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Merged in f5soh/librepilot/LP-585_refine_OPLM_channel_generator (pull request #502)

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LP-585 refine OPLM channel generator

Approved-by: Lalanne Laurent <f5soh@free.fr>
Approved-by: Philippe Renon <philippe_renon@yahoo.fr>
This commit is contained in:
Lalanne Laurent 2018-04-29 17:36:48 +00:00 committed by Philippe Renon
commit 56df37a9e5
2 changed files with 42 additions and 17 deletions
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4
flight/pios/common/pios_openlrs.c
View File

@ -1276,13 +1276,13 @@ static void pios_openlrs_task(void *parameters)
}
} else {
// We timed out because packet was missed
DEBUG_PRINTF(3, "ISR Timeout. Missed packet: %d %d %d\r\n", delay, getInterval(&openlrs_dev->bind_data), time_since_packet_us);
// DEBUG_PRINTF(3, "ISR Timeout. Missed packet: %d %d %d\r\n", delay_ms, getInterval(&openlrs_dev->bind_data), time_since_packet_us);
pios_openlrs_rx_loop(openlrs_dev);
}
rssi_sampled = true;
} else {
// DEBUG_PRINTF(3, "ISR %d %d %d\r\n", delay, getInterval(&openlrs_dev->bind_data), time_since_packet_us);
// DEBUG_PRINTF(3, "ISR %d %d %d\r\n", delay_ms, getInterval(&openlrs_dev->bind_data), time_since_packet_us);
// Process incoming data
pios_openlrs_rx_loop(openlrs_dev);

55
flight/pios/common/pios_rfm22b.c
View File

@ -339,14 +339,26 @@ static const uint32_t data_rate[] = {
static const uint8_t channel_spacing[] = {
1, /* 9.6kbps */
2, /* 19.2kps */
2, /* 32kps */
2, /* 57.6kps */
2, /* 64kps */
3, /* 100kps */
4, /* 128kps */
4, /* 192kps */
4, /* 256kps */
2, /* 19.2kbps */
2, /* 32kbps */
2, /* 57.6kbps */
2, /* 64kbps */
3, /* 100kbps */
4, /* 128kbps */
4, /* 192kbps */
5, /* 256kbps */
};
static const uint8_t channel_limits[] = {
1, /* 9.6kbps */
1, /* 19.2kbps */
1, /* 32kbps */
1, /* 57.6kbps */
1, /* 64kbps */
1, /* 100kbps */
2, /* 128kbps */
2, /* 192kbps */
2, /* 256kbps */
};
static const uint8_t reg_1C[] = { 0x01, 0x05, 0x06, 0x95, 0x95, 0x81, 0x88, 0x8B, 0x8D }; // rfm22_if_filter_bandwidth
@ -2669,9 +2681,16 @@ static void rfm22_hmac_sha1(const uint8_t *data, size_t len,
static bool rfm22_gen_channels(uint32_t coordid, enum rfm22b_datarate rate, uint8_t min,
uint8_t max, uint8_t channels[MAX_CHANNELS], uint8_t *clen)
{
// Define first and last channel to be used within min/max values
// according to the frequency deviation, without up/down overflow.
uint8_t chan_min_limit = min + channel_limits[rate];
uint8_t chan_max_limit = max - channel_limits[rate];
// Define how many channels we can use according to the spacing.
uint8_t chan_count = ((chan_max_limit - chan_min_limit) / channel_spacing[rate]) + 1;
uint32_t data = 0;
uint8_t cpos = 0;
uint8_t chan_range = (max / channel_spacing[rate] - min / channel_spacing[rate]) + 1;
uint8_t key[SHA1_DIGEST_LENGTH] = { 0 };
uint8_t digest[SHA1_DIGEST_LENGTH];
uint8_t *all_channels;
@ -2680,12 +2699,16 @@ static bool rfm22_gen_channels(uint32_t coordid, enum rfm22b_datarate rate, uint
memcpy(key, &coordid, sizeof(coordid));
for (int i = 0; i < chan_range; i++) {
all_channels[i] = min / channel_spacing[rate] + i;
// Fill all_channels[] with usable channels
for (int i = 0; i < chan_count; i++) {
all_channels[i] = chan_min_limit + (i * channel_spacing[rate]);
}
// DEBUG_PRINTF(3, "\r\nChannel Min: %d Max:%d - Spacing: %d Limits: %d\r\n", min, max, channel_spacing[rate], channel_limits[rate]);
// DEBUG_PRINTF(3, "Result: Channel count: %d - Usable channels from ch%d to ch%d\r\n", chan_count, all_channels[0], all_channels[chan_count - 1]);
int j = SHA1_DIGEST_LENGTH;
for (int i = 0; i < chan_range && i < MAX_CHANNELS; i++) {
for (int i = 0; i < chan_count && i < MAX_CHANNELS; i++) {
uint8_t rnd;
uint8_t r;
uint8_t tmp;
@ -2697,14 +2720,16 @@ static bool rfm22_gen_channels(uint32_t coordid, enum rfm22b_datarate rate, uint
}
rnd = digest[j];
j++;
r = rnd % (chan_range - i) + i;
r = rnd % (chan_count - i) + i;
tmp = all_channels[i];
all_channels[i] = all_channels[r];
all_channels[r] = tmp;
}
for (int i = 0; i < chan_range && cpos < MAX_CHANNELS; i++, cpos++) {
channels[cpos] = all_channels[i] * channel_spacing[rate];
// DEBUG_PRINTF(3, "Final channel list:");
for (int i = 0; i < chan_count && cpos < MAX_CHANNELS; i++, cpos++) {
channels[cpos] = all_channels[i];
// DEBUG_PRINTF(3, " %d ", all_channels[i]);
}
*clen = cpos & 0xfe;