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OP-1522 Robustness of OPLink radio

Increase number of channels to 32 for all bit rates.
Synchronize clock on all channels.
Go into failsafe after 4 or 8 (one_way_link) missed packets.
Don't stay on channel 0 if we dropped a packet.
This commit is contained in:
Karl Knutsson 2014-10-03 22:14:03 +02:00
parent 966ef5ce75
commit 52c1080ffe
2 changed files with 26 additions and 22 deletions

View File

@ -124,6 +124,8 @@
#define USB_LED_OFF
#endif
#define CONNECTED_LIVE 8
/* Local type definitions */
struct pios_rfm22b_transition {
@ -366,7 +368,7 @@ static const uint8_t reg_72[] = { 0x30, 0x48, 0x48, 0x48, 0x48, 0x60, 0x90, 0xCD
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 const uint8_t num_channels[] = { 32, 32, 32, 32, 32, 32, 32, 32, 32 };
static struct pios_rfm22b_dev *g_rfm22b_dev = NULL;
@ -614,6 +616,8 @@ void PIOS_RFM22B_SetChannelConfig(uint32_t rfm22b_id, enum rfm22b_datarate datar
}
}
rfm22b_dev->num_channels = num_found;
// Calculate the maximum packet length from the datarate.
float bytes_per_period = (float)data_rate[datarate] * (float)(rfm22b_dev->packet_time - 2) / 9000;
@ -1362,7 +1366,7 @@ static enum pios_radio_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->packet_start_ticks = 0;
rfm22b_dev->tx_complete_ticks = 0;
rfm22b_dev->rfm22b_state = RFM22B_STATE_INITIALIZING;
rfm22b_dev->on_sync_channel = false;
rfm22b_dev->connected_timeout = 0;
// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
rfm22_write_claim(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
@ -1819,8 +1823,8 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
len += (radio_dev->tx_out_cb)(radio_dev->tx_out_context, p + len, max_data_len - len, NULL, &need_yield);
}
// Always send a packet on the sync channel if this modem is a coordinator.
if ((len == 0) && ((radio_dev->channel_index != 0) || !rfm22_isCoordinator(radio_dev))) {
// Always send a packet if this modem is a coordinator.
if ((len == 0) && !rfm22_isCoordinator(radio_dev)) {
return RADIO_EVENT_RX_MODE;
}
@ -1981,12 +1985,16 @@ static enum pios_radio_event radio_receivePacket(struct pios_rfm22b_dev *radio_d
(radio_dev->rx_in_cb)(radio_dev->rx_in_context, p, data_len, NULL, &rx_need_yield);
}
// We only synchronize the clock on packets from our coordinator on the sync channel.
if (!rfm22_isCoordinator(radio_dev) && (radio_dev->rx_destination_id == rfm22_destinationID(radio_dev)) && (radio_dev->channel_index == 0)) {
/*
* If the packet is valid and destined for us we synchronize the clock.
*/
if (!rfm22_isCoordinator(radio_dev) &&
radio_dev->rx_destination_id == rfm22_destinationID(radio_dev)) {
rfm22_synchronizeClock(radio_dev);
radio_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
radio_dev->on_sync_channel = false;
}
radio_dev->connected_timeout = CONNECTED_LIVE;
} else {
ret_event = RADIO_EVENT_RX_COMPLETE;
}
@ -2182,14 +2190,14 @@ static void rfm22_synchronizeClock(struct pios_rfm22b_dev *rfm22b_dev)
portTickType start_time = rfm22b_dev->packet_start_ticks;
// This packet was transmitted on channel 0, calculate the time delta that will force us to transmit on channel 0 at the time this packet started.
uint8_t num_chan = num_channels[rfm22b_dev->datarate];
uint16_t frequency_hop_cycle_time = rfm22b_dev->packet_time * num_chan;
uint16_t frequency_hop_cycle_time = rfm22b_dev->packet_time * rfm22b_dev->num_channels;
uint16_t time_delta = start_time % frequency_hop_cycle_time;
// Calculate the adjustment for the preamble
uint8_t offset = (uint8_t)ceil(35000.0F / data_rate[rfm22b_dev->datarate]);
rfm22b_dev->time_delta = frequency_hop_cycle_time - time_delta + offset;
rfm22b_dev->time_delta = frequency_hop_cycle_time - time_delta + offset +
rfm22b_dev->packet_time * rfm22b_dev->channel_index;
}
/**
@ -2244,14 +2252,11 @@ static bool rfm22_timeToSend(struct pios_rfm22b_dev *rfm22b_dev)
static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t index)
{
// Make sure we don't index outside of the range.
uint8_t num_chan = num_channels[rfm22b_dev->datarate];
uint8_t idx = index % num_chan;
uint8_t idx = index % rfm22b_dev->num_channels;
// Are we switching to a new channel?
if (idx != rfm22b_dev->channel_index) {
// If the on_sync_channel flag is set, it means that we were on the sync channel, but no packet was received, so transition to a non-connected state.
if (!rfm22_isCoordinator(rfm22b_dev) && (rfm22b_dev->channel_index == 0) && rfm22b_dev->on_sync_channel) {
rfm22b_dev->on_sync_channel = false;
if (!rfm22_isCoordinator(rfm22b_dev) && rfm22b_dev->connected_timeout == 0) {
// Set the link state to disconnected.
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) {
@ -2262,14 +2267,14 @@ static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t ind
}
}
// Stay on the sync channel.
// Stay on first channel.
idx = 0;
} else if (idx == 0) {
// If we're switching to the sync channel, set a flag that can be used to detect if a packet was received.
rfm22b_dev->on_sync_channel = true;
}
rfm22b_dev->channel_index = idx;
if (rfm22b_dev->connected_timeout > 0)
rfm22b_dev->connected_timeout--;
}
return rfm22b_dev->channels[idx];
@ -2285,8 +2290,7 @@ static uint8_t rfm22_calcChannelFromClock(struct pios_rfm22b_dev *rfm22b_dev)
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
// Divide time into 8ms blocks. Coordinator sends in first 2 ms, and remote send in 5th and 6th ms.
// Channel changes occur in the last 2 ms.
uint8_t num_chan = num_channels[rfm22b_dev->datarate];
uint8_t n = (time / rfm22b_dev->packet_time) % num_chan;
uint8_t n = (time / rfm22b_dev->packet_time) % rfm22b_dev->num_channels;
return rfm22_calcChannel(rfm22b_dev, n);
}

View File

@ -780,7 +780,7 @@ struct pios_rfm22b_dev {
portTickType packet_start_ticks;
portTickType tx_complete_ticks;
portTickType time_delta;
bool on_sync_channel;
uint8_t connected_timeout;
};