diff --git a/flight/Libraries/packet_handler.c b/flight/Libraries/packet_handler.c index c417371d7..9226c74ae 100644 --- a/flight/Libraries/packet_handler.c +++ b/flight/Libraries/packet_handler.c @@ -475,12 +475,12 @@ static uint8_t PHLTransmitPacket(PHPacketDataHandle data, PHPacketHandle p) // Set the sequence ID to the current ID. p->header.tx_seq = data->tx_seq_id++; + p->header.source_id = data->cfg.source_id; // Add the error correcting code. encode_data((unsigned char*)p, PHPacketSize(p), (unsigned char*)p); // Transmit the packet using the output stream. - p->header.source_id = data->cfg.source_id; if(data->output_stream(p) == -1) return 0; diff --git a/flight/Modules/Radio/radio.c b/flight/Modules/Radio/radio.c index b72f3ea12..41e732215 100644 --- a/flight/Modules/Radio/radio.c +++ b/flight/Modules/Radio/radio.c @@ -41,13 +41,14 @@ // **************** // Private constants -#define STACK_SIZE_BYTES 150 +#define STACK_SIZE_BYTES 200 #define TASK_PRIORITY (tskIDLE_PRIORITY + 2) #define PACKET_QUEUE_SIZE PIOS_PH_WIN_SIZE #define MAX_PORT_DELAY 200 #define STATS_UPDATE_PERIOD_MS 500 #define RADIOSTATS_UPDATE_PERIOD_MS 250 #define MAX_LOST_CONTACT_TIME 4 +#define PACKET_MAX_DELAY 50 #ifndef LINK_LED_ON #define LINK_LED_ON @@ -73,7 +74,6 @@ typedef struct { // The task handles. xTaskHandle radioReceiveTaskHandle; xTaskHandle radioStatusTaskHandle; - xTaskHandle sendPacketTaskHandle; // Queue handles. xQueueHandle radioPacketQueue; @@ -106,7 +106,6 @@ typedef struct { static void radioReceiveTask(void *parameters); static void radioStatusTask(void *parameters); -static void sendPacketTask(void *parameters); static void StatusHandler(PHStatusPacketHandle p, int8_t rssi, int8_t afc); static int32_t transmitPacket(PHPacketHandle packet); static void PPMHandler(uint16_t *channels); @@ -137,11 +136,9 @@ static int32_t RadioStart(void) // Start the tasks. xTaskCreate(radioReceiveTask, (signed char *)"RadioReceive", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioReceiveTaskHandle)); xTaskCreate(radioStatusTask, (signed char *)"RadioStatus", STACK_SIZE_BYTES * 2, NULL, TASK_PRIORITY, &(data->radioStatusTaskHandle)); - xTaskCreate(sendPacketTask, (signed char *)"SendPacket", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->sendPacketTaskHandle)); // Install the monitors TaskMonitorAdd(TASKINFO_RUNNING_MODEMRX, data->radioReceiveTaskHandle); - TaskMonitorAdd(TASKINFO_RUNNING_MODEMTX, data->sendPacketTaskHandle); TaskMonitorAdd(TASKINFO_RUNNING_MODEMSTAT, data->radioStatusTaskHandle); // Register the watchdog timers. @@ -166,8 +163,10 @@ static int32_t RadioInitialize(void) HwSettingsInitialize(); uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM]; HwSettingsOptionalModulesGet(optionalModules); - if (optionalModules[HWSETTINGS_OPTIONALMODULES_RADIO] != HWSETTINGS_OPTIONALMODULES_ENABLED) + if (optionalModules[HWSETTINGS_OPTIONALMODULES_RADIO] != HWSETTINGS_OPTIONALMODULES_ENABLED) { + pios_packet_handler = 0; return -1; + } #endif // Initalize out UAVOs @@ -233,20 +232,8 @@ static int32_t RadioInitialize(void) } /* Initalize the RFM22B radio COM device. */ - { - if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, pios_rfm22b_cfg.slave_num, &pios_rfm22b_cfg)) { - return -1; - } - uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN); - uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN); - PIOS_Assert(rx_buffer); - PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_rfm22b_id, &pios_rfm22b_com_driver, pios_rfm22b_id, - rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN, - tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) { - PIOS_Assert(0); - } - } + if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, pios_rfm22b_cfg.slave_num, &pios_rfm22b_cfg)) + return -1; // Initialize the packet handler PacketHandlerConfig pios_ph_cfg = { @@ -287,9 +274,6 @@ static int32_t RadioInitialize(void) PipXSettingsPairIDGet(&(data->pairStats[0].pairID)); data->destination_id = data->pairStats[0].pairID ? data->pairStats[0].pairID : 0xffffffff; - // Create the packet queue. - data->radioPacketQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(PHPacketHandle)); - // Register the callbacks with the packet handler PHRegisterStatusHandler(pios_packet_handler, StatusHandler); PHRegisterOutputStream(pios_packet_handler, transmitPacket); @@ -315,18 +299,9 @@ static void radioReceiveTask(void *parameters) PIOS_WDG_UpdateFlag(PIOS_WDG_RADIORECEIVE); #endif /* PIOS_INCLUDE_WDG */ - // Get a RX packet from the packet handler if required. - if (p == NULL) - p = PHGetRXPacket(pios_packet_handler); - - if(p == NULL) { - // Wait a bit for a packet to come available. - vTaskDelay(5); - continue; - } - // Receive data from the radio port - rx_bytes = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, (uint8_t*)p, PIOS_PH_MAX_PACKET, MAX_PORT_DELAY); + p = NULL; + rx_bytes = PIOS_RFM22B_Receive_Packet(pios_rfm22b_id, &p, MAX_PORT_DELAY); if(rx_bytes == 0) continue; data->rxBytes += rx_bytes; @@ -340,27 +315,6 @@ static void radioReceiveTask(void *parameters) } } -/** - * Send packets to the radio. - */ -static void sendPacketTask(void *parameters) -{ - PHPacketHandle p; - - // Loop forever - while (1) { -#ifdef PIOS_INCLUDE_WDG - // Update the watchdog timer. - //PIOS_WDG_UpdateFlag(PIOS_WDG_SENDPACKET); -#endif /* PIOS_INCLUDE_WDG */ - // Wait for a packet on the queue. - if (xQueueReceive(data->radioPacketQueue, &p, MAX_PORT_DELAY) == pdTRUE) { - PIOS_COM_SendBuffer(PIOS_COM_RADIO, (uint8_t*)p, PH_PACKET_SIZE(p)); - PHReleaseTXPacket(pios_packet_handler, p); - } - } -} - /** * Transmit a packet to the radio port. * \param[in] buf Data buffer to send @@ -372,7 +326,7 @@ static int32_t transmitPacket(PHPacketHandle p) { uint16_t len = PH_PACKET_SIZE(p); data->txBytes += len; - if (xQueueSend(data->radioPacketQueue, &p, portMAX_DELAY) != pdTRUE) + if (!PIOS_RFM22B_Send_Packet(pios_rfm22b_id, p, PACKET_MAX_DELAY)) return -1; return len; } @@ -441,11 +395,9 @@ static void StatusHandler(PHStatusPacketHandle status, int8_t rssi, int8_t afc) */ static void radioStatusTask(void *parameters) { - static portTickType lastSysTime; PHStatusPacket status_packet; - while (1) { - lastSysTime = xTaskGetTickCount(); + while (1) { PipXStatusData pipxStatus; uint32_t pairID; @@ -524,12 +476,7 @@ static void radioStatusTask(void *parameters) } } - portTickType timeSinceUpdate; - do { - PIOS_RFM22_processPendingISR(5); - timeSinceUpdate = xTaskGetTickCount() - lastSysTime; - } - while(timeSinceUpdate < STATS_UPDATE_PERIOD_MS / portTICK_RATE_MS); + vTaskDelay(STATS_UPDATE_PERIOD_MS / portTICK_RATE_MS); } } diff --git a/flight/Modules/Telemetry/telemetry.c b/flight/Modules/Telemetry/telemetry.c index 6c07cb51d..21fe81867 100644 --- a/flight/Modules/Telemetry/telemetry.c +++ b/flight/Modules/Telemetry/telemetry.c @@ -264,7 +264,7 @@ static void processObjEvent(UAVObjEvent * ev) if (ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL || ((ev->event == EV_UPDATED_PERIODIC) && (updateMode != UPDATEMODE_THROTTLED))) { #ifdef PIOS_PACKET_HANDLER // Don't send PipXStatus objects over the radio link. - if ((ev->obj == PipXStatusHandle()) && (getComPort() == 0) && PIOS_PACKET_HANDLER) + if (PIOS_PACKET_HANDLER && (ev->obj == PipXStatusHandle()) && (getComPort() == 0)) return; #endif // Send update to GCS (with retries) diff --git a/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h b/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h index d500c86ea..aaf265c58 100755 --- a/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h @@ -71,13 +71,12 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1 //------------------------ #define PIOS_WATCHDOG_TIMEOUT 500 #define PIOS_WDG_REGISTER BKP_DR4 -#define PIOS_WDG_COMUAVTALK 0x0001 -#define PIOS_WDG_RADIORECEIVE 0x0002 -#define PIOS_WDG_SENDPACKET 0x0004 +#define PIOS_WDG_COMGCS 0x0001 +#define PIOS_WDG_COMUAVTALK 0x0002 +#define PIOS_WDG_RADIORECEIVE 0x0004 #define PIOS_WDG_SENDDATA 0x0008 -#define PIOS_WDG_TRANSCOMM 0x0010 -#define PIOS_WDG_PPMINPUT 0x0020 -#define PIOS_WDG_COMGCS 0x0040 +#define PIOS_WDG_TRANSCOMM 0x0008 +#define PIOS_WDG_PPMINPUT 0x0010 //------------------------ // TELEMETRY diff --git a/flight/PiOS/Common/pios_rfm22b.c b/flight/PiOS/Common/pios_rfm22b.c index 9a39765a0..5f95ecb39 100644 --- a/flight/PiOS/Common/pios_rfm22b.c +++ b/flight/PiOS/Common/pios_rfm22b.c @@ -56,12 +56,16 @@ #include /* Local Defines */ -#define STACK_SIZE_BYTES 200 +#define STACK_SIZE_BYTES 200 +#define TASK_PRIORITY (tskIDLE_PRIORITY + 2) +#define ISR_TIMEOUT 5 // ms +#define EVENT_QUEUE_SIZE 5 +#define PACKET_QUEUE_SIZE 3 // RTC timer is running at 625Hz (1.6ms or 5 ticks == 8ms). // A 256 byte message at 56kbps should take less than 40ms // Note: This timeout should be rate dependent. -#define PIOS_RFM22B_SUPERVISOR_TIMEOUT 65 // ~100ms +#define PIOS_RFM22B_SUPERVISOR_TIMEOUT 100 // ms // this is too adjust the RF module so that it is on frequency #define OSC_LOAD_CAP 0x7F // cap = 12.5pf .. default @@ -72,13 +76,9 @@ // ************************************ -#define TX_TEST_MODE_TIMELIMIT_MS 30000 // TX test modes time limit (in ms) - #define TX_PREAMBLE_NIBBLES 12 // 7 to 511 (number of nibbles) #define RX_PREAMBLE_NIBBLES 6 // 5 to 31 (number of nibbles) -// the size of the rf modules internal transmit buffers. -#define TX_BUFFER_SIZE 256 // the size of the rf modules internal FIFO buffers #define FIFO_SIZE 64 @@ -94,18 +94,6 @@ #define SYNC_BYTE_3 0x4B // #define SYNC_BYTE_4 0x59 // -// ************************************ -// the default TX power level - -#define RFM22_DEFAULT_RF_POWER RFM22_tx_pwr_txpow_0 // +1dBm ... 1.25mW -//#define RFM22_DEFAULT_RF_POWER RFM22_tx_pwr_txpow_1 // +2dBm ... 1.6mW -//#define RFM22_DEFAULT_RF_POWER RFM22_tx_pwr_txpow_2 // +5dBm ... 3.16mW -//#define RFM22_DEFAULT_RF_POWER RFM22_tx_pwr_txpow_3 // +8dBm ... 6.3mW -//#define RFM22_DEFAULT_RF_POWER RFM22_tx_pwr_txpow_4 // +11dBm .. 12.6mW -//#define RFM22_DEFAULT_RF_POWER RFM22_tx_pwr_txpow_5 // +14dBm .. 25mW -//#define RFM22_DEFAULT_RF_POWER RFM22_tx_pwr_txpow_6 // +17dBm .. 50mW -//#define RFM22_DEFAULT_RF_POWER RFM22_tx_pwr_txpow_7 // +20dBm .. 100mW - // ************************************ // the default RF datarate @@ -154,6 +142,41 @@ enum pios_rfm22b_dev_magic { PIOS_RFM22B_DEV_MAGIC = 0x68e971b6, }; +enum pios_rfm22b_state { + RFM22B_STATE_UNINITIALIZED, + RFM22B_STATE_INITIALIZING, + RFM22B_STATE_RX_MODE, + RFM22B_STATE_WAIT_PREAMBLE, + RFM22B_STATE_WAIT_SYNC, + RFM22B_STATE_RX_DATA, + RFM22B_STATE_TX_START, + RFM22B_STATE_TX_DATA, + RFM22B_STATE_TIMEOUT, + RFM22B_STATE_ERROR, + RFM22B_STATE_FATAL_ERROR, + + RFM22B_STATE_NUM_STATES // Must be last +}; + +enum pios_rfm22b_event { + RFM22B_EVENT_INITIALIZE, + RFM22B_EVENT_INITIALIZED, + RFM22B_EVENT_INT_RECEIVED, + RFM22B_EVENT_RX_MODE, + RFM22B_EVENT_PREAMBLE_DETECTED, + RFM22B_EVENT_SYNC_DETECTED, + RFM22B_EVENT_RX_COMPLETE, + RFM22B_EVENT_SEND_PACKET, + RFM22B_EVENT_TX_START, + RFM22B_EVENT_TX_STARTED, + RFM22B_EVENT_TX_COMPLETE, + RFM22B_EVENT_TIMEOUT, + RFM22B_EVENT_ERROR, + RFM22B_EVENT_FATAL_ERROR, + + RFM22B_EVENT_NUM_EVENTS // Must be last +}; + struct pios_rfm22b_dev { enum pios_rfm22b_dev_magic magic; struct pios_rfm22b_cfg cfg; @@ -163,21 +186,87 @@ struct pios_rfm22b_dev { uint32_t deviceID; + // The task handle + xTaskHandle taskHandle; + // ISR pending xSemaphoreHandle isrPending; + // Receive packet complete + xSemaphoreHandle rxsem; + // The COM callback functions. pios_com_callback rx_in_cb; uint32_t rx_in_context; pios_com_callback tx_out_cb; uint32_t tx_out_context; - // The supervisor countdown timer. - uint16_t supv_timer; + // the transmit power to use for data transmissions + uint8_t tx_power; + + // The state machine state and the current event + enum pios_rfm22b_state state; + // The event queue handle + xQueueHandle eventQueue; + + // device status register + uint8_t device_status; + // interrupt status register 1 + uint8_t int_status1; + // interrupt status register 2 + uint8_t int_status2; + // ezmac status register + uint8_t ezmac_status; + + // Stats uint16_t resets; + uint32_t errors; + uint32_t irqs_processed; + // the current RSSI (register value) + uint8_t rssi; + // RSSI in dBm + int8_t rssi_dBm; + + // The packet queue handle + xQueueHandle packetQueue; + + // The current tx packet + PHPacketHandle tx_packet; + // the tx data read index + uint16_t tx_data_rd; + // the tx data write index + uint16_t tx_data_wr; + + // The current rx packet + PHPacketHandle rx_packet; + // The previous rx packet + PHPacketHandle rx_packet_prev; + // The next rx packet + PHPacketHandle rx_packet_next; + // the receive buffer write index + uint16_t rx_buffer_wr; + // the receive buffer write index + uint16_t rx_packet_len; + + // The frequency hopping step size + float frequency_step_size; + // current frequency hop channel + uint8_t frequency_hop_channel; + // the frequency hop step size + uint8_t frequency_hop_step_size_reg; + // afc correction reading (in Hz) + int32_t afc_correction_Hz; + int8_t rx_packet_start_afc_Hz; + + // The maximum time (ms) that it should take to transmit / receive a packet. + uint32_t max_packet_time; + portTickType packet_start_time; }; -uint32_t random32 = 0x459ab8d8; +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]; +}; // Must ensure these prefilled arrays match the define sizes static const uint8_t FULL_PREAMBLE[FIFO_SIZE] = @@ -205,14 +294,29 @@ static const uint8_t OUT_FF[64] = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF}; /* Local function forwared declarations */ -static void PIOS_RFM22B_Supervisor(uint32_t ppm_id); -static void rfm22_processInt(void); -static void rfm22_setTxMode(uint8_t mode); +static void PIOS_RFM22B_Task(void *parameters); +static void PIOS_RFM22B_InjectEvent(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR); +static bool rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev); +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); +static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev); +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); +static enum pios_rfm22b_event rfm22_process_state_transition(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event); +static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev); +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); // SPI read/write functions +static void rfm22_assertCs(); +static void rfm22_deassertCs(); +static void rfm22_claimBus(); +static void rfm22_releaseBus(); static void rfm22_write(uint8_t addr, uint8_t data); static uint8_t rfm22_read(uint8_t addr); -uint8_t rfm22_txStart(); +static uint8_t rfm22_read_noclaim(uint8_t addr); /* Provide a COM driver */ static void PIOS_RFM22B_ChangeBaud(uint32_t rfm22b_id, uint32_t baud); @@ -230,36 +334,143 @@ const struct pios_com_driver pios_rfm22b_com_driver = { .bind_rx_cb = PIOS_RFM22B_RegisterRxCallback, }; +/* Te state transition table */ +const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_STATES] = { + [RFM22B_STATE_UNINITIALIZED] = { + .entry_fn = 0, + .next_state = { + [RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING, + [RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR, + }, + }, + [RFM22B_STATE_INITIALIZING] = { + .entry_fn = rfm22_init, + .next_state = { + [RFM22B_EVENT_INITIALIZED] = RFM22B_STATE_TX_START, + [RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR, + [RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR, + }, + }, + [RFM22B_STATE_RX_MODE] = { + .entry_fn = rfm22_setRxMode, + .next_state = { + [RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE, + [RFM22B_EVENT_SEND_PACKET] = RFM22B_STATE_TX_START, + [RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START, + [RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT, + [RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR, + [RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR, + }, + }, + [RFM22B_STATE_WAIT_PREAMBLE] = { + .entry_fn = rfm22_detectPreamble, + .next_state = { + [RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE, + [RFM22B_EVENT_PREAMBLE_DETECTED] = RFM22B_STATE_WAIT_SYNC, + [RFM22B_EVENT_SEND_PACKET] = RFM22B_STATE_TX_START, + [RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START, + [RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT, + [RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR, + [RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR, + }, + }, + [RFM22B_STATE_WAIT_SYNC] = { + .entry_fn = rfm22_detectSync, + .next_state = { + [RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_SYNC, + [RFM22B_EVENT_SYNC_DETECTED] = RFM22B_STATE_RX_DATA, + [RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START, + [RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT, + [RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR, + [RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR, + }, + }, + [RFM22B_STATE_RX_DATA] = { + .entry_fn = rfm22_rxData, + .next_state = { + [RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_RX_DATA, + [RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_TX_START, + [RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT, + [RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR, + [RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR, + }, + }, + [RFM22B_STATE_TX_START] = { + .entry_fn = rfm22_txStart, + .next_state = { + [RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA, + [RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE, + [RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT, + [RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR, + [RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR, + }, + }, + [RFM22B_STATE_TX_DATA] = { + .entry_fn = rfm22_txData, + .next_state = { + [RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA, + [RFM22B_EVENT_TX_COMPLETE] = RFM22B_STATE_TX_START, + [RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT, + [RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR, + [RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR, + }, + }, + [RFM22B_STATE_TIMEOUT] = { + .entry_fn = rfm22_timeout, + .next_state = { + [RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START, + [RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING, + [RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR, + [RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR, + }, + }, + [RFM22B_STATE_ERROR] = { + .entry_fn = rfm22_error, + .next_state = { + [RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING, + [RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR, + [RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR, + }, + }, + [RFM22B_STATE_FATAL_ERROR] = { + .entry_fn = rfm22_fatal_error, + .next_state = { + [RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR, + [RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR, + }, + }, +}; + // xtal 10 ppm, 434MHz #define LOOKUP_SIZE 14 -const uint32_t data_rate[] = { 500, 1000, 2000, 4000, 8000, 9600, 16000, 19200, 24000, 32000, 64000, 128000, 192000, 256000}; -const uint8_t modulation_index[] = { 16, 8, 4, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}; -const uint32_t freq_deviation[] = { 4000, 4000, 4000, 4000, 4000, 4800, 8000, 9600, 12000, 16000, 32000, 64000, 96000, 128000}; -const uint32_t rx_bandwidth[] = { 17500, 17500, 17500, 17500, 17500, 19400, 32200, 38600, 51200, 64100, 137900, 269300, 420200, 518800}; -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 +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 -const uint8_t reg_1C[] = { 0x37, 0x37, 0x37, 0x37, 0x3A, 0x3B, 0x26, 0x28, 0x2E, 0x16, 0x07, 0x83, 0x8A, 0x8C}; // rfm22_if_filter_bandwidth +static const uint8_t reg_1C[] = { 0x37, 0x37, 0x37, 0x37, 0x3A, 0x3B, 0x26, 0x28, 0x2E, 0x16, 0x07, 0x83, 0x8A, 0x8C}; // rfm22_if_filter_bandwidth -const uint8_t reg_1D[] = { 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x44}; // rfm22_afc_loop_gearshift_override -const uint8_t reg_1E[] = { 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x02}; // rfm22_afc_timing_control +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 -const uint8_t reg_1F[] = { 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03}; // rfm22_clk_recovery_gearshift_override -const uint8_t reg_20[] = { 0xE8, 0xF4, 0xFA, 0x70, 0x3F, 0x34, 0x3F, 0x34, 0x2A, 0x3F, 0x3F, 0x5E, 0x3F, 0x2F}; // rfm22_clk_recovery_oversampling_ratio -const uint8_t reg_21[] = { 0x60, 0x20, 0x00, 0x01, 0x02, 0x02, 0x02, 0x02, 0x03, 0x02, 0x02, 0x01, 0x02, 0x02}; // rfm22_clk_recovery_offset2 -const uint8_t reg_22[] = { 0x20, 0x41, 0x83, 0x06, 0x0C, 0x75, 0x0C, 0x75, 0x12, 0x0C, 0x0C, 0x5D, 0x0C, 0xBB}; // rfm22_clk_recovery_offset1 -const uint8_t reg_23[] = { 0xC5, 0x89, 0x12, 0x25, 0x4A, 0x25, 0x4A, 0x25, 0x6F, 0x4A, 0x4A, 0x86, 0x4A, 0x0D}; // rfm22_clk_recovery_offset0 -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 -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 +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 -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 = ±AFCLimiter[7:0] x (hbsel+1) x 625 Hz +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 = ±AFCLimiter[7:0] x (hbsel+1) x 625 Hz -const uint8_t reg_6E[] = { 0x04, 0x08, 0x10, 0x20, 0x41, 0x4E, 0x83, 0x9D, 0xC4, 0x08, 0x10, 0x20, 0x31, 0x41}; // rfm22_tx_data_rate1 -const uint8_t reg_6F[] = { 0x19, 0x31, 0x62, 0xC5, 0x89, 0xA5, 0x12, 0x49, 0x9C, 0x31, 0x62, 0xC5, 0x27, 0x89}; // rfm22_tx_data_rate0 +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 -const uint8_t reg_70[] = { 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x0D, 0x0D, 0x0D, 0x0D, 0x0D}; // rfm22_modulation_mode_control1 -const uint8_t reg_71[] = { 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23}; // rfm22_modulation_mode_control2 +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 -const uint8_t reg_72[] = { 0x06, 0x06, 0x06, 0x06, 0x06, 0x08, 0x0D, 0x0F, 0x13, 0x1A, 0x33, 0x66, 0x9A, 0xCD}; // rfm22_frequency_deviation +static const uint8_t reg_72[] = { 0x06, 0x06, 0x06, 0x06, 0x06, 0x08, 0x0D, 0x0F, 0x13, 0x1A, 0x33, 0x66, 0x9A, 0xCD}; // rfm22_frequency_deviation // ************************************ // Scan Spectrum settings @@ -272,112 +483,22 @@ const uint8_t reg_72[] = { 0x06, 0x06, 0x06, 0x06, 0x06, 0x #define SS_LOOKUP_SIZE 2 // xtal 1 ppm, 434MHz -const uint32_t ss_rx_bandwidth[] = { 2600, 10600}; +static const uint32_t ss_rx_bandwidth[] = { 2600, 10600}; -const uint8_t ss_reg_1C[] = { 0x51, 0x32}; // rfm22_if_filter_bandwidth -const uint8_t ss_reg_1D[] = { 0x00, 0x00}; // rfm22_afc_loop_gearshift_override +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 -const uint8_t ss_reg_20[] = { 0xE8, 0x38}; // rfm22_clk_recovery_oversampling_ratio -const uint8_t ss_reg_21[] = { 0x60, 0x02}; // rfm22_clk_recovery_offset2 -const uint8_t ss_reg_22[] = { 0x20, 0x4D}; // rfm22_clk_recovery_offset1 -const uint8_t ss_reg_23[] = { 0xC5, 0xD3}; // rfm22_clk_recovery_offset0 -const uint8_t ss_reg_24[] = { 0x00, 0x07}; // rfm22_clk_recovery_timing_loop_gain1 -const uint8_t ss_reg_25[] = { 0x0F, 0xFF}; // rfm22_clk_recovery_timing_loop_gain0 +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 -const uint8_t ss_reg_2A[] = { 0xFF, 0xFF}; // rfm22_afc_limiter .. AFC_pull_in_range = ±AFCLimiter[7:0] x (hbsel+1) x 625 Hz +static const uint8_t ss_reg_2A[] = { 0xFF, 0xFF}; // rfm22_afc_limiter .. AFC_pull_in_range = ±AFCLimiter[7:0] x (hbsel+1) x 625 Hz -const uint8_t ss_reg_70[] = { 0x24, 0x2D}; // rfm22_modulation_mode_control1 -const uint8_t ss_reg_71[] = { 0x2B, 0x23}; // rfm22_modulation_mode_control2 - -// ************************************ - -volatile bool initialized = false; - -#if defined(RFM22_EXT_INT_USE) -volatile bool exec_using_spi; // set this if you want to access the SPI bus outside of the interrupt -#endif - -uint8_t device_type; // the RF chips device ID number -uint8_t device_version; // the RF chips revision number - -volatile uint8_t rf_mode; // holds our current RF mode - -uint32_t lower_carrier_frequency_limit_Hz; // the minimum RF frequency we can use -uint32_t upper_carrier_frequency_limit_Hz; // the maximum RF frequency we can use -uint32_t carrier_frequency_hz; // the current RF frequency we are on - -uint32_t carrier_datarate_bps; // the RF data rate we are using - -uint32_t rf_bandwidth_used; // the RF bandwidth currently used -uint32_t ss_rf_bandwidth_used; // the RF bandwidth currently used - -uint8_t hbsel; // holds the hbsel (1 or 2) -float frequency_step_size; // holds the minimum frequency step size - -uint8_t frequency_hop_channel; // current frequency hop channel - -uint8_t frequency_hop_step_size_reg; // - -uint8_t adc_config; // holds the adc config reg value - -volatile uint8_t device_status; // device status register -volatile uint8_t int_status1; // interrupt status register 1 -volatile uint8_t int_status2; // interrupt status register 2 -volatile uint8_t ezmac_status; // ezmac status register - -volatile int16_t afc_correction; // afc correction reading -volatile int32_t afc_correction_Hz; // afc correction reading (in Hz) - -volatile int16_t temperature_reg; // the temperature sensor reading - -volatile uint8_t osc_load_cap; // xtal frequency calibration value - -volatile uint8_t rssi; // the current RSSI (register value) -volatile int8_t rssi_dBm; // dBm value - -// the transmit power to use for data transmissions -uint8_t tx_power; -// the tx power register read back -volatile uint8_t tx_pwr; - -// The transmit buffer. Holds data that is being transmitted. -uint8_t tx_buffer[TX_BUFFER_SIZE] __attribute__ ((aligned(4))); -// The transmit buffer. Hosts data that is wating to be transmitted. -uint8_t tx_pre_buffer[TX_BUFFER_SIZE] __attribute__ ((aligned(4))); -// The tx pre-buffer write index. -uint16_t tx_pre_buffer_size; -// the tx data read index -volatile uint16_t tx_data_rd; -// the tx data write index -volatile uint16_t tx_data_wr; - -// the current receive buffer in use (double buffer) -volatile uint8_t rx_buffer_current; -// the receive buffer .. received packet data is saved here -volatile uint8_t rx_buffer[258] __attribute__ ((aligned(4))); -// the receive buffer write index -volatile uint16_t rx_buffer_wr; - -// the received packet -volatile int8_t rx_packet_start_rssi_dBm; // -volatile int8_t rx_packet_start_afc_Hz; // -volatile int8_t rx_packet_rssi_dBm; // the received packet signal strength -volatile int8_t rx_packet_afc_Hz; // the receive packet frequency offset - -int lookup_index; -int ss_lookup_index; - -volatile bool power_on_reset; // set if the RF module has reset itself - -volatile uint16_t rfm22_int_timer; // used to detect if the RF module stops responding. thus act accordingly if it does stop responding. -volatile uint16_t rfm22_int_time_outs; // counter -volatile uint16_t prev_rfm22_int_time_outs; // - -uint16_t timeout_ms = 20000; // -uint16_t timeout_sync_ms = 3; // -uint16_t timeout_data_ms = 20; // - -struct pios_rfm22b_dev * rfm22b_dev_g; +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 static bool PIOS_RFM22B_validate(struct pios_rfm22b_dev * rfm22b_dev) @@ -393,7 +514,6 @@ static struct pios_rfm22b_dev * PIOS_RFM22B_alloc(void) rfm22b_dev = (struct pios_rfm22b_dev *)pvPortMalloc(sizeof(*rfm22b_dev)); rfm22b_dev->spi_id = 0; if (!rfm22b_dev) return(NULL); - rfm22b_dev_g = rfm22b_dev; rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC; return(rfm22b_dev); @@ -434,17 +554,52 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu rfm22b_dev->slave_num = slave_num; rfm22b_dev->spi_id = spi_id; + // Set the state to initializing. + rfm22b_dev->state = RFM22B_STATE_UNINITIALIZED; + // Create the event queue + rfm22b_dev->eventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(enum pios_rfm22b_event)); + + // Initialize the register values. + rfm22b_dev->device_status = 0; + rfm22b_dev->int_status1 = 0; + rfm22b_dev->int_status2 = 0; + rfm22b_dev->ezmac_status = 0; + + // Initialize the stats. + rfm22b_dev->resets = 0; + rfm22b_dev->errors = 0; + rfm22b_dev->irqs_processed = 0; + rfm22b_dev->rssi = 0; + rfm22b_dev->rssi_dBm = -127; + // Bind the configuration to the device instance rfm22b_dev->cfg = *cfg; + // Initialize the packets. + rfm22b_dev->rx_packet = NULL; + rfm22b_dev->rx_packet_next = NULL; + rfm22b_dev->rx_packet_prev = NULL; + rfm22b_dev->rx_packet_len = 0; + rfm22b_dev->tx_packet = NULL; + *rfm22b_id = (uint32_t)rfm22b_dev; g_rfm22b_dev = rfm22b_dev; + // Calculate the (approximate) maximum amount of time that it should take to transmit / receive a packet. + rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(rfm22b_dev->cfg.maxRFBandwidth) + 0.5); + rfm22b_dev->packet_start_time = 0; + // Create a semaphore to know if an ISR needs responding to vSemaphoreCreateBinary( rfm22b_dev->isrPending ); - // Initialize the TX pre-buffer pointer. - tx_pre_buffer_size = 0; + // Create a semaphore to know when an rx packet is available + vSemaphoreCreateBinary( rfm22b_dev->rxsem ); + + // Create the packet queue. + rfm22b_dev->packetQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(PHPacketHandle)); + + // Initialize the max tx power level. + PIOS_RFM22B_SetTxPower(*rfm22b_id, cfg->maxTxPower); // Create our (hopefully) unique 32 bit id from the processor serial number. uint8_t crcs[] = { 0, 0, 0, 0 }; @@ -458,75 +613,98 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu 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); - // Initialize the supervisor timer. - rfm22b_dev->supv_timer = PIOS_RFM22B_SUPERVISOR_TIMEOUT; - rfm22b_dev->resets = 0; - // Initialize the external interrupt. PIOS_EXTI_Init(cfg->exti_cfg); + // Register the watchdog timer for the radio driver task +#ifdef PIOS_WDG_RFM22B + PIOS_WDG_RegisterFlag(PIOS_WDG_RFM22B); +#endif /* PIOS_WDG_RFM22B */ + + // 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)); + // Initialize the radio device. - int initval = rfm22_init_normal(rfm22b_dev->deviceID, cfg->minFrequencyHz, cfg->maxFrequencyHz, 50000); - - if (initval < 0) - { - - // RF module error .. flash the LED's -#if defined(PIOS_COM_DEBUG) - DEBUG_PRINTF(2, "RF ERROR res: %d\n\r\n\r", initval); -#endif - - 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); - - return initval; - } - - rfm22_setFreqCalibration(cfg->RFXtalCap); - rfm22_setNominalCarrierFrequency(cfg->frequencyHz); - rfm22_setDatarate(cfg->maxRFBandwidth, true); - rfm22_setTxPower(cfg->maxTxPower); - - DEBUG_PRINTF(2, "\n\r"); - DEBUG_PRINTF(2, "RF device ID: %x\n\r", rfm22b_dev->deviceID); - DEBUG_PRINTF(2, "RF datarate: %dbps\n\r", rfm22_getDatarate()); - DEBUG_PRINTF(2, "RF frequency: %dHz\n\r", rfm22_getNominalCarrierFrequency()); - DEBUG_PRINTF(2, "RF TX power: %d\n\r", rfm22_getTxPower()); - - // Setup a real-time clock callback to kickstart the radio if a transfer lock sup. - if (!PIOS_RTC_RegisterTickCallback(PIOS_RFM22B_Supervisor, *rfm22b_id)) { - PIOS_DEBUG_Assert(0); - } + PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false); return(0); } +/** + * The RFM22B external interrupt routine. + */ +void PIOS_RFM22_EXT_Int(void) +{ + if (!PIOS_RFM22B_validate(g_rfm22b_dev)) + return; + + // Inject an interrupt event into the state machine. + PIOS_RFM22B_InjectEvent(g_rfm22b_dev, RFM22B_EVENT_INT_RECEIVED, true); +} + +/** + * Inject an event into the RFM22B state machine. + * \param[in] rfm22b_dev The device structure + * \param[in] event The event to inject + * \param[in] inISR Is this being called from an interrrup service routine? + */ +static void PIOS_RFM22B_InjectEvent(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR) +{ + + // Store the event. + if (xQueueSend(rfm22b_dev->eventQueue, &event, portMAX_DELAY) != pdTRUE) + return; + + // Signal the semaphore to wake up the handler thread. + if (inISR) { + portBASE_TYPE pxHigherPriorityTaskWoken; + if (xSemaphoreGiveFromISR(rfm22b_dev->isrPending, &pxHigherPriorityTaskWoken) != pdTRUE) { + // Something went fairly seriously wrong + rfm22b_dev->errors++; + } + portEND_SWITCHING_ISR(pxHigherPriorityTaskWoken); + } + else + { + if (xSemaphoreGive(rfm22b_dev->isrPending) != pdTRUE) { + // Something went fairly seriously wrong + rfm22b_dev->errors++; + } + } +} + +/** + * Returns the unique device ID for th RFM22B device. + * \param[in] rfm22b_id The RFM22B device index. + * \return The unique device ID + */ uint32_t PIOS_RFM22B_DeviceID(uint32_t rfm22b_id) { struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id; - - return rfm22b_dev->deviceID; + if(PIOS_RFM22B_validate(rfm22b_dev)) + return rfm22b_dev->deviceID; + else + return 0; } -int8_t PIOS_RFM22B_RSSI(uint32_t rfm22b_id) +void PIOS_RFM22B_SetTxPower(uint32_t rfm22b_id, uint8_t tx_pwr) { - return rfm22_receivedRSSI(); + struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id; + if(!PIOS_RFM22B_validate(rfm22b_dev)) + return; + + switch (tx_pwr) + { + case 0: rfm22b_dev->tx_power = RFM22_tx_pwr_txpow_0; break; // +1dBm ... 1.25mW + case 1: rfm22b_dev->tx_power = RFM22_tx_pwr_txpow_1; break; // +2dBm ... 1.6mW + case 2: rfm22b_dev->tx_power = RFM22_tx_pwr_txpow_2; break; // +5dBm ... 3.16mW + case 3: rfm22b_dev->tx_power = RFM22_tx_pwr_txpow_3; break; // +8dBm ... 6.3mW + case 4: rfm22b_dev->tx_power = RFM22_tx_pwr_txpow_4; break; // +11dBm .. 12.6mW + case 5: rfm22b_dev->tx_power = RFM22_tx_pwr_txpow_5; break; // +14dBm .. 25mW + case 6: rfm22b_dev->tx_power = RFM22_tx_pwr_txpow_6; break; // +17dBm .. 50mW + case 7: rfm22b_dev->tx_power = RFM22_tx_pwr_txpow_7; break; // +20dBm .. 100mW + default: break; + } } int16_t PIOS_RFM22B_Resets(uint32_t rfm22b_id) @@ -545,36 +723,161 @@ static void PIOS_RFM22B_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail) } +/** + * Insert a packet on the packet queue for sending. + * Note: If this finction succedds, the packet will be released by the driver, so no release is necessary. + * If this function doesn't success, the caller is still responsible for the packet. + * \param[in] rfm22b_id The rfm22b device. + * \param[in] p The packet handle. + * \param[in] max_delay The maximum time to delay waiting to queue the packet. + * \return true on success, false on failue to queue the packet. + */ +bool PIOS_RFM22B_Send_Packet(uint32_t rfm22b_id, PHPacketHandle p, uint32_t max_delay) +{ + struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id; + if(!PIOS_RFM22B_validate(rfm22b_dev)) + return false; + + // Store the packet handle in the packet queue + if (xQueueSend(rfm22b_dev->packetQueue, &p, max_delay) != pdTRUE) + return false; + + // Inject a send packet event + PIOS_RFM22B_InjectEvent(g_rfm22b_dev, RFM22B_EVENT_SEND_PACKET, false); + + // Success + return true; +} + +/** + * Receive a packet from the radio. + * \param[in] rfm22b_id The rfm22b device. + * \param[in] p A pointer to the packet handle. + * \param[in] max_delay The maximum time to delay waiting for a packet. + * \return The number of bytes received. + */ +uint32_t PIOS_RFM22B_Receive_Packet(uint32_t rfm22b_id, PHPacketHandle *p, uint32_t max_delay) +{ + struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id; + if (!PIOS_RFM22B_validate(rfm22b_dev)) + return 0; + + // Allocate the next Rx packet + if (rfm22b_dev->rx_packet_next == NULL) + rfm22b_dev->rx_packet_next = PHGetRXPacket(pios_packet_handler); + + // Block on the semephore until the a packet has been received. + if (xSemaphoreTake(rfm22b_dev->rxsem, max_delay / portTICK_RATE_MS) != pdTRUE) + return 0; + + // Return the Rx packet if it's available. + uint32_t rx_len = 0; + if (rfm22b_dev->rx_packet_prev) + { + *p = rfm22b_dev->rx_packet_prev; + rfm22b_dev->rx_packet_prev = NULL; + rx_len = rfm22b_dev->rx_packet_len; + } + + return rx_len; +} + +/** + * 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; + if (!PIOS_RFM22B_validate(rfm22b_dev)) + return; + static portTickType lastEventTime; + + while(1) + { +#ifdef PIOS_WDG_RFM22B + // Update the watchdog timer + PIOS_WDG_UpdateFlag(PIOS_WDG_RFM22B); +#endif /* PIOS_WDG_RFM22B */ + + // Wait for a signal indicating an external interrupt or a pending send/receive request. + if ( xSemaphoreTake(g_rfm22b_dev->isrPending, ISR_TIMEOUT / portTICK_RATE_MS) == pdTRUE ) { + rfm22b_dev->irqs_processed++; + lastEventTime = xTaskGetTickCount(); + + // Process events through the state machine. + enum pios_rfm22b_event event; + while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE) + { + if ((event == RFM22B_EVENT_INT_RECEIVED) && + ((rfm22b_dev->state == RFM22B_STATE_UNINITIALIZED) || (rfm22b_dev->state == RFM22B_STATE_INITIALIZING))) + continue; + + // Process all state transitions. + while(event != RFM22B_EVENT_NUM_EVENTS) + event = rfm22_process_state_transition(rfm22b_dev, event); + } + } + else + { + // Has it been too long since the last event? + portTickType timeSinceEvent = xTaskGetTickCount() - lastEventTime; + if ((timeSinceEvent / portTICK_RATE_MS) > PIOS_RFM22B_SUPERVISOR_TIMEOUT) + { + // Transsition through an error event. + enum pios_rfm22b_event event = RFM22B_EVENT_ERROR; + while(event != RFM22B_EVENT_NUM_EVENTS) + event = rfm22_process_state_transition(rfm22b_dev, event); + + // Clear the event queue. + while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE) + ; + lastEventTime = xTaskGetTickCount(); + } + else + { + rfm22b_dev->resets = rfm22b_dev->state; + enum pios_rfm22b_event event = RFM22B_EVENT_TIMEOUT; + while(event != RFM22B_EVENT_NUM_EVENTS) + event = rfm22_process_state_transition(rfm22b_dev, event); + } + } + + // Have we locked up sending / receiving a packet? + if (rfm22b_dev->packet_start_time > 0) + { + portTickType cur_time = xTaskGetTickCount(); + + // Did the clock wrap around? + if (cur_time < rfm22b_dev->packet_start_time) + rfm22b_dev->packet_start_time = (cur_time > 0) ? cur_time : 1; + + // Have we been sending this packet too long? + if ((cur_time - rfm22b_dev->packet_start_time) > (rfm22b_dev->max_packet_time * 5)) + { + enum pios_rfm22b_event event = RFM22B_EVENT_TIMEOUT; + while(event != RFM22B_EVENT_NUM_EVENTS) + event = rfm22_process_state_transition(rfm22b_dev, event); + } + } + } +} + static void PIOS_RFM22B_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail) { struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id; bool valid = PIOS_RFM22B_validate(rfm22b_dev); PIOS_Assert(valid); +#ifdef NEVER // Get some data to send bool need_yield = false; if(tx_pre_buffer_size == 0) tx_pre_buffer_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, tx_pre_buffer, TX_BUFFER_SIZE, NULL, &need_yield); - if(tx_pre_buffer_size > 0) - { - // already have data to be sent - if (tx_data_wr > 0) - return; - - // we are currently transmitting or scanning the spectrum - if (rf_mode == TX_DATA_MODE || rf_mode == TX_STREAM_MODE || rf_mode == TX_CARRIER_MODE || - rf_mode == TX_PN_MODE || rf_mode == RX_SCAN_SPECTRUM) - return; - - // is the channel clear to transmit on? - if (!rfm22_channelIsClear()) - return; - - // Start the transmit - rfm22_txStart(); - } + // Inject a send packet event + PIOS_RFM22B_InjectEvent(g_rfm22b_dev, RFM22B_EVENT_TX_START, false); +#endif } /** @@ -621,47 +924,6 @@ static void PIOS_RFM22B_RegisterTxCallback(uint32_t rfm22b_id, pios_com_callback rfm22b_dev->tx_out_cb = tx_out_cb; } -static void PIOS_RFM22B_Supervisor(uint32_t rfm22b_id) -{ - /* Recover our device context */ - struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id; - - if (!PIOS_RFM22B_validate(rfm22b_dev)) { - /* Invalid device specified */ - return; - } - - /* If we're waiting for a receive, we just need to make sure that there are no packets waiting to be transmitted. */ - if(rf_mode == RX_WAIT_PREAMBLE_MODE) - { - /* Start a packet transfer if one is available. */ - PIOS_RFM22B_TxStart(rfm22b_id, 0); - return; - } - - /* The radio must be locked up if the timer reaches 0 */ - if(--(rfm22b_dev->supv_timer) != 0) - return; - ++(rfm22b_dev->resets); - - TX_LED_OFF; - TX_LED_OFF; - - /* Clear the TX buffer in case we locked up in a transmit */ - tx_data_wr = 0; - - rfm22_init_normal(rfm22b_dev->deviceID, rfm22b_dev->cfg.minFrequencyHz, rfm22b_dev->cfg.maxFrequencyHz, 50000); - - /* Start a packet transfer if one is available. */ - rf_mode = RX_WAIT_PREAMBLE_MODE; - PIOS_RFM22B_TxStart(rfm22b_id, 0); - if(rf_mode == RX_WAIT_PREAMBLE_MODE) - { - /* Switch to RX mode */ - rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); - } -} - // ************************************ // SPI read/write @@ -716,7 +978,6 @@ static void rfm22_write(uint8_t addr, uint8_t data) * toggle the NSS line * @param[in] addr The address of the RFM22b register to write * @param[in] data The data to write to that register - */ static void rfm22_write_noclaim(uint8_t addr, uint8_t data) { uint8_t buf[2] = {addr | 0x80, data}; @@ -726,6 +987,7 @@ static void rfm22_write_noclaim(uint8_t addr, uint8_t data) rfm22_deassertCs(); } } +*/ /** @@ -756,7 +1018,7 @@ static uint8_t rfm22_read_noclaim(uint8_t addr) { uint8_t out[2] = {addr & 0x7F, 0xFF}; uint8_t in[2]; - if (PIOS_RFM22B_validate(rfm22b_dev_g)) { + if (PIOS_RFM22B_validate(g_rfm22b_dev)) { rfm22_assertCs(); PIOS_SPI_TransferBlock(g_rfm22b_dev->spi_id, out, in, sizeof(out), NULL); rfm22_deassertCs(); @@ -765,84 +1027,51 @@ static uint8_t rfm22_read_noclaim(uint8_t addr) } // ************************************ -// external interrupt -uint32_t rfm32_errors; -uint32_t rfm32_irqs_processed; - -void PIOS_RFM22_EXT_Int(void) +static enum pios_rfm22b_event rfm22_process_state_transition(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event) { - bool valid = PIOS_RFM22B_validate(g_rfm22b_dev); - PIOS_Assert(valid); - portBASE_TYPE pxHigherPriorityTaskWoken; - if (!exec_using_spi) { - if (xSemaphoreGiveFromISR(g_rfm22b_dev->isrPending, &pxHigherPriorityTaskWoken) != pdTRUE) { - // Something went fairly seriously wrong - rfm32_errors++; - } - portEND_SWITCHING_ISR(pxHigherPriorityTaskWoken); - } -} + // No event + if (event == RFM22B_EVENT_NUM_EVENTS) + return RFM22B_EVENT_NUM_EVENTS; -void PIOS_RFM22_processPendingISR(uint32_t wait_ms) -{ - bool valid = PIOS_RFM22B_validate(g_rfm22b_dev); - PIOS_Assert(valid); + // 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; - if ( xSemaphoreTake(g_rfm22b_dev->isrPending, wait_ms / portTICK_RATE_MS) == pdTRUE ) { - rfm32_irqs_processed++; - rfm22_processInt(); - } -} + /* + * 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) ; -// ************************************ -// set/get the current tx power setting + rfm22b_dev->state = next_state; -void rfm22_setTxPower(uint8_t tx_pwr) -{ - switch (tx_pwr) - { - case 0: tx_power = RFM22_tx_pwr_txpow_0; break; // +1dBm ... 1.25mW - case 1: tx_power = RFM22_tx_pwr_txpow_1; break; // +2dBm ... 1.6mW - case 2: tx_power = RFM22_tx_pwr_txpow_2; break; // +5dBm ... 3.16mW - case 3: tx_power = RFM22_tx_pwr_txpow_3; break; // +8dBm ... 6.3mW - case 4: tx_power = RFM22_tx_pwr_txpow_4; break; // +11dBm .. 12.6mW - case 5: tx_power = RFM22_tx_pwr_txpow_5; break; // +14dBm .. 25mW - case 6: tx_power = RFM22_tx_pwr_txpow_6; break; // +17dBm .. 50mW - case 7: tx_power = RFM22_tx_pwr_txpow_7; break; // +20dBm .. 100mW - default: break; - } -} + /* 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); -uint8_t rfm22_getTxPower(void) -{ - return tx_power; + return RFM22B_EVENT_NUM_EVENTS; } // ************************************ -uint32_t rfm22_minFrequency(void) +static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t frequency_hz) { - return lower_carrier_frequency_limit_Hz; -} -uint32_t rfm22_maxFrequency(void) -{ - return upper_carrier_frequency_limit_Hz; -} - -void rfm22_setNominalCarrierFrequency(uint32_t frequency_hz) -{ - - exec_using_spi = true; - - // ******* - - if (frequency_hz < lower_carrier_frequency_limit_Hz) - frequency_hz = lower_carrier_frequency_limit_Hz; - else if (frequency_hz > upper_carrier_frequency_limit_Hz) - frequency_hz = upper_carrier_frequency_limit_Hz; + uint32_t min_frequency_hz = rfm22b_dev->cfg.minFrequencyHz; + uint32_t max_frequency_hz = rfm22b_dev->cfg.maxFrequencyHz; + if (frequency_hz < min_frequency_hz) + frequency_hz = min_frequency_hz; + else if (frequency_hz > max_frequency_hz) + frequency_hz = max_frequency_hz; + // holds the hbsel (1 or 2) + uint8_t hbsel; if (frequency_hz < 480000000) hbsel = 1; else @@ -854,59 +1083,37 @@ void rfm22_setNominalCarrierFrequency(uint32_t frequency_hz) fc = (fc * 64u) / (10000ul * hbsel); fb -= 24; - // carrier_frequency_hz = frequency_hz; - carrier_frequency_hz = ((uint32_t)fb + 24 + ((float)fc / 64000)) * 10000000 * hbsel; - if (hbsel > 1) fb |= RFM22_fbs_hbsel; fb |= RFM22_fbs_sbse; // is this the RX LO polarity? - frequency_step_size = 156.25f * hbsel; + // frequency hopping channel (0-255) + rfm22b_dev->frequency_step_size = 156.25f * hbsel; - rfm22_write(RFM22_frequency_hopping_channel_select, frequency_hop_channel); // frequency hopping channel (0-255) + // frequency hopping channel (0-255) + rfm22_write(RFM22_frequency_hopping_channel_select, rfm22b_dev->frequency_hop_channel); - rfm22_write(RFM22_frequency_offset1, 0); // no frequency offset - rfm22_write(RFM22_frequency_offset2, 0); // no frequency offset + // no frequency offset + rfm22_write(RFM22_frequency_offset1, 0); + // no frequency offset + rfm22_write(RFM22_frequency_offset2, 0); - rfm22_write(RFM22_frequency_band_select, fb); // set the carrier frequency - rfm22_write(RFM22_nominal_carrier_frequency1, fc >> 8); // " " - rfm22_write(RFM22_nominal_carrier_frequency0, fc & 0xff); // " " - - // ******* - -#if defined(RFM22_DEBUG) - //DEBUG_PRINTF(2, "rf setFreq: %u\n\r", carrier_frequency_hz); - // DEBUG_PRINTF(2, "rf setFreq frequency_step_size: %0.2f\n\r", frequency_step_size); -#endif - - exec_using_spi = false; -} - -uint32_t rfm22_getNominalCarrierFrequency(void) -{ - return carrier_frequency_hz; -} - -float rfm22_getFrequencyStepSize(void) -{ - return frequency_step_size; + // set the carrier frequency + rfm22_write(RFM22_frequency_band_select, fb); + rfm22_write(RFM22_nominal_carrier_frequency1, fc >> 8); + rfm22_write(RFM22_nominal_carrier_frequency0, fc & 0xff); } void rfm22_setFreqHopChannel(uint8_t channel) { // set the frequency hopping channel - frequency_hop_channel = channel; - rfm22_write(RFM22_frequency_hopping_channel_select, frequency_hop_channel); -} - -uint8_t rfm22_freqHopChannel(void) -{ // return the current frequency hopping channel - return frequency_hop_channel; + g_rfm22b_dev->frequency_hop_channel = channel; + rfm22_write(RFM22_frequency_hopping_channel_select, channel); } uint32_t rfm22_freqHopSize(void) { // return the frequency hopping step size - return ((uint32_t)frequency_hop_step_size_reg * 10000); + return ((uint32_t)g_rfm22b_dev->frequency_hop_step_size_reg * 10000); } // ************************************ @@ -925,15 +1132,12 @@ uint32_t rfm22_freqHopSize(void) void rfm22_setDatarate(uint32_t datarate_bps, bool data_whitening) { - exec_using_spi = true; - - lookup_index = 0; + // Find the closest data rate that is >= the value passed in + int lookup_index = 0; while (lookup_index < (LOOKUP_SIZE - 1) && data_rate[lookup_index] < datarate_bps) lookup_index++; - carrier_datarate_bps = datarate_bps = data_rate[lookup_index]; - - rf_bandwidth_used = rx_bandwidth[lookup_index]; + datarate_bps = data_rate[lookup_index]; // rfm22_if_filter_bandwidth rfm22_write(0x1C, reg_1C[lookup_index]); @@ -961,7 +1165,7 @@ void rfm22_setDatarate(uint32_t datarate_bps, bool data_whitening) // rfm22_afc_limiter rfm22_write(0x2A, reg_2A[lookup_index]); - if (carrier_datarate_bps < 100000) + if (datarate_bps < 100000) // rfm22_chargepump_current_trimming_override rfm22_write(0x58, 0x80); else @@ -992,128 +1196,13 @@ void rfm22_setDatarate(uint32_t datarate_bps, bool data_whitening) rfm22_write(RFM22_ook_counter_value1, 0x00); rfm22_write(RFM22_ook_counter_value2, 0x00); - - // ******************************** - // calculate the TX register values - /* - uint16_t fd = frequency_deviation / 625; - - uint8_t mmc1 = RFM22_mmc1_enphpwdn | RFM22_mmc1_manppol; - uint16_t txdr; - if (datarate_bps < 30000) - { - txdr = (datarate_bps * 20972) / 10000; - mmc1 |= RFM22_mmc1_txdtrtscale; - } - else - txdr = (datarate_bps * 6553) / 100000; - - uint8_t mmc2 = RFM22_mmc2_dtmod_fifo | RFM22_mmc2_modtyp_gfsk; // FIFO mode, GFSK - // uint8_t mmc2 = RFM22_mmc2_dtmod_pn9 | RFM22_mmc2_modtyp_gfsk; // PN9 mode, GFSK .. TX TEST MODE - if (fd & 0x100) mmc2 |= RFM22_mmc2_fd; - - rfm22_write(RFM22_frequency_deviation, fd); // set the TX peak frequency deviation - - rfm22_write(RFM22_modulation_mode_control1, mmc1); - rfm22_write(RFM22_modulation_mode_control2, mmc2); - - rfm22_write(RFM22_tx_data_rate1, txdr >> 8); // set the TX data rate - rfm22_write(RFM22_tx_data_rate0, txdr); // " " - */ - // ******************************** - // determine a clear channel time - - // initialise the stopwatch with a suitable resolution for the datarate - //STOPWATCH_init(4000000ul / carrier_datarate_bps); // set resolution to the time for 1 nibble (4-bits) at rf datarate - - // ******************************** - // determine suitable time-out periods - - // milliseconds - timeout_sync_ms = (8000ul * 16) / carrier_datarate_bps; - if (timeout_sync_ms < 3) - // because out timer resolution is only 1ms - timeout_sync_ms = 3; - - // milliseconds - timeout_data_ms = (8000ul * 100) / carrier_datarate_bps; - if (timeout_data_ms < 3) - // because out timer resolution is only 1ms - timeout_data_ms = 3; - - // ******************************** - -#if defined(RFM22_DEBUG) -/* - DEBUG_PRINTF(2, "rf datarate_bps: %d\n\r", datarate_bps); - DEBUG_PRINTF(2, "rf frequency_deviation: %d\n\r", frequency_deviation); - uint32_t frequency_deviation = freq_deviation[lookup_index]; // Hz - uint32_t modulation_bandwidth = datarate_bps + (2 * frequency_deviation); - DEBUG_PRINTF(2, "rf modulation_bandwidth: %u\n\r", modulation_bandwidth); - DEBUG_PRINTF(2, "rf_rx_bandwidth[%u]: %u\n\r", lookup_index, rx_bandwidth[lookup_index]); - DEBUG_PRINTF(2, "rf est rx sensitivity[%u]: %ddBm\n\r", lookup_index, est_rx_sens_dBm[lookup_index]); -*/ -#endif - - // ******* - - exec_using_spi = false; -} - -uint32_t rfm22_getDatarate(void) -{ - return carrier_datarate_bps; } // ************************************ -void rfm22_setSSBandwidth(uint32_t bandwidth_index) +static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev) { - - exec_using_spi = true; - - ss_lookup_index = bandwidth_index; - - ss_rf_bandwidth_used = ss_rx_bandwidth[lookup_index]; - - // ******************************** - - rfm22_write(0x1C, ss_reg_1C[ss_lookup_index]); // rfm22_if_filter_bandwidth - rfm22_write(0x1D, ss_reg_1D[ss_lookup_index]); // rfm22_afc_loop_gearshift_override - - rfm22_write(0x20, ss_reg_20[ss_lookup_index]); // rfm22_clk_recovery_oversampling_ratio - rfm22_write(0x21, ss_reg_21[ss_lookup_index]); // rfm22_clk_recovery_offset2 - rfm22_write(0x22, ss_reg_22[ss_lookup_index]); // rfm22_clk_recovery_offset1 - rfm22_write(0x23, ss_reg_23[ss_lookup_index]); // rfm22_clk_recovery_offset0 - rfm22_write(0x24, ss_reg_24[ss_lookup_index]); // rfm22_clk_recovery_timing_loop_gain1 - rfm22_write(0x25, ss_reg_25[ss_lookup_index]); // rfm22_clk_recovery_timing_loop_gain0 - - rfm22_write(0x2A, ss_reg_2A[ss_lookup_index]); // rfm22_afc_limiter - - rfm22_write(0x58, 0x80); // rfm22_chargepump_current_trimming_override - - rfm22_write(0x70, ss_reg_70[ss_lookup_index]); // rfm22_modulation_mode_control1 - rfm22_write(0x71, ss_reg_71[ss_lookup_index]); // rfm22_modulation_mode_control2 - - rfm22_write(RFM22_ook_counter_value1, 0x00); - rfm22_write(RFM22_ook_counter_value2, 0x00); - - // ******************************** - -#if defined(RFM22_DEBUG) - DEBUG_PRINTF(2, "ss_rf_rx_bandwidth[%u]: %u\n\r", ss_lookup_index, ss_rx_bandwidth[ss_lookup_index]); -#endif - - // ******* - - exec_using_spi = false; -} - -// ************************************ - -void rfm22_setRxMode(uint8_t mode, bool multi_packet_mode) -{ - exec_using_spi = true; + rfm22b_dev->packet_start_time = 0; // disable interrupts rfm22_write(RFM22_interrupt_enable1, 0x00); @@ -1125,33 +1214,15 @@ void rfm22_setRxMode(uint8_t mode, bool multi_packet_mode) RX_LED_OFF; TX_LED_OFF; - if (rf_mode == TX_CARRIER_MODE || rf_mode == TX_PN_MODE) - { - // FIFO mode, GFSK modulation - uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd; - rfm22_write(RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo | - RFM22_mmc2_modtyp_gfsk); - } - // empty the rx buffer - rx_buffer_wr = 0; - // reset the timer - rfm22_int_timer = 0; - rf_mode = mode; + rfm22b_dev->rx_buffer_wr = 0; // Clear the TX buffer. - tx_data_rd = tx_data_wr = 0; + rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0; // clear FIFOs - if (!multi_packet_mode) - { - rfm22_write(RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx); - rfm22_write(RFM22_op_and_func_ctrl2, 0x00); - } else { - rfm22_write(RFM22_op_and_func_ctrl2, RFM22_opfc2_rxmpk | RFM22_opfc2_ffclrrx | - RFM22_opfc2_ffclrtx); - rfm22_write(RFM22_op_and_func_ctrl2, RFM22_opfc2_rxmpk); - } + rfm22_write(RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx); + rfm22_write(RFM22_op_and_func_ctrl2, 0x00); // enable RX interrupts rfm22_write(RFM22_interrupt_enable1, RFM22_ie1_encrcerror | RFM22_ie1_enpkvalid | @@ -1162,24 +1233,26 @@ void rfm22_setRxMode(uint8_t mode, bool multi_packet_mode) // enable the receiver rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_rxon); - exec_using_spi = false; + // No event generated + return RFM22B_EVENT_NUM_EVENTS; } // ************************************ -uint8_t rfm22_txStart() +static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev) { - if((tx_pre_buffer_size == 0) || (exec_using_spi == true)) + // See if there's a packet on the packet queue. + PHPacketHandle p; + if (xQueueReceive(rfm22b_dev->packetQueue, &p, 0) != pdTRUE) { // Clear the TX buffer. - tx_data_rd = tx_data_wr = 0; - return 0; + rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0; + return RFM22B_EVENT_RX_MODE; } - - exec_using_spi = true; - - // Initialize the supervisor timer. - rfm22b_dev_g->supv_timer = PIOS_RFM22B_SUPERVISOR_TIMEOUT; + rfm22b_dev->tx_packet = p; + rfm22b_dev->packet_start_time = xTaskGetTickCount(); + if (rfm22b_dev->packet_start_time == 0) + rfm22b_dev->packet_start_time = 1; // disable interrupts rfm22_write(RFM22_interrupt_enable1, 0x00); @@ -1189,15 +1262,13 @@ uint8_t rfm22_txStart() rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon); // Queue the data up for sending - memcpy(tx_buffer, tx_pre_buffer, tx_pre_buffer_size); - tx_data_rd = 0; - tx_data_wr = tx_pre_buffer_size; - tx_pre_buffer_size = 0; + rfm22b_dev->tx_data_wr = PH_PACKET_SIZE(rfm22b_dev->tx_packet); RX_LED_OFF; // Set the destination address in the transmit header. // The destination address is the first 4 bytes of the message. + uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet); rfm22_write(RFM22_transmit_header0, tx_buffer[0]); rfm22_write(RFM22_transmit_header1, tx_buffer[1]); rfm22_write(RFM22_transmit_header2, tx_buffer[2]); @@ -1210,7 +1281,7 @@ uint8_t rfm22_txStart() // set the tx power rfm22_write(RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_1 | - RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | tx_power); + RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | g_rfm22b_dev->tx_power); // clear FIFOs rfm22_write(RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx); @@ -1220,26 +1291,19 @@ uint8_t rfm22_txStart() // add some data to the chips TX FIFO before enabling the transmitter // set the total number of data bytes we are going to transmit - rfm22_write(RFM22_transmit_packet_length, tx_data_wr); + rfm22_write(RFM22_transmit_packet_length, rfm22b_dev->tx_data_wr); // add some data rfm22_claimBus(); rfm22_assertCs(); PIOS_SPI_TransferByte(g_rfm22b_dev->spi_id, RFM22_fifo_access | 0x80); - int bytes_to_write = (tx_data_wr - tx_data_rd); + int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd); bytes_to_write = (bytes_to_write > FIFO_SIZE) ? FIFO_SIZE: bytes_to_write; - PIOS_SPI_TransferBlock(g_rfm22b_dev->spi_id, &tx_buffer[tx_data_rd], NULL, bytes_to_write, NULL); - tx_data_rd += bytes_to_write; + PIOS_SPI_TransferBlock(g_rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL); + rfm22b_dev->tx_data_rd += bytes_to_write; rfm22_deassertCs(); rfm22_releaseBus(); - // ******************* - - // reset the timer - rfm22_int_timer = 0; - - rf_mode = TX_DATA_MODE; - // enable TX interrupts rfm22_write(RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem); @@ -1248,330 +1312,17 @@ uint8_t rfm22_txStart() TX_LED_ON; - exec_using_spi = false; - return 1; -} - - -static void rfm22_setTxMode(uint8_t mode) -{ - if (mode != TX_DATA_MODE && mode != TX_STREAM_MODE && mode != TX_CARRIER_MODE && mode != TX_PN_MODE) - return; // invalid mode - - rfm22_claimBus(); - rfm22_assertCs(); - - // Disaable interrupts (IE1, IE2 = 0) - uint8_t out_buf[3] = {RFM22_interrupt_enable1 | 0x80, 0x00, 0x00}; - PIOS_SPI_TransferBlock(g_rfm22b_dev->spi_id, out_buf, NULL, sizeof(out_buf), NULL); - rfm22_deassertCs(); - - // TUNE mode - rfm22_write_noclaim(RFM22_op_and_func_ctrl1,RFM22_opfc1_pllon); - - RX_LED_OFF; - - // Set the tx power - rfm22_write_noclaim(RFM22_tx_power,RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_1 | - RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | tx_power); - - uint8_t fd_bit = rfm22_read_noclaim(RFM22_modulation_mode_control2) & RFM22_mmc2_fd; - if (mode == TX_CARRIER_MODE) - // blank carrier mode - for testing - rfm22_write_noclaim(RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_pn9 | - RFM22_mmc2_modtyp_none); // FIFO mode, Blank carrier - else if (mode == TX_PN_MODE) - // psuedo random data carrier mode - for testing - rfm22_write_noclaim(RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_pn9 | - RFM22_mmc2_modtyp_gfsk); // FIFO mode, PN9 carrier - else - // data transmission - // FIFO mode, GFSK modulation - rfm22_write_noclaim(RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo | - RFM22_mmc2_modtyp_gfsk); - - // clear FIFOs - rfm22_write_noclaim(RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx); - rfm22_write_noclaim(RFM22_op_and_func_ctrl2, 0x00); - - // add some data to the chips TX FIFO before enabling the transmitter - { - uint16_t rd = 0; - uint16_t wr = tx_data_wr; - - if (mode == TX_DATA_MODE) - // set the total number of data bytes we are going to transmit - rfm22_write_noclaim(RFM22_transmit_packet_length, wr); - - uint16_t i = 0; - rfm22_assertCs(); - PIOS_SPI_TransferByte(g_rfm22b_dev->spi_id, 0x80 | RFM22_fifo_access); // Initiate burst write - if (mode == TX_STREAM_MODE) { - if (rd >= wr) - i += PIOS_SPI_TransferBlock(g_rfm22b_dev->spi_id, FULL_PREAMBLE, NULL, sizeof(FULL_PREAMBLE), NULL); - else // add the RF heaader - i += PIOS_SPI_TransferBlock(g_rfm22b_dev->spi_id, HEADER, NULL, sizeof(HEADER), NULL); - } - - // Send data if there is any and there is space in the buffer available - // Bytes available to send minus how many we have sent - int32_t bytes_to_send = wr - rd; - bytes_to_send = ((bytes_to_send + i)> FIFO_SIZE) ? (FIFO_SIZE - i) : bytes_to_send; - if (bytes_to_send > 0) - rd += PIOS_SPI_TransferBlock(g_rfm22b_dev->spi_id, &tx_buffer[rd], NULL, bytes_to_send, NULL); - - rfm22_deassertCs(); - - tx_data_rd = rd; - } - - // reset the timer - rfm22_int_timer = 0; - - rf_mode = mode; - - // enable TX interrupts - // rfm22_write(RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem | RFM22_ie1_enfferr); - rfm22_write_noclaim(RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem); - - // read interrupt status - clear interrupts - rfm22_read_noclaim(RFM22_interrupt_status1); - rfm22_read_noclaim(RFM22_interrupt_status2); - - // enable the transmitter - // rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_xton | RFM22_opfc1_txon); - rfm22_write_noclaim(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_txon); - - rfm22_releaseBus(); - TX_LED_ON; + return RFM22B_EVENT_TX_STARTED; } // ************************************ -// external interrupt line triggered (or polled) from the rf chip -void rfm22_processRxInt(void) +/** + * 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) { - register uint8_t int_stat1 = int_status1; - register uint8_t int_stat2 = int_status2; - - // FIFO under/over flow error. Restart RX mode. - if (device_status & (RFM22_ds_ffunfl | RFM22_ds_ffovfl)) - { - rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); - return; - } - - // Valid preamble detected - if (int_stat2 & RFM22_is2_ipreaval && (rf_mode == RX_WAIT_PREAMBLE_MODE)) - { - rf_mode = RX_WAIT_SYNC_MODE; - RX_LED_ON; - } - - // Sync word detected - if (int_stat2 & RFM22_is2_iswdet && ((rf_mode == RX_WAIT_PREAMBLE_MODE || rf_mode == RX_WAIT_SYNC_MODE))) - { - rf_mode = RX_DATA_MODE; - RX_LED_ON; - - // read the 10-bit signed afc correction value - // bits 9 to 2 - afc_correction = (uint16_t)rfm22_read(RFM22_afc_correction_read) << 8; - // bits 1 & 0 - afc_correction |= (uint16_t)rfm22_read(RFM22_ook_counter_value1) & 0x00c0; - afc_correction >>= 6; - // convert the afc value to Hz - afc_correction_Hz = (int32_t)(frequency_step_size * afc_correction + 0.5f); - - // remember the rssi for this packet - rx_packet_start_rssi_dBm = rssi_dBm; - // remember the afc value for this packet - rx_packet_start_afc_Hz = afc_correction_Hz; - } - - // RX FIFO almost full, it needs emptying - if (int_stat1 & RFM22_is1_irxffafull) - { - if (rf_mode == RX_DATA_MODE) - { - // read data from the rf chips FIFO buffer - // read the total length of the packet data - uint16_t len = rfm22_read(RFM22_received_packet_length); - - // The received packet is going to be larger than the specified length - if ((rx_buffer_wr + RX_FIFO_HI_WATERMARK) > len) - { - rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); - return; - } - - // Another packet length error. - if (((rx_buffer_wr + RX_FIFO_HI_WATERMARK) >= len) && !(int_stat1 & RFM22_is1_ipkvalid)) - { - rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); - return; - } - - // Fetch the data from the RX FIFO - rfm22_claimBus(); - rfm22_assertCs(); - PIOS_SPI_TransferByte(rfm22b_dev_g->spi_id,RFM22_fifo_access & 0x7F); - rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev_g->spi_id,OUT_FF, - (uint8_t *) &rx_buffer[rx_buffer_wr],RX_FIFO_HI_WATERMARK,NULL) == 0) ? - RX_FIFO_HI_WATERMARK : 0; - rfm22_deassertCs(); - rfm22_releaseBus(); - } else { - // Clear the RX FIFO - rfm22_claimBus(); - rfm22_assertCs(); - PIOS_SPI_TransferByte(rfm22b_dev_g->spi_id,RFM22_fifo_access & 0x7F); - PIOS_SPI_TransferBlock(rfm22b_dev_g->spi_id,OUT_FF,NULL,RX_FIFO_HI_WATERMARK,NULL); - rfm22_deassertCs(); - rfm22_releaseBus(); - } - } - - // CRC error .. discard the received data - if (int_stat1 & RFM22_is1_icrerror) - { - rfm22_int_timer = 0; // reset the timer - rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); - return; - } - - // Valid packet received - if (int_stat1 & RFM22_is1_ipkvalid) - { - - // read the total length of the packet data - uint32_t len = rfm22_read(RFM22_received_packet_length); - - // their must still be data in the RX FIFO we need to get - if (rx_buffer_wr < len) - { - int32_t bytes_to_read = len - rx_buffer_wr; - // Fetch the data from the RX FIFO - rfm22_claimBus(); - rfm22_assertCs(); - PIOS_SPI_TransferByte(rfm22b_dev_g->spi_id,RFM22_fifo_access & 0x7F); - rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev_g->spi_id,OUT_FF, - (uint8_t *) &rx_buffer[rx_buffer_wr],bytes_to_read,NULL) == 0) ? - bytes_to_read : 0; - rfm22_deassertCs(); - rfm22_releaseBus(); - } - - if (rx_buffer_wr != len) - { - // we have a packet length error .. discard the packet - rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); - return; - } - - // we have a valid received packet - - if (rx_buffer_wr > 0) - { - // remember the rssi for this packet - rx_packet_rssi_dBm = rx_packet_start_rssi_dBm; - // remember the afc offset for this packet - rx_packet_afc_Hz = rx_packet_start_afc_Hz; - // Add the rssi and afc to the end of the packet. - rx_buffer[rx_buffer_wr++] = rx_packet_start_rssi_dBm; - rx_buffer[rx_buffer_wr++] = rx_packet_start_afc_Hz; - // Pass this packet on - bool need_yield = false; - if (rfm22b_dev_g->rx_in_cb) - (rfm22b_dev_g->rx_in_cb)(rfm22b_dev_g->rx_in_context, (uint8_t*)rx_buffer, - rx_buffer_wr, NULL, &need_yield); - rx_buffer_wr = 0; - } - - // Send a packet if it's available. - if(!rfm22_txStart()) - { - // Switch to RX mode - rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); - } - } - -} - -void rfm22_processTxInt(void) -{ - register uint8_t int_stat1 = int_status1; - - // reset the timer - rfm22_int_timer = 0; - - // FIFO under/over flow error. Back to RX mode. - if (device_status & (RFM22_ds_ffunfl | RFM22_ds_ffovfl)) - { - rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); - return; - } - - // Transmit timeout. Abort the transmit. - if (rfm22_int_timer >= timeout_data_ms) - { - rfm22_int_time_outs++; - rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); - return; - } - - // the rf module is not in tx mode - if ((device_status & RFM22_ds_cps_mask) != RFM22_ds_cps_tx) - { - if (rfm22_int_timer >= 100) - { - rfm22_int_time_outs++; - rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); // back to rx mode - return; - } - } - - // TX FIFO almost empty, it needs filling up - if (int_stat1 & RFM22_is1_ixtffaem) - { - // top-up the rf chips TX FIFO buffer - uint16_t max_bytes = FIFO_SIZE - TX_FIFO_LO_WATERMARK - 1; - rfm22_claimBus(); - rfm22_assertCs(); - PIOS_SPI_TransferByte(g_rfm22b_dev->spi_id, RFM22_fifo_access | 0x80); - int bytes_to_write = (tx_data_wr - tx_data_rd); - bytes_to_write = (bytes_to_write > max_bytes) ? max_bytes: bytes_to_write; - PIOS_SPI_TransferBlock(g_rfm22b_dev->spi_id, &tx_buffer[tx_data_rd], NULL, bytes_to_write, NULL); - tx_data_rd += bytes_to_write; - rfm22_deassertCs(); - rfm22_releaseBus(); - } - - // Packet has been sent - if (int_stat1 & RFM22_is1_ipksent) - { - - // Send another packet if it's available. - if(!rfm22_txStart()) - { - // Switch to RX mode - rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); - return; - } - } - -} - -static void rfm22_processInt(void) -{ - // we haven't yet been initialized - if (!initialized || power_on_reset || !PIOS_RFM22B_validate(rfm22b_dev_g)) - return; - - exec_using_spi = true; - - // Reset the supervisor timer. - rfm22b_dev_g->supv_timer = PIOS_RFM22B_SUPERVISOR_TIMEOUT; // 1. Read the interrupt statuses with burst read rfm22_claimBus(); // Set RC and the semaphore @@ -1580,159 +1331,236 @@ static void rfm22_processInt(void) rfm22_assertCs(); PIOS_SPI_TransferBlock(g_rfm22b_dev->spi_id, write_buf, read_buf, sizeof(write_buf), NULL); rfm22_deassertCs(); - int_status1 = read_buf[1]; - int_status2 = read_buf[2]; + rfm22b_dev->int_status1 = read_buf[1]; + rfm22b_dev->int_status2 = read_buf[2]; // Device status - device_status = rfm22_read_noclaim(RFM22_device_status); + rfm22b_dev->device_status = rfm22_read_noclaim(RFM22_device_status); // EzMAC status - ezmac_status = rfm22_read_noclaim(RFM22_ezmac_status); + rfm22b_dev->ezmac_status = rfm22_read_noclaim(RFM22_ezmac_status); // Release the bus rfm22_releaseBus(); - // Read the RSSI if we're in RX mode - if (rf_mode != TX_DATA_MODE && rf_mode != TX_STREAM_MODE && - rf_mode != TX_CARRIER_MODE && rf_mode != TX_PN_MODE) - { - // read rx signal strength .. 45 = -100dBm, 205 = -20dBm - rssi = rfm22_read(RFM22_rssi); - // convert to dBm - rssi_dBm = (int8_t)(rssi >> 1) - 122; - } - else - // read the tx power register - tx_pwr = rfm22_read(RFM22_tx_power); - // the RF module has gone and done a reset - we need to re-initialize the rf module - if (int_status2 & RFM22_is2_ipor) + if (rfm22b_dev->int_status2 & RFM22_is2_ipor) + return false; + + return true; +} + +static enum pios_rfm22b_event rfm22_detectPreamble(struct pios_rfm22b_dev *rfm22b_dev) +{ + + // Read the device status registers + if (!rfm22_readStatus(rfm22b_dev)) + return RFM22B_EVENT_ERROR; + + // Valid preamble detected + if (rfm22b_dev->int_status2 & RFM22_is2_ipreaval) { - initialized = false; - power_on_reset = true; - // Need to do something here! - return; + rfm22b_dev->packet_start_time = xTaskGetTickCount(); + if (rfm22b_dev->packet_start_time == 0) + rfm22b_dev->packet_start_time = 1; + RX_LED_ON; + return RFM22B_EVENT_PREAMBLE_DETECTED; } - switch (rf_mode) + 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)) + return RFM22B_EVENT_ERROR; + + // Sync word detected + if (rfm22b_dev->int_status2 & RFM22_is2_iswdet) { - case RX_SCAN_SPECTRUM: - break; + RX_LED_ON; - case RX_WAIT_PREAMBLE_MODE: - case RX_WAIT_SYNC_MODE: - case RX_DATA_MODE: + // read the 10-bit signed afc correction value + // bits 9 to 2 + uint16_t afc_correction = (uint16_t)rfm22_read(RFM22_afc_correction_read) << 8; + // bits 1 & 0 + afc_correction |= (uint16_t)rfm22_read(RFM22_ook_counter_value1) & 0x00c0; + afc_correction >>= 6; + // convert the afc value to Hz + rfm22b_dev->afc_correction_Hz = (int32_t)(rfm22b_dev->frequency_step_size * afc_correction + 0.5f); - rfm22_processRxInt(); - break; + // read rx signal strength .. 45 = -100dBm, 205 = -20dBm + rfm22b_dev->rssi = rfm22_read(RFM22_rssi); + // convert to dBm + rfm22b_dev->rssi_dBm = (int8_t)(rfm22b_dev->rssi >> 1) - 122; - case TX_DATA_MODE: - case TX_STREAM_MODE: + // remember the afc value for this packet + rfm22b_dev->rx_packet_start_afc_Hz = rfm22b_dev->afc_correction_Hz; - rfm22_processTxInt(); - break; - - case TX_CARRIER_MODE: - case TX_PN_MODE: - - // if (rfm22_int_timer >= TX_TEST_MODE_TIMELIMIT_MS) // 'nn'ms limit - // { - // rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); // back to rx mode - // tx_data_rd = tx_data_wr = 0; // wipe TX buffer - // break; - // } - - break; - - default: // unknown mode - this should NEVER happen, maybe we should do a complete CPU reset here - rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); // to rx mode - break; + return RFM22B_EVENT_SYNC_DETECTED; + } + else if (rfm22b_dev->int_status2 & !RFM22_is2_ipreaval) + { + // Waiting for sync timed out. + return RFM22B_EVENT_TX_START; } - exec_using_spi = false; + return RFM22B_EVENT_NUM_EVENTS; } -// ************************************ - -int8_t rfm22_getRSSI(void) +static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev) { - exec_using_spi = true; - - rssi = rfm22_read(RFM22_rssi); // read rx signal strength .. 45 = -100dBm, 205 = -20dBm - rssi_dBm = (int8_t)(rssi >> 1) - 122; // convert to dBm - - exec_using_spi = false; - return rssi_dBm; -} - -int8_t rfm22_receivedRSSI(void) -{ // return the packets signal strength - if (!initialized) - return -127; - else - return rx_packet_rssi_dBm; -} - -int32_t rfm22_receivedAFCHz(void) -{ // return the packets offset frequency - if (!initialized) - return 0; - else - return rx_packet_afc_Hz; -} - -// ************************************ - -// ************************************ - -void rfm22_setTxStream(void) // TEST ONLY -{ - if (!initialized) - return; - - tx_data_rd = tx_data_wr = 0; - - rfm22_setTxMode(TX_STREAM_MODE); -} - -// ************************************ - -void rfm22_setTxNormal(void) -{ - if (!initialized) - return; - - // if (rf_mode == TX_CARRIER_MODE || rf_mode == TX_PN_MODE) - if (rf_mode != RX_SCAN_SPECTRUM) + // Swap in the next packet buffer if required. + if (rfm22b_dev->rx_packet == NULL) { - rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); - tx_data_rd = tx_data_wr = 0; - - rx_packet_start_rssi_dBm = 0; - rx_packet_start_afc_Hz = 0; - rx_packet_rssi_dBm = 0; - rx_packet_afc_Hz = 0; + if (rfm22b_dev->rx_packet_next != NULL) + rfm22b_dev->rx_packet = rfm22b_dev->rx_packet_next; + else + return RFM22B_EVENT_ERROR; } + uint8_t *rx_buffer = (uint8_t*)(rfm22b_dev->rx_packet); + + // Read the device status registers + if (!rfm22_readStatus(rfm22b_dev)) + return RFM22B_EVENT_ERROR; + + // FIFO under/over flow error. Restart RX mode. + if (rfm22b_dev->device_status & (RFM22_ds_ffunfl | RFM22_ds_ffovfl)) + return RFM22B_EVENT_ERROR; + + // RX FIFO almost full, it needs emptying + if (rfm22b_dev->int_status1 & RFM22_is1_irxffafull) + { + // read data from the rf chips FIFO buffer + // read the total length of the packet data + uint16_t len = rfm22_read(RFM22_received_packet_length); + + // The received packet is going to be larger than the specified length + if ((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) > len) + return RFM22B_EVENT_ERROR; + + // Another packet length error. + if (((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) >= len) && !(rfm22b_dev->int_status1 & RFM22_is1_ipkvalid)) + return RFM22B_EVENT_ERROR; + + // Fetch the data from the RX FIFO + rfm22_claimBus(); + rfm22_assertCs(); + PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F); + rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id ,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], RX_FIFO_HI_WATERMARK, NULL) == 0) ? RX_FIFO_HI_WATERMARK : 0; + rfm22_deassertCs(); + rfm22_releaseBus(); + } + + // CRC error .. discard the received data + if (rfm22b_dev->int_status1 & RFM22_is1_icrerror) + return RFM22B_EVENT_ERROR; + + // Valid packet received + if (rfm22b_dev->int_status1 & RFM22_is1_ipkvalid) + { + + // read the total length of the packet data + uint32_t len = rfm22_read(RFM22_received_packet_length); + + // their must still be data in the RX FIFO we need to get + if (rfm22b_dev->rx_buffer_wr < len) + { + int32_t bytes_to_read = len - rfm22b_dev->rx_buffer_wr; + // Fetch the data from the RX FIFO + rfm22_claimBus(); + rfm22_assertCs(); + PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F); + rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], bytes_to_read, NULL) == 0) ? bytes_to_read : 0; + rfm22_deassertCs(); + rfm22_releaseBus(); + } + + if (rfm22b_dev->rx_buffer_wr != len) + return RFM22B_EVENT_ERROR; + + // we have a valid received packet + + if (rfm22b_dev->rx_buffer_wr > 0) + { + // Add the rssi and afc to the end of the packet. + rx_buffer[rfm22b_dev->rx_buffer_wr++] = rfm22b_dev->rssi_dBm; + rx_buffer[rfm22b_dev->rx_buffer_wr++] = rfm22b_dev->rx_packet_start_afc_Hz; + // Swap the Rx packets. + if (rfm22b_dev->rx_packet_prev == NULL) + { + rfm22b_dev->rx_packet_prev = rfm22b_dev->rx_packet; + rfm22b_dev->rx_packet = rfm22b_dev->rx_packet_next; + rfm22b_dev->rx_packet_len = rfm22b_dev->rx_buffer_wr; + // Signal the receive thread. + xSemaphoreGive(rfm22b_dev->rxsem); + } + rfm22b_dev->rx_buffer_wr = 0; + } + + // Start a new transaction + rfm22b_dev->packet_start_time = 0; + return RFM22B_EVENT_RX_COMPLETE; + } + + return RFM22B_EVENT_NUM_EVENTS; } -// enable a blank tx carrier (for frequency alignment) -void rfm22_setTxCarrierMode(void) +static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev) { - if (!initialized) - return; - if (rf_mode != TX_CARRIER_MODE && rf_mode != RX_SCAN_SPECTRUM) - rfm22_setTxMode(TX_CARRIER_MODE); -} + // Read the device status registers + if (!rfm22_readStatus(rfm22b_dev)) + { + // Free the tx packet + PHReleaseTXPacket(pios_packet_handler, rfm22b_dev->tx_packet); + rfm22b_dev->tx_packet = 0; + rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0; + return RFM22B_EVENT_ERROR; + } -// enable a psuedo random data tx carrier (for spectrum inspection) -void rfm22_setTxPNMode(void) -{ - if (!initialized) - return; + // FIFO under/over flow error. Back to RX mode. + if (rfm22b_dev->device_status & (RFM22_ds_ffunfl | RFM22_ds_ffovfl)) + { + // Free the tx packet + PHReleaseTXPacket(pios_packet_handler, rfm22b_dev->tx_packet); + rfm22b_dev->tx_packet = 0; + rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0; + return RFM22B_EVENT_ERROR; + } - if (rf_mode != TX_PN_MODE && rf_mode != RX_SCAN_SPECTRUM) - rfm22_setTxMode(TX_PN_MODE); + // TX FIFO almost empty, it needs filling up + if (rfm22b_dev->int_status1 & RFM22_is1_ixtffaem) + { + // top-up the rf chips TX FIFO buffer + uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet); + uint16_t max_bytes = FIFO_SIZE - TX_FIFO_LO_WATERMARK - 1; + rfm22_claimBus(); + rfm22_assertCs(); + PIOS_SPI_TransferByte(g_rfm22b_dev->spi_id, RFM22_fifo_access | 0x80); + int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd); + bytes_to_write = (bytes_to_write > max_bytes) ? max_bytes: bytes_to_write; + PIOS_SPI_TransferBlock(g_rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL); + rfm22b_dev->tx_data_rd += bytes_to_write; + rfm22_deassertCs(); + rfm22_releaseBus(); + } + + // Packet has been sent + if (rfm22b_dev->int_status1 & RFM22_is1_ipksent) + { + // Free the tx packet + PHReleaseTXPacket(pios_packet_handler, rfm22b_dev->tx_packet); + rfm22b_dev->tx_packet = 0; + rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0; + // Start a new transaction + rfm22b_dev->packet_start_time = 0; + return RFM22B_EVENT_TX_COMPLETE; + } + + return RFM22B_EVENT_NUM_EVENTS; } // ************************************ @@ -1740,104 +1568,45 @@ void rfm22_setTxPNMode(void) // return the current mode int8_t rfm22_currentMode(void) { - return rf_mode; + return g_rfm22b_dev->state; } // return true if we are transmitting bool rfm22_transmitting(void) { - return (rf_mode == TX_DATA_MODE || rf_mode == TX_STREAM_MODE || rf_mode == TX_CARRIER_MODE || rf_mode == TX_PN_MODE); + return (g_rfm22b_dev->state == RFM22B_STATE_TX_DATA); } // return true if the channel is clear to transmit on bool rfm22_channelIsClear(void) { - if (!initialized) - // we haven't yet been initialized - return false; - - if (rf_mode != RX_WAIT_PREAMBLE_MODE && rf_mode != RX_WAIT_SYNC_MODE) + if (g_rfm22b_dev->state != RFM22B_STATE_RX_MODE && g_rfm22b_dev->state != RFM22B_STATE_WAIT_PREAMBLE && g_rfm22b_dev->state != RFM22B_STATE_WAIT_SYNC) // we are receiving something or we are transmitting or we are scanning the spectrum return false; return true; } -// return true if the transmiter is ready for use -bool rfm22_txReady(void) -{ - if (!initialized) - // we haven't yet been initialized - return false; - - return (tx_data_rd == 0 && tx_data_wr == 0 && rf_mode != TX_DATA_MODE && - rf_mode != TX_STREAM_MODE && rf_mode != TX_CARRIER_MODE && rf_mode != TX_PN_MODE && - rf_mode != RX_SCAN_SPECTRUM); -} - // ************************************ // set/get the frequency calibration value void rfm22_setFreqCalibration(uint8_t value) { - osc_load_cap = value; - - if (!initialized || power_on_reset) - return; // we haven't yet been initialized - - uint8_t prev_rf_mode = rf_mode; - - if (rf_mode == TX_CARRIER_MODE || rf_mode == TX_PN_MODE) - { - rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); - tx_data_rd = tx_data_wr = 0; - } - - exec_using_spi = true; - - rfm22_write(RFM22_xtal_osc_load_cap, osc_load_cap); - - exec_using_spi = false; - - if (prev_rf_mode == TX_CARRIER_MODE || prev_rf_mode == TX_PN_MODE) - rfm22_setTxMode(prev_rf_mode); -} - -uint8_t rfm22_getFreqCalibration(void) -{ - return osc_load_cap; + rfm22_write(RFM22_xtal_osc_load_cap, value); } // ************************************ -// can be called from an interrupt if you wish +// Initialise this hardware layer module and the rf module -void rfm22_1ms_tick(void) -{ // call this once every ms - if (!initialized) return; // we haven't yet been initialized - - if (rf_mode != RX_SCAN_SPECTRUM) - { - if (rfm22_int_timer < 0xffff) rfm22_int_timer++; - } -} - -// ************************************ -// reset the RF module - -int rfm22_resetModule(uint8_t mode, uint32_t min_frequency_hz, uint32_t max_frequency_hz) +static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev) { - initialized = false; + uint32_t id = rfm22b_dev->deviceID; + uint32_t min_frequency_hz = rfm22b_dev->cfg.minFrequencyHz; + uint32_t max_frequency_hz = rfm22b_dev->cfg.maxFrequencyHz; + uint32_t freq_hop_step_size = 50000; - power_on_reset = false; - - // **************** - - exec_using_spi = true; - - // **************** // software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B) - - rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_swres); // software reset the radio + rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_swres); // wait 26ms PIOS_DELAY_WaitmS(26); @@ -1848,18 +1617,18 @@ int rfm22_resetModule(uint8_t mode, uint32_t min_frequency_hz, uint32_t max_freq PIOS_DELAY_WaitmS(1); // read the status registers - int_status1 = rfm22_read(RFM22_interrupt_status1); - int_status2 = rfm22_read(RFM22_interrupt_status2); - if (int_status2 & RFM22_is2_ichiprdy) break; + rfm22b_dev->int_status1 = rfm22_read(RFM22_interrupt_status1); + rfm22b_dev->int_status2 = rfm22_read(RFM22_interrupt_status2); + if (rfm22b_dev->int_status2 & RFM22_is2_ichiprdy) break; } // **************** // read status - clears interrupt - device_status = rfm22_read(RFM22_device_status); - int_status1 = rfm22_read(RFM22_interrupt_status1); - int_status2 = rfm22_read(RFM22_interrupt_status2); - ezmac_status = rfm22_read(RFM22_ezmac_status); + rfm22b_dev->device_status = rfm22_read(RFM22_device_status); + rfm22b_dev->int_status1 = rfm22_read(RFM22_interrupt_status1); + rfm22b_dev->int_status2 = rfm22_read(RFM22_interrupt_status2); + rfm22b_dev->ezmac_status = rfm22_read(RFM22_ezmac_status); // disable all interrupts rfm22_write(RFM22_interrupt_enable1, 0x00); @@ -1867,54 +1636,25 @@ int rfm22_resetModule(uint8_t mode, uint32_t min_frequency_hz, uint32_t max_freq // **************** - exec_using_spi = false; + rfm22b_dev->device_status = rfm22b_dev->int_status1 = rfm22b_dev->int_status2 = rfm22b_dev->ezmac_status = 0; - // **************** + rfm22b_dev->rx_buffer_wr = 0; - rf_mode = mode; + rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0; - device_status = int_status1 = int_status2 = ezmac_status = 0; + rfm22b_dev->frequency_hop_channel = 0; - rssi = 0; - rssi_dBm = -127; + rfm22b_dev->afc_correction_Hz = 0; - rx_buffer_current = 0; - rx_buffer_wr = 0; - rx_packet_rssi_dBm = -127; - rx_packet_afc_Hz = 0; - - tx_data_rd = tx_data_wr = 0; - - lookup_index = 0; - ss_lookup_index = 0; - - rf_bandwidth_used = 0; - ss_rf_bandwidth_used = 0; - - rfm22_int_timer = 0; - rfm22_int_time_outs = 0; - prev_rfm22_int_time_outs = 0; - - hbsel = 0; - frequency_step_size = 0.0f; - - frequency_hop_channel = 0; - - afc_correction = 0; - afc_correction_Hz = 0; - - temperature_reg = 0; - - // set the TX power - tx_power = RFM22_DEFAULT_RF_POWER; - - tx_pwr = 0; + rfm22b_dev->packet_start_time = 0; // **************** // read the RF chip ID bytes - device_type = rfm22_read(RFM22_DEVICE_TYPE) & RFM22_DT_MASK; // read the device type - device_version = rfm22_read(RFM22_DEVICE_VERSION) & RFM22_DV_MASK; // read the device version + // read the device type + uint8_t device_type = rfm22_read(RFM22_DEVICE_TYPE) & RFM22_DT_MASK; + // read the device version + uint8_t device_version = rfm22_read(RFM22_DEVICE_VERSION) & RFM22_DV_MASK; #if defined(RFM22_DEBUG) DEBUG_PRINTF(2, "rf device type: %d\n\r", device_type); @@ -1926,19 +1666,16 @@ int rfm22_resetModule(uint8_t mode, uint32_t min_frequency_hz, uint32_t max_freq #if defined(RFM22_DEBUG) DEBUG_PRINTF(2, "rf device type: INCORRECT - should be 0x08\n\r"); #endif - return -1; // incorrect RF module type + // incorrect RF module type + return RFM22B_EVENT_FATAL_ERROR; } - - // if (device_version != RFM22_DEVICE_VERSION_V2) // V2 - // return -2; // incorrect RF module version - // if (device_version != RFM22_DEVICE_VERSION_A0) // A0 - // return -2; // incorrect RF module version - if (device_version != RFM22_DEVICE_VERSION_B1) // B1 + if (device_version != RFM22_DEVICE_VERSION_B1) { #if defined(RFM22_DEBUG) DEBUG_PRINTF(2, "rf device version: INCORRECT\n\r"); #endif - return -2; // incorrect RF module version + // incorrect RF module version + return RFM22B_EVENT_FATAL_ERROR; } // **************** @@ -1959,28 +1696,25 @@ int rfm22_resetModule(uint8_t mode, uint32_t min_frequency_hz, uint32_t max_freq max_frequency_hz = tmp; } - lower_carrier_frequency_limit_Hz = min_frequency_hz; - upper_carrier_frequency_limit_Hz = max_frequency_hz; - // **************** // calibrate our RF module to be exactly on frequency .. different for every module - - osc_load_cap = OSC_LOAD_CAP; // default - rfm22_write(RFM22_xtal_osc_load_cap, osc_load_cap); + rfm22_write(RFM22_xtal_osc_load_cap, OSC_LOAD_CAP); // **************** // disable Low Duty Cycle Mode rfm22_write(RFM22_op_and_func_ctrl2, 0x00); - rfm22_write(RFM22_cpu_output_clk, RFM22_coc_1MHz); // 1MHz clock output + // 1MHz clock output + rfm22_write(RFM22_cpu_output_clk, RFM22_coc_1MHz); - rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_xton); // READY mode - // rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon); // TUNE mode + // READY mode + rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_xton); // choose the 3 GPIO pin functions - rfm22_write(RFM22_io_port_config, RFM22_io_port_default); // GPIO port use default value - if (rfm22b_dev_g->cfg.gpio_direction == GPIO0_TX_GPIO1_RX) { + // GPIO port use default value + rfm22_write(RFM22_io_port_config, RFM22_io_port_default); + if (rfm22b_dev->cfg.gpio_direction == GPIO0_TX_GPIO1_RX) { rfm22_write(RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_txstate); // GPIO0 = TX State (to control RF Switch) rfm22_write(RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_rxstate); // GPIO1 = RX State (to control RF Switch) } else { @@ -1991,22 +1725,10 @@ int rfm22_resetModule(uint8_t mode, uint32_t min_frequency_hz, uint32_t max_freq // **************** - return 0; // OK -} - -// ************************************ -// Initialise this hardware layer module and the rf module - -int rfm22_init_normal(uint32_t id, uint32_t min_frequency_hz, uint32_t max_frequency_hz, uint32_t freq_hop_step_size) -{ - int res = rfm22_resetModule(RX_WAIT_PREAMBLE_MODE, min_frequency_hz, max_frequency_hz); - if (res < 0) - return res; - // initialize the frequency hopping step size freq_hop_step_size /= 10000; // in 10kHz increments if (freq_hop_step_size > 255) freq_hop_step_size = 255; - frequency_hop_step_size_reg = freq_hop_step_size; + rfm22b_dev->frequency_hop_step_size_reg = freq_hop_step_size; // set the RF datarate rfm22_setDatarate(RFM22_DEFAULT_RF_DATARATE, true); @@ -2018,7 +1740,7 @@ int rfm22_init_normal(uint32_t id, uint32_t min_frequency_hz, uint32_t max_frequ // setup to read the internal temperature sensor // ADC used to sample the temperature sensor - adc_config = RFM22_ac_adcsel_temp_sensor | RFM22_ac_adcref_bg; + uint8_t adc_config = RFM22_ac_adcsel_temp_sensor | RFM22_ac_adcref_bg; rfm22_write(RFM22_adc_config, adc_config); // adc offset @@ -2079,7 +1801,7 @@ int rfm22_init_normal(uint32_t id, uint32_t min_frequency_hz, uint32_t max_frequ ((TX_PREAMBLE_NIBBLES >> 8) & 0x01)); #endif - // sync word + // sync word rfm22_write(RFM22_sync_word3, SYNC_BYTE_1); rfm22_write(RFM22_sync_word2, SYNC_BYTE_2); rfm22_write(RFM22_sync_word1, SYNC_BYTE_3); @@ -2088,14 +1810,13 @@ int rfm22_init_normal(uint32_t id, uint32_t min_frequency_hz, uint32_t max_frequ rfm22_write(RFM22_agc_override1, RFM22_agc_ovr1_agcen); // set frequency hopping channel step size (multiples of 10kHz) - rfm22_write(RFM22_frequency_hopping_step_size, frequency_hop_step_size_reg); + rfm22_write(RFM22_frequency_hopping_step_size, rfm22b_dev->frequency_hop_step_size_reg); // set our nominal carrier frequency - rfm22_setNominalCarrierFrequency((min_frequency_hz + max_frequency_hz) / 2); + rfm22_setNominalCarrierFrequency(rfm22b_dev, (min_frequency_hz + max_frequency_hz) / 2); // set the tx power - rfm22_write(RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_0 | - RFM22_tx_pwr_lna_sw | tx_power); + rfm22_write(RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power); // TX FIFO Almost Full Threshold (0 - 63) rfm22_write(RFM22_tx_fifo_control1, TX_FIFO_HI_WATERMARK); @@ -2106,11 +1827,59 @@ int rfm22_init_normal(uint32_t id, uint32_t min_frequency_hz, uint32_t max_frequ // RX FIFO Almost Full Threshold (0 - 63) rfm22_write(RFM22_rx_fifo_control, RX_FIFO_HI_WATERMARK); - rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); + rfm22_setFreqCalibration(rfm22b_dev->cfg.RFXtalCap); + rfm22_setNominalCarrierFrequency(rfm22b_dev, rfm22b_dev->cfg.frequencyHz); + rfm22_setDatarate(rfm22b_dev->cfg.maxRFBandwidth, true); - initialized = true; + return RFM22B_EVENT_INITIALIZED; +} - return 0; // ok +static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev) +{ + rfm22b_dev->resets++; + rfm22b_dev->packet_start_time = 0; + return RFM22B_EVENT_TX_START; +} + +static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev) +{ + rfm22b_dev->resets++; + rfm22b_dev->packet_start_time = 0; + 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 + 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; } // ************************************ diff --git a/flight/PiOS/inc/pios_rfm22b.h b/flight/PiOS/inc/pios_rfm22b.h index 176b25710..451480960 100644 --- a/flight/PiOS/inc/pios_rfm22b.h +++ b/flight/PiOS/inc/pios_rfm22b.h @@ -31,6 +31,8 @@ #ifndef PIOS_RFM22B_H #define PIOS_RFM22B_H +#include + enum gpio_direction {GPIO0_TX_GPIO1_RX, GPIO0_RX_GPIO1_TX}; /* Global Types */ @@ -49,10 +51,11 @@ struct pios_rfm22b_cfg { /* Public Functions */ extern int32_t PIOS_RFM22B_Init(uint32_t *rfb22b_id, uint32_t spi_id, uint32_t slave_num, const struct pios_rfm22b_cfg *cfg); +extern void PIOS_RFM22B_SetTxPower(uint32_t rfm22b_id, uint8_t tx_pwr); extern uint32_t PIOS_RFM22B_DeviceID(uint32_t rfb22b_id); -extern int8_t PIOS_RFM22B_RSSI(uint32_t rfm22b_id); extern int16_t PIOS_RFM22B_Resets(uint32_t rfm22b_id); -extern void PIOS_RFM22_processPendingISR(uint32_t wait_ms); +extern bool PIOS_RFM22B_Send_Packet(uint32_t rfm22b_id, PHPacketHandle p, uint32_t max_delay); +extern uint32_t PIOS_RFM22B_Receive_Packet(uint32_t rfm22b_id, PHPacketHandle *p, uint32_t max_delay); #endif /* PIOS_RFM22B_H */ diff --git a/flight/PiOS/inc/pios_rfm22b_priv.h b/flight/PiOS/inc/pios_rfm22b_priv.h index 4535a472e..cea382220 100644 --- a/flight/PiOS/inc/pios_rfm22b_priv.h +++ b/flight/PiOS/inc/pios_rfm22b_priv.h @@ -50,17 +50,6 @@ extern const struct pios_com_driver pios_rfm22b_com_driver; // ************************************ -enum { RX_SCAN_SPECTRUM = 0, - RX_WAIT_PREAMBLE_MODE, - RX_WAIT_SYNC_MODE, - RX_DATA_MODE, - TX_DATA_MODE, - TX_STREAM_MODE, - TX_CARRIER_MODE, - TX_PN_MODE}; - -// ************************************ - #define BIT0 (1u << 0) #define BIT1 (1u << 1) #define BIT2 (1u << 2) @@ -593,63 +582,6 @@ typedef bool ( *t_rfm22_RxDataCallback ) (void *data, uint8_t len); void PIOS_RFM22_EXT_Int(void); -uint32_t rfm22_minFrequency(void); -uint32_t rfm22_maxFrequency(void); - -void rfm22_setNominalCarrierFrequency(uint32_t frequency_hz); -uint32_t rfm22_getNominalCarrierFrequency(void); - -float rfm22_getFrequencyStepSize(void); - -void rfm22_setFreqHopChannel(uint8_t channel); -uint8_t rfm22_freqHopChannel(void); - -uint32_t rfm22_freqHopSize(void); - -void rfm22_setDatarate(uint32_t datarate_bps, bool data_whitening); -uint32_t rfm22_getDatarate(void); - -void rfm22_setRxMode(uint8_t mode, bool multi_packet_mode); - -int8_t rfm22_getRSSI(void); - -int8_t rfm22_receivedRSSI(void); -int32_t rfm22_receivedAFCHz(void); -uint16_t rfm22_receivedLength(void); -uint8_t * rfm22_receivedPointer(void); -void rfm22_receivedDone(void); - -int32_t rfm22_sendData(void *data, uint16_t length, bool send_immediately); - -void rfm22_setFreqCalibration(uint8_t value); -uint8_t rfm22_getFreqCalibration(void); - -void rfm22_setTxPower(uint8_t tx_pwr); -uint8_t rfm22_getTxPower(void); - -void rfm22_setTxStream(void); // TEST ONLY - -void rfm22_setTxNormal(void); -void rfm22_setTxCarrierMode(void); -void rfm22_setTxPNMode(void); - -int8_t rfm22_currentMode(void); -bool rfm22_transmitting(void); - -bool rfm22_channelIsClear(void); - -bool rfm22_txReady(void); - -void rfm22_1ms_tick(void); - -void rfm22_TxDataByte_SetCallback(t_rfm22_TxDataByteCallback new_function); -void rfm22_RxData_SetCallback(t_rfm22_RxDataCallback new_function); - -int rfm22_init_scan_spectrum(uint32_t min_frequency_hz, uint32_t max_frequency_hz); -int rfm22_init_tx_stream(uint32_t min_frequency_hz, uint32_t max_frequency_hz); -int rfm22_init_rx_stream(uint32_t min_frequency_hz, uint32_t max_frequency_hz); -int rfm22_init_normal(uint32_t id, uint32_t min_frequency_hz, uint32_t max_frequency_hz, uint32_t freq_hop_step_size); - #endif /* PIOS_RFM22B_PRIV_H */ /**