mirror of
https://bitbucket.org/librepilot/librepilot.git
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Added PipXStatus and PipXSetting UAVobjects and some initial support for them.
This commit is contained in:
Brian Webb
parent
78c7416bda
commit
62c5036220
@ -41,6 +41,7 @@ typedef enum {
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PACKET_TYPE_DISCONNECT, // to tell the other modem they cannot connect to us
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PACKET_TYPE_READY, // tells the other modem we are ready to accept more data
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PACKET_TYPE_NOTREADY, // tells the other modem we're not ready to accept more data - we can also send user data in this packet type
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PACKET_TYPE_STATUS, // broadcasts status of this modem
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PACKET_TYPE_DATARATE, // for changing the RF data rate
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PACKET_TYPE_PING, // used to check link is still up
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PACKET_TYPE_ADJUST_TX_PWR, // used to ask the other modem to adjust it's tx power
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@ -52,12 +53,14 @@ typedef enum {
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} PHPacketType;
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typedef struct {
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uint32_t source_id;
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uint32_t destination_id;
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uint32_t source_id;
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uint8_t type;
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uint8_t data_size;
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uint8_t tx_seq;
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uint8_t rx_seq;
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uint8_t data_size;
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int8_t rssi;
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int8_t afc;
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} PHPacketHeader;
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#define PH_MAX_DATA (PIOS_PH_MAX_PACKET - sizeof(PHPacketHeader) - RS_ECC_NPARITY)
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@ -81,6 +84,7 @@ typedef struct {
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typedef int32_t (*PHOutputStream)(PHPacketHandle packet);
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typedef void (*PHDataHandler)(uint8_t *data, uint8_t len);
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typedef void (*PHStatusHandler)(PHPacketHandle s);
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typedef void (*PHPPMHandler)(uint16_t *channels);
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typedef uint32_t PHInstHandle;
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@ -89,13 +93,15 @@ typedef uint32_t PHInstHandle;
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PHInstHandle PHInitialize(PacketHandlerConfig *cfg);
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void PHRegisterOutputStream(PHInstHandle h, PHOutputStream f);
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void PHRegisterDataHandler(PHInstHandle h, PHDataHandler f);
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void PHRegisterStatusHandler(PHInstHandle h, PHStatusHandler f);
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void PHRegisterPPMHandler(PHInstHandle h, PHPPMHandler f);
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uint32_t PHConnect(PHInstHandle h, uint32_t dest_id);
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PHPacketHandle PHGetRXPacket(PHInstHandle h);
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PHPacketHandle PHGetTXPacket(PHInstHandle h);
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void PHReleaseTXPacket(PHInstHandle h, PHPacketHandle p);
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uint8_t PHTransmitPacket(PHInstHandle h, PHPacketHandle p);
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uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p);
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uint8_t PHBroadcastStatus(PHInstHandle h, uint32_t id, int8_t rssi);
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uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p, uint16_t len);
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#endif // __PACKET_HANDLER_H__
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@ -46,6 +46,7 @@ typedef struct {
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xSemaphoreHandle lock;
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PHOutputStream output_stream;
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PHDataHandler data_handler;
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PHStatusHandler status_handler;
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PHPPMHandler ppm_handler;
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} PHPacketData, *PHPacketDataHandle;
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@ -113,6 +114,18 @@ void PHRegisterDataHandler(PHInstHandle h, PHDataHandler f)
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data->data_handler = f;
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}
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/**
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* Register a PPM packet handler
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* \param[in] h The packet handler instance data pointer.
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* \param[in] f The PPM handler function
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*/
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void PHRegisterStatusHandler(PHInstHandle h, PHStatusHandler f)
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{
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PHPacketDataHandle data = (PHPacketDataHandle)h;
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data->status_handler = f;
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}
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/**
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* Register a PPM packet handler
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* \param[in] h The packet handler instance data pointer.
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@ -232,23 +245,47 @@ uint8_t PHTransmitPacket(PHInstHandle h, PHPacketHandle p)
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* Process a packet that has been received.
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* \param[in] h The packet handler instance data pointer.
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* \param[in] p A pointer to the packet buffer.
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* \param[in] received_len The length of data received.
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* \return 1 Success
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* \return 0 Failure
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*/
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uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p)
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uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p, uint16_t received_len)
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{
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PHPacketDataHandle data = (PHPacketDataHandle)h;
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// Attempt to correct any errors in the packet.
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// Verify the packet length.
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// Note: The last two bytes should be the RSSI and AFC.
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uint16_t len = PHPacketSizeECC(p);
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if (received_len != (len + 2))
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{
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DEBUG_PRINTF(1, "Packet length error\n\r");
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return 0;
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}
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// Attempt to correct any errors in the packet.
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decode_data((unsigned char*)p, len);
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// Check that there were no unfixed errors.
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uint8_t rx_error = check_syndrome() != 0;
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bool rx_error = check_syndrome() != 0;
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if(rx_error)
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DEBUG_PRINTF(1, "Error in message\n\r");
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DEBUG_PRINTF(1, "Error in packet\n\r");
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// Add the RSSI and AFC to the packet.
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p->header.rssi = *(((int8_t*)p) + len);
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p->header.afc = *(((int8_t*)p) + len + 1);
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switch (p->header.type) {
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case PACKET_TYPE_STATUS:
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if (!rx_error)
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// Pass on the channels to the PPM handler.
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if(data->status_handler)
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data->status_handler(p);
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break;
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case PACKET_TYPE_ACKED_DATA:
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// Send the ACK / NACK
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@ -325,6 +362,29 @@ uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p)
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return 1;
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}
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/**
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* Broadcast a status packet.
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* \param[in] data The packet handler instance data pointer.
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* \param[in] p A pointer to the packet buffer.
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* \return 1 Success
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* \return 0 Failure
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*/
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uint8_t PHBroadcastStatus(PHInstHandle h, uint32_t id, int8_t rssi)
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{
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PHPacketDataHandle data = (PHPacketDataHandle)h;
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// Create the status message
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PHPacketHeader header;
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header.destination_id = 0xffffffff;
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header.source_id = id;
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header.rssi = rssi;
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header.type = PACKET_TYPE_STATUS;
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header.data_size = 0;
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// Send the packet.
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return PHLTransmitPacket(data, (PHPacketHandle)&header);
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}
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/**
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* Transmit a packet from the transmit packet buffer window.
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* \param[in] data The packet handler instance data pointer.
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@ -42,7 +42,7 @@
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#include <stdbool.h>
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//#undef PIOS_INCLUDE_USB
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#undef PIOS_INCLUDE_USB
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// ****************
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// Private functions
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@ -50,12 +50,12 @@
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static void radio2ComBridgeTask(void *parameters);
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static void com2RadioBridgeTask(void *parameters);
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static void radioStatusTask(void *parameters);
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static void updatePipXStatus(void);
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static int32_t transmitData(uint8_t * data, int32_t length);
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static int32_t transmitPacket(PHPacketHandle packet);
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static void receiveData(uint8_t *buf, uint8_t len);
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static void SendGCSReceiver(void);
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static void SendPipXStatus(void);
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static void StatusHandler(PHPacketHandle p);
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static void PPMHandler(uint16_t *channels);
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static void updateSettings();
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@ -65,16 +65,25 @@ static void updateSettings();
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#define STACK_SIZE_BYTES 300
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
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#define BRIDGE_BUF_LEN 128
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#define BRIDGE_BUF_LEN 512
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#define MAX_RETRIES 2
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#define REQ_TIMEOUT_MS 10
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#define STATS_UPDATE_PERIOD_MS 250
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#define STATS_UPDATE_PERIOD_MS 500
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#define RADIOSTATS_UPDATE_PERIOD_MS 500
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#define MAX_LOST_CONTACT_TIME 10
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// ****************
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// Private types
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typedef struct {
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uint32_t pairID;
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int8_t rssi;
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uint8_t lastContact;
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} PairStats;
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typedef struct {
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// The task handles.
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xTaskHandle radio2ComBridgeTaskHandle;
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@ -90,7 +99,8 @@ typedef struct {
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uint32_t radio_port;
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// The UAVTalk connection on the com side.
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UAVTalkConnection uavTalkCon;
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UAVTalkConnection inUAVTalkCon;
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UAVTalkConnection outUAVTalkCon;
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// Error statistics.
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uint32_t comTxErrors;
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@ -100,6 +110,9 @@ typedef struct {
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uint32_t radioTxRetries;
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uint32_t radioRxErrors;
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// The destination ID
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uint32_t destination_id;
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// The packet timeout.
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portTickType send_timeout;
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uint16_t min_packet_size;
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@ -113,6 +126,9 @@ typedef struct {
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int16_t uavtalk_packet_len;
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int16_t uavtalk_packet_index;
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// Track other radios that are in range.
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PairStats pairStats[PIPXSTATUS_PAIRIDS_NUMELEM];
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} RadioComBridgeData;
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// ****************
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@ -167,13 +183,17 @@ static int32_t RadioComBridgeInitialize(void)
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data->radio_port = PIOS_COM_BRIDGE_RADIO;
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// Allocate the com buffers.
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data->radio2com_buf = pvPortMalloc(BRIDGE_BUF_LEN);
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data->radio2com_buf = pvPortMalloc(PIOS_PH_MAX_PACKET);
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PIOS_Assert(data->radio2com_buf);
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data->com2radio_buf = pvPortMalloc(BRIDGE_BUF_LEN);
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PIOS_Assert(data->com2radio_buf);
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// Initialise UAVTalk
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data->uavTalkCon = UAVTalkInitialize(&transmitData);
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data->inUAVTalkCon = UAVTalkInitialize(0);
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data->outUAVTalkCon = UAVTalkInitialize(&transmitData);
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// Initialize the destination ID
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data->destination_id = 0xffffffff;
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// Initialize the statistics.
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data->radioTxErrors = 0;
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@ -186,6 +206,7 @@ static int32_t RadioComBridgeInitialize(void)
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// Register the callbacks with the packet handler
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PHRegisterOutputStream(pios_packet_handler, transmitPacket);
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PHRegisterDataHandler(pios_packet_handler, receiveData);
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PHRegisterStatusHandler(pios_packet_handler, StatusHandler);
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PHRegisterPPMHandler(pios_packet_handler, PPMHandler);
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// Initialize the packet send timeout
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@ -194,8 +215,16 @@ static int32_t RadioComBridgeInitialize(void)
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// Initialize the rado->com UAVTalk message tracker.
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data->uavtalk_idle = true;
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data->uavtalk_packet_len = -1;
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data->uavtalk_packet_index = -1;
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data->uavtalk_packet_len = 0;
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data->uavtalk_packet_index = -1; // Looking for SYNC
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// Initialize the detected device statistics.
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for (uint8_t i = 0; i < PIPXSTATUS_PAIRIDS_NUMELEM; ++i)
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{
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data->pairStats[i].pairID = 0;
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data->pairStats[i].rssi = -127;
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data->pairStats[i].lastContact = 0;
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}
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updateSettings();
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@ -218,9 +247,9 @@ static void radio2ComBridgeTask(void *parameters)
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#endif /* PIOS_INCLUDE_WDG */
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// Receive data from the radio port
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rx_bytes = PIOS_COM_ReceiveBuffer(data->radio_port, data->radio2com_buf, BRIDGE_BUF_LEN, 200);
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rx_bytes = PIOS_COM_ReceiveBuffer(data->radio_port, data->radio2com_buf, PIOS_PH_MAX_PACKET, 200);
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if (rx_bytes > 0)
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PHReceivePacket(pios_packet_handler, (PHPacketHandle)data->radio2com_buf);
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PHReceivePacket(pios_packet_handler, (PHPacketHandle)data->radio2com_buf, rx_bytes);
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}
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}
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@ -253,11 +282,11 @@ static void com2RadioBridgeTask(void * parameters)
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// Receive data from the com port
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uint32_t cur_rx_bytes = PIOS_COM_ReceiveBuffer(inputPort, data->com2radio_buf +
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rx_bytes, BRIDGE_BUF_LEN - rx_bytes, timeout);
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rx_bytes, BRIDGE_BUF_LEN - rx_bytes, timeout);
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// Pass the new data through UAVTalk
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for (uint8_t i = 0; i < cur_rx_bytes; i++)
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UAVTalkProcessInputStream(data->uavTalkCon, *(data->com2radio_buf + i + rx_bytes));
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UAVTalkProcessInputStream(data->inUAVTalkCon, *(data->com2radio_buf + i + rx_bytes));
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// Do we have an data to send?
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rx_bytes += cur_rx_bytes;
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@ -292,6 +321,8 @@ static void com2RadioBridgeTask(void * parameters)
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// Initialize the packet.
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//p->header.type = PACKET_TYPE_ACKED_DATA;
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p->header.destination_id = data->destination_id;
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p->header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
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p->header.type = PACKET_TYPE_DATA;
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p->header.data_size = rx_bytes;
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@ -316,39 +347,43 @@ static void com2RadioBridgeTask(void * parameters)
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static void radioStatusTask(void *parameters)
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{
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while (1) {
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PipXStatusData pipxStatus;
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#ifdef PIOS_INCLUDE_WDG
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// Update the watchdog timer.
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PIOS_WDG_UpdateFlag(PIOS_WDG_RADIOCOM);
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#endif /* PIOS_INCLUDE_WDG */
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// Get object data
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PipXStatusGet(&pipxStatus);
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// Update the status
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updatePipXStatus();
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pipxStatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
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pipxStatus.RSSI = PIOS_RFM22B_RSSI(pios_rfm22b_id);
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// Update the potential pairing contacts
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for (uint8_t i = 0; i < PIPXSTATUS_PAIRIDS_NUMELEM; ++i)
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{
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pipxStatus.PairIDs[i] = data->pairStats[i].pairID;
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pipxStatus.PairSignalStrengths[i] = data->pairStats[i].rssi;
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}
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// Update the object
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PipXStatusSet(&pipxStatus);
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// Schedule the status for transmssion
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data->send_pipxstatus = true;
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// Broadcast the status.
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{
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static uint16_t cntr = 0;
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if(cntr++ == RADIOSTATS_UPDATE_PERIOD_MS / STATS_UPDATE_PERIOD_MS)
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{
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PHBroadcastStatus(pios_packet_handler, pipxStatus.DeviceID, pipxStatus.RSSI);
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cntr = 0;
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}
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}
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// Delay until the next update period.
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vTaskDelay(STATS_UPDATE_PERIOD_MS / portTICK_RATE_MS);
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}
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}
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/**
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* Update the PipX status
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*/
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static void updatePipXStatus(void)
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{
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PipXStatusData pipxStatus;
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// Get object data
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PipXStatusGet(&pipxStatus);
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// Update the status
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pipxStatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
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pipxStatus.RSSI = PIOS_RFM22B_RSSI(pios_rfm22b_id);
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// Update the object
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PipXStatusSet(&pipxStatus);
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}
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/**
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* Transmit data buffer to the com port.
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* \param[in] buf Data buffer to send
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@ -364,7 +399,7 @@ static int32_t transmitData(uint8_t *buf, int32_t length)
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if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB)
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outputPort = PIOS_COM_TELEM_USB;
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#endif /* PIOS_INCLUDE_USB */
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return PIOS_COM_SendBuffer(outputPort, buf, length);
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return PIOS_COM_SendBufferNonBlocking(outputPort, buf, length);
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}
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/**
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@ -376,7 +411,7 @@ static int32_t transmitData(uint8_t *buf, int32_t length)
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*/
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static int32_t transmitPacket(PHPacketHandle p)
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{
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return PIOS_COM_SendBuffer(data->radio_port, (uint8_t*)p, PH_PACKET_SIZE(p));
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return PIOS_COM_SendBufferNonBlocking(data->radio_port, (uint8_t*)p, PH_PACKET_SIZE(p));
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}
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/**
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@ -399,59 +434,43 @@ static void receiveData(uint8_t *buf, uint8_t len)
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if (data->send_pipxstatus && data->uavtalk_idle)
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SendPipXStatus();
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// Parse the data for UAVTalk packets.
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uint8_t sent_bytes = 0;
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for (uint8_t i = 0; i < len; ++i)
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{
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uint8_t val = buf[i];
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// Looking for sync value
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if (data->uavtalk_packet_index == -1)
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UAVTalkRxState state = UAVTalkProcessInputStream(data->outUAVTalkCon, buf[i]);
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/* if(state == UAVTALK_STATE_ERROR) */
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/* DEBUG_PRINTF(2, "OUT Error\n\r"); */
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if((state == UAVTALK_STATE_COMPLETE) || (state == UAVTALK_STATE_SYNC))
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{
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if (val == UAVTALK_SYNC_VAL)
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data->uavtalk_packet_index = 1;
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}
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else
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{
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if (data->uavtalk_packet_index == 2)
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// Length LSB
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data->uavtalk_packet_len = val;
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else if (data->uavtalk_packet_index == 3)
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{
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// Length MSB
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data->uavtalk_packet_len |= val << 8;
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// Is the length valid.
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if ((data->uavtalk_packet_len < UAVTALK_MIN_HEADER_LENGTH) ||
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(data->uavtalk_packet_len > UAVTALK_MAX_HEADER_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH))
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data->uavtalk_packet_index = -2;
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}
|
||||
else if (data->uavtalk_packet_index == data->uavtalk_packet_len)
|
||||
{
|
||||
// Packet received.
|
||||
data->uavtalk_packet_index = -2;
|
||||
// Send the buffer up to this point
|
||||
uint8_t send_bytes = i - sent_bytes;
|
||||
if (PIOS_COM_SendBufferNonBlocking(outputPort, buf + sent_bytes, send_bytes) != send_bytes)
|
||||
// Error on transmit
|
||||
data->comTxErrors++;
|
||||
sent_bytes = i;
|
||||
|
||||
// Send the buffer up to this point
|
||||
uint8_t send_bytes = len - sent_bytes;
|
||||
if (PIOS_COM_SendBuffer(outputPort, buf + sent_bytes, send_bytes) != send_bytes)
|
||||
// Error on transmit
|
||||
data->comTxErrors++;
|
||||
sent_bytes = i;
|
||||
// The connection is now idle.
|
||||
data->uavtalk_idle = true;
|
||||
|
||||
// Send any UAVTalk messages that need to be sent.
|
||||
if (data->send_gcsreceiver)
|
||||
SendGCSReceiver();
|
||||
if (data->send_pipxstatus)
|
||||
SendPipXStatus();
|
||||
}
|
||||
++(data->uavtalk_packet_index);
|
||||
// Send a local UAVTalk message if one is waiting to be sent.
|
||||
if (data->send_gcsreceiver && data->uavtalk_idle)
|
||||
SendGCSReceiver();
|
||||
if (data->send_pipxstatus && data->uavtalk_idle)
|
||||
SendPipXStatus();
|
||||
}
|
||||
}
|
||||
|
||||
// Send the received data to the com port
|
||||
uint8_t send_bytes = len - sent_bytes;
|
||||
if (PIOS_COM_SendBuffer(outputPort, buf + sent_bytes, send_bytes) != send_bytes)
|
||||
// Error on transmit
|
||||
data->comTxErrors++;
|
||||
if (send_bytes > 0)
|
||||
{
|
||||
if (PIOS_COM_SendBufferNonBlocking(outputPort, buf + sent_bytes, send_bytes) != send_bytes)
|
||||
// Error on transmit
|
||||
data->comTxErrors++;
|
||||
|
||||
// The connection is not idle.
|
||||
data->uavtalk_idle = false;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
@ -464,7 +483,7 @@ static void SendGCSReceiver(void)
|
||||
uint32_t retries = 0;
|
||||
int32_t success = -1;
|
||||
while (retries < MAX_RETRIES && success == -1) {
|
||||
success = UAVTalkSendObject(data->uavTalkCon, GCSReceiverHandle(), 0, 0, REQ_TIMEOUT_MS);
|
||||
success = UAVTalkSendObject(data->outUAVTalkCon, GCSReceiverHandle(), 0, 0, REQ_TIMEOUT_MS);
|
||||
++retries;
|
||||
}
|
||||
if(success >= 0)
|
||||
@ -478,8 +497,61 @@ static void SendGCSReceiver(void)
|
||||
static void SendPipXStatus(void)
|
||||
{
|
||||
// Transmit the PipXStatus
|
||||
UAVTalkSendObject(data->uavTalkCon, PipXStatusHandle(), 0, 0, REQ_TIMEOUT_MS);
|
||||
UAVTalkSendObject(data->outUAVTalkCon, PipXStatusHandle(), 0, 0, REQ_TIMEOUT_MS);
|
||||
data->send_pipxstatus = false;
|
||||
|
||||
// Increment the last contact for each device
|
||||
for (uint8_t i = 0; i < PIPXSTATUS_PAIRIDS_NUMELEM; ++i)
|
||||
++data->pairStats[i].lastContact;
|
||||
}
|
||||
|
||||
/**
|
||||
* Receive a status packet
|
||||
* \param[in] status The status structure
|
||||
*/
|
||||
static void StatusHandler(PHPacketHandle status)
|
||||
{
|
||||
uint32_t id = status->header.source_id;
|
||||
|
||||
// Have we seen this device recently?
|
||||
uint8_t id_idx = 0;
|
||||
for ( ; id_idx < PIPXSTATUS_PAIRIDS_NUMELEM; ++id_idx)
|
||||
if(data->pairStats[id_idx].pairID == id)
|
||||
break;
|
||||
|
||||
// If we have seen it, update the RSSI and reset the last contact couter
|
||||
if(id_idx < PIPXSTATUS_PAIRIDS_NUMELEM)
|
||||
{
|
||||
data->pairStats[id_idx].rssi = status->header.rssi;
|
||||
data->pairStats[id_idx].lastContact = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
// Remove any contacts that we haven't seen for a while.
|
||||
for (id_idx = 0; id_idx < PIPXSTATUS_PAIRIDS_NUMELEM; ++id_idx)
|
||||
{
|
||||
if(data->pairStats[id_idx].lastContact > MAX_LOST_CONTACT_TIME)
|
||||
{
|
||||
data->pairStats[id_idx].pairID = 0;
|
||||
data->pairStats[id_idx].rssi = -127;
|
||||
data->pairStats[id_idx].lastContact = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// If we haven't seen it, find a slot to put it in.
|
||||
uint8_t min_idx = 0;
|
||||
int8_t min_rssi = data->pairStats[0].rssi;
|
||||
for (id_idx = 1; id_idx < PIPXSTATUS_PAIRIDS_NUMELEM; ++id_idx)
|
||||
{
|
||||
if(data->pairStats[id_idx].rssi < min_rssi)
|
||||
{
|
||||
min_rssi = data->pairStats[id_idx].rssi;
|
||||
min_idx = id_idx;
|
||||
}
|
||||
}
|
||||
data->pairStats[min_idx].pairID = id;
|
||||
data->pairStats[min_idx].rssi = status->header.rssi;
|
||||
data->pairStats[min_idx].lastContact = 0;
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@ -341,7 +341,7 @@ static uint32_t debug_val = 0;
|
||||
volatile uint8_t osc_load_cap; // xtal frequency calibration value
|
||||
|
||||
volatile uint8_t rssi; // the current RSSI (register value)
|
||||
volatile int16_t rssi_dBm; // dBm value
|
||||
volatile int8_t rssi_dBm; // dBm value
|
||||
|
||||
// the transmit power to use for data transmissions
|
||||
uint8_t tx_power;
|
||||
@ -362,16 +362,15 @@ volatile uint16_t tx_data_wr;
|
||||
// the current receive buffer in use (double buffer)
|
||||
volatile uint8_t rx_buffer_current;
|
||||
// the receive buffer .. received packet data is saved here
|
||||
volatile uint8_t rx_buffer[256] __attribute__ ((aligned(4)));
|
||||
volatile uint8_t rx_buffer[258] __attribute__ ((aligned(4)));
|
||||
// the receive buffer write index
|
||||
volatile uint16_t rx_buffer_wr;
|
||||
|
||||
// the received packet
|
||||
volatile uint16_t rx_packet_wr; // the receive packet write index
|
||||
volatile int16_t rx_packet_start_rssi_dBm; //
|
||||
volatile int32_t rx_packet_start_afc_Hz; //
|
||||
volatile int16_t rx_packet_rssi_dBm; // the received packet signal strength
|
||||
volatile int32_t rx_packet_afc_Hz; // the receive packet frequency offset
|
||||
volatile int8_t rx_packet_start_rssi_dBm; //
|
||||
volatile int8_t rx_packet_start_afc_Hz; //
|
||||
volatile int8_t rx_packet_rssi_dBm; // the received packet signal strength
|
||||
volatile int8_t rx_packet_afc_Hz; // the receive packet frequency offset
|
||||
|
||||
int lookup_index;
|
||||
int ss_lookup_index;
|
||||
@ -459,7 +458,7 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, const struct pios_rfm22b_cfg *cfg)
|
||||
DEBUG_PRINTF(2, "RF device ID: %x\n\r", rfm22b_dev->deviceID);
|
||||
|
||||
// Initialize the radio device.
|
||||
int initval = rfm22_init_normal(cfg->minFrequencyHz, cfg->maxFrequencyHz, 50000);
|
||||
int initval = rfm22_init_normal(rfm22b_dev->deviceID, cfg->minFrequencyHz, cfg->maxFrequencyHz, 50000);
|
||||
|
||||
if (initval < 0)
|
||||
{
|
||||
@ -512,9 +511,9 @@ uint32_t PIOS_RFM22B_DeviceID(uint32_t rfm22b_id)
|
||||
return rfm22b_dev->deviceID;
|
||||
}
|
||||
|
||||
int16_t PIOS_RFM22B_RSSI(uint32_t rfb22b_id)
|
||||
int8_t PIOS_RFM22B_RSSI(uint32_t rfb22b_id)
|
||||
{
|
||||
return rssi_dBm;
|
||||
return rfm22_receivedRSSI();
|
||||
}
|
||||
|
||||
static void PIOS_RFM22B_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail)
|
||||
@ -1142,6 +1141,13 @@ uint8_t rfm22_txStart()
|
||||
|
||||
RX_LED_OFF;
|
||||
|
||||
// Set the destination address in the transmit header.
|
||||
// The destination address is the first 4 bytes of the message.
|
||||
rfm22_write(RFM22_transmit_header0, tx_buffer[0]);
|
||||
rfm22_write(RFM22_transmit_header1, tx_buffer[1]);
|
||||
rfm22_write(RFM22_transmit_header2, tx_buffer[2]);
|
||||
rfm22_write(RFM22_transmit_header3, tx_buffer[3]);
|
||||
|
||||
// FIFO mode, GFSK modulation
|
||||
uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
|
||||
rfm22_write(RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo |
|
||||
@ -1483,12 +1489,15 @@ void rfm22_processRxInt(void)
|
||||
// we have a valid received packet
|
||||
rfm22_setDebug("VALID_R_PACKET");
|
||||
|
||||
if (rx_packet_wr == 0)
|
||||
if (rx_buffer_wr > 0)
|
||||
{
|
||||
// remember the rssi for this packet
|
||||
rx_packet_rssi_dBm = rx_packet_start_rssi_dBm;
|
||||
// remember the afc offset for this packet
|
||||
rx_packet_afc_Hz = rx_packet_start_afc_Hz;
|
||||
// Add the rssi and afc to the end of the packet.
|
||||
rx_buffer[rx_buffer_wr++] = rx_packet_start_rssi_dBm;
|
||||
rx_buffer[rx_buffer_wr++] = rx_packet_start_afc_Hz;
|
||||
// Pass this packet on
|
||||
bool need_yield = false;
|
||||
if (rfm22b_dev_g->rx_in_cb)
|
||||
@ -1604,7 +1613,7 @@ void rfm22_processInt(void)
|
||||
// read rx signal strength .. 45 = -100dBm, 205 = -20dBm
|
||||
rssi = rfm22_read(RFM22_rssi);
|
||||
// convert to dBm
|
||||
rssi_dBm = ((int16_t)rssi / 2) - 122;
|
||||
rssi_dBm = (int8_t)(rssi >> 1) - 122;
|
||||
|
||||
// calibrate the RSSI value (rf bandwidth appears to affect it)
|
||||
// if (rf_bandwidth_used > 0)
|
||||
@ -1668,21 +1677,21 @@ void rfm22_processInt(void)
|
||||
|
||||
// ************************************
|
||||
|
||||
int16_t rfm22_getRSSI(void)
|
||||
int8_t rfm22_getRSSI(void)
|
||||
{
|
||||
exec_using_spi = TRUE;
|
||||
|
||||
rssi = rfm22_read(RFM22_rssi); // read rx signal strength .. 45 = -100dBm, 205 = -20dBm
|
||||
rssi_dBm = ((int16_t)rssi / 2) - 122; // convert to dBm
|
||||
rssi_dBm = (int8_t)(rssi >> 1) - 122; // convert to dBm
|
||||
|
||||
exec_using_spi = FALSE;
|
||||
return rssi_dBm;
|
||||
}
|
||||
|
||||
int16_t rfm22_receivedRSSI(void)
|
||||
int8_t rfm22_receivedRSSI(void)
|
||||
{ // return the packets signal strength
|
||||
if (!initialized)
|
||||
return -200;
|
||||
return -127;
|
||||
else
|
||||
return rx_packet_rssi_dBm;
|
||||
}
|
||||
@ -1722,7 +1731,6 @@ void rfm22_setTxNormal(void)
|
||||
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
|
||||
tx_data_rd = tx_data_wr = 0;
|
||||
|
||||
rx_packet_wr = 0;
|
||||
rx_packet_start_rssi_dBm = 0;
|
||||
rx_packet_start_afc_Hz = 0;
|
||||
rx_packet_rssi_dBm = 0;
|
||||
@ -1836,151 +1844,6 @@ void rfm22_1ms_tick(void)
|
||||
}
|
||||
}
|
||||
|
||||
// *****************************************************************************
|
||||
// call this as often as possible - not from an interrupt
|
||||
|
||||
void rfm22_process(void)
|
||||
{
|
||||
|
||||
#if !defined(RFM22_EXT_INT_USE)
|
||||
if (rf_mode != RX_SCAN_SPECTRUM)
|
||||
rfm22_processInt(); // manually poll the interrupt line routine
|
||||
#endif
|
||||
|
||||
{
|
||||
static int cntr = 0;
|
||||
if (cntr >= 5000) {
|
||||
DEBUG_PRINTF(2, "Process\n\r");
|
||||
cntr = 0;
|
||||
} else
|
||||
++cntr;
|
||||
}
|
||||
|
||||
if (power_on_reset) {
|
||||
|
||||
// we need to re-initialize the RF module - it told us it's reset itself
|
||||
if (rf_mode != RX_SCAN_SPECTRUM) {
|
||||
|
||||
// normal data mode
|
||||
uint32_t current_freq = carrier_frequency_hz; // fetch current rf nominal frequency
|
||||
rfm22_init_normal(lower_carrier_frequency_limit_Hz, upper_carrier_frequency_limit_Hz, rfm22_freqHopSize());
|
||||
rfm22_setNominalCarrierFrequency(current_freq); // restore the nominal carrier frequency
|
||||
|
||||
} else
|
||||
// we are scanning the spectrum
|
||||
rfm22_init_scan_spectrum(lower_carrier_frequency_limit_Hz, upper_carrier_frequency_limit_Hz);
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
switch (rf_mode) {
|
||||
case RX_SCAN_SPECTRUM: // we are scanning the spectrum
|
||||
|
||||
// read device status register
|
||||
device_status = rfm22_read(RFM22_device_status);
|
||||
|
||||
// read ezmac status register
|
||||
ezmac_status = rfm22_read(RFM22_ezmac_status);
|
||||
|
||||
// read interrupt status registers - clears the interrupt line
|
||||
int_status1 = rfm22_read(RFM22_interrupt_status1);
|
||||
int_status2 = rfm22_read(RFM22_interrupt_status2);
|
||||
|
||||
if (int_status2 & RFM22_is2_ipor) {
|
||||
// the RF module has gone and done a reset - we need to re-initialize the rf module
|
||||
initialized = FALSE;
|
||||
power_on_reset = TRUE;
|
||||
return;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case RX_WAIT_PREAMBLE_MODE:
|
||||
|
||||
if (rfm22_int_timer >= timeout_ms)
|
||||
{
|
||||
// assume somethings locked up
|
||||
rfm22_int_time_outs++;
|
||||
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); // reset the RF module to rx mode
|
||||
tx_data_rd = tx_data_wr = 0; // wipe TX buffer
|
||||
break;
|
||||
}
|
||||
|
||||
// go to transmit mode if we have data to send and the channel is clear to transmit on
|
||||
if (tx_data_rd == 0 && tx_data_wr > 0 && rfm22_channelIsClear()) {
|
||||
rfm22_setTxMode(TX_DATA_MODE); // transmit packet NOW
|
||||
break;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case RX_WAIT_SYNC_MODE:
|
||||
|
||||
if (rfm22_int_timer >= timeout_sync_ms)
|
||||
{
|
||||
// assume somethings locked up
|
||||
rfm22_int_time_outs++;
|
||||
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); // reset the RF module to rx mode
|
||||
tx_data_rd = tx_data_wr = 0; // wipe TX buffer
|
||||
break;
|
||||
}
|
||||
|
||||
// go to transmit mode if we have data to send and the channel is clear to transmit on
|
||||
if (tx_data_rd == 0 && tx_data_wr > 0 && rfm22_channelIsClear()) {
|
||||
// transmit packet NOW
|
||||
rfm22_setTxMode(TX_DATA_MODE);
|
||||
break;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case RX_DATA_MODE:
|
||||
case TX_DATA_MODE:
|
||||
|
||||
if (rfm22_int_timer >= timeout_data_ms)
|
||||
{
|
||||
// assume somethings locked up
|
||||
rfm22_int_time_outs++;
|
||||
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); // reset the RF module to rx mode
|
||||
tx_data_rd = tx_data_wr = 0; // wipe TX buffer
|
||||
break;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case TX_STREAM_MODE:
|
||||
|
||||
// todo:
|
||||
|
||||
break;
|
||||
|
||||
case TX_CARRIER_MODE:
|
||||
case TX_PN_MODE:
|
||||
|
||||
// if (rfm22_int_timer >= TX_TEST_MODE_TIMELIMIT_MS)
|
||||
// {
|
||||
// rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); // back to rx mode
|
||||
// tx_data_rd = tx_data_wr = 0; // wipe TX buffer
|
||||
// break;
|
||||
// }
|
||||
|
||||
break;
|
||||
|
||||
default:
|
||||
// unknown mode - this should never happen, maybe we should do a complete CPU reset here?
|
||||
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); // to rx mode
|
||||
tx_data_rd = tx_data_wr = 0; // wipe TX buffer
|
||||
break;
|
||||
}
|
||||
|
||||
#if defined(RFM22_INT_TIMEOUT_DEBUG)
|
||||
if (prev_rfm22_int_time_outs != rfm22_int_time_outs) {
|
||||
prev_rfm22_int_time_outs = rfm22_int_time_outs;
|
||||
DEBUG_PRINTF(2, "rf int timeouts %d\n\r", rfm22_int_time_outs);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
// ************************************
|
||||
// reset the RF module
|
||||
|
||||
@ -2052,12 +1915,11 @@ int rfm22_resetModule(uint8_t mode, uint32_t min_frequency_hz, uint32_t max_freq
|
||||
device_status = int_status1 = int_status2 = ezmac_status = 0;
|
||||
|
||||
rssi = 0;
|
||||
rssi_dBm = -200;
|
||||
rssi_dBm = -127;
|
||||
|
||||
rx_buffer_current = 0;
|
||||
rx_buffer_wr = 0;
|
||||
rx_packet_wr = 0;
|
||||
rx_packet_rssi_dBm = -200;
|
||||
rx_packet_rssi_dBm = -127;
|
||||
rx_packet_afc_Hz = 0;
|
||||
|
||||
tx_data_rd = tx_data_wr = 0;
|
||||
@ -2360,7 +2222,7 @@ int rfm22_init_rx_stream(uint32_t min_frequency_hz, uint32_t max_frequency_hz)
|
||||
// ************************************
|
||||
// Initialise this hardware layer module and the rf module
|
||||
|
||||
int rfm22_init_normal(uint32_t min_frequency_hz, uint32_t max_frequency_hz, uint32_t freq_hop_step_size)
|
||||
int rfm22_init_normal(uint32_t id, uint32_t min_frequency_hz, uint32_t max_frequency_hz, uint32_t freq_hop_step_size)
|
||||
{
|
||||
int res = rfm22_resetModule(RX_WAIT_PREAMBLE_MODE, min_frequency_hz, max_frequency_hz);
|
||||
if (res < 0)
|
||||
@ -2431,15 +2293,10 @@ int rfm22_init_normal(uint32_t min_frequency_hz, uint32_t max_frequency_hz, uint
|
||||
rfm22_write(RFM22_header_enable2, 0xff);
|
||||
rfm22_write(RFM22_header_enable3, 0xff);
|
||||
// Set the ID to be checked
|
||||
rfm22_write(RFM22_check_header0, 0x11);
|
||||
rfm22_write(RFM22_check_header1, 0x22);
|
||||
rfm22_write(RFM22_check_header2, 0x33);
|
||||
rfm22_write(RFM22_check_header3, 0x44);
|
||||
// Set our address in the transmit header.
|
||||
rfm22_write(RFM22_transmit_header0, 0x11);
|
||||
rfm22_write(RFM22_transmit_header1, 0x22);
|
||||
rfm22_write(RFM22_transmit_header2, 0x33);
|
||||
rfm22_write(RFM22_transmit_header3, 0x44);
|
||||
rfm22_write(RFM22_check_header0, id & 0xff);
|
||||
rfm22_write(RFM22_check_header1, (id >> 8) & 0xff);
|
||||
rfm22_write(RFM22_check_header2, (id >> 16) & 0xff);
|
||||
rfm22_write(RFM22_check_header3, (id >> 24) & 0xff);
|
||||
// 4 header bytes, synchronization word length 3, 2, 1 & 0 used, packet length included in header.
|
||||
rfm22_write(RFM22_header_control2,
|
||||
RFM22_header_cntl2_hdlen_3210 |
|
||||
@ -2453,12 +2310,6 @@ int rfm22_init_normal(uint32_t min_frequency_hz, uint32_t max_frequency_hz, uint
|
||||
rfm22_write(RFM22_sync_word1, SYNC_BYTE_3);
|
||||
rfm22_write(RFM22_sync_word0, SYNC_BYTE_4);
|
||||
|
||||
// no bits to be checked
|
||||
rfm22_write(RFM22_header_enable3, 0x00);
|
||||
rfm22_write(RFM22_header_enable2, 0x00);
|
||||
rfm22_write(RFM22_header_enable1, 0x00);
|
||||
rfm22_write(RFM22_header_enable0, 0x00);
|
||||
|
||||
rfm22_write(RFM22_agc_override1, RFM22_agc_ovr1_agcen);
|
||||
|
||||
// set frequency hopping channel step size (multiples of 10kHz)
|
||||
|
||||
@ -48,7 +48,7 @@ struct pios_rfm22b_cfg {
|
||||
/* Public Functions */
|
||||
extern int32_t PIOS_RFM22B_Init(uint32_t *rfb22b_id, const struct pios_rfm22b_cfg *cfg);
|
||||
extern uint32_t PIOS_RFM22B_DeviceID(uint32_t rfb22b_id);
|
||||
extern int16_t PIOS_RFM22B_RSSI(uint32_t rfb22b_id);
|
||||
extern int8_t PIOS_RFM22B_RSSI(uint32_t rfb22b_id);
|
||||
|
||||
#endif /* PIOS_RFM22B_H */
|
||||
|
||||
|
||||
@ -609,9 +609,9 @@ uint32_t rfm22_getDatarate(void);
|
||||
|
||||
void rfm22_setRxMode(uint8_t mode, bool multi_packet_mode);
|
||||
|
||||
int16_t rfm22_getRSSI(void);
|
||||
int8_t rfm22_getRSSI(void);
|
||||
|
||||
int16_t rfm22_receivedRSSI(void);
|
||||
int8_t rfm22_receivedRSSI(void);
|
||||
int32_t rfm22_receivedAFCHz(void);
|
||||
uint16_t rfm22_receivedLength(void);
|
||||
uint8_t * rfm22_receivedPointer(void);
|
||||
@ -639,7 +639,6 @@ bool rfm22_channelIsClear(void);
|
||||
bool rfm22_txReady(void);
|
||||
|
||||
void rfm22_1ms_tick(void);
|
||||
void rfm22_process(void);
|
||||
|
||||
void rfm22_TxDataByte_SetCallback(t_rfm22_TxDataByteCallback new_function);
|
||||
void rfm22_RxData_SetCallback(t_rfm22_RxDataCallback new_function);
|
||||
@ -647,7 +646,7 @@ void rfm22_RxData_SetCallback(t_rfm22_RxDataCallback new_function);
|
||||
int rfm22_init_scan_spectrum(uint32_t min_frequency_hz, uint32_t max_frequency_hz);
|
||||
int rfm22_init_tx_stream(uint32_t min_frequency_hz, uint32_t max_frequency_hz);
|
||||
int rfm22_init_rx_stream(uint32_t min_frequency_hz, uint32_t max_frequency_hz);
|
||||
int rfm22_init_normal(uint32_t min_frequency_hz, uint32_t max_frequency_hz, uint32_t freq_hop_step_size);
|
||||
int rfm22_init_normal(uint32_t id, uint32_t min_frequency_hz, uint32_t max_frequency_hz, uint32_t freq_hop_step_size);
|
||||
|
||||
#endif /* PIOS_RFM22B_PRIV_H */
|
||||
|
||||
|
||||
@ -38,7 +38,7 @@
|
||||
#define PIOS_COM_FLEXI_RX_BUF_LEN 192
|
||||
#define PIOS_COM_FLEXI_TX_BUF_LEN 192
|
||||
|
||||
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
|
||||
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 512
|
||||
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
|
||||
|
||||
#define PIOS_COM_VCP_USB_RX_BUF_LEN 192
|
||||
|
||||
@ -483,10 +483,10 @@ const struct pios_rfm22b_cfg pios_rfm22b_cfg = {
|
||||
.maxFrequencyHz = 434000000 + 2000000,
|
||||
.RFXtalCap = 0x7f,
|
||||
.maxRFBandwidth = 128000,
|
||||
//.maxTxPower = RFM22_tx_pwr_txpow_0, // +1dBm ... 1.25mW
|
||||
.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
|
||||
.sendTimeout = 15, /* ms */
|
||||
.minPacketSize = 50,
|
||||
.maxTxPower = RFM22_tx_pwr_txpow_0, // +1dBm ... 1.25mW
|
||||
//.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
|
||||
.sendTimeout = 25, /* ms */
|
||||
.minPacketSize = 100,
|
||||
.txWinSize = 4,
|
||||
.maxConnections = 1,
|
||||
};
|
||||
|
||||
20
shared/uavobjectdefinition/pipxsettings.xml
Executable file
20
shared/uavobjectdefinition/pipxsettings.xml
Executable file
@ -0,0 +1,20 @@
|
||||
<xml>
|
||||
<object name="PipXSettings" singleinstance="true" settings="true">
|
||||
<description>PipXtreme configurations options.</description>
|
||||
<field name="PairID" units="" type="uint32" elements="1" defaultvalue="0"/>
|
||||
<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
|
||||
<field name="FlexiConfig" units="function" type="enum" elements="1" options="Disabled,Serial,PPM,RSSI" defaultvalue="Disabled"/>
|
||||
<field name="FlexiSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
|
||||
<field name="RFSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
|
||||
<field name="MaxRFPower" units="mW" type="enum" elements="1" options="1.25,1.6,3.16,6.3,12.6,25,50,100" defaultvalue="1.25"/>
|
||||
<field name="SendTimeout" units="ms" type="uint16" elements="1" defaultvalue="50"/>
|
||||
<field name="MinPacketSize" units="bytes" type="uint8" elements="1" defaultvalue="50"/>
|
||||
<field name="FrequencyCalibration" units="" type="uint8" elements="1" defaultvalue="127"/>
|
||||
<field name="Frequency" units="" type="uint32" elements="1" defaultvalue="434000000"/>
|
||||
|
||||
<access gcs="readwrite" flight="readonly"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="manual" period="0"/>
|
||||
<logging updatemode="never" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
26
shared/uavobjectdefinition/pipxstatus.xml
Executable file
26
shared/uavobjectdefinition/pipxstatus.xml
Executable file
@ -0,0 +1,26 @@
|
||||
<xml>
|
||||
<object name="PipXStatus" singleinstance="true" settings="false">
|
||||
<description>PipXtreme device status.</description>
|
||||
<field name="Description" units="" type="uint8" elements="40"/>
|
||||
<field name="CPUSerial" units="" type="uint8" elements="12" />
|
||||
<field name="BoardRevision" units="" type="uint16" elements="1"/>
|
||||
<field name="BoardType" units="" type="uint8" elements="1"/>
|
||||
<field name="MinFrequency" units="Hz" type="uint32" elements="1" defaultvalue="0"/>
|
||||
<field name="MaxFrequency" units="Hz" type="uint32" elements="1" defaultvalue="0"/>
|
||||
<field name="FrequencyBand" units="" type="uint8" elements="1" defaultvalue="0"/>
|
||||
<field name="FrequencyStepSize" units="" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="DeviceID" units="" type="uint32" elements="1" defaultvalue="0"/>
|
||||
<field name="AFC" units="" type="int32" elements="1" defaultvalue="0"/>
|
||||
<field name="Retries" units="" type="uint16" elements="1" defaultvalue="0"/>
|
||||
<field name="Errors" units="" type="uint16" elements="1" defaultvalue="0"/>
|
||||
<field name="RSSI" units="dBm" type="int8" elements="1" defaultvalue="0"/>
|
||||
<field name="LinkState" units="function" type="enum" elements="1" options="Disconnected,Connecting,Connected" defaultvalue="Disconnected"/>
|
||||
<field name="PairIDs" units="" type="uint32" elements="4" defaultvalue="0"/>
|
||||
<field name="PairSignalStrengths" units="dBm" type="int8" elements="4" defaultvalue="-127"/>
|
||||
|
||||
<access gcs="readonly" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="manual" period="0"/>
|
||||
<logging updatemode="periodic" period="1000"/>
|
||||
</object>
|
||||
</xml>
|
||||
Loading…
x
Reference in New Issue
Block a user