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Code Issues Releases Activity

Revert "OP-1522 Robustness of OPLink radio"

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This reverts commit 00d9c668677cc0d6ae453651d27f30a445e0a1f8.
This commit is contained in:
Karl Knutsson 2014-10-15 19:53:05 +02:00
parent 5ef8d3803d
commit 5ab924c07e
2 changed files with 14 additions and 21 deletions
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33
flight/pios/common/pios_rfm22b.c
View File

@ -116,8 +116,6 @@
#define USB_LED_OFF
#endif
#define CONNECTED_LIVE 8
/* Local type definitions */
struct pios_rfm22b_transition {
@ -360,7 +358,7 @@ 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[] = { 32, 32, 32, 32, 32, 32, 32, 32, 32 };
static const uint8_t num_channels[] = { 4, 4, 4, 6, 8, 8, 10, 12, 16 };
static struct pios_rfm22b_dev *g_rfm22b_dev = NULL;
@ -608,8 +606,6 @@ 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;
@ -1359,7 +1355,7 @@ 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->connected_timeout = 0;
rfm22b_dev->on_sync_channel = false;
// 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);
@ -1964,16 +1960,12 @@ 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);
}
/*
* 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)) {
// 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)) {
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;
}
@ -2176,8 +2168,7 @@ static void rfm22_synchronizeClock(struct pios_rfm22b_dev *rfm22b_dev)
// 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->packet_time * rfm22b_dev->channel_index;
rfm22b_dev->time_delta = frequency_hop_cycle_time - time_delta + offset;
}
/**
@ -2237,7 +2228,9 @@ static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t ind
// Are we switching to a new channel?
if (idx != rfm22b_dev->channel_index) {
if (!rfm22_isCoordinator(rfm22b_dev) && rfm22b_dev->connected_timeout == 0) {
// 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;
// Set the link state to disconnected.
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) {
@ -2248,14 +2241,14 @@ static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t ind
}
}
// Stay on first channel.
// Stay on the sync 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];

2
flight/pios/inc/pios_rfm22b_priv.h
View File

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