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Adds a failsafe on PPM output on OPLink that kicks in when the link goes down. Also updates all air datarate settings and adds new 64 and 100 kbps modes.

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This commit is contained in:
Brian Webb 2013-06-29 15:00:38 -07:00
parent bab69401b9
commit 491e5fe685
4 changed files with 44 additions and 32 deletions
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61
flight/pios/common/pios_rfm22b.c
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@ -302,37 +302,46 @@ static const struct pios_rfm22b_transition rfm22b_transitions[RADIO_STATE_NUM_ST
};
// xtal 10 ppm, 434MHz
static const uint32_t data_rate[] = { 9600, 19200, 32000, 57600, 128000, 192000, 256000 };
static const uint8_t modulation_index[] = { 1, 1, 1, 1, 1, 1, 1 };
static const uint32_t data_rate[] = {
9600, // 96 kbps, 433 HMz, 30 khz freq dev
19200, // 19.2 kbps, 433 MHz, 45 khz freq dev
32000, // 32 kbps, 433 MHz, 45 khz freq dev
57600, // 57.6 kbps, 433 MHz, 45 khz freq dev
64000, // 64 kbps, 433 MHz, 45 khz freq dev
100000, // 100 kbps, 433 MHz, 60 khz freq dev
128000, // 128 kbps, 433 MHz, 90 khz freq dev
192000, // 192 kbps, 433 MHz, 128 khz freq dev
256000, // 256 kbps, 433 MHz, 150 khz freq dev
};
static const uint8_t reg_1C[] = { 0x01, 0x05, 0x16, 0x06, 0x83, 0x8A, 0x8C }; // rfm22_if_filter_bandwidth
static const uint8_t reg_1C[] = { 0x01, 0x05, 0x06, 0x95, 0x95, 0x81, 0x88, 0x8B, 0x8D }; // rfm22_if_filter_bandwidth
static const uint8_t reg_1D[] = { 0x40, 0x40, 0x44, 0x40, 0x44, 0x44, 0x44 }; // rfm22_afc_loop_gearshift_override
static const uint8_t reg_1E[] = { 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x02 }; // rfm22_afc_timing_control
static const uint8_t reg_1D[] = { 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40 }; // rfm22_afc_loop_gearshift_override
static const uint8_t reg_1E[] = { 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x0A, 0x02 }; // rfm22_afc_timing_control
static const uint8_t reg_1F[] = { 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03 }; // rfm22_clk_recovery_gearshift_override
static const uint8_t reg_20[] = { 0xA1, 0xD0, 0x3F, 0x45, 0x5E, 0x3F, 0x2F }; // rfm22_clk_recovery_oversampling_ratio
static const uint8_t reg_21[] = { 0x20, 0x00, 0x02, 0x01, 0x01, 0x02, 0x02 }; // rfm22_clk_recovery_offset2
static const uint8_t reg_22[] = { 0x4E, 0x9D, 0x0C, 0xD7, 0x0c, 0x5D, 0x0C, 0xBB }; // rfm22_clk_recovery_offset1
static const uint8_t reg_23[] = { 0xA5, 0x49, 0x4A, 0xDC, 0x86, 0x4A, 0x0D }; // rfm22_clk_recovery_offset0
static const uint8_t reg_24[] = { 0x00, 0x00, 0x07, 0x07, 0x07, 0x05, 0x07, 0x07 }; // rfm22_clk_recovery_timing_loop_gain1
static const uint8_t reg_25[] = { 0x34, 0x8, 0xFF, 0x6E, 0x74, 0xFF, 0xFF }; // rfm22_clk_recovery_timing_loop_gain0
static const uint8_t reg_1F[] = { 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03 }; // rfm22_clk_recovery_gearshift_override
static const uint8_t reg_20[] = { 0xA1, 0xD0, 0x7D, 0x68, 0x5E, 0x78, 0x5E, 0x3F, 0x2F }; // rfm22_clk_recovery_oversampling_ratio
static const uint8_t reg_21[] = { 0x20, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x02, 0x02 }; // rfm22_clk_recovery_offset2
static const uint8_t reg_22[] = { 0x4E, 0x9D, 0x06, 0x3A, 0x5D, 0x11, 0x5D, 0x0C, 0xBB }; // rfm22_clk_recovery_offset1
static const uint8_t reg_23[] = { 0xA5, 0x49, 0x25, 0x93, 0x86, 0x11, 0x86, 0x4A, 0x0D }; // rfm22_clk_recovery_offset0
static const uint8_t reg_24[] = { 0x00, 0x00, 0x01, 0x03, 0x03, 0x03, 0x03, 0x06, 0x07 }; // rfm22_clk_recovery_timing_loop_gain1
static const uint8_t reg_25[] = { 0x34, 0x88, 0x77, 0x29, 0xE2, 0x90, 0xE2, 0x1A, 0xFF }; // rfm22_clk_recovery_timing_loop_gain0
static const uint8_t reg_2A[] = { 0x1E, 0x24, 0x17, 0x2D, 0x50, 0x50, 0x50 }; // rfm22_afc_limiter .. AFC_pull_in_range = <20>AFCLimiter[7:0] x (hbsel+1) x 625 Hz
static const uint8_t reg_2A[] = { 0x1E, 0x24, 0x28, 0x3C, 0x3C, 0x50, 0x50, 0x50, 0x50 }; // rfm22_afc_limiter .. AFC_pull_in_range = <20>AFCLimiter[7:0] x (hbsel+1) x 625 Hz
static const uint8_t reg_58[] = { 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80 }; // rfm22_cpcuu
static const uint8_t reg_69[] = { 0x60, 0x60, 0x20, 0x60, 0x20, 0x20, 0x20 }; // rfm22_agc_override1
static const uint8_t reg_6E[] = { 0x4E, 0x9D, 0x08, 0x0E, 0x20, 0x31, 0x41 }; // rfm22_tx_data_rate1
static const uint8_t reg_6F[] = { 0xA5, 0x49, 0x31, 0xBF, 0xC5, 0x27, 0x89 }; // rfm22_tx_data_rate0
static const uint8_t reg_58[] = { 0x80, 0x80, 0x80, 0x80, 0x80, 0xC0, 0xC0, 0xC0, 0xED }; // rfm22_cpcuu
static const uint8_t reg_69[] = { 0x60, 0x60, 0x60, 0x60, 0x60, 0x60, 0x60, 0x60, 0x60 }; // rfm22_agc_override1
static const uint8_t reg_6E[] = { 0x4E, 0x9D, 0x08, 0x0E, 0x10, 0x19, 0x20, 0x31, 0x41 }; // rfm22_tx_data_rate1
static const uint8_t reg_6F[] = { 0xA5, 0x49, 0x31, 0xBF, 0x62, 0x9A, 0xC5, 0x27, 0x89 }; // rfm22_tx_data_rate0
static const uint8_t reg_70[] = { 0x2C, 0x2C, 0x0D, 0x0C, 0x0D, 0x0D, 0x0D }; // rfm22_modulation_mode_control1
static const uint8_t reg_71[] = { 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23 }; // rfm22_modulation_mode_control2
static const uint8_t reg_70[] = { 0x2C, 0x2C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C }; // rfm22_modulation_mode_control1
static const uint8_t reg_71[] = { 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23, 0x23 }; // rfm22_modulation_mode_control2
static const uint8_t reg_72[] = { 0x30, 0x48, 0x1A, 0x2E, 0x66, 0x9A, 0xCD }; // rfm22_frequency_deviation
static const uint8_t reg_72[] = { 0x30, 0x48, 0x48, 0x48, 0x48, 0x60, 0x90, 0xCD, 0x0F }; // rfm22_frequency_deviation
static const uint8_t packet_time[] = { 80, 40, 25, 15, 8, 6, 5 };
static const uint8_t packet_time_ppm[] = { 26, 25, 25, 15, 8, 6, 5 };
static const uint8_t num_channels[] = { 3, 3, 4, 6, 9, 12, 15 };
static const uint8_t packet_time[] = { 80, 40, 25, 15, 13, 10, 8, 6, 5 };
static const uint8_t packet_time_ppm[] = { 26, 25, 25, 15, 13, 10, 8, 6, 5 };
static const uint8_t num_channels[] = { 4, 4, 4, 6, 8, 8, 10, 12, 16 };
static struct pios_rfm22b_dev *g_rfm22b_dev = NULL;
@ -1186,9 +1195,11 @@ static void pios_rfm22_task(void *parameters)
if (!rfm22_isCoordinator(rfm22b_dev) && rfm22b_dev->on_sync_channel) {
rfm22b_dev->on_sync_channel = false;
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) {
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTING;
} else {
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
// Set the PPM outputs to INVALID
for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) {
rfm22b_dev->ppm[i] = PIOS_RCVR_INVALID;
}
}
}

7
flight/pios/inc/pios_rfm22b.h
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@ -65,9 +65,10 @@ enum rfm22b_datarate {
RFM22_datarate_32000 = 2,
RFM22_datarate_57600 = 3,
RFM22_datarate_64000 = 4,
RFM22_datarate_128000 = 5,
RFM22_datarate_192000 = 6,
RFM22_datarate_256000 = 7,
RFM22_datarate_100000 = 5,
RFM22_datarate_128000 = 6,
RFM22_datarate_192000 = 7,
RFM22_datarate_256000 = 8,
};
typedef enum {

4
flight/targets/boards/oplinkmini/firmware/pios_board.c
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@ -318,10 +318,10 @@ void PIOS_Board_Init(void)
datarate = RFM22_datarate_32000;
break;
case OPLINKSETTINGS_COMSPEED_38400:
datarate = RFM22_datarate_57600;
datarate = RFM22_datarate_64000;
break;
case OPLINKSETTINGS_COMSPEED_57600:
datarate = RFM22_datarate_128000;
datarate = RFM22_datarate_100000;
break;
case OPLINKSETTINGS_COMSPEED_115200:
datarate = RFM22_datarate_192000;

4
flight/targets/boards/revolution/firmware/pios_board.c
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@ -773,10 +773,10 @@ void PIOS_Board_Init(void)
datarate = RFM22_datarate_32000;
break;
case OPLINKSETTINGS_COMSPEED_38400:
datarate = RFM22_datarate_57600;
datarate = RFM22_datarate_64000;
break;
case OPLINKSETTINGS_COMSPEED_57600:
datarate = RFM22_datarate_128000;
datarate = RFM22_datarate_100000;
break;
case OPLINKSETTINGS_COMSPEED_115200:
datarate = RFM22_datarate_192000;