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RFM22B: Some more reliability improvements for frequency hopping.
This commit is contained in:
Brian Webb
parent
c796b564b3
commit
4743404c47
@ -593,6 +593,8 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
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rfm22b_dev->stats.timeouts = 0;
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rfm22b_dev->stats.link_quality = 0;
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rfm22b_dev->stats.rssi = 0;
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rfm22b_dev->stats.tx_seq = 0;
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rfm22b_dev->stats.rx_seq = 0;
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// initialize the frequency hopping step size (specified in 10khz increments).
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uint32_t freq_hop_step_size = RFM22B_FREQUENCY_HOP_STEP_SIZE / 10000;
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@ -901,16 +903,16 @@ static void PIOS_RFM22B_Task(void *parameters)
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}
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portTickType curTicks = xTaskGetTickCount();
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uint32_t last_rec_ms = (rfm22b_dev->rx_complete_ticks == 0) ? 0 : timeDifferenceMs(rfm22b_dev->rx_complete_ticks, curTicks);
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// Have we been sending this packet too long?
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if ((rfm22b_dev->packet_start_ticks > 0) && (timeDifferenceMs(rfm22b_dev->packet_start_ticks, curTicks) > (rfm22b_dev->max_packet_time * 3)))
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if ((rfm22b_dev->packet_start_ticks > 0) && (timeDifferenceMs(rfm22b_dev->packet_start_ticks, curTicks) > (rfm22b_dev->max_packet_time * 3))) {
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rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TIMEOUT);
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// Has it been too long since we received a packet
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else if ((rfm22b_dev->rx_complete_ticks > 0) && (timeDifferenceMs(rfm22b_dev->rx_complete_ticks, curTicks) > DISCONNECT_TIMEOUT_MS))
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} else if (last_rec_ms > DISCONNECT_TIMEOUT_MS) {
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rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
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else
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{
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} else {
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// Are we waiting for an ACK?
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if (rfm22b_dev->prev_tx_packet)
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@ -934,7 +936,7 @@ static void PIOS_RFM22B_Task(void *parameters)
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}
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// Queue up a status packet if it's time.
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if (timeDifferenceMs(lastStatusTicks, curTicks) > RADIOSTATS_UPDATE_PERIOD_MS)
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if ((timeDifferenceMs(lastStatusTicks, curTicks) > RADIOSTATS_UPDATE_PERIOD_MS) || (last_rec_ms > rfm22b_dev->max_packet_time * 4))
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{
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rfm22_sendStatus(rfm22b_dev);
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lastStatusTicks = curTicks;
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@ -977,7 +979,7 @@ static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_d
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{
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// Generate a pseudo-random number from 0-8 to add to the delay
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uint8_t random = PIOS_CRC_updateByte(0, (uint8_t)(xTaskGetTickCount() & 0xff)) & 0x03;
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rfm22b_dev->max_ack_delay = (uint16_t)((float)(sizeof(PHPacketHeader) * 8 * 1000) / (float)(datarate_bps) + 0.5) * 4 + random;
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rfm22b_dev->max_ack_delay = (uint16_t)((float)(sizeof(PHPacketHeader) * 8 * 1000) / (float)(datarate_bps) + 0.5) * 6 + random;
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}
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else
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rfm22b_dev->max_ack_delay = CONNECT_ATTEMPT_PERIOD_MS;
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@ -1462,16 +1464,14 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
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static void rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
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{
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// Don't send status if we're the coordinator.
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if (rfm22b_dev->coordinator)
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return;
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// Update the link quality metric.
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rfm22_calculateLinkQuality(rfm22b_dev);
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// Queue the status message
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if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
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rfm22b_dev->status_packet.header.destination_id = rfm22b_dev->destination_id;
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else if (rfm22b_dev->coordinator)
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return;
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else
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rfm22b_dev->status_packet.header.destination_id = 0xffffffff; // Broadcast
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rfm22b_dev->status_packet.header.type = PACKET_TYPE_STATUS;
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@ -2022,10 +2022,24 @@ static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_d
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cph->vcp_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].vcp_port;
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cph->com_speed = rfm22b_dev->bindings[rfm22b_dev->cur_binding].com_speed;
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} else {
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// Switch to the fallback channel if we have resent too many packets.
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if (rfm22b_dev->cur_resent_count++ > 2) {
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// First resend on the current channel, then resend on the next channel in case the receive has changed channels, then fallback.
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rfm22b_dev->cur_resent_count++;
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switch (rfm22b_dev->cur_resent_count) {
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case 1:
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case 2:
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rfm22b_dev->prev_frequency_hop_channel = rfm22b_dev->frequency_hop_channel;
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case 5:
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rfm22_setFreqHopChannel(rfm22b_dev, rfm22b_dev->prev_frequency_hop_channel);
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break;
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case 3:
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case 4:
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case 6:
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rfm22_setFreqHopChannel(rfm22b_dev, PIOS_CRC16_updateByte(rfm22b_dev->tx_packet->header.seq_num, 0) & 0x7f);
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break;
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default:
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rfm22b_dev->cur_resent_count = 0;
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rfm22_setFreqHopChannel(rfm22b_dev, RFM22B_DEFAULT_CHANNEL);
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break;
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}
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}
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@ -2192,8 +2206,6 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
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rfm22b_dev->rx_packet_len = 0;
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rfm22b_dev->tx_packet = NULL;
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rfm22b_dev->prev_tx_packet = NULL;
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rfm22b_dev->stats.tx_seq = 0;
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rfm22b_dev->stats.rx_seq = 0;
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rfm22b_dev->data_packet.header.data_size = 0;
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rfm22b_dev->in_rx_mode = false;
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@ -2202,6 +2214,7 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
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rfm22b_dev->rx_buffer_wr = 0;
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rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
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rfm22b_dev->frequency_hop_channel = 0;
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rfm22b_dev->prev_frequency_hop_channel = 0;
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rfm22b_dev->afc_correction_Hz = 0;
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rfm22b_dev->packet_start_ticks = 0;
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rfm22b_dev->tx_complete_ticks = 0;
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@ -2210,18 +2223,16 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
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// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
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rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
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// wait 26ms
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PIOS_DELAY_WaitmS(26);
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for (int i = 50; i > 0; i--)
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{
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// wait 1ms
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PIOS_DELAY_WaitmS(1);
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// read the status registers
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rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
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rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
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if (rfm22b_dev->int_status2 & RFM22_is2_ichiprdy) break;
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// wait 1ms
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PIOS_DELAY_WaitmS(1);
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}
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// ****************
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@ -777,6 +777,8 @@ struct pios_rfm22b_dev {
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float frequency_step_size;
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// current frequency hop channel
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uint8_t frequency_hop_channel;
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// previous frequency hop channel
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uint8_t prev_frequency_hop_channel;
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// the frequency hop step size
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uint8_t frequency_hop_step_size_reg;
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// afc correction reading (in Hz)
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