* 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
{
if (!PIOS_RFM22B_validate(g_rfm22b_dev))
Added frequency hopping to the RFM22B driver. Currently it defaults to 128 channels between 430 and 440 MHz.
2013-02-25 00:05:51 +01:00
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
// Inject an interrupt event into the state machine.
PIOS_RFM22B_InjectEvent(g_rfm22b_dev, RFM22B_EVENT_INT_RECEIVED, true);
Fixed some declaration to Exti functions to make it compile.
2012-09-30 17:04:36 +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
}
/**
* 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?
*/
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
void PIOS_RFM22B_InjectEvent(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR)
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
{
// Store the 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
if (xQueueSend(rfm22b_dev->eventQueue, &event, portMAX_DELAY) != pdTRUE)
return;
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
// Signal the semaphore to wake up the handler thread.
if (inISR) {
portBASE_TYPE pxHigherPriorityTaskWoken;
if (xSemaphoreGiveFromISR(rfm22b_dev->isrPending, &pxHigherPriorityTaskWoken) != pdTRUE) {
// Something went fairly seriously wrong
rfm22b_dev->errors++;
}
portEND_SWITCHING_ISR(pxHigherPriorityTaskWoken);
}
else
{
if (xSemaphoreGive(rfm22b_dev->isrPending) != pdTRUE) {
// Something went fairly seriously wrong
rfm22b_dev->errors++;
}
}
}
/**
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.
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
* \param[in] rfm22b_id The RFM22B device index.
* \return The unique device ID
*/
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)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
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
if (PIOS_RFM22B_validate(rfm22b_dev)) {
return rfm22b_dev->deviceID;
} else
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
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.
* \param[in] rfm22b_id The RFM22B device index.
* \return True if the modem is configured as a coordinator.
*/
bool PIOS_RFM22B_IsCoordinator(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_validate(rfm22b_dev))
return rfm22b_dev->coordinator;
else
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.
* \param[in] rfm22b_id The RFM22B device index.
* \param[in] tx_pwr The transmit power.
*/
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
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
if (!PIOS_RFM22B_validate(rfm22b_dev))
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
return;
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_dev->tx_power = tx_pwr;
}
RFM22B: Removed incorrect defaulting of tx power level.
2012-09-13 03:24:19 +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)
* \param[in] rfm22b_id The rfm22b device.
* \param[in] cb A pointer to the callback function
*/
void PIOS_RFM22B_SetComConfigCallback(uint32_t rfm22b_id, PIOS_RFM22B_ComConfigCallback cb)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return;
rfm22b_dev->com_config_cb = cb;
}
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.
* \param[in] rfm22b_id The rfm22b device.
* \param[in] bindings The array of bindings.
*/
Added the ability to store bindings and configuration paramaters for multiple (up to 8) modems from an OPLink controller modem.
2013-02-18 02:49:13 +01:00
void PIOS_RFM22B_SetBindings(uint32_t rfm22b_id, const uint32_t bindingPairIDs[], const uint8_t mainPortSettings[],
const uint8_t flexiPortSettings[], const uint8_t vcpPortSettings[], const uint8_t comSpeeds[])
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return;
// This modem will be considered a coordinator if any bindings have been set.
rfm22b_dev->coordinator = false;
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
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
rfm22b_dev->bindings[i].pairID = bindingPairIDs[i];
rfm22b_dev->bindings[i].main_port = mainPortSettings[i];
rfm22b_dev->bindings[i].flexi_port = flexiPortSettings[i];
rfm22b_dev->bindings[i].vcp_port = vcpPortSettings[i];
rfm22b_dev->bindings[i].com_speed = comSpeeds[i];
rfm22b_dev->coordinator |= (rfm22b_dev->bindings[i].pairID != 0);
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
}
}
RFM22B: Modified the method of tracking RX errors, and now reporting Good, Corrected, Error, and Missed packets to the GCS. Also removed some less useful fields from the PipXStatus.
2012-10-13 21:06:17 +02:00
/**
* Returns the device statistics RFM22B device.
* \param[in] rfm22b_id The RFM22B device index.
* \param[out] stats The stats are returned in this structure
*/
void PIOS_RFM22B_GetStats(uint32_t rfm22b_id, struct rfm22b_stats *stats) {
Added a RTC supervisor timer to RFM22B driver.
2012-04-22 03:31:49 +02:00
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
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
if(!PIOS_RFM22B_validate(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
return;
Added a RTC supervisor timer to RFM22B driver.
2012-04-22 03:31:49 +02:00
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// Calculate the current link quality
rfm22_calculateLinkQuality(rfm22b_dev);
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
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
// 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: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
rfm22b_dev->stats.rssi = rfm22b_dev->pair_stats[i].rssi;
rfm22b_dev->stats.afc_correction = rfm22b_dev->pair_stats[i].afc_correction;
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
break;
}
}
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
*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.
* \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.
*/
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
{
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
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return 0;
Added framework for rfm22b com device.
2012-02-29 05:30:06 +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
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;
}
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
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
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
* \param[in] rfm22b_id The rfm22b device.
* Returns true if there is a valid connection to paired radio, false otherwise.
*/
bool PIOS_RFM22B_LinkStatus(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return false;
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
return (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) && (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
}
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.
*/
static void PIOS_RFM22B_Task(void *parameters)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)parameters;
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
if (!PIOS_RFM22B_validate(rfm22b_dev))
Added frequency hopping to the RFM22B driver. Currently it defaults to 128 channels between 430 and 440 MHz.
2013-02-25 00:05:51 +01:00
return;
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
portTickType lastEventTicks = xTaskGetTickCount();
portTickType lastStatusTicks = lastEventTicks;
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
portTickType lastPPMTicks = lastEventTicks;
RFM22B: Moved ISR processing thread into the rfm22b driver.
2012-09-12 05:34:26 +02:00
while(1)
{
#ifdef PIOS_WDG_RFM22B
// Update the watchdog timer
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
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 */
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
// Wait for a signal indicating an external interrupt or a pending send/receive request.
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
if (xSemaphoreTake(rfm22b_dev->isrPending, ISR_TIMEOUT / portTICK_RATE_MS) == pdTRUE) {
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
lastEventTicks = xTaskGetTickCount();
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
// Process events through the state machine.
enum pios_rfm22b_event event;
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE)
{
if ((event == RFM22B_EVENT_INT_RECEIVED) &&
((rfm22b_dev->state == RFM22B_STATE_UNINITIALIZED) || (rfm22b_dev->state == RFM22B_STATE_INITIALIZING)))
continue;
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
rfm22_process_event(rfm22b_dev, 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
}
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
}
else
{
// Has it been too long since the last event?
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
portTickType curTicks = xTaskGetTickCount();
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
if (timeDifferenceMs(lastEventTicks, curTicks) > PIOS_RFM22B_SUPERVISOR_TIMEOUT)
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: 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
// Transsition through an error event.
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
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: 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
// Clear the event queue.
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
enum pios_rfm22b_event 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
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE)
;
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
lastEventTicks = xTaskGetTickCount();
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: Moved ISR processing thread into the rfm22b driver.
2012-09-12 05:34:26 +02:00
}
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
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
portTickType curTicks = xTaskGetTickCount();
RFM22B: Some more reliability improvements for frequency hopping.
2013-03-01 15:55:00 +01:00
uint32_t last_rec_ms = (rfm22b_dev->rx_complete_ticks == 0) ? 0 : timeDifferenceMs(rfm22b_dev->rx_complete_ticks, curTicks);
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
// Have we been sending this packet too long?
RFM22B: Some more reliability improvements for frequency hopping.
2013-03-01 15:55:00 +01:00
if ((rfm22b_dev->packet_start_ticks > 0) && (timeDifferenceMs(rfm22b_dev->packet_start_ticks, curTicks) > (rfm22b_dev->max_packet_time * 3))) {
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
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TIMEOUT);
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
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
// Has it been too long since we received a packet
RFM22B: Some more reliability improvements for frequency hopping.
2013-03-01 15:55:00 +01:00
} else if (last_rec_ms > DISCONNECT_TIMEOUT_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
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
RFM22B: Some more reliability improvements for frequency hopping.
2013-03-01 15:55:00 +01:00
} else {
RFM22B: Changing configuration parameters over-the-air working. Added tracking of Tx/Rx sequence number. Still seeing too many resent packets.
2012-11-11 16:52:53 +01:00
// Are we waiting for an ACK?
if (rfm22b_dev->prev_tx_packet)
{
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
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
// Should we resend the packet?
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
if (timeDifferenceMs(rfm22b_dev->tx_complete_ticks, curTicks) > rfm22b_dev->max_ack_delay)
{
rfm22b_dev->tx_complete_ticks = curTicks;
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
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ACK_TIMEOUT);
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
}
}
else
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
{
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
// Queue up a PPM packet if it's time.
RFM22: Don't send status until the link is connected.
2012-12-15 17:56:27 +01:00
if (timeDifferenceMs(lastPPMTicks, curTicks) > PPM_UPDATE_PERIOD_MS)
{
rfm22_sendPPM(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
lastPPMTicks = curTicks;
RFM22: Don't send status until the link is connected.
2012-12-15 17:56:27 +01:00
}
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
// Queue up a status packet if it's time.
RFM22B: Some more reliability improvements for frequency hopping.
2013-03-01 15:55:00 +01:00
if ((timeDifferenceMs(lastStatusTicks, curTicks) > RADIOSTATS_UPDATE_PERIOD_MS) || (last_rec_ms > rfm22b_dev->max_packet_time * 4))
RFM22: Don't send status until the link is connected.
2012-12-15 17:56:27 +01:00
{
rfm22_sendStatus(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
lastStatusTicks = curTicks;
RFM22: Don't send status until the link is connected.
2012-12-15 17:56:27 +01:00
}
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
}
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: 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
}
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
// Send a packet if it's our time slice
Reduced length of transmit window period to 8 ms from 16 ms.
2012-12-12 01:42:22 +01:00
rfm22b_dev->time_to_send = (((curTicks - rfm22b_dev->time_to_send_offset) & 0x6) == 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
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
if (rfm22b_dev->time_to_send)
D4_LED_ON;
else
D4_LED_OFF;
#endif
if (rfm22b_dev->time_to_send)
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TX_START);
RFM22B: Moved ISR processing thread into the rfm22b driver.
2012-09-12 05:34:26 +02:00
}
}
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// ************************************
// radio datarate about 19200 Baud
// radio frequency deviation 45kHz
// radio receiver bandwidth 67kHz.
//
// Carson's rule:
// The signal bandwidth is about 2(Delta-f + fm) ..
//
// Delta-f = frequency deviation
// fm = maximum frequency of the signal
//
// This gives 2(45 + 9.6) = 109.2kHz.
RFM22B: Changing configuration parameters over-the-air working. Added tracking of Tx/Rx sequence number. Still seeing too many resent packets.
2012-11-11 16:52:53 +01:00
static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening)
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
{
uint32_t datarate_bps = data_rate[datarate];
rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(datarate_bps) + 0.5);
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
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
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
{
// Generate a pseudo-random number from 0-8 to add to the delay
uint8_t random = PIOS_CRC_updateByte(0, (uint8_t)(xTaskGetTickCount() & 0xff)) & 0x03;
RFM22B: Some more reliability improvements for frequency hopping.
2013-03-01 15:55:00 +01:00
rfm22b_dev->max_ack_delay = (uint16_t)((float)(sizeof(PHPacketHeader) * 8 * 1000) / (float)(datarate_bps) + 0.5) * 6 + random;
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
}
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
else
rfm22b_dev->max_ack_delay = CONNECT_ATTEMPT_PERIOD_MS;
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// rfm22_if_filter_bandwidth
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, 0x1C, reg_1C[datarate]);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// rfm22_afc_loop_gearshift_override
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, 0x1D, reg_1D[datarate]);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// RFM22_afc_timing_control
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, 0x1E, reg_1E[datarate]);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// RFM22_clk_recovery_gearshift_override
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, 0x1F, reg_1F[datarate]);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// rfm22_clk_recovery_oversampling_ratio
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, 0x20, reg_20[datarate]);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// rfm22_clk_recovery_offset2
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, 0x21, reg_21[datarate]);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// rfm22_clk_recovery_offset1
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, 0x22, reg_22[datarate]);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// rfm22_clk_recovery_offset0
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, 0x23, reg_23[datarate]);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// rfm22_clk_recovery_timing_loop_gain1
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, 0x24, reg_24[datarate]);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// rfm22_clk_recovery_timing_loop_gain0
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, 0x25, reg_25[datarate]);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// rfm22_afc_limiter
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, 0x2A, reg_2A[datarate]);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// rfm22_tx_data_rate1
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, 0x6E, reg_6E[datarate]);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// rfm22_tx_data_rate0
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, 0x6F, reg_6F[datarate]);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
if (!data_whitening)
// rfm22_modulation_mode_control1
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] & ~RFM22_mmc1_enwhite);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
else
// rfm22_modulation_mode_control1
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] | RFM22_mmc1_enwhite);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// rfm22_modulation_mode_control2
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, 0x71, reg_71[datarate]);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// rfm22_frequency_deviation
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, 0x72, reg_72[datarate]);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_ook_counter_value1, 0x00);
rfm22_write(rfm22b_dev, RFM22_ook_counter_value2, 0x00);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
}
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
// ************************************
// SPI read/write
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
//! Assert the CS line
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)
RFM22b: Claim the bus semaphore before reading and writing.
2012-08-26 06:07:00 +02:00
{
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
PIOS_DELAY_WaituS(1);
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
if(rfm22b_dev->spi_id != 0)
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 0);
RFM22b: Claim the bus semaphore before reading and writing.
2012-08-26 06:07:00 +02:00
}
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
//! Deassert the CS line
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
static void rfm22_deassertCs(struct pios_rfm22b_dev *rfm22b_dev)
RFM22b: Claim the bus semaphore before reading and writing.
2012-08-26 06:07:00 +02:00
{
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
if(rfm22b_dev->spi_id != 0)
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 1);
RFM22b: Claim the bus semaphore before reading and writing.
2012-08-26 06:07:00 +02:00
}
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
//! Claim the SPI bus semaphore
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
static void rfm22_claimBus(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
{
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
if(rfm22b_dev->spi_id != 0)
PIOS_SPI_ClaimBus(rfm22b_dev->spi_id);
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
//! Release the SPI bus semaphore
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
static void rfm22_releaseBus(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
{
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
if(rfm22b_dev->spi_id != 0)
PIOS_SPI_ReleaseBus(rfm22b_dev->spi_id);
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
/**
* Claim the semaphore and write a byte to a register
* @param[in] addr The address to write to
* @param[in] data The datat to write to that address
*/
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)
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: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
uint8_t buf[2] = {addr | 0x80, data};
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
}
RFM22b: Block transfers for more large SPI transfers Preallocated buffers with various preambles etc. Used SPI_TransferBlock for anything over a few bytes instead of burstWrite. Also make more of the communications wrappered in a large semaphore grab using a new rfm22_write_noclaim() Still needs work - probably because most of the methods to repeated calls they should all use the noclaim, or more specifically that function becomes rfm22_write/read.
2012-09-02 20:31:09 +02:00
/**
* Write a byte to a register without claiming the bus. Also
* toggle the NSS line
RFM22b: Get rid of the burst read commands and do a block transfer
2012-09-05 07:56:48 +02:00
* @param[in] addr The address of the RFM22b register to write
* @param[in] data The data to write to that register
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 void rfm22_write_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data)
{
uint8_t buf[2] = {addr | 0x80, data};
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
rfm22_deassertCs(rfm22b_dev);
}
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: 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
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
/**
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
* Read a byte from an RFM22b register
* @param[in] addr The address to read from
* @return Returns the result of the register read
*/
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
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
{
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
uint8_t in[2];
uint8_t out[2] = {addr & 0x7f, 0xFF};
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
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
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
}
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
/**
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
* Read a byte from an RFM22b register without claiming the bus
* @param[in] addr The address to read from
* @return Returns the result of the register read
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
*/
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
static uint8_t rfm22_read_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
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
{
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
uint8_t out[2] = {addr & 0x7F, 0xFF};
uint8_t in[2];
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
rfm22_deassertCs(rfm22b_dev);
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
return in[1];
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
// ************************************
Added start at a modified PipX packet handler.
2012-03-16 03:29:54 +01:00
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
static enum pios_rfm22b_event rfm22_process_state_transition(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event)
{
// No event
if (event == RFM22B_EVENT_NUM_EVENTS)
return RFM22B_EVENT_NUM_EVENTS;
// Don't transition if there is no transition defined
enum pios_rfm22b_state next_state = rfm22b_transitions[rfm22b_dev->state].next_state[event];
if (!next_state)
return RFM22B_EVENT_NUM_EVENTS;
/*
* Move to the next state
*
* This is done prior to calling the new state's entry function to
* guarantee that the entry function never depends on the previous
* state. This way, it cannot ever know what the previous state was.
*/
enum pios_rfm22b_state prev_state = rfm22b_dev->state;
if (prev_state) ;
rfm22b_dev->state = next_state;
/* Call the entry function (if any) for the next state. */
if (rfm22b_transitions[rfm22b_dev->state].entry_fn)
return rfm22b_transitions[rfm22b_dev->state].entry_fn(rfm22b_dev);
return RFM22B_EVENT_NUM_EVENTS;
}
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
static void rfm22_process_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event)
{
// Process all state transitions.
while(event != RFM22B_EVENT_NUM_EVENTS)
event = rfm22_process_state_transition(rfm22b_dev, 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
// ************************************
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 void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t frequency_hz, 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
{
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
// holds the hbsel (1 or 2)
uint8_t hbsel;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
if (frequency_hz < 480000000)
hbsel = 1;
else
hbsel = 2;
uint8_t fb = (uint8_t)(frequency_hz / (10000000 * hbsel));
uint32_t fc = (uint32_t)(frequency_hz - (10000000 * hbsel * fb));
fc = (fc * 64u) / (10000ul * hbsel);
fb -= 24;
if (hbsel > 1)
fb |= RFM22_fbs_hbsel;
fb |= RFM22_fbs_sbse; // is this the RX LO polarity?
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
// frequency hopping channel (0-255)
rfm22b_dev->frequency_step_size = 156.25f * hbsel;
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: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
// frequency hopping channel (0-255)
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_dev->frequency_hop_channel = channel;
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, 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
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
// no frequency offset
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_frequency_offset1, 0);
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
// no frequency offset
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_frequency_offset2, 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
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
// set the carrier frequency
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_frequency_band_select, fb);
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency1, fc >> 8);
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency0, fc & 0xff);
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 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 void rfm22_setFreqHopChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t channel)
{
// set the frequency hopping channel
rfm22b_dev->frequency_hop_channel = channel;
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, 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
}
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)
{
// Add the RX packet statistics
rfm22b_dev->stats.rx_good = 0;
rfm22b_dev->stats.rx_corrected = 0;
rfm22b_dev->stats.rx_error = 0;
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
rfm22b_dev->stats.tx_resent = 0;
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +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)
{
case RFM22B_GOOD_RX_PACKET:
rfm22b_dev->stats.rx_good++;
break;
case RFM22B_CORRECTED_RX_PACKET:
rfm22b_dev->stats.rx_corrected++;
break;
case RFM22B_ERROR_RX_PACKET:
rfm22b_dev->stats.rx_error++;
break;
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
case RFM22B_RESENT_TX_PACKET:
rfm22b_dev->stats.tx_resent++;
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
break;
}
}
}
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: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +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.
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
// 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;
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: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev)
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: 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
// Are we already in Rx mode?
if (rfm22b_dev->in_rx_mode)
return RFM22B_EVENT_NUM_EVENTS;
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
rfm22b_dev->packet_start_ticks = 0;
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
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D2_LED_ON;
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
D3_LED_TOGGLE;
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
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
// disable interrupts
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
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
// Switch to TUNE mode
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
RX_LED_OFF;
TX_LED_OFF;
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// empty the rx buffer
RFM22B: Added PIOS_RFM22B_Receive_Packet function and removed rx buffer.
2012-09-23 17:36:38 +02:00
rfm22b_dev->rx_buffer_wr = 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
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// Clear the TX buffer.
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 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
// clear FIFOs
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
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);
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
// enable RX interrupts
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_encrcerror | RFM22_ie1_enpkvalid |
Further improvements in link reliability on the PipX.
2012-06-07 02:44:56 +02:00
RFM22_ie1_enrxffafull | RFM22_ie1_enfferr);
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, RFM22_ie2_enpreainval | RFM22_ie2_enpreaval |
Further improvements in link reliability on the PipX.
2012-06-07 02:44:56 +02:00
RFM22_ie2_enswdet);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +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
// enable the receiver
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_rxon);
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: 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
// Indicate that we're in RX mode.
rfm22b_dev->in_rx_mode = true;
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
// No event generated
return RFM22B_EVENT_NUM_EVENTS;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
}
// ************************************
RFM22B: Finised handshacking on ACK and changed the link quality metric to use resent packets rather than missed packets.
2012-11-05 01:50:12 +01:00
static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev)
{
// Is there a status of PPM packet ready to send?
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
if (rfm22b_dev->prev_tx_packet || rfm22b_dev->send_ppm || rfm22b_dev->send_status)
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
return true;
// Is there some data ready to sent?
PHPacketHandle dp = &rfm22b_dev->data_packet;
if (dp->header.data_size > 0)
return true;
bool need_yield = false;
RM: Now doesn't crash when the radio is disabled.
2012-12-16 17:16:19 +01:00
if (rfm22b_dev->tx_out_cb)
dp->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, dp->data, PH_MAX_DATA, NULL, &need_yield);
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
if (dp->header.data_size > 0)
return true;
return 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
static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
{
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
PHPacketHandle p = NULL;
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
// Don't send if it's not our turn.
if (!rfm22b_dev->time_to_send)
return RFM22B_EVENT_RX_MODE;
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
// See if there's a packet ready to send.
if (rfm22b_dev->tx_packet)
p = rfm22b_dev->tx_packet;
// Are we waiting for an ACK?
else
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +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
// Don't send a packet if we're waiting for an ACK
if (rfm22b_dev->prev_tx_packet)
return RFM22B_EVENT_RX_MODE;
RFM22B: Added TX Resent to OPLink status. Also removed the need for the packet queue.
2012-11-04 00:03:23 +01:00
if (!p && rfm22b_dev->send_connection_request)
{
p = (PHPacketHandle)&(rfm22b_dev->con_packet);
rfm22b_dev->send_connection_request = false;
}
#ifdef PIOS_PPM_RECEIVER
if (!p && rfm22b_dev->send_ppm)
{
p = (PHPacketHandle)&(rfm22b_dev->ppm_packet);
rfm22b_dev->send_ppm = false;
}
#endif
if (!p && rfm22b_dev->send_status)
{
p = (PHPacketHandle)&(rfm22b_dev->status_packet);
rfm22b_dev->send_status = false;
}
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
if (!p)
{
// Try to get some data to send
bool need_yield = false;
p = &rfm22b_dev->data_packet;
p->header.type = PACKET_TYPE_DATA;
p->header.destination_id = rfm22b_dev->destination_id;
RM: Now doesn't crash when the radio is disabled.
2012-12-16 17:16:19 +01:00
if (rfm22b_dev->tx_out_cb && (p->header.data_size == 0))
p->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, p->data, PH_MAX_DATA, NULL, &need_yield);
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
// Don't send any data until we're connected.
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
if (rfm22b_dev->stats.link_state != OPLINKSTATUS_LINKSTATE_CONNECTED)
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
p->header.data_size = 0;
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
if (p->header.data_size == 0)
p = NULL;
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
}
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
if (p)
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
p->header.seq_num = rfm22b_dev->stats.tx_seq++;
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +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
if (!p)
return RFM22B_EVENT_RX_MODE;
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
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
// We're transitioning out of Rx mode.
rfm22b_dev->in_rx_mode = false;
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
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D1_LED_ON;
D2_LED_OFF;
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
D3_LED_TOGGLE;
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
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
// Add the error correcting code.
encode_data((unsigned char*)p, PHPacketSize(p), (unsigned char*)p);
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
rfm22b_dev->tx_packet = p;
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_ticks == 0)
rfm22b_dev->packet_start_ticks = 1;
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// disable interrupts
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
Revert "RFM22b: More block claims for rfm22_txStart" This reverts commit fa4ca426abf5671fc7d0b7206f85f14bcbf92c3d.
2012-09-03 05:16:59 +02:00
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// TUNE mode
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
Revert "RFM22b: More block claims for rfm22_txStart" This reverts commit fa4ca426abf5671fc7d0b7206f85f14bcbf92c3d.
2012-09-03 05:16:59 +02:00
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// Queue the data up for sending
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
rfm22b_dev->tx_data_wr = PH_PACKET_SIZE(rfm22b_dev->tx_packet);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
RX_LED_OFF;
Added PipXStatus and PipXSetting UAVobjects and some initial support for them.
2012-04-18 02:36:05 +02:00
// Set the destination address in the transmit header.
// The destination address is the first 4 bytes of the message.
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
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]);
Added PipXStatus and PipXSetting UAVobjects and some initial support for them.
2012-04-18 02:36:05 +02:00
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// FIFO mode, GFSK modulation
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
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 |
Further improvements in link reliability on the PipX.
2012-06-07 02:44:56 +02:00
RFM22_mmc2_modtyp_gfsk);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
Revert "RFM22b: More block claims for rfm22_txStart" This reverts commit fa4ca426abf5671fc7d0b7206f85f14bcbf92c3d.
2012-09-03 05:16:59 +02:00
// set the tx power
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_1 |
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
RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | RFM22B_DEFAULT_TX_POWER);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// clear FIFOs
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
Revert "RFM22b: More block claims for rfm22_txStart" This reverts commit fa4ca426abf5671fc7d0b7206f85f14bcbf92c3d.
2012-09-03 05:16:59 +02:00
// *******************
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// add some data to the chips TX FIFO before enabling the transmitter
Revert "RFM22b: More block claims for rfm22_txStart" This reverts commit fa4ca426abf5671fc7d0b7206f85f14bcbf92c3d.
2012-09-03 05:16:59 +02:00
// set the total number of data bytes we are going to transmit
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_transmit_packet_length, rfm22b_dev->tx_data_wr);
Revert "RFM22b: More block claims for rfm22_txStart" This reverts commit fa4ca426abf5671fc7d0b7206f85f14bcbf92c3d.
2012-09-03 05:16:59 +02:00
// add some data
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
RFM22b: Use SPI block transfers for filling the RFM22b FIFO Also removed the disable irq line since that was introducing flight glitches.
2012-09-02 04:24:42 +02:00
bytes_to_write = (bytes_to_write > FIFO_SIZE) ? FIFO_SIZE: bytes_to_write;
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
rfm22b_dev->tx_data_rd += bytes_to_write;
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
Revert "RFM22b: More block claims for rfm22_txStart" This reverts commit fa4ca426abf5671fc7d0b7206f85f14bcbf92c3d.
2012-09-03 05:16:59 +02:00
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// enable TX interrupts
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem);
Revert "RFM22b: More block claims for rfm22_txStart" This reverts commit fa4ca426abf5671fc7d0b7206f85f14bcbf92c3d.
2012-09-03 05:16:59 +02:00
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// enable the transmitter
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_txon);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
TX_LED_ON;
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
return RFM22B_EVENT_NUM_EVENTS;
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
}
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
{
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// Update the link quality metric.
rfm22_calculateLinkQuality(rfm22b_dev);
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
// Queue the status message
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
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
rfm22b_dev->status_packet.header.destination_id = rfm22b_dev->destination_id;
RFM22B: Some more reliability improvements for frequency hopping.
2013-03-01 15:55:00 +01:00
else if (rfm22b_dev->coordinator)
return;
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
else
rfm22b_dev->status_packet.header.destination_id = 0xffffffff; // Broadcast
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
rfm22b_dev->status_packet.header.type = PACKET_TYPE_STATUS;
rfm22b_dev->status_packet.header.data_size = PH_STATUS_DATA_SIZE(&(rfm22b_dev->status_packet));
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_dev->status_packet.source_id = rfm22b_dev->deviceID;
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
rfm22b_dev->status_packet.link_quality = rfm22b_dev->stats.link_quality;
rfm22b_dev->status_packet.received_rssi = rfm22b_dev->rssi_dBm;
RFM22B: Added TX Resent to OPLink status. Also removed the need for the packet queue.
2012-11-04 00:03:23 +01:00
rfm22b_dev->send_status = true;
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
RFM22: Don't send status until the link is connected.
2012-12-15 17:56:27 +01:00
return;
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
}
RFM22: Don't send status until the link is connected.
2012-12-15 17:56:27 +01:00
static void rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev)
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
{
#ifdef PIOS_PPM_RECEIVER
RFM22: Don't send status until the link is connected.
2012-12-15 17:56:27 +01:00
// Only send PPM if we're connected
if (rfm22b_dev->stats.link_state != OPLINKSTATUS_LINKSTATE_CONNECTED)
return;
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
// Just return if the PPM receiver is not configured.
if (PIOS_PPM_RECEIVER == 0)
RFM22: Don't send status until the link is connected.
2012-12-15 17:56:27 +01:00
return;
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
// See if we have any valid channels.
bool valid_input_detected = false;
for (uint8_t i = 1; i <= PIOS_PPM_NUM_INPUTS; ++i)
{
rfm22b_dev->ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i);
if(rfm22b_dev->ppm_packet.channels[i - 1] != PIOS_RCVR_TIMEOUT)
valid_input_detected = true;
}
// Send the PPM packet if it's valid
if (valid_input_detected)
{
rfm22b_dev->ppm_packet.header.destination_id = rfm22b_dev->destination_id;
rfm22b_dev->ppm_packet.header.type = PACKET_TYPE_PPM;
rfm22b_dev->ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&(rfm22b_dev->ppm_packet));
RFM22B: Added TX Resent to OPLink status. Also removed the need for the packet queue.
2012-11-04 00:03:23 +01:00
rfm22b_dev->send_ppm = true;
RFM22B: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
}
#endif
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
}
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
/**
* Read the RFM22B interrupt and device status registers
* \param[in] rfm22b_dev The device structure
*/
static bool rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev)
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
{
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
// 1. Read the interrupt statuses with burst read
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_claimBus(rfm22b_dev); // Set RC and the semaphore
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
uint8_t write_buf[3] = {RFM22_interrupt_status1 & 0x7f, 0xFF, 0xFF};
uint8_t read_buf[3];
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, write_buf, read_buf, sizeof(write_buf), NULL);
rfm22_deassertCs(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
rfm22b_dev->int_status1 = read_buf[1];
rfm22b_dev->int_status2 = read_buf[2];
// Device status
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22b_dev->device_status = rfm22_read_noclaim(rfm22b_dev, RFM22_device_status);
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
// EzMAC status
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22b_dev->ezmac_status = rfm22_read_noclaim(rfm22b_dev, RFM22_ezmac_status);
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
// Release the bus
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
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
// the RF module has gone and done a reset - we need to re-initialize the rf module
if (rfm22b_dev->int_status2 & RFM22_is2_ipor)
return false;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
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
return true;
}
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
/**
* 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)
{
// 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;
}
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
static enum pios_rfm22b_event rfm22_detectPreamble(struct pios_rfm22b_dev *rfm22b_dev)
{
// Read the device status registers
if (!rfm22_readStatus(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
return RFM22B_EVENT_FAILURE;
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
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// Valid preamble detected
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
if (rfm22b_dev->int_status2 & RFM22_is2_ipreaval)
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
{
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_ticks == 0)
rfm22b_dev->packet_start_ticks = 1;
Further improvements in link reliability on the PipX.
2012-06-07 02:44:56 +02:00
RX_LED_ON;
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
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D3_LED_TOGGLE;
#endif
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
return RFM22B_EVENT_PREAMBLE_DETECTED;
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +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
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
return RFM22B_EVENT_NUM_EVENTS;
}
static enum pios_rfm22b_event rfm22_detectSync(struct pios_rfm22b_dev *rfm22b_dev)
{
// Read the device status registers
if (!rfm22_readStatus(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
return RFM22B_EVENT_FAILURE;
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
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// Sync word detected
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
if (rfm22b_dev->int_status2 & RFM22_is2_iswdet)
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
{
Further improvements in link reliability on the PipX.
2012-06-07 02:44:56 +02:00
RX_LED_ON;
// read the 10-bit signed afc correction value
// bits 9 to 2
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
uint16_t afc_correction = (uint16_t)rfm22_read(rfm22b_dev, RFM22_afc_correction_read) << 8;
Further improvements in link reliability on the PipX.
2012-06-07 02:44:56 +02:00
// bits 1 & 0
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
afc_correction |= (uint16_t)rfm22_read(rfm22b_dev, RFM22_ook_counter_value1) & 0x00c0;
Further improvements in link reliability on the PipX.
2012-06-07 02:44:56 +02:00
afc_correction >>= 6;
// convert the afc value to Hz
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
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);
Further improvements in link reliability on the PipX.
2012-06-07 02:44:56 +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
// read rx signal strength .. 45 = -100dBm, 205 = -20dBm
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
uint8_t rssi = rfm22_read(rfm22b_dev, RFM22_rssi);
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
// convert to dBm
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
rfm22b_dev->rssi_dBm = (int8_t)(rssi >> 1) - 122;
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
return RFM22B_EVENT_SYNC_DETECTED;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
}
RFM22B: Added check for timeout wating for sync on receive. This virtually eliminates the number of timeouts.
2012-09-26 03:10:15 +02:00
else if (rfm22b_dev->int_status2 & !RFM22_is2_ipreaval)
// Waiting for sync timed out.
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
return RFM22B_EVENT_FAILURE;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
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
return RFM22B_EVENT_NUM_EVENTS;
}
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHandle p, uint16_t rx_len)
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
{
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
// Attempt to correct any errors in the packet.
decode_data((unsigned char*)p, 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
bool good_packet = check_syndrome() == 0;
bool corrected_packet = false;
// We have an error. Try to correct it.
if(!good_packet && (correct_errors_erasures((unsigned char*)p, rx_len, 0, 0) != 0))
// We corrected it
corrected_packet = true;
// Add any missed packets into the stats.
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
bool ack_nack_packet = ((p->header.type == PACKET_TYPE_ACK) || (p->header.type == PACKET_TYPE_ACK_RTS) || (p->header.type == PACKET_TYPE_NACK));
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
if (!ack_nack_packet && (good_packet || corrected_packet))
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
{
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
uint16_t seq_num = p->header.seq_num;
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
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
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
{
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 bool first_time = true;
uint16_t missed_packets = 0;
if (first_time)
first_time = false;
else
{
uint16_t prev_seq_num = rfm22b_dev->stats.rx_seq;
if (seq_num > prev_seq_num)
missed_packets = seq_num - prev_seq_num - 1;
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
else if((seq_num == prev_seq_num) && (p->header.type == PACKET_TYPE_DATA))
p->header.type = PACKET_TYPE_DUPLICATE_DATA;
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_dev->stats.rx_missed += missed_packets;
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
}
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_dev->stats.rx_seq = seq_num;
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
}
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
// Set the packet status
if (good_packet)
rfm22b_add_rx_status(rfm22b_dev, RFM22B_GOOD_RX_PACKET);
else if(corrected_packet)
// We corrected the error.
rfm22b_add_rx_status(rfm22b_dev, RFM22B_CORRECTED_RX_PACKET);
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
else
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
// We couldn't correct the error, so drop the packet.
rfm22b_add_rx_status(rfm22b_dev, RFM22B_ERROR_RX_PACKET);
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
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
return (good_packet || corrected_packet);
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
}
static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
{
// Swap in the next packet buffer if required.
uint8_t *rx_buffer = (uint8_t*)&(rfm22b_dev->rx_packet);
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
// Read the device status registers
if (!rfm22_readStatus(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
return RFM22B_EVENT_FAILURE;
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
// FIFO under/over flow error. Restart RX mode.
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
if (rfm22b_dev->int_status1 & RFM22_is1_ifferr)
return RFM22B_EVENT_FAILURE;
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
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// RX FIFO almost full, it needs emptying
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
if (rfm22b_dev->int_status1 & RFM22_is1_irxffafull)
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +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
// read data from the rf chips FIFO buffer
// read the total length of the packet data
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
uint16_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
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: 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
// The received packet is going to be larger than the specified length
RFM22B: Added PIOS_RFM22B_Receive_Packet function and removed rx buffer.
2012-09-23 17:36:38 +02:00
if ((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) > len)
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
return RFM22B_EVENT_FAILURE;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
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
// Another packet length error.
RFM22B: Added PIOS_RFM22B_Receive_Packet function and removed rx buffer.
2012-09-23 17:36:38 +02:00
if (((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) >= len) && !(rfm22b_dev->int_status1 & RFM22_is1_ipkvalid))
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
return RFM22B_EVENT_FAILURE;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
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
// Fetch the data from the RX FIFO
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(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
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
RFM22B: Added PIOS_RFM22B_Receive_Packet function and removed rx buffer.
2012-09-23 17:36:38 +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;
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(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
}
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// CRC error .. discard the received data
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
if (rfm22b_dev->int_status1 & RFM22_is1_icrerror)
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
return RFM22B_EVENT_FAILURE;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// Valid packet received
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
if (rfm22b_dev->int_status1 & RFM22_is1_ipkvalid)
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +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
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// read the total length of the packet data
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
uint32_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
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
// their must still be data in the RX FIFO we need to get
RFM22B: Added PIOS_RFM22B_Receive_Packet function and removed rx buffer.
2012-09-23 17:36:38 +02:00
if (rfm22b_dev->rx_buffer_wr < len)
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: Added PIOS_RFM22B_Receive_Packet function and removed rx buffer.
2012-09-23 17:36:38 +02:00
int32_t bytes_to_read = len - rfm22b_dev->rx_buffer_wr;
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// Fetch the data from the RX FIFO
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
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
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
RFM22B: Added PIOS_RFM22B_Receive_Packet function and removed rx buffer.
2012-09-23 17:36:38 +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], bytes_to_read, NULL) == 0) ? bytes_to_read : 0;
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(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
}
RFM22b: Get rid of the burst read commands and do a block transfer
2012-09-05 07:56:48 +02:00
RFM22B: Added PIOS_RFM22B_Receive_Packet function and removed rx buffer.
2012-09-23 17:36:38 +02:00
if (rfm22b_dev->rx_buffer_wr != len)
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
return RFM22B_EVENT_FAILURE;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// we have a valid received packet
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
enum pios_rfm22b_event ret_event = RFM22B_EVENT_RX_COMPLETE;
RFM22B: Added PIOS_RFM22B_Receive_Packet function and removed rx buffer.
2012-09-23 17:36:38 +02:00
if (rfm22b_dev->rx_buffer_wr > 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
{
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
rfm22b_dev->stats.rx_byte_count += rfm22b_dev->rx_buffer_wr;
// Check the packet for errors.
if (rfm22_receivePacket(rfm22b_dev, &(rfm22b_dev->rx_packet), rfm22b_dev->rx_buffer_wr))
RFM22B: Added PIOS_RFM22B_Receive_Packet function and removed rx buffer.
2012-09-23 17:36:38 +02:00
{
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
switch (rfm22b_dev->rx_packet.header.type)
{
case PACKET_TYPE_STATUS:
ret_event = RFM22B_EVENT_STATUS_RECEIVED;
break;
case PACKET_TYPE_CON_REQUEST:
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
ret_event = RFM22B_EVENT_CONNECTION_REQUESTED;
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
break;
case PACKET_TYPE_DATA:
{
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
// Send the data to the com port
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
bool rx_need_yield;
RM: Now doesn't crash when the radio is disabled.
2012-12-16 17:16:19 +01:00
if (rfm22b_dev->rx_in_cb)
(rfm22b_dev->rx_in_cb)(rfm22b_dev->rx_in_context, rfm22b_dev->rx_packet.data, rfm22b_dev->rx_packet.header.data_size, NULL, &rx_need_yield);
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
#ifdef RFM22B_TEST_DROPPED_PACKETS
// Inject radnom missed ACKs
{
static uint8_t crc = 0;
static uint8_t cntr = 0;
crc = PIOS_CRC_updateByte(crc, cntr++);
if ((crc & 0x7) == 0)
ret_event = RFM22B_EVENT_RX_MODE;
}
#endif
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
break;
}
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
case PACKET_TYPE_DUPLICATE_DATA:
break;
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
case PACKET_TYPE_ACK:
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
case PACKET_TYPE_ACK_RTS:
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
ret_event = RFM22B_EVENT_PACKET_ACKED;
break;
case PACKET_TYPE_NACK:
ret_event = RFM22B_EVENT_PACKET_NACKED;
break;
Added RFM22B (OPLink) receiver.
2012-12-14 05:07:19 +01:00
case PACKET_TYPE_PPM:
{
Was a little aggressive on the rfm22b device structure cleanup, and removed the PPM receiver elements.
2013-02-25 01:30:32 +01:00
#if defined(PIOS_INCLUDE_RFM22B_GCSRECEIVER) || (defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT))
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
PHPpmPacketHandle ppmp = (PHPpmPacketHandle)&(rfm22b_dev->rx_packet);
bool ppm_output = false;
Was a little aggressive on the rfm22b device structure cleanup, and removed the PPM receiver elements.
2013-02-25 01:30:32 +01:00
#endif
Added PPM output to OPLink firmware
2013-01-04 14:51:27 +01:00
#if defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT)
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
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]);
}
}
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
#if defined(PIOS_INCLUDE_RFM22B_GCSRECEIVER)
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
if (!ppm_output) {
GCSReceiverData gcsRcvr;
for (uint8_t i = 0; (i < PIOS_RFM22B_RCVR_MAX_CHANNELS) && (i < GCSRECEIVER_CHANNEL_NUMELEM); ++i) {
gcsRcvr.Channel[i] = ppmp->channels[i];
}
GCSReceiverSet(&gcsRcvr);
}
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
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
break;
Added RFM22B (OPLink) receiver.
2012-12-14 05:07:19 +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
default:
break;
}
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: Added PIOS_RFM22B_Receive_Packet function and removed rx buffer.
2012-09-23 17:36:38 +02:00
}
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
else
ret_event = RFM22B_EVENT_RX_ERROR;
RFM22B: Added PIOS_RFM22B_Receive_Packet function and removed rx buffer.
2012-09-23 17:36:38 +02:00
rfm22b_dev->rx_buffer_wr = 0;
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_dev->rx_complete_ticks = xTaskGetTickCount();
if (rfm22b_dev->rx_complete_ticks == 0)
rfm22b_dev->rx_complete_ticks = 1;
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
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D2_LED_OFF;
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
D3_LED_TOGGLE;
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
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: 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
// We're finished with Rx mode
rfm22b_dev->in_rx_mode = 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
// Start a new transaction
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
rfm22b_dev->packet_start_ticks = 0;
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
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
}
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
return RFM22B_EVENT_NUM_EVENTS;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
}
RFM22B: Improved link stability, and added tracking of error encountered in the processes of transmitting and receiving.
2012-11-17 21:18:34 +01:00
static enum pios_rfm22b_event rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->stats.rx_failure++;
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
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
rfm22b_dev->in_rx_mode = false;
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
if (rfm22b_dev->rx_complete_ticks == 0)
rfm22b_dev->rx_complete_ticks = 1;
return RFM22B_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
static enum pios_rfm22b_event rfm22_txData(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
{
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
enum pios_rfm22b_event ret_event = RFM22B_EVENT_NUM_EVENTS;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
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
// Read the device status registers
if (!rfm22_readStatus(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
return RFM22B_EVENT_FAILURE;
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// TX FIFO almost empty, it needs filling up
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
if (rfm22b_dev->int_status1 & RFM22_is1_ixtffaem)
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
{
// top-up the rf chips TX FIFO buffer
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
uint16_t max_bytes = FIFO_SIZE - TX_FIFO_LO_WATERMARK - 1;
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
RFM22b: Use SPI block transfers for filling the RFM22b FIFO Also removed the disable irq line since that was introducing flight glitches.
2012-09-02 04:24:42 +02:00
bytes_to_write = (bytes_to_write > max_bytes) ? max_bytes: bytes_to_write;
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
rfm22b_dev->tx_data_rd += bytes_to_write;
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(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
}
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// Packet has been sent
RFM22B: Removed setting register 0x58 in the rfm22_setDatarate call, which was breaking all data rates < 100000 bps. Also temporatily fixed the datarate at 64kbps.
2012-10-03 05:59:43 +02:00
else if (rfm22b_dev->int_status1 & RFM22_is1_ipksent)
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: Added PPM packets to rfm22 driver.
2012-10-27 17:32:01 +02:00
rfm22b_dev->stats.tx_byte_count += PH_PACKET_SIZE(rfm22b_dev->tx_packet);
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
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
// Is this an ACK?
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
bool is_ack = ((rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK) || (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS));
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
ret_event = RFM22B_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
if (is_ack)
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
{
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
// If this is an ACK for a connection request message we need to
// configure this modem from the connection request message.
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST)
rfm22_setConnectionParameters(rfm22b_dev);
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
// Change the channel
rfm22_setFreqHopChannel(rfm22b_dev, PIOS_CRC16_updateByte(rfm22b_dev->rx_packet.header.seq_num, 0) & 0x7f);
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
}
else if (rfm22b_dev->tx_packet->header.type != PACKET_TYPE_NACK)
{
// We need to wait for an ACK if this packet it not an ACK or NACK.
RFM22B: 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
rfm22b_dev->prev_tx_packet = rfm22b_dev->tx_packet;
rfm22b_dev->tx_complete_ticks = xTaskGetTickCount();
}
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
// Set the Tx period
portTickType curTicks = xTaskGetTickCount();
if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK)
Reduced length of transmit window period to 8 ms from 16 ms.
2012-12-12 01:42:22 +01:00
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
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
else if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS)
rfm22b_dev->time_to_send_offset = curTicks;
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
// Start a new transaction
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
rfm22b_dev->packet_start_ticks = 0;
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
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D1_LED_OFF;
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
D3_LED_TOGGLE;
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
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: 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
return ret_event;
}
RFM22B: Improved link stability, and added tracking of error encountered in the processes of transmitting and receiving.
2012-11-17 21:18:34 +01:00
static enum pios_rfm22b_event rfm22_txFailure(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->stats.tx_failure++;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
return RFM22B_EVENT_TX_START;
}
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
/**
* Send an ACK to a received packet.
* \param[in] rfm22b_dev The device structure
*/
static enum pios_rfm22b_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev)
{
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
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
aph->header.destination_id = rfm22b_dev->destination_id;
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
aph->header.type = rfm22_ready_to_send(rfm22b_dev) ? PACKET_TYPE_ACK_RTS : PACKET_TYPE_ACK;
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
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
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
rfm22b_dev->tx_packet = (PHPacketHandle)aph;
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
rfm22b_dev->time_to_send = true;
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
return RFM22B_EVENT_TX_START;
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
}
/**
* Send an NACK to a received packet.
* \param[in] rfm22b_dev The device structure
*/
static enum pios_rfm22b_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev)
{
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
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
aph->header.destination_id = rfm22b_dev->destination_id;
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
aph->header.type = PACKET_TYPE_NACK;
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
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
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
rfm22b_dev->tx_packet = (PHPacketHandle)aph;
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
rfm22b_dev->time_to_send = true;
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
return RFM22B_EVENT_TX_START;
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
}
/**
* Receive an ACK.
* \param[in] rfm22b_dev The device structure
*/
static enum pios_rfm22b_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_dev)
{
PHPacketHandle prev = rfm22b_dev->prev_tx_packet;
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
portTickType curTicks = xTaskGetTickCount();
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
// Clear the previous TX packet.
rfm22b_dev->prev_tx_packet = NULL;
// Was this a connection request?
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
switch (prev->header.type)
{
case PACKET_TYPE_CON_REQUEST:
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
rfm22_setConnectionParameters(rfm22b_dev);
break;
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
case PACKET_TYPE_DATA:
rfm22b_dev->data_packet.header.data_size = 0;
break;
}
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
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
// Reset the resend count
rfm22b_dev->cur_resent_count = 0;
// Change the channel
rfm22_setFreqHopChannel(rfm22b_dev, PIOS_CRC16_updateByte(prev->header.seq_num, 0) & 0x7f);
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
// Should we try to start another TX?
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
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_ACK)
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
{
rfm22b_dev->time_to_send_offset = curTicks;
rfm22b_dev->time_to_send = 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
return RFM22B_EVENT_TX_START;
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
}
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
else
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
{
Reduced length of transmit window period to 8 ms from 16 ms.
2012-12-12 01:42:22 +01:00
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
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
return RFM22B_EVENT_RX_MODE;
RFM22B: Added timing synchronization on transmit to try to eliminate both sides transmitting at the same time. This now achieves virtually 0 re-transmissions for close range transmission while transmitting both full telemety and PPM at 64k.
2012-12-11 04:47:35 +01:00
}
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
}
/**
* Receive an MACK.
* \param[in] rfm22b_dev The device structure
*/
static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_dev)
{
// Resend the previous TX packet.
rfm22b_dev->tx_packet = rfm22b_dev->prev_tx_packet;
rfm22b_dev->prev_tx_packet = NULL;
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
// Go to the next binding, if the previous tx packet was a connection request
if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_CON_REQUEST)
{
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
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
// Increment the current binding index to the next non-zero binding.
for (uint8_t i = 0; OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
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
if (++(rfm22b_dev->cur_binding) >= OPLINKSETTINGS_BINDINGS_NUMELEM)
rfm22b_dev->cur_binding = 0;
if (rfm22b_dev->bindings[rfm22b_dev->cur_binding].pairID != 0)
break;
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
}
rfm22b_dev->destination_id = rfm22b_dev->bindings[rfm22b_dev->cur_binding].pairID;
cph->header.destination_id = rfm22b_dev->destination_id;
cph->main_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].main_port;
cph->flexi_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].flexi_port;
cph->vcp_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].vcp_port;
cph->com_speed = rfm22b_dev->bindings[rfm22b_dev->cur_binding].com_speed;
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
} else {
RFM22B: Some more reliability improvements for frequency hopping.
2013-03-01 15:55:00 +01:00
// First resend on the current channel, then resend on the next channel in case the receive has changed channels, then fallback.
rfm22b_dev->cur_resent_count++;
switch (rfm22b_dev->cur_resent_count) {
case 1:
case 2:
rfm22b_dev->prev_frequency_hop_channel = rfm22b_dev->frequency_hop_channel;
case 5:
rfm22_setFreqHopChannel(rfm22b_dev, rfm22b_dev->prev_frequency_hop_channel);
break;
case 3:
case 4:
case 6:
rfm22_setFreqHopChannel(rfm22b_dev, PIOS_CRC16_updateByte(rfm22b_dev->tx_packet->header.seq_num, 0) & 0x7f);
break;
default:
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_dev->cur_resent_count = 0;
rfm22_setFreqHopChannel(rfm22b_dev, RFM22B_DEFAULT_CHANNEL);
RFM22B: Some more reliability improvements for frequency hopping.
2013-03-01 15:55:00 +01:00
break;
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
}
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
}
// Increment the reset packet counter if we're connected.
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
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
rfm22b_add_rx_status(rfm22b_dev, RFM22B_RESENT_TX_PACKET);
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
rfm22b_dev->time_to_send = true;
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
return RFM22B_EVENT_TX_START;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
}
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
/**
* Receive a status packet
* \param[in] rfm22b_dev The device structure
*/
static enum pios_rfm22b_event rfm22_receiveStatus(struct pios_rfm22b_dev *rfm22b_dev)
{
PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
int8_t rssi = rfm22b_dev->rssi_dBm;
int8_t afc = rfm22b_dev->afc_correction_Hz;
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
uint32_t id = status->source_id;
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +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
// Have we seen this device recently?
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
bool found = false;
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 id_idx = 0;
for ( ; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx)
if(rfm22b_dev->pair_stats[id_idx].pairID == id)
{
found = true;
break;
}
// If we have seen it, update the RSSI and reset the last contact couter
if(found)
{
rfm22b_dev->pair_stats[id_idx].rssi = rssi;
rfm22b_dev->pair_stats[id_idx].afc_correction = afc;
rfm22b_dev->pair_stats[id_idx].lastContact = 0;
}
// If we haven't seen it, find a slot to put it in.
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
else
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 min_idx = 0;
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
int8_t min_rssi = rfm22b_dev->pair_stats[0].rssi;
for (id_idx = 1; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx)
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
{
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
if(rfm22b_dev->pair_stats[id_idx].rssi < min_rssi)
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
{
RFM22: Added support for binding to multiple remove OPLinks.
2013-01-31 14:37:03 +01:00
min_rssi = rfm22b_dev->pair_stats[id_idx].rssi;
min_idx = id_idx;
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
}
}
rfm22b_dev->pair_stats[min_idx].pairID = id;
rfm22b_dev->pair_stats[min_idx].rssi = rssi;
rfm22b_dev->pair_stats[min_idx].afc_correction = afc;
rfm22b_dev->pair_stats[min_idx].lastContact = 0;
}
return RFM22B_EVENT_RX_COMPLETE;
}
RFM22B: All packets are now ACKed, and added a formal connection request / accept that will be used or auto-configuring the remote modem.
2012-11-03 17:18:40 +01:00
static enum pios_rfm22b_event rfm22_initConnection(struct pios_rfm22b_dev *rfm22b_dev)
{
if (rfm22b_dev->coordinator)
return RFM22B_EVENT_REQUEST_CONNECTION;
else
return RFM22B_EVENT_WAIT_FOR_CONNECTION;
}
RFM22B: Changed the way the frequencies and power settings are set for the rfm22b device.
2012-10-21 00:02:49 +02:00
static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev)
{
RFM22B: 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
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
// Set our connection state to requesting connection.
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTING;
// Fill in the connection request
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
rfm22b_dev->destination_id = rfm22b_dev->bindings[rfm22b_dev->cur_binding].pairID;
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
cph->header.destination_id = rfm22b_dev->destination_id;
cph->header.type = PACKET_TYPE_CON_REQUEST;
cph->header.data_size = PH_CONNECTION_DATA_SIZE(&(rfm22b_dev->con_packet));
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
cph->source_id = rfm22b_dev->deviceID;
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
cph->main_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].main_port;
cph->flexi_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].flexi_port;
cph->vcp_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].vcp_port;
cph->com_speed = rfm22b_dev->bindings[rfm22b_dev->cur_binding].com_speed;
RFM22B: 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
cph->max_tx_power = rfm22b_dev->tx_power;
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
rfm22b_dev->time_to_send = true;
RFM22B: Added TX Resent to OPLink status. Also removed the need for the packet queue.
2012-11-04 00:03:23 +01:00
rfm22b_dev->send_connection_request = 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
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
return RFM22B_EVENT_TX_START;
RFM22B: Changed the way the frequencies and power settings are set for the rfm22b device.
2012-10-21 00:02:49 +02:00
}
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)
{
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
// Set our connection state to connected
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
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
// Call the com port configuration function
if (rfm22b_dev->com_config_cb)
rfm22b_dev->com_config_cb(cph->main_port, cph->flexi_port, cph->vcp_port, cph->com_speed);
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
// Configure this modem from the connection request message.
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
rfm22_setDatarate(rfm22b_dev, rfm22b_dev->datarate, true);
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
PIOS_RFM22B_SetTxPower((uint32_t)rfm22b_dev, cph->max_tx_power);
}
RFM22B/RM: Added rfm22b com device, moved remaining functionality in the radio module to the rfm22 driver, and simplified configuration of the PipX/OPLink. The radio device now presents itself completely as a com device, both in RadioComBridge (OPLink devices) and Telemetry (RM). Also change the PipXStatus and PipXSettings UAVOs to OPLinkStatus/OPLinkSettings.
2012-10-20 20:48:22 +02:00
static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev)
{
RFM22B: 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
// Set our connection state to connected
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
// Copy the connection packet
PHConnectionPacketHandle cph = (PHConnectionPacketHandle)(&(rfm22b_dev->rx_packet));
PHConnectionPacketHandle lcph = (PHConnectionPacketHandle)(&(rfm22b_dev->con_packet));
memcpy((uint8_t*)lcph, (uint8_t*)cph, PH_PACKET_SIZE((PHPacketHandle)cph));
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
// Set the destination ID to the source of the connection request message.
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_dev->destination_id = cph->source_id;
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
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
return RFM22B_EVENT_DEFAULT;
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
}
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: 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
// Initialise this hardware layer module and the rf module
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: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
static enum pios_rfm22b_event rfm22_init(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
{
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
// Initialize the register values.
rfm22b_dev->device_status = 0;
rfm22b_dev->int_status1 = 0;
rfm22b_dev->int_status2 = 0;
rfm22b_dev->ezmac_status = 0;
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
// Clean the LEDs
rfm22_clearLEDs();
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
// Initialize the detected device statistics.
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i)
{
rfm22b_dev->pair_stats[i].pairID = 0;
rfm22b_dev->pair_stats[i].rssi = -127;
rfm22b_dev->pair_stats[i].afc_correction = 0;
rfm22b_dev->pair_stats[i].lastContact = 0;
}
// Initlize the link stats.
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i)
rfm22b_dev->rx_packet_stats[i] = 0;
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
// Initialize the state
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_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
rfm22b_dev->destination_id = 0xffffffff;
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
rfm22b_dev->time_to_send = false;
rfm22b_dev->time_to_send_offset = 0;
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_dev->send_status = false;
rfm22b_dev->send_connection_request = false;
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_dev->cur_resent_count = 0;
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
// Initialize the packets.
rfm22b_dev->rx_packet_len = 0;
rfm22b_dev->tx_packet = NULL;
rfm22b_dev->prev_tx_packet = NULL;
rfm22b_dev->data_packet.header.data_size = 0;
RFM22B: 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
rfm22b_dev->in_rx_mode = false;
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
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
// Initialize the devide state
rfm22b_dev->device_status = rfm22b_dev->int_status1 = rfm22b_dev->int_status2 = rfm22b_dev->ezmac_status = 0;
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
rfm22b_dev->frequency_hop_channel = 0;
RFM22B: Some more reliability improvements for frequency hopping.
2013-03-01 15:55:00 +01:00
rfm22b_dev->prev_frequency_hop_channel = 0;
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_dev->afc_correction_Hz = 0;
rfm22b_dev->packet_start_ticks = 0;
rfm22b_dev->tx_complete_ticks = 0;
rfm22b_dev->rx_complete_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
// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
for (int i = 50; i > 0; i--)
{
// read the status registers
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
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
if (rfm22b_dev->int_status2 & RFM22_is2_ichiprdy) break;
RFM22B: Some more reliability improvements for frequency hopping.
2013-03-01 15:55:00 +01:00
// wait 1ms
PIOS_DELAY_WaitmS(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
}
// ****************
// read status - clears interrupt
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22b_dev->device_status = rfm22_read(rfm22b_dev, RFM22_device_status);
rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
rfm22b_dev->ezmac_status = rfm22_read(rfm22b_dev, RFM22_ezmac_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
// disable all interrupts
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
// read the RF chip ID bytes
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
// read the device type
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
uint8_t device_type = rfm22_read(rfm22b_dev, RFM22_DEVICE_TYPE) & RFM22_DT_MASK;
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
// read the device version
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
uint8_t device_version = rfm22_read(rfm22b_dev, RFM22_DEVICE_VERSION) & RFM22_DV_MASK;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "rf device type: %d\n\r", device_type);
DEBUG_PRINTF(2, "rf device version: %d\n\r", device_version);
#endif
if (device_type != 0x08)
{
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "rf device type: INCORRECT - should be 0x08\n\r");
#endif
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
// incorrect RF module type
return RFM22B_EVENT_FATAL_ERROR;
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: 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
if (device_version != RFM22_DEVICE_VERSION_B1)
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
{
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "rf device version: INCORRECT\n\r");
#endif
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
// incorrect RF module version
return RFM22B_EVENT_FATAL_ERROR;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
}
// calibrate our RF module to be exactly on frequency .. different for every module
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, OSC_LOAD_CAP);
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
// disable Low Duty Cycle Mode
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
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: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
// 1MHz clock output
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_cpu_output_clk, RFM22_coc_1MHz);
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: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
// READY mode
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_xton);
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
// choose the 3 GPIO pin functions
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
// GPIO port use default value
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_io_port_config, RFM22_io_port_default);
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
if (rfm22b_dev->cfg.gpio_direction == GPIO0_TX_GPIO1_RX) {
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
// 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);
RM: Make the direction of the TX/RX lines come from the configuration file
2012-09-05 06:22:56 +02:00
} else {
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
// GPIO0 = TX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_rxstate);
// GPIO1 = RX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_txstate);
RM: Make the direction of the TX/RX lines come from the configuration file
2012-09-05 06:22:56 +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
// GPIO2 = Clear Channel Assessment
rfm22_write(rfm22b_dev, RFM22_gpio2_config, RFM22_gpio2_config_drv3 | RFM22_gpio2_config_cca);
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
// FIFO mode, GFSK modulation
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
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);
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
// setup to read the internal temperature sensor
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// ADC used to sample the temperature sensor
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
uint8_t adc_config = RFM22_ac_adcsel_temp_sensor | RFM22_ac_adcref_bg;
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// adc offset
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_adc_sensor_amp_offset, 0);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
Fixed some declaration to Exti functions to make it compile.
2012-09-30 17:04:36 +02:00
// temp sensor calibration .. <20>40C to +64C 0.5C resolution
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_temp_sensor_calib, RFM22_tsc_tsrange0 | RFM22_tsc_entsoffs);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// temp sensor offset
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_temp_value_offset, 0);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// start an ADC conversion
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config | RFM22_ac_adcstartbusy);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// set the RSSI threshold interrupt to about -90dBm
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_rssi_threshold_clear_chan_indicator, (-90 + 122) * 2);
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
// enable the internal Tx & Rx packet handlers (without CRC)
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_data_access_control, RFM22_dac_enpacrx | RFM22_dac_enpactx);
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
// x-nibbles tx preamble
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_preamble_length, TX_PREAMBLE_NIBBLES);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// x-nibbles rx preamble detection
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_preamble_detection_ctrl1, RX_PREAMBLE_NIBBLES << 3);
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 PipXStatus and PipXSettings UAVObjects and added support the sending/receiving UAVTalk objects on the PipX.
2012-04-11 05:22:53 +02:00
#ifdef PIOS_RFM22_NO_HEADER
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
// header control - we are not using the header
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_header_control1, RFM22_header_cntl1_bcen_none | RFM22_header_cntl1_hdch_none);
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
// no header bytes, synchronization word length 3, 2, 1 & 0 used, packet length included in header.
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_header_control2, RFM22_header_cntl2_hdlen_none |
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
RFM22_header_cntl2_synclen_3210 | ((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
Added PipXStatus and PipXSettings UAVObjects and added support the sending/receiving UAVTalk objects on the PipX.
2012-04-11 05:22:53 +02:00
#else
// header control - using a 4 by header with broadcast of 0xffffffff
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_header_control1,
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
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);
Added PipXStatus and PipXSettings UAVObjects and added support the sending/receiving UAVTalk objects on the PipX.
2012-04-11 05:22:53 +02:00
// Check all bit of all bytes of the header
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
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);
Added PipXStatus and PipXSettings UAVObjects and added support the sending/receiving UAVTalk objects on the PipX.
2012-04-11 05:22:53 +02:00
// Set the ID to be checked
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
uint32_t id = rfm22b_dev->deviceID;
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
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);
Added PipXStatus and PipXSettings UAVObjects and added support the sending/receiving UAVTalk objects on the PipX.
2012-04-11 05:22:53 +02:00
// 4 header bytes, synchronization word length 3, 2, 1 & 0 used, packet length included in header.
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_header_control2,
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
RFM22_header_cntl2_hdlen_3210 |
RFM22_header_cntl2_synclen_3210 |
((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
Added PipXStatus and PipXSettings UAVObjects and added support the sending/receiving UAVTalk objects on the PipX.
2012-04-11 05:22:53 +02:00
#endif
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
// sync word
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
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);
RFM22B device now fully interrupt driven. Packet handeling moved to RadioComBridge module.
2012-04-06 05:24:50 +02:00
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_agc_override1, RFM22_agc_ovr1_agcen);
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
// set frequency hopping channel step size (multiples of 10kHz)
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_step_size, rfm22b_dev->frequency_hop_step_size_reg);
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
// set the tx power
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power);
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
// TX FIFO Almost Full Threshold (0 - 63)
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control1, TX_FIFO_HI_WATERMARK);
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
// TX FIFO Almost Empty Threshold (0 - 63)
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control2, TX_FIFO_LO_WATERMARK);
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
// RX FIFO Almost Full Threshold (0 - 63)
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_rx_fifo_control, RX_FIFO_HI_WATERMARK);
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: 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
// Set the frequency calibration
RFM22B: Changed default (initial) air baud rate to 9600. Also some code cleanup.
2012-12-12 03:23:59 +01:00
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, rfm22b_dev->cfg.RFXtalCap);
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
// Initialize the frequency and datarate to te default.
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
rfm22_setNominalCarrierFrequency(rfm22b_dev, RFM22B_NOMINAL_CARRIER_FREQUENCY, RFM22B_DEFAULT_CHANNEL);
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
rfm22_setDatarate(rfm22b_dev, RFM22B_DEFAULT_RX_DATARATE, true);
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
RFM22B: All outgoing data to the radio is now going through the PIOS_RFM22B_Send_Packet call. Also removed all global variables with the exception of the rx buffer.
2012-09-23 05:07:50 +02:00
return RFM22B_EVENT_INITIALIZED;
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
}
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() {
LINK_LED_OFF;
RX_LED_OFF;
TX_LED_OFF;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D1_LED_OFF;
D2_LED_OFF;
D3_LED_OFF;
D4_LED_OFF;
#endif
}
RFM22B: Added a message timeout event to the RFM22B state machine that will fire if a packet takes too long to transmit / receive.
2012-09-25 05:51:34 +02:00
static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev)
{
RFM22B: 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_dev->stats.timeouts++;
RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.
2012-10-03 04:52:21 +02:00
rfm22b_dev->packet_start_ticks = 0;
RFM22B: Fixed status reporting and connection status for OPLink.
2012-10-22 01:51:27 +02:00
// Release the Tx packet if it's set.
if (rfm22b_dev->tx_packet != 0)
{
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
}
rfm22b_dev->rx_buffer_wr = 0;
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
TX_LED_OFF;
RX_LED_OFF;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D1_LED_OFF;
D2_LED_OFF;
D3_LED_OFF;
D4_LED_OFF;
#endif
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
return RFM22B_EVENT_TX_START;
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
}
RFM22B: Major refactoring of te RFM22B driver to implement a state machine for the driver. The state machine should now be complete, and the driver seems to be working pretty well on both the RM and the pipx.
2012-09-17 04:33:30 +02:00
static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev)
{
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_dev->stats.resets++;
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
rfm22_clearLEDs();
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
return RFM22B_EVENT_INITIALIZE;
}
/**
* A fatal error has occured in the state machine.
* this should not happen.
* \parem [in] rfm22b_dev The device structure
* \return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_fatal_error(struct pios_rfm22b_dev *rfm22b_dev)
{
// RF module error .. flash the LED's
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
rfm22_clearLEDs();
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
for(unsigned int j = 0; j < 16; j++)
{
USB_LED_ON;
LINK_LED_ON;
RX_LED_OFF;
TX_LED_OFF;
PIOS_DELAY_WaitmS(200);
USB_LED_OFF;
LINK_LED_OFF;
RX_LED_ON;
TX_LED_ON;
PIOS_DELAY_WaitmS(200);
}
PIOS_DELAY_WaitmS(1000);
PIOS_Assert(0);
return RFM22B_EVENT_FATAL_ERROR;
Moved RFM22B code from PipXtreme to pios_rfm22b.c driver. The radio is now passing data.
2012-03-18 18:22:05 +01:00
}
// ************************************
#endif
/**
* @}
* @}
*/
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