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Code Issues Releases Activity

RFM22B: Moved radio status reporting from the radio module into the rfm22b driver task.

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This commit is contained in:
Brian Webb 2012-10-02 19:52:21 -07:00 committed by James Cotton
parent 2d4e0b397a
commit 36437f695f
2 changed files with 76 additions and 82 deletions
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23
flight/Modules/Radio/radio.c
View File

@ -408,8 +408,6 @@ static void StatusHandler(PHStatusPacketHandle status, int8_t rssi, int8_t afc)
*/ */
static void radioStatusTask(void *parameters) static void radioStatusTask(void *parameters)
{ {
PHStatusPacket status_packet;
while (1) { while (1) {
PipXStatusData pipxStatus; PipXStatusData pipxStatus;
uint32_t pairID; uint32_t pairID;
@ -468,27 +466,6 @@ static void radioStatusTask(void *parameters)
// Update the object // Update the object
PipXStatusSet(&pipxStatus); PipXStatusSet(&pipxStatus);
// Broadcast the status.
{
static uint16_t cntr = 0;
if(cntr++ == RADIOSTATS_UPDATE_PERIOD_MS / STATS_UPDATE_PERIOD_MS)
{
// Queue the status message
status_packet.header.destination_id = 0xffffffff;
status_packet.header.type = PACKET_TYPE_STATUS;
status_packet.header.data_size = PH_STATUS_DATA_SIZE(&status_packet);
status_packet.header.source_id = pipxStatus.DeviceID;
status_packet.retries = data->comTxRetries;
status_packet.errors = data->packetErrors;
status_packet.uavtalk_errors = data->UAVTalkErrors;
status_packet.dropped = data->droppedPackets;
status_packet.resets = PIOS_RFM22B_Resets(pios_rfm22b_id);
PHPacketHandle sph = (PHPacketHandle)&status_packet;
PHTransmitPacket(PIOS_PACKET_HANDLER, sph);
cntr = 0;
}
}
vTaskDelay(STATS_UPDATE_PERIOD_MS / portTICK_RATE_MS); vTaskDelay(STATS_UPDATE_PERIOD_MS / portTICK_RATE_MS);
} }
} }

135
flight/PiOS/Common/pios_rfm22b.c
View File

@ -54,6 +54,7 @@
#include <pios_spi_priv.h> #include <pios_spi_priv.h>
#include <packet_handler.h> #include <packet_handler.h>
#include <pios_rfm22b_priv.h> #include <pios_rfm22b_priv.h>
#include <ecc.h>
/* Local Defines */ /* Local Defines */
#define STACK_SIZE_BYTES 200 #define STACK_SIZE_BYTES 200
@ -62,11 +63,12 @@
#define EVENT_QUEUE_SIZE 5 #define EVENT_QUEUE_SIZE 5
#define PACKET_QUEUE_SIZE 3 #define PACKET_QUEUE_SIZE 3
// RTC timer is running at 625Hz (1.6ms or 5 ticks == 8ms). // The maximum amount of time without activity before initiating a reset.
// A 256 byte message at 56kbps should take less than 40ms
// Note: This timeout should be rate dependent.
#define PIOS_RFM22B_SUPERVISOR_TIMEOUT 100 // ms #define PIOS_RFM22B_SUPERVISOR_TIMEOUT 100 // ms
// The time between updates over the radio link.
#define RADIOSTATS_UPDATE_PERIOD_MS 250
// this is too adjust the RF module so that it is on frequency // this is too adjust the RF module so that it is on frequency
#define OSC_LOAD_CAP 0x7F // cap = 12.5pf .. default #define OSC_LOAD_CAP 0x7F // cap = 12.5pf .. default
#define OSC_LOAD_CAP_1 0x7D // board 1 #define OSC_LOAD_CAP_1 0x7D // board 1
@ -94,28 +96,6 @@
#define SYNC_BYTE_3 0x4B // #define SYNC_BYTE_3 0x4B //
#define SYNC_BYTE_4 0x59 // #define SYNC_BYTE_4 0x59 //
// ************************************
// the default RF datarate
//#define RFM22_DEFAULT_RF_DATARATE 500 // 500 bits per sec
//#define RFM22_DEFAULT_RF_DATARATE 1000 // 1k bits per sec
//#define RFM22_DEFAULT_RF_DATARATE 2000 // 2k bits per sec
//#define RFM22_DEFAULT_RF_DATARATE 4000 // 4k bits per sec
//#define RFM22_DEFAULT_RF_DATARATE 8000 // 8k bits per sec
//#define RFM22_DEFAULT_RF_DATARATE 9600 // 9.6k bits per sec
//#define RFM22_DEFAULT_RF_DATARATE 16000 // 16k bits per sec
//#define RFM22_DEFAULT_RF_DATARATE 19200 // 19k2 bits per sec
//#define RFM22_DEFAULT_RF_DATARATE 24000 // 24k bits per sec
//#define RFM22_DEFAULT_RF_DATARATE 32000 // 32k bits per sec
//#define RFM22_DEFAULT_RF_DATARATE 64000 // 64k bits per sec
#define RFM22_DEFAULT_RF_DATARATE 128000 // 128k bits per sec
//#define RFM22_DEFAULT_RF_DATARATE 192000 // 192k bits per sec
//#define RFM22_DEFAULT_RF_DATARATE 256000 // 256k bits per sec .. NOT YET WORKING
// ************************************
#define RFM22_DEFAULT_SS_RF_DATARATE 125 // 128bps
#ifndef RX_LED_ON #ifndef RX_LED_ON
#define RX_LED_ON #define RX_LED_ON
#define RX_LED_OFF #define RX_LED_OFF
@ -258,9 +238,12 @@ struct pios_rfm22b_dev {
int32_t afc_correction_Hz; int32_t afc_correction_Hz;
int8_t rx_packet_start_afc_Hz; int8_t rx_packet_start_afc_Hz;
// The status packet
PHStatusPacket status_packet;
// The maximum time (ms) that it should take to transmit / receive a packet. // The maximum time (ms) that it should take to transmit / receive a packet.
uint32_t max_packet_time; uint32_t max_packet_time;
portTickType packet_start_time; portTickType packet_start_ticks;
}; };
struct pios_rfm22b_transition { struct pios_rfm22b_transition {
@ -308,6 +291,7 @@ static enum pios_rfm22b_event rfm22_process_state_transition(struct pios_rfm22b_
static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev); 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_error(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_fatal_error(struct pios_rfm22b_dev *rfm22b_dev); static enum pios_rfm22b_event rfm22_fatal_error(struct pios_rfm22b_dev *rfm22b_dev);
static bool rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev);
// SPI read/write functions // SPI read/write functions
static void rfm22_assertCs(); static void rfm22_assertCs();
@ -587,7 +571,7 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
// Calculate the (approximate) maximum amount of time that it should take to transmit / receive a packet. // 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->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; rfm22b_dev->packet_start_ticks = 0;
// Create a semaphore to know if an ISR needs responding to // Create a semaphore to know if an ISR needs responding to
vSemaphoreCreateBinary( rfm22b_dev->isrPending ); vSemaphoreCreateBinary( rfm22b_dev->isrPending );
@ -791,7 +775,8 @@ static void PIOS_RFM22B_Task(void *parameters)
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)parameters; struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)parameters;
if (!PIOS_RFM22B_validate(rfm22b_dev)) if (!PIOS_RFM22B_validate(rfm22b_dev))
return; return;
static portTickType lastEventTime; portTickType lastEventTicks = xTaskGetTickCount();
portTickType lastStatusTicks = lastEventTicks;
while(1) while(1)
{ {
@ -803,7 +788,7 @@ static void PIOS_RFM22B_Task(void *parameters)
// Wait for a signal indicating an external interrupt or a pending send/receive request. // 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 ) { if ( xSemaphoreTake(g_rfm22b_dev->isrPending, ISR_TIMEOUT / portTICK_RATE_MS) == pdTRUE ) {
rfm22b_dev->irqs_processed++; rfm22b_dev->irqs_processed++;
lastEventTime = xTaskGetTickCount(); lastEventTicks = xTaskGetTickCount();
// Process events through the state machine. // Process events through the state machine.
enum pios_rfm22b_event event; enum pios_rfm22b_event event;
@ -821,8 +806,11 @@ static void PIOS_RFM22B_Task(void *parameters)
else else
{ {
// Has it been too long since the last event? // Has it been too long since the last event?
portTickType timeSinceEvent = xTaskGetTickCount() - lastEventTime; portTickType curTicks = xTaskGetTickCount();
if ((timeSinceEvent / portTICK_RATE_MS) > PIOS_RFM22B_SUPERVISOR_TIMEOUT) if (curTicks < lastEventTicks)
lastEventTicks = curTicks;
portTickType ticksSinceEvent = curTicks - lastEventTicks;
if ((ticksSinceEvent / portTICK_RATE_MS) > PIOS_RFM22B_SUPERVISOR_TIMEOUT)
{ {
// Transsition through an error event. // Transsition through an error event.
enum pios_rfm22b_event event = RFM22B_EVENT_ERROR; enum pios_rfm22b_event event = RFM22B_EVENT_ERROR;
@ -832,34 +820,36 @@ static void PIOS_RFM22B_Task(void *parameters)
// Clear the event queue. // Clear the event queue.
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE) while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE)
; ;
lastEventTime = xTaskGetTickCount(); lastEventTicks = 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? // Have we locked up sending / receiving a packet?
if (rfm22b_dev->packet_start_time > 0) if (rfm22b_dev->packet_start_ticks > 0)
{ {
portTickType cur_time = xTaskGetTickCount(); portTickType cur_ticks = xTaskGetTickCount();
// Did the clock wrap around? // Did the clock wrap around?
if (cur_time < rfm22b_dev->packet_start_time) if (cur_ticks < rfm22b_dev->packet_start_ticks)
rfm22b_dev->packet_start_time = (cur_time > 0) ? cur_time : 1; rfm22b_dev->packet_start_ticks = (cur_ticks > 0) ? cur_ticks : 1;
// Have we been sending this packet too long? // Have we been sending this packet too long?
if ((cur_time - rfm22b_dev->packet_start_time) > (rfm22b_dev->max_packet_time * 5)) if (((cur_ticks - rfm22b_dev->packet_start_ticks) / portTICK_RATE_MS) > (rfm22b_dev->max_packet_time * 3))
{ {
enum pios_rfm22b_event event = RFM22B_EVENT_TIMEOUT; enum pios_rfm22b_event event = RFM22B_EVENT_TIMEOUT;
while(event != RFM22B_EVENT_NUM_EVENTS) while(event != RFM22B_EVENT_NUM_EVENTS)
event = rfm22_process_state_transition(rfm22b_dev, event); event = rfm22_process_state_transition(rfm22b_dev, event);
} }
} }
// Queue up a status packet if it's time.
portTickType curTicks = xTaskGetTickCount();
// Rollover
if (curTicks < lastStatusTicks)
lastStatusTicks = curTicks;
if (((curTicks - lastStatusTicks) / portTICK_RATE_MS) > RADIOSTATS_UPDATE_PERIOD_MS)
if (rfm22_sendStatus(rfm22b_dev))
lastStatusTicks = curTicks;
} }
} }
@ -1206,7 +1196,7 @@ void rfm22_setDatarate(uint32_t datarate_bps, bool data_whitening)
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev) static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev)
{ {
rfm22b_dev->packet_start_time = 0; rfm22b_dev->packet_start_ticks = 0;
// disable interrupts // disable interrupts
rfm22_write(RFM22_interrupt_enable1, 0x00); rfm22_write(RFM22_interrupt_enable1, 0x00);
@ -1254,9 +1244,9 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
return RFM22B_EVENT_RX_MODE; return RFM22B_EVENT_RX_MODE;
} }
rfm22b_dev->tx_packet = p; rfm22b_dev->tx_packet = p;
rfm22b_dev->packet_start_time = xTaskGetTickCount(); rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_time == 0) if (rfm22b_dev->packet_start_ticks == 0)
rfm22b_dev->packet_start_time = 1; rfm22b_dev->packet_start_ticks = 1;
// disable interrupts // disable interrupts
rfm22_write(RFM22_interrupt_enable1, 0x00); rfm22_write(RFM22_interrupt_enable1, 0x00);
@ -1319,6 +1309,36 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
return RFM22B_EVENT_TX_STARTED; return RFM22B_EVENT_TX_STARTED;
} }
static bool rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
{
PHPacketHandle sph = (PHPacketHandle)&(rfm22b_dev->status_packet);
// Queue the status message
rfm22b_dev->status_packet.header.source_id = rfm22b_dev->deviceID;
rfm22b_dev->status_packet.header.destination_id = 0xffffffff; // Broadcast
rfm22b_dev->status_packet.header.type = PACKET_TYPE_STATUS;
rfm22b_dev->status_packet.header.data_size = PH_STATUS_DATA_SIZE(&(rfm22b_dev->status_packet));
rfm22b_dev->status_packet.header.tx_seq = 0;
rfm22b_dev->status_packet.header.rx_seq = 0;
rfm22b_dev->status_packet.errors = rfm22b_dev->errors;
rfm22b_dev->status_packet.resets = rfm22b_dev->resets;
rfm22b_dev->status_packet.retries = 0;
rfm22b_dev->status_packet.uavtalk_errors = 0;
rfm22b_dev->status_packet.dropped = 0;
// Add the error correcting code.
encode_data((unsigned char*)sph, PHPacketSize(sph), (unsigned char*)sph);
if (xQueueSend(rfm22b_dev->packetQueue, &sph, 0) != pdTRUE)
return false;
// Process a SEND_PACKT event.
enum pios_rfm22b_event event = RFM22B_EVENT_SEND_PACKET;
while(event != RFM22B_EVENT_NUM_EVENTS)
event = rfm22_process_state_transition(rfm22b_dev, event);
return true;
}
// ************************************ // ************************************
/** /**
@ -1364,9 +1384,9 @@ static enum pios_rfm22b_event rfm22_detectPreamble(struct pios_rfm22b_dev *rfm22
// Valid preamble detected // Valid preamble detected
if (rfm22b_dev->int_status2 & RFM22_is2_ipreaval) if (rfm22b_dev->int_status2 & RFM22_is2_ipreaval)
{ {
rfm22b_dev->packet_start_time = xTaskGetTickCount(); rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_time == 0) if (rfm22b_dev->packet_start_ticks == 0)
rfm22b_dev->packet_start_time = 1; rfm22b_dev->packet_start_ticks = 1;
RX_LED_ON; RX_LED_ON;
return RFM22B_EVENT_PREAMBLE_DETECTED; return RFM22B_EVENT_PREAMBLE_DETECTED;
} }
@ -1505,7 +1525,7 @@ static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
} }
// Start a new transaction // Start a new transaction
rfm22b_dev->packet_start_time = 0; rfm22b_dev->packet_start_ticks = 0;
return RFM22B_EVENT_RX_COMPLETE; return RFM22B_EVENT_RX_COMPLETE;
} }
@ -1560,7 +1580,7 @@ static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->tx_packet = 0; rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0; rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
// Start a new transaction // Start a new transaction
rfm22b_dev->packet_start_time = 0; rfm22b_dev->packet_start_ticks = 0;
return RFM22B_EVENT_TX_COMPLETE; return RFM22B_EVENT_TX_COMPLETE;
} }
@ -1650,7 +1670,7 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->afc_correction_Hz = 0; rfm22b_dev->afc_correction_Hz = 0;
rfm22b_dev->packet_start_time = 0; rfm22b_dev->packet_start_ticks = 0;
// **************** // ****************
// read the RF chip ID bytes // read the RF chip ID bytes
@ -1734,9 +1754,6 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
if (freq_hop_step_size > 255) freq_hop_step_size = 255; if (freq_hop_step_size > 255) freq_hop_step_size = 255;
rfm22b_dev->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);
// FIFO mode, GFSK modulation // FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd; uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(RFM22_modulation_mode_control2, RFM22_mmc2_trclk_clk_none | RFM22_mmc2_dtmod_fifo | fd_bit | RFM22_mmc2_modtyp_gfsk); rfm22_write(RFM22_modulation_mode_control2, RFM22_mmc2_trclk_clk_none | RFM22_mmc2_dtmod_fifo | fd_bit | RFM22_mmc2_modtyp_gfsk);
@ -1841,14 +1858,14 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev) static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev)
{ {
rfm22b_dev->resets++; rfm22b_dev->resets++;
rfm22b_dev->packet_start_time = 0; rfm22b_dev->packet_start_ticks = 0;
return RFM22B_EVENT_TX_START; return RFM22B_EVENT_TX_START;
} }
static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev) static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev)
{ {
rfm22b_dev->resets++; rfm22b_dev->resets++;
rfm22b_dev->packet_start_time = 0; rfm22b_dev->packet_start_ticks = 0;
return RFM22B_EVENT_INITIALIZE; return RFM22B_EVENT_INITIALIZE;
} }