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Code Issues Releases Activity

RFM22B: Improved reliability, especially with reconnection after a timeout, although there is still too many resent packets.

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This commit is contained in:
Brian Webb 2012-11-13 21:08:33 -07:00
parent 7a930807aa
commit 4cb311538a
3 changed files with 87 additions and 104 deletions
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1
flight/Libraries/inc/packet_handler.h
View File

@ -43,6 +43,7 @@ typedef enum {
PACKET_TYPE_STATUS, // broadcasts status of this modem
PACKET_TYPE_CON_REQUEST, // request a connection to another modem
PACKET_TYPE_DATA, // data packet (packet contains user data)
PACKET_TYPE_DUPLICATE_DATA, // a duplicate data packet
PACKET_TYPE_PPM, // PPM relay values
PACKET_TYPE_ACK,
PACKET_TYPE_NACK,

183
flight/PiOS/Common/pios_rfm22b.c
View File

@ -61,12 +61,16 @@
#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
#define ISR_TIMEOUT 2 // ms
#define EVENT_QUEUE_SIZE 5
#define RFM22B_DEFAULT_RX_DATARATE RFM22_datarate_32000
#define RFM22B_DEFAULT_RX_DATARATE RFM22_datarate_9600
#define RFM22B_DEFAULT_FREQUENCY 434000000
#define RFM22B_DEFAULT_MIN_FREQUENCY (RFM22B_DEFAULT_FREQUENCY - 2000000)
#define RFM22B_DEFAULT_MAX_FREQUENCY (RFM22B_DEFAULT_FREQUENCY + 2000000)
#define RFM22B_DEFAULT_TX_POWER RFM22_tx_pwr_txpow_7
#define RFM22B_LINK_QUALITY_THRESHOLD 20
// The maximum amount of time since the last message received to consider the connection broken.
#define DISCONNECT_TIMEOUT_MS 1000 // ms
// The maximum amount of time without activity before initiating a reset.
#define PIOS_RFM22B_SUPERVISOR_TIMEOUT 100 // ms
@ -533,79 +537,27 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *) PIOS_RFM22B_alloc();
if (!rfm22b_dev)
return(-1);
*rfm22b_id = (uint32_t)rfm22b_dev;
g_rfm22b_dev = rfm22b_dev;
// Store the SPI handle
rfm22b_dev->slave_num = slave_num;
rfm22b_dev->spi_id = spi_id;
// Set the state to initializing.
rfm22b_dev->state = RFM22B_STATE_UNINITIALIZED;
// Initialize our configuration parameters
rfm22b_dev->coordinator = false;
rfm22b_dev->send_ppm = false;
rfm22b_dev->datarate = RFM22B_DEFAULT_RX_DATARATE;
// 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 detected device statistics.
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i)
{
rfm22b_dev->pair_stats[i].pairID = 0;
rfm22b_dev->pair_stats[i].rssi = -127;
rfm22b_dev->pair_stats[i].afc_correction = 0;
rfm22b_dev->pair_stats[i].lastContact = 0;
}
// Initlize the link stats.
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i)
rfm22b_dev->rx_packet_stats[i] = 0;
// Initialize the stats.
rfm22b_dev->stats.packets_per_sec = 0;
rfm22b_dev->stats.rx_good = 0;
rfm22b_dev->stats.rx_corrected = 0;
rfm22b_dev->stats.rx_error = 0;
rfm22b_dev->stats.rx_missed = 0;
rfm22b_dev->stats.tx_dropped = 0;
rfm22b_dev->stats.tx_resent = 0;
rfm22b_dev->stats.resets = 0;
rfm22b_dev->stats.timeouts = 0;
rfm22b_dev->stats.link_quality = 0;
rfm22b_dev->stats.rssi = 0;
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
rfm22b_dev->tx_power = RFM22B_DEFAULT_TX_POWER;
rfm22b_dev->destination_id = 0xffffffff;
rfm22b_dev->coordinator = false;
rfm22b_dev->send_status = false;
rfm22b_dev->send_ppm = false;
rfm22b_dev->send_connection_request = false;
// Bind the configuration to the device instance
rfm22b_dev->cfg = *cfg;
rfm22b_dev->datarate = RFM22B_DEFAULT_RX_DATARATE;
// Initialize the packets.
rfm22b_dev->rx_packet_len = 0;
rfm22b_dev->tx_packet = NULL;
rfm22b_dev->prev_tx_packet = NULL;
rfm22b_dev->stats.tx_seq = 0;
rfm22b_dev->stats.rx_seq = 0;
rfm22b_dev->data_packet.header.data_size = 0;
*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->packet_start_ticks = 0;
// Create a semaphore to know if an ISR needs responding to
vSemaphoreCreateBinary( rfm22b_dev->isrPending );
// Create a semaphore to know when an rx packet is available
vSemaphoreCreateBinary( rfm22b_dev->rxsem );
// Create our (hopefully) unique 32 bit id from the processor serial number.
uint8_t crcs[] = { 0, 0, 0, 0 };
{
@ -626,12 +578,15 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
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));
// Set the state to initializing.
rfm22b_dev->state = RFM22B_STATE_UNINITIALIZED;
// Initialize the radio device.
PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
// 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));
return(0);
}
@ -878,6 +833,10 @@ static void PIOS_RFM22B_Task(void *parameters)
else if (rfm22b_dev->state == RFM22B_STATE_TX_DELAY)
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TX_START);
// Have it been too long since we received a packet
else if ((rfm22b_dev->rx_complete_ticks > 0) && (timeDifferenceMs(rfm22b_dev->rx_complete_ticks, curTicks) > DISCONNECT_TIMEOUT_MS))
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
else
{
@ -1419,29 +1378,6 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
static bool rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
{
// Remove any modems that have been disconnected too long.
bool disconnected = false;
uint8_t id_idx;
for (id_idx = 0; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx)
{
if ((rfm22b_dev->pair_stats[id_idx].pairID != 0) && (rfm22b_dev->pair_stats[id_idx].lastContact++ > MAX_RADIOSTATS_MISS_COUNT))
{
if (id_idx > 0)
rfm22b_dev->pair_stats[id_idx].pairID = 0;
else
disconnected = true;
rfm22b_dev->pair_stats[id_idx].rssi = -127;
rfm22b_dev->pair_stats[id_idx].afc_correction = 0;
rfm22b_dev->pair_stats[id_idx].lastContact = 0;
}
}
// We need to re-connect if we lost connection to our remote modem.
if (disconnected)
{
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_INITIALIZE);
return false;
}
// Update the link quality metric.
rfm22_calculateLinkQuality(rfm22b_dev);
@ -1626,6 +1562,8 @@ static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHand
uint16_t prev_seq_num = rfm22b_dev->stats.rx_seq;
if (seq_num > prev_seq_num)
missed_packets = seq_num - prev_seq_num - 1;
else if((seq_num == prev_seq_num) && (p->header.type == PACKET_TYPE_DATA))
p->header.type = PACKET_TYPE_DUPLICATE_DATA;
}
rfm22b_dev->stats.rx_missed += missed_packets;
}
@ -1642,7 +1580,7 @@ static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHand
// We couldn't correct the error, so drop the packet.
rfm22b_add_rx_status(rfm22b_dev, RFM22B_ERROR_RX_PACKET);
return good_packet || corrected_packet;
return (good_packet || corrected_packet);
}
static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
@ -1727,11 +1665,13 @@ static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
break;
case PACKET_TYPE_DATA:
{
// Send the data to the com port.
// Send the data to the com port
bool rx_need_yield;
(rfm22b_dev->rx_in_cb)(rfm22b_dev->rx_in_context, rfm22b_dev->rx_packet.data, rfm22b_dev->rx_packet.header.data_size, NULL, &rx_need_yield);
break;
}
case PACKET_TYPE_DUPLICATE_DATA:
break;
case PACKET_TYPE_ACK:
ret_event = RFM22B_EVENT_PACKET_ACKED;
break;
@ -1745,6 +1685,9 @@ static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
else
ret_event = RFM22B_EVENT_RX_ERROR;
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
if (rfm22b_dev->rx_complete_ticks == 0)
rfm22b_dev->rx_complete_ticks = 1;
}
// Start a new transaction
@ -2020,8 +1963,54 @@ static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm
static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
{
uint32_t id = rfm22b_dev->deviceID;
uint32_t freq_hop_step_size = 50000;
// 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 detected device statistics.
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i)
{
rfm22b_dev->pair_stats[i].pairID = 0;
rfm22b_dev->pair_stats[i].rssi = -127;
rfm22b_dev->pair_stats[i].afc_correction = 0;
rfm22b_dev->pair_stats[i].lastContact = 0;
}
// Initlize the link stats.
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i)
rfm22b_dev->rx_packet_stats[i] = 0;
// Initialize the stats.
rfm22b_dev->stats.packets_per_sec = 0;
rfm22b_dev->stats.rx_good = 0;
rfm22b_dev->stats.rx_corrected = 0;
rfm22b_dev->stats.rx_error = 0;
rfm22b_dev->stats.rx_missed = 0;
rfm22b_dev->stats.tx_dropped = 0;
rfm22b_dev->stats.tx_resent = 0;
rfm22b_dev->stats.resets = 0;
rfm22b_dev->stats.timeouts = 0;
rfm22b_dev->stats.link_quality = 0;
rfm22b_dev->stats.rssi = 0;
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
rfm22b_dev->tx_power = RFM22B_DEFAULT_TX_POWER;
rfm22b_dev->destination_id = 0xffffffff;
rfm22b_dev->send_status = false;
rfm22b_dev->send_connection_request = false;
// Initialize the packets.
rfm22b_dev->rx_packet_len = 0;
rfm22b_dev->tx_packet = NULL;
rfm22b_dev->prev_tx_packet = NULL;
rfm22b_dev->stats.tx_seq = 0;
rfm22b_dev->stats.rx_seq = 0;
rfm22b_dev->data_packet.header.data_size = 0;
// Calculate the (approximate) maximum amount of time that it should take to transmit / receive a packet.
rfm22b_dev->packet_start_ticks = 0;
// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
@ -2065,6 +2054,8 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->afc_correction_Hz = 0;
rfm22b_dev->packet_start_ticks = 0;
rfm22b_dev->tx_complete_ticks = 0;
rfm22b_dev->rx_complete_ticks = 0;
// ****************
// read the RF chip ID bytes
@ -2132,6 +2123,7 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
// ****************
// initialize the frequency hopping step size
uint32_t freq_hop_step_size = 50000;
freq_hop_step_size /= 10000; // in 10kHz increments
if (freq_hop_step_size > 255) freq_hop_step_size = 255;
rfm22b_dev->frequency_hop_step_size_reg = freq_hop_step_size;
@ -2193,6 +2185,7 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
rfm22_write(RFM22_header_enable2, 0xff);
rfm22_write(RFM22_header_enable3, 0xff);
// Set the ID to be checked
uint32_t id = rfm22b_dev->deviceID;
rfm22_write(RFM22_check_header0, id & 0xff);
rfm22_write(RFM22_check_header1, (id >> 8) & 0xff);
rfm22_write(RFM22_check_header2, (id >> 16) & 0xff);
@ -2239,7 +2232,7 @@ 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)
{
rfm22b_dev->resets++;
rfm22b_dev->stats.timeouts++;
rfm22b_dev->packet_start_ticks = 0;
// Release the Tx packet if it's set.
if (rfm22b_dev->tx_packet != 0)
@ -2253,15 +2246,7 @@ 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)
{
rfm22b_dev->resets++;
rfm22b_dev->packet_start_ticks = 0;
// Release the Tx packet if it's set.
if (rfm22b_dev->tx_packet != 0)
{
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
}
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->stats.resets++;
return RFM22B_EVENT_INITIALIZE;
}

7
flight/PiOS/inc/pios_rfm22b_priv.h
View File

@ -670,9 +670,6 @@ struct pios_rfm22b_dev {
// ISR pending
xSemaphoreHandle isrPending;
// Receive packet complete
xSemaphoreHandle rxsem;
// The COM callback functions.
pios_com_callback rx_in_cb;
uint32_t rx_in_context;
@ -707,9 +704,8 @@ struct pios_rfm22b_dev {
struct rfm22b_stats stats;
// Stats
uint16_t resets;
uint16_t timeouts;
uint16_t errors;
// RSSI in dBm
int8_t rssi_dBm;
@ -774,6 +770,7 @@ struct pios_rfm22b_dev {
uint32_t max_packet_time;
portTickType packet_start_ticks;
portTickType tx_complete_ticks;
portTickType rx_complete_ticks;
uint8_t max_ack_delay;
};