mirror of
https://bitbucket.org/librepilot/librepilot.git
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New PipX config protocol packets. YOU NEED TO RECOMPILE THE GCS PLUGIN to use this.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2711 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
pip
pip
parent
54ccc4e58f
commit
0e3ae58c96
@ -41,10 +41,14 @@
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// *****************************************************************************
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// modem configuration packets
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#define pipx_header_marker 0x76b38a52
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#define PIPX_HEADER_MARKER 0x76b38a52
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#define pipx_packet_type_req_config 1
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#define pipx_packet_type_config 2
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#define PIPX_PACKET_TYPE_REQ_DETAILS 0
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#define PIPX_PACKET_TYPE_DETAILS 1
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#define PIPX_PACKET_TYPE_REQ_SETTINGS 2
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#define PIPX_PACKET_TYPE_SETTINGS 3
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#define PIPX_PACKET_TYPE_REQ_STATE 4
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#define PIPX_PACKET_TYPE_STATE 5
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typedef struct
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{
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@ -60,33 +64,34 @@ typedef struct
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typedef struct
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{
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uint8_t mode;
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uint8_t state;
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} __attribute__((__packed__)) t_pipx_config_data_mode_state;
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uint8_t major_version;
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uint8_t minor_version;
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uint32_t serial_number;
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uint32_t min_frequency_Hz;
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uint32_t max_frequency_Hz;
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uint8_t frequency_band;
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float frequency_step_size;
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} __attribute__((__packed__)) t_pipx_config_details;
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typedef struct
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{
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uint32_t serial_baudrate; // serial uart baudrate
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uint8_t mode;
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uint8_t link_state;
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int16_t rssi;
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int32_t afc;
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} __attribute__((__packed__)) t_pipx_config_state;
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typedef struct
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{
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uint32_t serial_baudrate; // serial usart baudrate
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uint32_t destination_id;
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uint32_t min_frequency_Hz;
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uint32_t max_frequency_Hz;
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uint32_t frequency_Hz;
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uint32_t max_rf_bandwidth;
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uint8_t max_tx_power;
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uint8_t frequency_band;
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uint8_t rf_xtal_cap;
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bool aes_enable;
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uint8_t aes_key[16];
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float frequency_step_size;
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} __attribute__((__packed__)) t_pipx_config_data_settings;
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} __attribute__((__packed__)) t_pipx_config_settings;
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typedef struct
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{
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@ -115,32 +120,99 @@ uint16_t apiconfig_tx_config_buffer_wr;
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// *****************************************************************************
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int apiconfig_sendConfigPacket()
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int apiconfig_sendDetailsPacket(void)
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{
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if (sizeof(apiconfig_tx_config_buffer) - apiconfig_tx_config_buffer_wr < sizeof(t_pipx_config_header) + sizeof(t_pipx_config_data_settings))
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if (sizeof(apiconfig_tx_config_buffer) - apiconfig_tx_config_buffer_wr < sizeof(t_pipx_config_header) + sizeof(t_pipx_config_details))
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return -1; // not enough room in the tx buffer for the packet we were going to send
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t_pipx_config_header *header = (t_pipx_config_header *)(apiconfig_tx_config_buffer + apiconfig_tx_config_buffer_wr);
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t_pipx_config_data_settings *settings = (t_pipx_config_data_settings *)((uint8_t *)header + sizeof(t_pipx_config_header));
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t_pipx_config_details *details = (t_pipx_config_details *)((uint8_t *)header + sizeof(t_pipx_config_header));
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header->marker = pipx_header_marker;
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header->marker = PIPX_HEADER_MARKER;
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header->serial_number = serial_number_crc32;
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header->type = pipx_packet_type_config;
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header->type = PIPX_PACKET_TYPE_DETAILS;
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header->spare = 0;
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header->data_size = sizeof(t_pipx_config_data_settings);
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header->data_size = sizeof(t_pipx_config_details);
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details->major_version = version_major;
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details->minor_version = version_minor;
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details->serial_number = serial_number_crc32;
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details->min_frequency_Hz = saved_settings.min_frequency_Hz;
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details->max_frequency_Hz = saved_settings.max_frequency_Hz;
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details->frequency_band = saved_settings.frequency_band;
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details->frequency_step_size = rfm22_getFrequencyStepSize();
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header->data_crc = updateCRC32Data(0xffffffff, details, header->data_size);
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header->header_crc = 0;
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header->header_crc = updateCRC32Data(0xffffffff, header, sizeof(t_pipx_config_header));
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int total_packet_size = sizeof(t_pipx_config_header) + header->data_size;
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apiconfig_tx_config_buffer_wr += total_packet_size;
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#if defined(APICONFIG_DEBUG)
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DEBUG_PRINTF("TX api config: details\r\n");
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#endif
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return total_packet_size;
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}
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int apiconfig_sendStatePacket(void)
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{
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if (sizeof(apiconfig_tx_config_buffer) - apiconfig_tx_config_buffer_wr < sizeof(t_pipx_config_header) + sizeof(t_pipx_config_state))
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return -1; // not enough room in the tx buffer for the packet we were going to send
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t_pipx_config_header *header = (t_pipx_config_header *)(apiconfig_tx_config_buffer + apiconfig_tx_config_buffer_wr);
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t_pipx_config_state *state = (t_pipx_config_state *)((uint8_t *)header + sizeof(t_pipx_config_header));
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header->marker = PIPX_HEADER_MARKER;
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header->serial_number = serial_number_crc32;
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header->type = PIPX_PACKET_TYPE_STATE;
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header->spare = 0;
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header->data_size = sizeof(t_pipx_config_state);
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state->mode = 0;
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state->link_state = ph_getCurrentLinkState(0);
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state->rssi = ph_getLastRSSI(0);
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state->afc = ph_getLastAFC(0);
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header->data_crc = updateCRC32Data(0xffffffff, state, header->data_size);
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header->header_crc = 0;
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header->header_crc = updateCRC32Data(0xffffffff, header, sizeof(t_pipx_config_header));
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int total_packet_size = sizeof(t_pipx_config_header) + header->data_size;
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apiconfig_tx_config_buffer_wr += total_packet_size;
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#if defined(APICONFIG_DEBUG)
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DEBUG_PRINTF("TX api config: state\r\n");
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#endif
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return total_packet_size;
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}
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int apiconfig_sendSettingsPacket(void)
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{
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if (sizeof(apiconfig_tx_config_buffer) - apiconfig_tx_config_buffer_wr < sizeof(t_pipx_config_header) + sizeof(t_pipx_config_settings))
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return -1; // not enough room in the tx buffer for the packet we were going to send
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t_pipx_config_header *header = (t_pipx_config_header *)(apiconfig_tx_config_buffer + apiconfig_tx_config_buffer_wr);
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t_pipx_config_settings *settings = (t_pipx_config_settings *)((uint8_t *)header + sizeof(t_pipx_config_header));
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header->marker = PIPX_HEADER_MARKER;
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header->serial_number = serial_number_crc32;
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header->type = PIPX_PACKET_TYPE_SETTINGS;
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header->spare = 0;
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header->data_size = sizeof(t_pipx_config_settings);
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settings->serial_baudrate = saved_settings.serial_baudrate;
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settings->destination_id = saved_settings.destination_id;
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settings->min_frequency_Hz = saved_settings.min_frequency_Hz;
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settings->max_frequency_Hz = saved_settings.max_frequency_Hz;
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settings->frequency_Hz = saved_settings.frequency_Hz;
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settings->max_rf_bandwidth = saved_settings.max_rf_bandwidth;
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settings->max_tx_power = saved_settings.max_tx_power;
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settings->frequency_band = saved_settings.frequency_band;
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settings->rf_xtal_cap = saved_settings.rf_xtal_cap;
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settings->aes_enable = saved_settings.aes_enable;
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memcpy((char *)settings->aes_key, (char *)saved_settings.aes_key, sizeof(settings->aes_key));
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settings->frequency_step_size = rfm22_getFrequencyStepSize();
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header->data_crc = updateCRC32Data(0xffffffff, settings, header->data_size);
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header->header_crc = 0;
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@ -151,7 +223,7 @@ int apiconfig_sendConfigPacket()
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apiconfig_tx_config_buffer_wr += total_packet_size;
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#if defined(APICONFIG_DEBUG)
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DEBUG_PRINTF("TX api config: config\r\n");
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DEBUG_PRINTF("TX api config: settings\r\n");
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#endif
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return total_packet_size;
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@ -167,25 +239,48 @@ void apiconfig_processInputPacket(void *buf, uint16_t len)
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switch (header->type)
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{
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case pipx_packet_type_req_config: // they are requesting our configuration
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case PIPX_PACKET_TYPE_REQ_DETAILS:
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#if defined(APICONFIG_DEBUG)
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DEBUG_PRINTF("RX api config: req_config\r\n");
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DEBUG_PRINTF("RX api config: req_details\r\n");
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#endif
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if (header->serial_number == 0 || header->serial_number == 0xffffffff || header->serial_number == serial_number_crc32)
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apiconfig_sendConfigPacket();
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apiconfig_sendDetailsPacket();
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break;
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case pipx_packet_type_config: // they have sent us new configuration settings
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case PIPX_PACKET_TYPE_REQ_STATE:
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#if defined(APICONFIG_DEBUG)
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DEBUG_PRINTF("RX api config: config\r\n");
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DEBUG_PRINTF("RX api config: req_state\r\n");
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#endif
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if (header->serial_number == serial_number_crc32)
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apiconfig_sendStatePacket();
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break;
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case PIPX_PACKET_TYPE_REQ_SETTINGS: // they are requesting our configuration
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#if defined(APICONFIG_DEBUG)
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DEBUG_PRINTF("RX api config: req_settings\r\n");
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#endif
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if (header->serial_number == serial_number_crc32)
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apiconfig_sendSettingsPacket();
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break;
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case PIPX_PACKET_TYPE_SETTINGS: // they have sent us new configuration settings
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#if defined(APICONFIG_DEBUG)
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DEBUG_PRINTF("RX api config: settings\r\n");
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#endif
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if (header->serial_number == serial_number_crc32)
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{ // the packet is meant for us
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t_pipx_config_data_settings *settings = (t_pipx_config_data_settings *)data;
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t_pipx_config_settings *settings = (t_pipx_config_settings *)data;
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saved_settings.destination_id = settings->destination_id;
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@ -200,7 +295,8 @@ void apiconfig_processInputPacket(void *buf, uint16_t len)
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saved_settings.serial_baudrate = settings->serial_baudrate;
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saved_settings.aes_enable = settings->aes_enable;
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memcpy((char *)saved_settings.aes_key, (char *)settings->aes_key, sizeof(saved_settings.aes_key));
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// if (saved_settings.aes_enable)
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memcpy((char *)saved_settings.aes_key, (char *)settings->aes_key, sizeof(saved_settings.aes_key));
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saved_settings_save(); // save the new settings
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@ -213,6 +309,7 @@ void apiconfig_processInputPacket(void *buf, uint16_t len)
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ph_set_remote_serial_number(0, saved_settings.destination_id);
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ph_set_remote_encryption(0, saved_settings.aes_enable, (const void *)saved_settings.aes_key);
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}
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break;
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default:
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@ -244,7 +341,7 @@ uint16_t apiconfig_scanForConfigPacket(void *buf, uint16_t *len, bool rf_packet)
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break;
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}
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if (header->marker != pipx_header_marker)
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if (header->marker != PIPX_HEADER_MARKER)
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{ // no packet marker found
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i++;
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continue;
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@ -397,7 +494,9 @@ void apiconfig_process(void)
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// scan for a configuration packet in the received data
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uint16_t data_size = apiconfig_scanForConfigPacket(apiconfig_rx_buffer, &apiconfig_rx_buffer_wr, false);
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if (data_size == 0 && ((usb_comms && apiconfig_rx_timer >= 10) || ((!usb_comms && apiconfig_rx_timer >= 20))))
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uint16_t time_out = 5; // ms
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if (!usb_comms) time_out = (15000 * sizeof(t_pipx_config_header)) / saved_settings.serial_baudrate; // allow enough time to rx a config header
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if (data_size == 0 && apiconfig_rx_timer >= time_out)
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{ // no config packet found in the buffer within the timeout period, treat any data in the buffer as data to be sent over the air
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data_size = apiconfig_rx_buffer_wr;
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}
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@ -45,6 +45,11 @@ uint16_t ph_putData(const int connection_index, const void *data, uint16_t len);
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uint16_t ph_getData_used(const int connection_index);
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uint16_t ph_getData(const int connection_index, void *data, uint16_t len);
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uint8_t ph_getCurrentLinkState(const int connection_index);
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int16_t ph_getLastRSSI(const int connection_index);
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int32_t ph_getLastAFC(const int connection_index);
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void ph_setNominalCarrierFrequency(uint32_t frequency_hz);
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uint32_t ph_getNominalCarrierFrequency(void);
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@ -187,7 +187,7 @@ typedef struct
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bool pinging; // TRUE if we are doing a ping test with the other modem - to check if it is still present
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bool rx_not_ready_mode; // TRUE if we have told the other modem we cannot receive data (due to buffer filling up).
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// we set it back to FALSE when our received buffer starts to empty
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// we set it back to FALSE when our received buffer starts to empty
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volatile int16_t ready_to_send_timer; // ms .. used to hold off packet transmission to wait a bit for data to mount up for transmission (improves data thru-put speed)
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@ -215,7 +215,7 @@ uint8_t ph_tx_buffer[256] __attribute__ ((aligned(4))); // holds the
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uint8_t ph_rx_buffer[256] __attribute__ ((aligned(4))); // holds the received packet
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int16_t rx_rssi_dBm;
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int16_t rx_afc_Hz;
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int32_t rx_afc_Hz;
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// *****************************************************************************
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// return TRUE if we are connected to the remote modem
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@ -1380,6 +1380,37 @@ void ph_processLinks(int connection_index)
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}
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}
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// *****************************************************************************
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uint8_t ph_getCurrentLinkState(const int connection_index)
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{
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if (connection_index < 0 || connection_index >= PH_MAX_CONNECTIONS)
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return 0;
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t_connection *conn = &connection[connection_index];
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return conn->link_state;
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}
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// *****************************************************************************
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int16_t ph_getLastRSSI(const int connection_index)
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{
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if (connection_index < 0 || connection_index >= PH_MAX_CONNECTIONS)
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return 0;
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t_connection *conn = &connection[connection_index];
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return conn->rx_rssi_dBm;
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}
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int32_t ph_getLastAFC(const int connection_index)
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{
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if (connection_index < 0 || connection_index >= PH_MAX_CONNECTIONS)
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return 0;
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t_connection *conn = &connection[connection_index];
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return conn->rx_afc_Hz;
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}
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// *****************************************************************************
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// set/get the carrier frequency
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@ -221,7 +221,8 @@ volatile uint16_t rx_buffer_wr; // the receive buffer write index
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volatile uint8_t rx_packet_buf[256] __attribute__ ((aligned(4))); // the received packet
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volatile uint16_t rx_packet_wr; // the receive packet write index
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volatile int16_t rx_packet_rssi_dBm; // the receive packet signal strength
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volatile int16_t rx_packet_start_rssi_dBm; //
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volatile int16_t rx_packet_rssi_dBm; // the received packet signal strength
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volatile int32_t rx_packet_afc_Hz; // the receive packet frequency offset
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volatile uint8_t *tx_data_addr; // the address of the data we send in the transmitted packets
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@ -920,6 +921,9 @@ void rfm22_processRxInt(void)
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rf_mode = RX_DATA_MODE;
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RX_LED_ON;
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// remember the rssi for this packet
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rx_packet_start_rssi_dBm = rssi_dBm;
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// read the 10-bit signed afc correction value
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afc_correction = (uint16_t)rfm22_read(rfm22_afc_correction_read) << 8; // bits 9 to 2
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afc_correction |= (uint16_t)rfm22_read(rfm22_ook_counter_value1) & 0x00c0; // bits 1 & 0
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@ -1077,7 +1081,7 @@ void rfm22_processRxInt(void)
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if (rx_packet_wr == 0)
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{ // save the received packet for further processing
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rx_packet_rssi_dBm = rssi_dBm; // remember the rssi for this packet
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rx_packet_rssi_dBm = rx_packet_start_rssi_dBm; // remember the rssi for this packet
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rx_packet_afc_Hz = afc_correction_Hz; // remember the afc offset for this packet
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memmove((void *)rx_packet_buf, (void *)rx_buffer, wr); // copy the packet data
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rx_packet_wr = wr; // save the length of the data
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