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Code Issues Releases Activity

Merge remote-tracking branch 'origin/next' into thread/OP-816_Setup_Wizard_Revo_Support

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This commit is contained in:
Fredrik Arvidsson 2013-04-27 11:23:20 +02:00
commit 63f41e98df
14 changed files with 2948 additions and 2651 deletions
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527
flight/modules/RadioComBridge/RadioComBridge.c
View File

@ -1,17 +1,17 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup RadioComBridgeModule Com Port to Radio Bridge Module
* @brief Bridge Com and Radio ports
* @{
*
* @file RadioComBridge.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Bridges selected Com Port to the COM VCP emulated serial port
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup RadioComBridgeModule Com Port to Radio Bridge Module
* @brief Bridge Com and Radio ports
* @{
*
* @file RadioComBridge.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Bridges selected Com Port to the COM VCP emulated serial port
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
@ -69,30 +69,30 @@ void PIOS_InitPPMFlexiPort(bool input);
typedef struct {
// The task handles.
xTaskHandle telemetryTxTaskHandle;
xTaskHandle radioRxTaskHandle;
xTaskHandle radioTxTaskHandle;
// The task handles.
xTaskHandle telemetryTxTaskHandle;
xTaskHandle radioRxTaskHandle;
xTaskHandle radioTxTaskHandle;
// The UAVTalk connection on the com side.
UAVTalkConnection outUAVTalkCon;
UAVTalkConnection inUAVTalkCon;
// The UAVTalk connection on the com side.
UAVTalkConnection outUAVTalkCon;
UAVTalkConnection inUAVTalkCon;
// Queue handles.
xQueueHandle gcsEventQueue;
xQueueHandle uavtalkEventQueue;
// Queue handles.
xQueueHandle gcsEventQueue;
xQueueHandle uavtalkEventQueue;
// Error statistics.
uint32_t comTxErrors;
uint32_t comTxRetries;
uint32_t UAVTalkErrors;
uint32_t droppedPackets;
// Error statistics.
uint32_t comTxErrors;
uint32_t comTxRetries;
uint32_t UAVTalkErrors;
uint32_t droppedPackets;
// Should we parse UAVTalk?
bool parseUAVTalk;
// Should we parse UAVTalk?
bool parseUAVTalk;
// The current configured uart speed
OPLinkSettingsComSpeedOptions comSpeed;
// The current configured uart speed
OPLinkSettingsComSpeedOptions comSpeed;
} RadioComBridgeData;
@ -118,8 +118,8 @@ static RadioComBridgeData *data;
/**
* Start the module
* \return -1 if initialisation failed
* \return 0 on success
*
* @return -1 if initialisation failed, 0 on success
*/
static int32_t RadioComBridgeStart(void)
{
@ -137,8 +137,7 @@ static int32_t RadioComBridgeStart(void)
if (is_coordinator) {
// Set the maximum radio RF power.
switch (oplinkSettings.MaxRFPower)
{
switch (oplinkSettings.MaxRFPower) {
case OPLINKSETTINGS_MAXRFPOWER_125:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
break;
@ -198,175 +197,186 @@ static int32_t RadioComBridgeStart(void)
/**
* Initialise the module
* \return -1 if initialisation failed
* \return 0 on success
*
* @return -1 if initialisation failed on success
*/
static int32_t RadioComBridgeInitialize(void)
{
// allocate and initialize the static data storage only if module is enabled
data = (RadioComBridgeData *)pvPortMalloc(sizeof(RadioComBridgeData));
if (!data)
return -1;
// allocate and initialize the static data storage only if module is enabled
data = (RadioComBridgeData *)pvPortMalloc(sizeof(RadioComBridgeData));
if (!data) {
return -1;
}
// Initialize the UAVObjects that we use
OPLinkStatusInitialize();
ObjectPersistenceInitialize();
// Initialize the UAVObjects that we use
OPLinkStatusInitialize();
ObjectPersistenceInitialize();
// Initialise UAVTalk
data->outUAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
data->inUAVTalkCon = UAVTalkInitialize(&RadioSendHandler);
// Initialise UAVTalk
data->outUAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
data->inUAVTalkCon = UAVTalkInitialize(&RadioSendHandler);
// Initialize the queues.
data->uavtalkEventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(UAVObjEvent));
// Initialize the queues.
data->uavtalkEventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(UAVObjEvent));
// Configure our UAVObjects for updates.
UAVObjConnectQueue(UAVObjGetByID(OPLINKSTATUS_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
// Configure our UAVObjects for updates.
UAVObjConnectQueue(UAVObjGetByID(OPLINKSTATUS_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
#if defined(PIOS_INCLUDE_RFM22B_GCSRECEIVER)
UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
#endif
// Initialize the statistics.
data->comTxErrors = 0;
data->comTxRetries = 0;
data->UAVTalkErrors = 0;
data->parseUAVTalk = false;
data->comSpeed = OPLINKSETTINGS_COMSPEED_9600;
PIOS_COM_RADIO = PIOS_COM_RFM22B;
// Initialize the statistics.
data->comTxErrors = 0;
data->comTxRetries = 0;
data->UAVTalkErrors = 0;
data->parseUAVTalk = false;
data->comSpeed = OPLINKSETTINGS_COMSPEED_9600;
PIOS_COM_RADIO = PIOS_COM_RFM22B;
return 0;
return 0;
}
MODULE_INITCALL(RadioComBridgeInitialize, RadioComBridgeStart)
/**
* Telemetry transmit task, regular priority
*
* @param[in] parameters The task parameters
*/
static void telemetryTxTask(void *parameters)
{
UAVObjEvent ev;
UAVObjEvent ev;
// Loop forever
while (1) {
// Loop forever
while (1) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_TELEMETRY);
PIOS_WDG_UpdateFlag(PIOS_WDG_TELEMETRY);
#endif
// Wait for queue message
if (xQueueReceive(data->uavtalkEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ))
{
// Send update (with retries)
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(data->outUAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS) == 0;
if (!success)
++retries;
}
data->comTxRetries += retries;
}
else if(ev.event == EV_SEND_ACK)
{
// Send the ACK
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendAck(data->outUAVTalkCon, ev.obj, ev.instId) == 0;
if (!success)
++retries;
}
data->comTxRetries += retries;
}
else if(ev.event == EV_SEND_NACK)
{
// Send the NACK
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendNack(data->outUAVTalkCon, UAVObjGetID(ev.obj)) == 0;
if (!success)
++retries;
}
data->comTxRetries += retries;
}
}
}
// Wait for queue message
if (xQueueReceive(data->uavtalkEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ)) {
// Send update (with retries)
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(data->outUAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS) == 0;
if (!success)
++retries;
}
data->comTxRetries += retries;
} else if(ev.event == EV_SEND_ACK) {
// Send the ACK
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendAck(data->outUAVTalkCon, ev.obj, ev.instId) == 0;
if (!success)
++retries;
}
data->comTxRetries += retries;
} else if(ev.event == EV_SEND_NACK) {
// Send the NACK
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendNack(data->outUAVTalkCon, UAVObjGetID(ev.obj)) == 0;
if (!success)
++retries;
}
data->comTxRetries += retries;
}
}
}
}
/**
* Radio rx task. Receive data packets from the radio and pass them on.
*
* @param[in] parameters The task parameters
*/
static void radioRxTask(void *parameters)
{
// Task loop
while (1) {
// Task loop
while (1) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIORX);
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIORX);
#endif
uint8_t serial_data[1];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0)
for (uint8_t i = 0; i < bytes_to_process; i++)
if (UAVTalkRelayInputStream(data->outUAVTalkCon, serial_data[i]) == UAVTALK_STATE_ERROR)
data->UAVTalkErrors++;
}
uint8_t serial_data[1];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++) {
if (UAVTalkRelayInputStream(data->outUAVTalkCon, serial_data[i]) == UAVTALK_STATE_ERROR) {
data->UAVTalkErrors++;
}
}
}
}
}
/**
* Radio rx task. Receive data from a com port and pass it on to the radio.
*
* @param[in] parameters The task parameters
*/
static void radioTxTask(void *parameters)
{
// Task loop
while (1) {
uint32_t inputPort = PIOS_COM_TELEMETRY;
// Task loop
while (1) {
uint32_t inputPort = PIOS_COM_TELEMETRY;
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIOTX);
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIOTX);
#endif
#if defined(PIOS_INCLUDE_USB)
// Determine output port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB_HID)
inputPort = PIOS_COM_TELEM_USB_HID;
// Determine output port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB_HID) {
inputPort = PIOS_COM_TELEM_USB_HID;
}
#endif /* PIOS_INCLUDE_USB */
if(inputPort) {
uint8_t serial_data[1];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++)
ProcessInputStream(data->inUAVTalkCon, serial_data[i]);
}
} else
vTaskDelay(5);
}
if(inputPort) {
uint8_t serial_data[1];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++)
ProcessInputStream(data->inUAVTalkCon, serial_data[i]);
}
} else {
vTaskDelay(5);
}
}
}
/**
* Transmit data buffer to the com port.
* \param[in] buf Data buffer to send
* \param[in] length Length of buffer
* \return -1 on failure
* \return number of bytes transmitted on success
*
* @param[in] buf Data buffer to send
* @param[in] length Length of buffer
* @return -1 on failure
* @return number of bytes transmitted on success
*/
static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
{
uint32_t outputPort = PIOS_COM_TELEMETRY;
uint32_t outputPort = PIOS_COM_TELEMETRY;
#if defined(PIOS_INCLUDE_USB)
// Determine output port (USB takes priority over telemetry port)
if (PIOS_COM_TELEM_USB_HID && PIOS_COM_Available(PIOS_COM_TELEM_USB_HID))
outputPort = PIOS_COM_TELEM_USB_HID;
// Determine output port (USB takes priority over telemetry port)
if (PIOS_COM_TELEM_USB_HID && PIOS_COM_Available(PIOS_COM_TELEM_USB_HID)) {
outputPort = PIOS_COM_TELEM_USB_HID;
}
#endif /* PIOS_INCLUDE_USB */
if(outputPort)
return PIOS_COM_SendBufferNonBlocking(outputPort, buf, length);
else
return -1;
if(outputPort) {
return PIOS_COM_SendBufferNonBlocking(outputPort, buf, length);
} else {
return -1;
}
}
/**
* Transmit data buffer to the com port.
* \param[in] buf Data buffer to send
* \param[in] length Length of buffer
* \return -1 on failure
* \return number of bytes transmitted on success
*
* @param[in] buf Data buffer to send
* @param[in] length Length of buffer
* @return -1 on failure
* @return number of bytes transmitted on success
*/
static int32_t RadioSendHandler(uint8_t *buf, int32_t length)
{
@ -380,136 +390,136 @@ static int32_t RadioSendHandler(uint8_t *buf, int32_t length)
}
}
/**
* Process a byte of data received
*
* @param[in] connectionHandle The UAVTalk connection handle
* @param[in] rxbyte The received byte.
*/
static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte)
{
// Keep reading until we receive a completed packet.
UAVTalkRxState state = UAVTalkRelayInputStream(connectionHandle, rxbyte);
UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(connectionHandle);
UAVTalkInputProcessor *iproc = &(connection->iproc);
// Keep reading until we receive a completed packet.
UAVTalkRxState state = UAVTalkRelayInputStream(connectionHandle, rxbyte);
UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(connectionHandle);
UAVTalkInputProcessor *iproc = &(connection->iproc);
if (state == UAVTALK_STATE_COMPLETE)
{
// Is this a local UAVObject?
// We only generate GcsReceiver ojects, we don't consume them.
if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID))
{
// We treat the ObjectPersistence object differently
if(iproc->objId == OBJECTPERSISTENCE_OBJID)
{
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
if (state == UAVTALK_STATE_COMPLETE) {
// Is this a local UAVObject?
// We only generate GcsReceiver ojects, we don't consume them.
if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID)) {
// We treat the ObjectPersistence object differently
if(iproc->objId == OBJECTPERSISTENCE_OBJID) {
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
// Get the ObjectPersistence object.
ObjectPersistenceData obj_per;
ObjectPersistenceGet(&obj_per);
// Get the ObjectPersistence object.
ObjectPersistenceData obj_per;
ObjectPersistenceGet(&obj_per);
// Is this concerning or setting object?
if (obj_per.ObjectID == OPLINKSETTINGS_OBJID)
{
// Queue up the ACK.
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
// Is this concerning or setting object?
if (obj_per.ObjectID == OPLINKSETTINGS_OBJID) {
// Queue up the ACK.
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
// Is this a save, load, or delete?
bool success = true;
switch (obj_per.Operation)
{
case OBJECTPERSISTENCE_OPERATION_LOAD:
{
// Is this a save, load, or delete?
bool success = true;
switch (obj_per.Operation) {
case OBJECTPERSISTENCE_OPERATION_LOAD:
{
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
// Load the settings.
OPLinkSettingsData oplinkSettings;
if (PIOS_EEPROM_Load((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData)) == 0)
OPLinkSettingsSet(&oplinkSettings);
else
success = false;
// Load the settings.
OPLinkSettingsData oplinkSettings;
if (PIOS_EEPROM_Load((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData)) == 0)
OPLinkSettingsSet(&oplinkSettings);
else
success = false;
#endif
break;
}
case OBJECTPERSISTENCE_OPERATION_SAVE:
{
break;
}
case OBJECTPERSISTENCE_OPERATION_SAVE:
{
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
// Save the settings.
OPLinkSettingsData oplinkSettings;
OPLinkSettingsGet(&oplinkSettings);
int32_t ret = PIOS_EEPROM_Save((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData));
if (ret != 0)
success = false;
// Save the settings.
OPLinkSettingsData oplinkSettings;
OPLinkSettingsGet(&oplinkSettings);
int32_t ret = PIOS_EEPROM_Save((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData));
if (ret != 0)
success = false;
#endif
break;
}
case OBJECTPERSISTENCE_OPERATION_DELETE:
{
break;
}
case OBJECTPERSISTENCE_OPERATION_DELETE:
{
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
// Erase the settings.
OPLinkSettingsData oplinkSettings;
uint8_t *ptr = (uint8_t*)&oplinkSettings;
memset(ptr, 0, sizeof(OPLinkSettingsData));
int32_t ret = PIOS_EEPROM_Save(ptr, sizeof(OPLinkSettingsData));
if (ret != 0)
success = false;
// Erase the settings.
OPLinkSettingsData oplinkSettings;
uint8_t *ptr = (uint8_t*)&oplinkSettings;
memset(ptr, 0, sizeof(OPLinkSettingsData));
int32_t ret = PIOS_EEPROM_Save(ptr, sizeof(OPLinkSettingsData));
if (ret != 0)
success = false;
#endif
break;
}
default:
break;
}
if (success == true)
{
obj_per.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
ObjectPersistenceSet(&obj_per);
}
}
}
else
{
switch (iproc->type)
{
case UAVTALK_TYPE_OBJ:
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
break;
case UAVTALK_TYPE_OBJ_REQ:
// Queue up an object send request.
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_UPDATE_REQ);
break;
case UAVTALK_TYPE_OBJ_ACK:
if (UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer) == 0)
// Queue up an ACK
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
break;
}
}
}
break;
}
default:
break;
}
if (success == true) {
obj_per.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
ObjectPersistenceSet(&obj_per);
}
}
} else {
switch (iproc->type) {
case UAVTALK_TYPE_OBJ:
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
break;
case UAVTALK_TYPE_OBJ_REQ:
// Queue up an object send request.
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_UPDATE_REQ);
break;
case UAVTALK_TYPE_OBJ_ACK:
if (UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer) == 0)
// Queue up an ACK
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
break;
}
}
}
} else if(state == UAVTALK_STATE_ERROR) {
data->UAVTalkErrors++;
} else if(state == UAVTALK_STATE_ERROR) {
data->UAVTalkErrors++;
// Send a NACK if required.
if((iproc->obj) && (iproc->type == UAVTALK_TYPE_OBJ_ACK))
// Queue up a NACK
queueEvent(data->uavtalkEventQueue, iproc->obj, iproc->instId, EV_SEND_NACK);
}
// Send a NACK if required.
if((iproc->obj) && (iproc->type == UAVTALK_TYPE_OBJ_ACK)) {
// Queue up a NACK
queueEvent(data->uavtalkEventQueue, iproc->obj, iproc->instId, EV_SEND_NACK);
}
}
}
/**
* Queue and event into an event queue.
* \param[in] queue The event queue
* \param[in] obj The data pointer
* \param[in] type The event type
*
* @param[in] queue The event queue
* @param[in] obj The data pointer
* @param[in] type The event type
*/
static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type)
{
UAVObjEvent ev;
ev.obj = (UAVObjHandle)obj;
ev.instId = instId;
ev.event = type;
xQueueSend(queue, &ev, portMAX_DELAY);
UAVObjEvent ev;
ev.obj = (UAVObjHandle)obj;
ev.instId = instId;
ev.event = type;
xQueueSend(queue, &ev, portMAX_DELAY);
}
/**
* Configure the output port based on a configuration event from the remote coordinator.
* \param[in] com_port The com port to configure
* \param[in] com_speed The com port speed
*
* @param[in] com_port The com port to configure
* @param[in] com_speed The com port speed
*/
static void configureComCallback(OPLinkSettingsRemoteMainPortOptions main_port, OPLinkSettingsRemoteFlexiPortOptions flexi_port,
OPLinkSettingsRemoteVCPPortOptions vcp_port, OPLinkSettingsComSpeedOptions com_speed,
@ -582,8 +592,7 @@ static void updateSettings()
// Configure the main port
bool is_coordinator = PIOS_RFM22B_IsCoordinator(pios_rfm22b_id);
switch (oplinkSettings.MainPort)
{
switch (oplinkSettings.MainPort) {
case OPLINKSETTINGS_MAINPORT_TELEMETRY:
data->parseUAVTalk = true;
case OPLINKSETTINGS_MAINPORT_SERIAL:
@ -599,8 +608,7 @@ static void updateSettings()
}
// Configure the flexi port
switch (oplinkSettings.FlexiPort)
{
switch (oplinkSettings.FlexiPort) {
case OPLINKSETTINGS_FLEXIPORT_TELEMETRY:
data->parseUAVTalk = true;
case OPLINKSETTINGS_FLEXIPORT_SERIAL:
@ -616,8 +624,7 @@ static void updateSettings()
}
// Configure the USB VCP port
switch (oplinkSettings.VCPPort)
{
switch (oplinkSettings.VCPPort) {
case OPLINKSETTINGS_VCPPORT_SERIAL:
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_USB_VCP;
break;

4221
flight/pios/common/pios_rfm22b.c
View File

@ -79,9 +79,6 @@
// The maximum amount of time without activity before initiating a reset.
#define PIOS_RFM22B_SUPERVISOR_TIMEOUT 100 // ms
// The time between connection attempts when not connected
#define CONNECT_ATTEMPT_PERIOD_MS 250 // ms
// The time between updates for sending stats the radio link.
#define RADIOSTATS_UPDATE_PERIOD_MS 250
@ -92,31 +89,27 @@
#define PPM_UPDATE_PERIOD_MS 20
// this is too adjust the RF module so that it is on frequency
#define OSC_LOAD_CAP 0x7F // cap = 12.5pf .. default
#define OSC_LOAD_CAP_1 0x7D // board 1
#define OSC_LOAD_CAP_2 0x7B // board 2
#define OSC_LOAD_CAP_3 0x7E // board 3
#define OSC_LOAD_CAP_4 0x7F // board 4
#define OSC_LOAD_CAP 0x7F // cap = 12.5pf .. default
// ************************************
#define TX_PREAMBLE_NIBBLES 12 // 7 to 511 (number of nibbles)
#define RX_PREAMBLE_NIBBLES 6 // 5 to 31 (number of nibbles)
#define TX_PREAMBLE_NIBBLES 12 // 7 to 511 (number of nibbles)
#define RX_PREAMBLE_NIBBLES 6 // 5 to 31 (number of nibbles)
// the size of the rf modules internal FIFO buffers
#define FIFO_SIZE 64
#define FIFO_SIZE 64
#define TX_FIFO_HI_WATERMARK 62 // 0-63
#define TX_FIFO_LO_WATERMARK 32 // 0-63
#define TX_FIFO_HI_WATERMARK 62 // 0-63
#define TX_FIFO_LO_WATERMARK 32 // 0-63
#define RX_FIFO_HI_WATERMARK 32 // 0-63
#define RX_FIFO_HI_WATERMARK 32 // 0-63
#define PREAMBLE_BYTE 0x55 // preamble byte (preceeds SYNC_BYTE's)
// preamble byte (preceeds SYNC_BYTE's)
#define PREAMBLE_BYTE 0x55
#define SYNC_BYTE_1 0x2D // RF sync bytes (32-bit in all)
#define SYNC_BYTE_2 0xD4 //
#define SYNC_BYTE_3 0x4B //
#define SYNC_BYTE_4 0x59 //
// RF sync bytes (32-bit in all)
#define SYNC_BYTE_1 0x2D
#define SYNC_BYTE_2 0xD4
#define SYNC_BYTE_3 0x4B
#define SYNC_BYTE_4 0x59
#ifndef RX_LED_ON
#define RX_LED_ON
@ -129,53 +122,44 @@
#define USB_LED_OFF
#endif
// ************************************
// Normal data streaming
// GFSK modulation
// no manchester encoding
// data whitening
// FIFO mode
// 5-nibble rx preamble length detection
// 10-nibble tx preamble length
// AFC enabled
/* Local type definitions */
struct pios_rfm22b_transition {
enum pios_rfm22b_event (*entry_fn) (struct pios_rfm22b_dev *rfm22b_dev);
enum pios_rfm22b_state next_state[RFM22B_EVENT_NUM_EVENTS];
enum pios_rfm22b_event (*entry_fn) (struct pios_rfm22b_dev *rfm22b_dev);
enum pios_rfm22b_state next_state[RFM22B_EVENT_NUM_EVENTS];
};
// Must ensure these prefilled arrays match the define sizes
static const uint8_t FULL_PREAMBLE[FIFO_SIZE] = {
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE}; // 64 bytes
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE}; // 64 bytes
static const uint8_t HEADER[(TX_PREAMBLE_NIBBLES + 1)/2 + 2] = {PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE,PREAMBLE_BYTE, PREAMBLE_BYTE, SYNC_BYTE_1, SYNC_BYTE_2};
static const uint8_t OUT_FF[64] = {
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
/* Local function forwared declarations */
static void PIOS_RFM22B_Task(void *parameters);
static void pios_rfm22_task(void *parameters);
static bool rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening);
static void pios_rfm22_inject_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR);
static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_detectPreamble(struct pios_rfm22b_dev *rfm22b_dev);
@ -213,6 +197,10 @@ static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev);
static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_clearLEDs();
// Utility functions.
static uint32_t pios_rfm22_time_difference_ms(portTickType start_time, portTickType end_time);
static struct pios_rfm22b_dev *pios_rfm22_alloc(void);
// SPI read/write functions
static void rfm22_assertCs(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_deassertCs(struct pios_rfm22b_dev *rfm22b_dev);
@ -222,223 +210,223 @@ static void rfm22_write(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_
static uint8_t rfm22_read(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr);
static uint8_t rfm22_read_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr);
/* Te state transition table */
/* The state transition table */
const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_STATES] = {
// Initialization thread
[RFM22B_STATE_UNINITIALIZED] = {
.entry_fn = 0,
.next_state = {
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
},
},
[RFM22B_STATE_INITIALIZING] = {
.entry_fn = rfm22_init,
.next_state = {
[RFM22B_EVENT_INITIALIZED] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_REQUESTING_CONNECTION] = {
.entry_fn = rfm22_requestConnection,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR
},
},
[RFM22B_STATE_ACCEPTING_CONNECTION] = {
.entry_fn = rfm22_acceptConnection,
.next_state = {
[RFM22B_EVENT_DEFAULT] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
// Initialization thread
[RFM22B_STATE_UNINITIALIZED] = {
.entry_fn = 0,
.next_state = {
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
},
},
[RFM22B_STATE_INITIALIZING] = {
.entry_fn = rfm22_init,
.next_state = {
[RFM22B_EVENT_INITIALIZED] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_REQUESTING_CONNECTION] = {
.entry_fn = rfm22_requestConnection,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR
},
},
[RFM22B_STATE_ACCEPTING_CONNECTION] = {
.entry_fn = rfm22_acceptConnection,
.next_state = {
[RFM22B_EVENT_DEFAULT] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RX_MODE] = {
.entry_fn = rfm22_setRxMode,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_WAIT_PREAMBLE] = {
.entry_fn = rfm22_detectPreamble,
.next_state = {
[RFM22B_EVENT_PREAMBLE_DETECTED] = RFM22B_STATE_WAIT_SYNC,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_WAIT_SYNC] = {
.entry_fn = rfm22_detectSync,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_SYNC,
[RFM22B_EVENT_SYNC_DETECTED] = RFM22B_STATE_RX_DATA,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RX_DATA] = {
.entry_fn = rfm22_rxData,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_RX_DATA,
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_RX_ERROR] = RFM22B_STATE_SENDING_NACK,
[RFM22B_EVENT_STATUS_RECEIVED] = RFM22B_STATE_RECEIVING_STATUS,
[RFM22B_EVENT_CONNECTION_REQUESTED] = RFM22B_STATE_ACCEPTING_CONNECTION,
[RFM22B_EVENT_PACKET_ACKED] = RFM22B_STATE_RECEIVING_ACK,
[RFM22B_EVENT_PACKET_NACKED] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RX_FAILURE] = {
.entry_fn = rfm22_rxFailure,
.next_state = {
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_ACK] = {
.entry_fn = rfm22_receiveAck,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_NACK] = {
.entry_fn = rfm22_receiveNack,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_STATUS] = {
.entry_fn = rfm22_receiveStatus,
.next_state = {
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_START] = {
.entry_fn = rfm22_txStart,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_DATA] = {
.entry_fn = rfm22_txData,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
[RFM22B_EVENT_REQUEST_CONNECTION] = RFM22B_STATE_REQUESTING_CONNECTION,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_TX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_FAILURE] = {
.entry_fn = rfm22_txFailure,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_SENDING_ACK] = {
.entry_fn = rfm22_sendAck,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_SENDING_NACK] = {
.entry_fn = rfm22_sendNack,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TIMEOUT] = {
.entry_fn = rfm22_timeout,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_ERROR] = {
.entry_fn = rfm22_error,
.next_state = {
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_FATAL_ERROR] = {
.entry_fn = rfm22_fatal_error,
.next_state = {
},
},
[RFM22B_STATE_RX_MODE] = {
.entry_fn = rfm22_setRxMode,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_WAIT_PREAMBLE] = {
.entry_fn = rfm22_detectPreamble,
.next_state = {
[RFM22B_EVENT_PREAMBLE_DETECTED] = RFM22B_STATE_WAIT_SYNC,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_WAIT_SYNC] = {
.entry_fn = rfm22_detectSync,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_SYNC,
[RFM22B_EVENT_SYNC_DETECTED] = RFM22B_STATE_RX_DATA,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RX_DATA] = {
.entry_fn = rfm22_rxData,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_RX_DATA,
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_RX_ERROR] = RFM22B_STATE_SENDING_NACK,
[RFM22B_EVENT_STATUS_RECEIVED] = RFM22B_STATE_RECEIVING_STATUS,
[RFM22B_EVENT_CONNECTION_REQUESTED] = RFM22B_STATE_ACCEPTING_CONNECTION,
[RFM22B_EVENT_PACKET_ACKED] = RFM22B_STATE_RECEIVING_ACK,
[RFM22B_EVENT_PACKET_NACKED] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RX_FAILURE] = {
.entry_fn = rfm22_rxFailure,
.next_state = {
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_ACK] = {
.entry_fn = rfm22_receiveAck,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_NACK] = {
.entry_fn = rfm22_receiveNack,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_STATUS] = {
.entry_fn = rfm22_receiveStatus,
.next_state = {
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_START] = {
.entry_fn = rfm22_txStart,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_DATA] = {
.entry_fn = rfm22_txData,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
[RFM22B_EVENT_REQUEST_CONNECTION] = RFM22B_STATE_REQUESTING_CONNECTION,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_TX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_FAILURE] = {
.entry_fn = rfm22_txFailure,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_SENDING_ACK] = {
.entry_fn = rfm22_sendAck,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_SENDING_NACK] = {
.entry_fn = rfm22_sendNack,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TIMEOUT] = {
.entry_fn = rfm22_timeout,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_ERROR] = {
.entry_fn = rfm22_error,
.next_state = {
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_FATAL_ERROR] = {
.entry_fn = rfm22_fatal_error,
.next_state = {
},
},
};
// xtal 10 ppm, 434MHz
#define LOOKUP_SIZE 15
static const uint32_t data_rate[] = { 500, 1000, 2000, 4000, 8000, 9600, 16000, 19200, 24000, 32000, 57600, 64000, 128000, 192000, 256000};
static const uint8_t modulation_index[] = { 16, 8, 4, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
@ -467,162 +455,133 @@ static const uint8_t reg_71[] = { 0x23, 0x23, 0x23, 0x23, 0x
static const uint8_t reg_72[] = { 0x06, 0x06, 0x06, 0x06, 0x06, 0x08, 0x0D, 0x0F, 0x13, 0x1A, 0x2E, 0x33, 0x66, 0x9A, 0xCD}; // rfm22_frequency_deviation
static inline uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time)
{
if(end_time >= start_time)
return (end_time - start_time) * portTICK_RATE_MS;
// Rollover
return ((portMAX_DELAY - start_time) + end_time) * portTICK_RATE_MS;
}
bool PIOS_RFM22B_validate(struct pios_rfm22b_dev * rfm22b_dev)
{
return (rfm22b_dev != NULL && rfm22b_dev->magic == PIOS_RFM22B_DEV_MAGIC);
}
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_rfm22b_dev * PIOS_RFM22B_alloc(void)
{
struct pios_rfm22b_dev * rfm22b_dev;
rfm22b_dev = (struct pios_rfm22b_dev *)pvPortMalloc(sizeof(*rfm22b_dev));
rfm22b_dev->spi_id = 0;
if (!rfm22b_dev) return(NULL);
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
return(rfm22b_dev);
}
#else
static struct pios_rfm22b_dev pios_rfm22b_devs[PIOS_RFM22B_MAX_DEVS];
static uint8_t pios_rfm22b_num_devs;
static struct pios_rfm22b_dev * PIOS_RFM22B_alloc(void)
{
struct pios_rfm22b_dev * rfm22b_dev;
if (pios_rfm22b_num_devs >= PIOS_RFM22B_MAX_DEVS)
return NULL;
rfm22b_dev = &pios_rfm22b_devs[pios_rfm22b_num_devs++];
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
return (rfm22b_dev);
}
#endif
static struct pios_rfm22b_dev * g_rfm22b_dev = NULL;
/*****************************************************************************
* External Interface Functions
*****************************************************************************/
/**
* Initialise an RFM22B device
*
* @param[out] rfm22b_id A pointer to store the device ID in.
* @param[in] spi_id The SPI bus index.
* @param[in] slave_num The SPI bus slave number.
* @param[in] cfg The device configuration.
*/
int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_num, const struct pios_rfm22b_cfg *cfg)
{
PIOS_DEBUG_Assert(rfm22b_id);
PIOS_DEBUG_Assert(cfg);
PIOS_DEBUG_Assert(rfm22b_id);
PIOS_DEBUG_Assert(cfg);
// Allocate the device structure.
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;
// Allocate the device structure.
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)pios_rfm22_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;
// Store the SPI handle
rfm22b_dev->slave_num = slave_num;
rfm22b_dev->spi_id = spi_id;
// Initialize our configuration parameters
rfm22b_dev->send_ppm = false;
rfm22b_dev->datarate = RFM22B_DEFAULT_RX_DATARATE;
rfm22b_dev->tx_power = RFM22B_DEFAULT_TX_POWER;
// Initialize our configuration parameters
rfm22b_dev->send_ppm = false;
rfm22b_dev->datarate = RFM22B_DEFAULT_RX_DATARATE;
rfm22b_dev->tx_power = RFM22B_DEFAULT_TX_POWER;
// Initialize the com callbacks.
rfm22b_dev->com_config_cb = NULL;
rfm22b_dev->rx_in_cb = NULL;
rfm22b_dev->tx_out_cb = NULL;
// Initialize the com callbacks.
rfm22b_dev->com_config_cb = NULL;
rfm22b_dev->rx_in_cb = NULL;
rfm22b_dev->tx_out_cb = NULL;
// 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.tx_seq = 0;
rfm22b_dev->stats.rx_seq = 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.tx_seq = 0;
rfm22b_dev->stats.rx_seq = 0;
// Initialize the frequencies.
PIOS_RFM22B_SetInitialFrequency(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY);
PIOS_RFM22B_SetFrequencyRange(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY, RFM22B_DEFAULT_FREQUENCY, RFM22B_FREQUENCY_HOP_STEP_SIZE);
// Initialize the frequencies.
PIOS_RFM22B_SetInitialFrequency(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY);
PIOS_RFM22B_SetFrequencyRange(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY, RFM22B_DEFAULT_FREQUENCY, RFM22B_FREQUENCY_HOP_STEP_SIZE);
// Initialize the bindings.
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
rfm22b_dev->bindings[i].pairID = 0;
}
rfm22b_dev->coordinator = false;
// Initialize the bindings.
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
rfm22b_dev->bindings[i].pairID = 0;
}
rfm22b_dev->coordinator = false;
// Create the event queue
rfm22b_dev->eventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(enum pios_rfm22b_event));
// Create the event queue
rfm22b_dev->eventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(enum pios_rfm22b_event));
// Bind the configuration to the device instance
rfm22b_dev->cfg = *cfg;
// Bind the configuration to the device instance
rfm22b_dev->cfg = *cfg;
// Create a semaphore to know if an ISR needs responding to
vSemaphoreCreateBinary( rfm22b_dev->isrPending );
// Create a semaphore to know if an ISR needs responding to
vSemaphoreCreateBinary( rfm22b_dev->isrPending );
// Create our (hopefully) unique 32 bit id from the processor serial number.
uint8_t crcs[] = { 0, 0, 0, 0 };
{
char serial_no_str[33];
PIOS_SYS_SerialNumberGet(serial_no_str);
// Create a 32 bit value using 4 8 bit CRC values.
for (uint8_t i = 0; serial_no_str[i] != 0; ++i)
crcs[i % 4] = PIOS_CRC_updateByte(crcs[i % 4], serial_no_str[i]);
}
rfm22b_dev->deviceID = crcs[0] | crcs[1] << 8 | crcs[2] << 16 | crcs[3] << 24;
DEBUG_PRINTF(2, "RF device ID: %x\n\r", rfm22b_dev->deviceID);
// Create our (hopefully) unique 32 bit id from the processor serial number.
uint8_t crcs[] = { 0, 0, 0, 0 };
{
char serial_no_str[33];
PIOS_SYS_SerialNumberGet(serial_no_str);
// Create a 32 bit value using 4 8 bit CRC values.
for (uint8_t i = 0; serial_no_str[i] != 0; ++i)
crcs[i % 4] = PIOS_CRC_updateByte(crcs[i % 4], serial_no_str[i]);
}
rfm22b_dev->deviceID = crcs[0] | crcs[1] << 8 | crcs[2] << 16 | crcs[3] << 24;
DEBUG_PRINTF(2, "RF device ID: %x\n\r", rfm22b_dev->deviceID);
#if defined(PIOS_INCLUDE_GCSRCVR)
// Initialize the GCSReceive object
GCSReceiverInitialize();
// Initialize the GCSReceive object
GCSReceiverInitialize();
#endif
// Initialize the external interrupt.
PIOS_EXTI_Init(cfg->exti_cfg);
// Initialize the external interrupt.
PIOS_EXTI_Init(cfg->exti_cfg);
// Register the watchdog timer for the radio driver task
// Register the watchdog timer for the radio driver task
#ifdef PIOS_WDG_RFM22B
PIOS_WDG_RegisterFlag(PIOS_WDG_RFM22B);
PIOS_WDG_RegisterFlag(PIOS_WDG_RFM22B);
#endif /* PIOS_WDG_RFM22B */
// Initialize the ECC library.
initialize_ecc();
// Initialize the ECC library.
initialize_ecc();
// Set the state to initializing.
rfm22b_dev->state = RFM22B_STATE_UNINITIALIZED;
// Set the state to initializing.
rfm22b_dev->state = RFM22B_STATE_UNINITIALIZED;
// Initialize the radio device.
PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
// Initialize the radio device.
pios_rfm22_inject_event(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));
// Start the driver task. This task controls the radio state machine and removed all of the IO from the IRQ handler.
xTaskCreate(pios_rfm22_task, (signed char *)"PIOS_RFM22B_Task", STACK_SIZE_BYTES, (void*)rfm22b_dev, TASK_PRIORITY, &(rfm22b_dev->taskHandle));
return(0);
return(0);
}
/**
* Re-initialize the modem after a configuration change.
*
* @param[in] rbm22b_id The RFM22B device ID.
*/
void PIOS_RFM22B_Reinit(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_validate(rfm22b_dev))
PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_Validate(rfm22b_dev)) {
pios_rfm22_inject_event(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
}
}
/**
@ -630,1924 +589,2190 @@ void PIOS_RFM22B_Reinit(uint32_t rfm22b_id)
*/
bool PIOS_RFM22_EXT_Int(void)
{
if (!PIOS_RFM22B_validate(g_rfm22b_dev))
return false;
// Inject an interrupt event into the state machine.
PIOS_RFM22B_InjectEvent(g_rfm22b_dev, RFM22B_EVENT_INT_RECEIVED, true);
if (!PIOS_RFM22B_Validate(g_rfm22b_dev)) {
return false;
}
}
/**
* Inject an event into the RFM22B state machine.
* \param[in] rfm22b_dev The device structure
* \param[in] event The event to inject
* \param[in] inISR Is this being called from an interrrup service routine?
*/
void PIOS_RFM22B_InjectEvent(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR)
{
// Store the event.
if (xQueueSend(rfm22b_dev->eventQueue, &event, portMAX_DELAY) != pdTRUE)
return;
// Signal the semaphore to wake up the handler thread.
if (inISR) {
portBASE_TYPE pxHigherPriorityTaskWoken;
if (xSemaphoreGiveFromISR(rfm22b_dev->isrPending, &pxHigherPriorityTaskWoken) != pdTRUE) {
// Something went fairly seriously wrong
rfm22b_dev->errors++;
}
portEND_SWITCHING_ISR(pxHigherPriorityTaskWoken);
}
else
{
if (xSemaphoreGive(rfm22b_dev->isrPending) != pdTRUE) {
// Something went fairly seriously wrong
rfm22b_dev->errors++;
}
}
// Inject an interrupt event into the state machine.
pios_rfm22_inject_event(g_rfm22b_dev, RFM22B_EVENT_INT_RECEIVED, true);
return false;
}
/**
* Returns the unique device ID for the RFM22B device.
* \param[in] rfm22b_id The RFM22B device index.
* \return The unique device ID
*
* @param[in] rfm22b_id The RFM22B device index.
* @return The unique device ID
*/
uint32_t PIOS_RFM22B_DeviceID(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_validate(rfm22b_dev)) {
return rfm22b_dev->deviceID;
} else {
return 0;
}
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_Validate(rfm22b_dev)) {
return rfm22b_dev->deviceID;
}
return 0;
}
/**
* Returns true if the modem is configured as a coordinator.
* \param[in] rfm22b_id The RFM22B device index.
* \return True if the modem is configured as a coordinator.
*
* @param[in] rfm22b_id The RFM22B device index.
* @return True if the modem is configured as a coordinator.
*/
bool PIOS_RFM22B_IsCoordinator(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_validate(rfm22b_dev)) {
return rfm22b_dev->coordinator;
} else {
return false;
}
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_Validate(rfm22b_dev)) {
return rfm22b_dev->coordinator;
}
return false;
}
/**
* Sets the radio device transmit power.
* \param[in] rfm22b_id The RFM22B device index.
* \param[in] tx_pwr The transmit power.
*
* @param[in] rfm22b_id The RFM22B device index.
* @param[in] tx_pwr The transmit power.
*/
void PIOS_RFM22B_SetTxPower(uint32_t rfm22b_id, enum rfm22b_tx_power tx_pwr)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev)) {
return;
}
rfm22b_dev->tx_power = tx_pwr;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
rfm22b_dev->tx_power = tx_pwr;
}
/**
* Sets the radio frequency range and initial frequency
* \param[in] rfm22b_id The RFM22B device index.
* \param[in] min_freq The minimum frequency
* \param[in] max_freq The maximum frequency
* \param[in] step_size The channel step size
*
* @param[in] rfm22b_id The RFM22B device index.
* @param[in] min_freq The minimum frequency
* @param[in] max_freq The maximum frequency
* @param[in] step_size The channel step size
*/
void PIOS_RFM22B_SetFrequencyRange(uint32_t rfm22b_id, uint32_t min_freq, uint32_t max_freq, uint32_t step_size)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev)) {
return;
}
rfm22b_dev->con_packet.min_frequency = min_freq;
rfm22b_dev->con_packet.max_frequency = max_freq;
rfm22b_dev->con_packet.channel_spacing = step_size;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
rfm22b_dev->con_packet.min_frequency = min_freq;
rfm22b_dev->con_packet.max_frequency = max_freq;
rfm22b_dev->con_packet.channel_spacing = step_size;
}
/**
* Sets the initial radio frequency range
* \param[in] rfm22b_id The RFM22B device index.
* \param[in] init_freq The initial frequency
*
* @param[in] rfm22b_id The RFM22B device index.
* @param[in] init_freq The initial frequency
*/
void PIOS_RFM22B_SetInitialFrequency(uint32_t rfm22b_id, uint32_t init_freq)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev)) {
return;
}
rfm22b_dev->init_frequency = init_freq;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
rfm22b_dev->init_frequency = init_freq;
}
/**
* Set the com port configuration callback (to receive com configuration over the air)
* \param[in] rfm22b_id The rfm22b device.
* \param[in] cb A pointer to the callback function
*
* @param[in] rfm22b_id The rfm22b device.
* @param[in] cb A pointer to the callback function
*/
void PIOS_RFM22B_SetComConfigCallback(uint32_t rfm22b_id, PIOS_RFM22B_ComConfigCallback cb)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev)) {
return;
}
rfm22b_dev->com_config_cb = cb;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
rfm22b_dev->com_config_cb = cb;
}
/**
* Set the list of modems that this modem will bind with.
* \param[in] rfm22b_id The rfm22b device.
* \param[in] bindings The array of bindings.
*
* @param[in] rfm22b_id The rfm22b device.
* @param[in] bindingPairIDs The array of binding IDs.
* @param[in] mainPortSettings The array of main com port configurations.
* @param[in] flexiPortSettings The array of flexi com port configurations.
* @param[in] vcpPortSettings The array of VCP com port configurations.
* @param[in] comSpeeds The array of com port speeds.
*/
void PIOS_RFM22B_SetBindings(uint32_t rfm22b_id, const uint32_t bindingPairIDs[], const uint8_t mainPortSettings[],
const uint8_t flexiPortSettings[], const uint8_t vcpPortSettings[], const uint8_t comSpeeds[])
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return;
// This modem will be considered a coordinator if any bindings have been set.
rfm22b_dev->coordinator = false;
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
rfm22b_dev->bindings[i].pairID = bindingPairIDs[i];
rfm22b_dev->bindings[i].main_port = mainPortSettings[i];
rfm22b_dev->bindings[i].flexi_port = flexiPortSettings[i];
rfm22b_dev->bindings[i].vcp_port = vcpPortSettings[i];
rfm22b_dev->bindings[i].com_speed = comSpeeds[i];
rfm22b_dev->coordinator |= (rfm22b_dev->bindings[i].pairID != 0);
}
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
// This modem will be considered a coordinator if any bindings have been set.
rfm22b_dev->coordinator = false;
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
rfm22b_dev->bindings[i].pairID = bindingPairIDs[i];
rfm22b_dev->bindings[i].main_port = mainPortSettings[i];
rfm22b_dev->bindings[i].flexi_port = flexiPortSettings[i];
rfm22b_dev->bindings[i].vcp_port = vcpPortSettings[i];
rfm22b_dev->bindings[i].com_speed = comSpeeds[i];
rfm22b_dev->coordinator |= (rfm22b_dev->bindings[i].pairID != 0);
}
}
/**
* Returns the device statistics RFM22B device.
* \param[in] rfm22b_id The RFM22B device index.
* \param[out] stats The stats are returned in this structure
*
* @param[in] rfm22b_id The RFM22B device index.
* @param[out] stats The stats are returned in this structure
*/
void PIOS_RFM22B_GetStats(uint32_t rfm22b_id, struct rfm22b_stats *stats) {
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
// Calculate the current link quality
rfm22_calculateLinkQuality(rfm22b_dev);
// Calculate the current link quality
rfm22_calculateLinkQuality(rfm22b_dev);
// We are connected if our destination ID is in the pair stats.
if (rfm22b_dev->destination_id != 0xffffffff)
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i)
{
if ((rfm22b_dev->pair_stats[i].pairID == rfm22b_dev->destination_id) &&
(rfm22b_dev->pair_stats[i].rssi > -127))
{
rfm22b_dev->stats.rssi = rfm22b_dev->pair_stats[i].rssi;
rfm22b_dev->stats.afc_correction = rfm22b_dev->pair_stats[i].afc_correction;
break;
}
}
*stats = rfm22b_dev->stats;
// We are connected if our destination ID is in the pair stats.
if (rfm22b_dev->destination_id != 0xffffffff) {
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i) {
if ((rfm22b_dev->pair_stats[i].pairID == rfm22b_dev->destination_id) &&
(rfm22b_dev->pair_stats[i].rssi > -127)) {
rfm22b_dev->stats.rssi = rfm22b_dev->pair_stats[i].rssi;
rfm22b_dev->stats.afc_correction = rfm22b_dev->pair_stats[i].afc_correction;
break;
}
}
}
*stats = rfm22b_dev->stats;
}
/**
* Get the stats of the oter radio devices that are in range.
* \param[out] device_ids A pointer to the array to store the device IDs.
* \param[out] RSSIs A pointer to the array to store the RSSI values in.
* \param[in] mx_pairs The length of the pdevice_ids and RSSIs arrays.
* \return The number of pair stats returned.
*
* @param[out] device_ids A pointer to the array to store the device IDs.
* @param[out] RSSIs A pointer to the array to store the RSSI values in.
* @param[in] mx_pairs The length of the pdevice_ids and RSSIs arrays.
* @return The number of pair stats returned.
*/
uint8_t PIOS_RFM2B_GetPairStats(uint32_t rfm22b_id, uint32_t *device_ids, int8_t *RSSIs, uint8_t max_pairs)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return 0;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return 0;
}
uint8_t mp = (max_pairs >= OPLINKSTATUS_PAIRIDS_NUMELEM) ? max_pairs : OPLINKSTATUS_PAIRIDS_NUMELEM;
for (uint8_t i = 0; i < mp; ++i)
{
device_ids[i] = rfm22b_dev->pair_stats[i].pairID;
RSSIs[i] = rfm22b_dev->pair_stats[i].rssi;
}
uint8_t mp = (max_pairs >= OPLINKSTATUS_PAIRIDS_NUMELEM) ? max_pairs : OPLINKSTATUS_PAIRIDS_NUMELEM;
for (uint8_t i = 0; i < mp; ++i) {
device_ids[i] = rfm22b_dev->pair_stats[i].pairID;
RSSIs[i] = rfm22b_dev->pair_stats[i].rssi;
}
return mp;
return mp;
}
/**
* Check the radio device for a valid connection
* \param[in] rfm22b_id The rfm22b device.
* Returns true if there is a valid connection to paired radio, false otherwise.
*
* @param[in] rfm22b_id The rfm22b device.
* @return true if there is a valid connection to paired radio, false otherwise.
*/
bool PIOS_RFM22B_LinkStatus(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return false;
return (rfm22_isConnected(rfm22b_dev) && (rfm22b_dev->stats.link_quality > RFM22B_LINK_QUALITY_THRESHOLD));
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_Validate(rfm22b_dev)) {
return false;
}
return (rfm22_isConnected(rfm22b_dev) && (rfm22b_dev->stats.link_quality > RFM22B_LINK_QUALITY_THRESHOLD));
}
/**
* Send a PPM packet with the given channel values.
* \param[in] rfm22b_id The rfm22b device.
* \param[in] channels The channel values.
* \param[in] nchannels The number of channels.
* Returns true if there is a valid connection to paired radio, false otherwise.
* Validate that the device structure is valid.
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
*/
void PIOS_RFM22B_SendPPM(uint32_t rfm22b_id, const uint16_t *channels, uint8_t nchannels)
inline bool PIOS_RFM22B_Validate(struct pios_rfm22b_dev *rfm22b_dev)
{
#ifdef PIOS_PPM_RECEIVER
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev)) {
return;
}
// Only send PPM if we're connected
if (!rfm22_isConnected(rfm22b_dev)) {
return;
}
// See if we have any valid channels.
uint8_t nchan = (nchannels <= PIOS_PPM_NUM_INPUTS) ? nchannels : PIOS_PPM_NUM_INPUTS;
for (uint8_t i = 0; i < nchan; ++i) {
rfm22b_dev->ppm_packet.channels[i] = channels[i];
}
// Send the PPM packet.
rfm22b_dev->ppm_packet.header.destination_id = rfm22b_dev->destination_id;
rfm22b_dev->ppm_packet.header.type = PACKET_TYPE_PPM;
rfm22b_dev->ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&(rfm22b_dev->ppm_packet));
rfm22b_dev->send_ppm = true;
#endif
return (rfm22b_dev != NULL && rfm22b_dev->magic == PIOS_RFM22B_DEV_MAGIC);
}
/*****************************************************************************
* The Device Control Thread
*****************************************************************************/
/**
* The task that controls the radio state machine.
*
* @param[in] paramters The task parameters.
*/
static void PIOS_RFM22B_Task(void *parameters)
static void pios_rfm22_task(void *parameters)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)parameters;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
portTickType lastEventTicks = xTaskGetTickCount();
portTickType lastStatusTicks = lastEventTicks;
portTickType lastPPMTicks = lastEventTicks;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)parameters;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
portTickType lastEventTicks = xTaskGetTickCount();
portTickType lastStatusTicks = lastEventTicks;
portTickType lastPPMTicks = lastEventTicks;
while(1)
{
while(1) {
#ifdef PIOS_WDG_RFM22B
// Update the watchdog timer
PIOS_WDG_UpdateFlag(PIOS_WDG_RFM22B);
// Update the watchdog timer
PIOS_WDG_UpdateFlag(PIOS_WDG_RFM22B);
#endif /* PIOS_WDG_RFM22B */
// Wait for a signal indicating an external interrupt or a pending send/receive request.
if (xSemaphoreTake(rfm22b_dev->isrPending, ISR_TIMEOUT / portTICK_RATE_MS) == pdTRUE) {
lastEventTicks = xTaskGetTickCount();
// Wait for a signal indicating an external interrupt or a pending send/receive request.
if (xSemaphoreTake(rfm22b_dev->isrPending, ISR_TIMEOUT / portTICK_RATE_MS) == pdTRUE) {
lastEventTicks = xTaskGetTickCount();
// Process events through the state machine.
enum pios_rfm22b_event event;
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE)
{
if ((event == RFM22B_EVENT_INT_RECEIVED) &&
((rfm22b_dev->state == RFM22B_STATE_UNINITIALIZED) || (rfm22b_dev->state == RFM22B_STATE_INITIALIZING)))
continue;
rfm22_process_event(rfm22b_dev, event);
}
}
else
{
// Has it been too long since the last event?
portTickType curTicks = xTaskGetTickCount();
if (timeDifferenceMs(lastEventTicks, curTicks) > PIOS_RFM22B_SUPERVISOR_TIMEOUT)
{
// Transsition through an error event.
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
// Process events through the state machine.
enum pios_rfm22b_event event;
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE) {
if ((event == RFM22B_EVENT_INT_RECEIVED) &&
((rfm22b_dev->state == RFM22B_STATE_UNINITIALIZED) || (rfm22b_dev->state == RFM22B_STATE_INITIALIZING)))
continue;
rfm22_process_event(rfm22b_dev, event);
}
} else {
// Has it been too long since the last event?
portTickType curTicks = xTaskGetTickCount();
if (pios_rfm22_time_difference_ms(lastEventTicks, curTicks) > PIOS_RFM22B_SUPERVISOR_TIMEOUT) {
// Transsition through an error event.
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
// Clear the event queue.
enum pios_rfm22b_event event;
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE)
;
lastEventTicks = xTaskGetTickCount();
}
}
// Clear the event queue.
enum pios_rfm22b_event event;
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE) {
// Do nothing;
}
lastEventTicks = xTaskGetTickCount();
}
}
// Change channels if necessary.
if ((rfm22b_dev->state == RFM22B_STATE_RX_MODE) || (rfm22b_dev->state == RFM22B_STATE_WAIT_PREAMBLE)) {
rfm22_changeChannel(rfm22b_dev);
}
// Change channels if necessary.
if ((rfm22b_dev->state == RFM22B_STATE_RX_MODE) || (rfm22b_dev->state == RFM22B_STATE_WAIT_PREAMBLE)) {
rfm22_changeChannel(rfm22b_dev);
}
portTickType curTicks = xTaskGetTickCount();
uint32_t last_rec_ms = (rfm22b_dev->rx_complete_ticks == 0) ? 0 : timeDifferenceMs(rfm22b_dev->rx_complete_ticks, curTicks);
// Have we been sending this packet too long?
if ((rfm22b_dev->packet_start_ticks > 0) && (timeDifferenceMs(rfm22b_dev->packet_start_ticks, curTicks) > (rfm22b_dev->max_packet_time * 3))) {
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TIMEOUT);
portTickType curTicks = xTaskGetTickCount();
uint32_t last_rec_ms = (rfm22b_dev->rx_complete_ticks == 0) ? 0 : pios_rfm22_time_difference_ms(rfm22b_dev->rx_complete_ticks, curTicks);
// Have we been sending this packet too long?
if ((rfm22b_dev->packet_start_ticks > 0) && (pios_rfm22_time_difference_ms(rfm22b_dev->packet_start_ticks, curTicks) > (rfm22b_dev->max_packet_time * 3))) {
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TIMEOUT);
// Has it been too long since we received a packet
} else if (last_rec_ms > DISCONNECT_TIMEOUT_MS) {
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
} else {
// Has it been too long since we received a packet
} else if (last_rec_ms > DISCONNECT_TIMEOUT_MS) {
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
} else {
// Are we waiting for an ACK?
if (rfm22b_dev->prev_tx_packet)
{
// Are we waiting for an ACK?
if (rfm22b_dev->prev_tx_packet) {
// Should we resend the packet?
if (timeDifferenceMs(rfm22b_dev->tx_complete_ticks, curTicks) > rfm22b_dev->max_ack_delay)
{
rfm22b_dev->tx_complete_ticks = curTicks;
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ACK_TIMEOUT);
}
}
else
{
// Should we resend the packet?
if (pios_rfm22_time_difference_ms(rfm22b_dev->tx_complete_ticks, curTicks) > rfm22b_dev->max_ack_delay) {
rfm22b_dev->tx_complete_ticks = curTicks;
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ACK_TIMEOUT);
}
// Queue up a PPM packet if it's time.
if (timeDifferenceMs(lastPPMTicks, curTicks) > PPM_UPDATE_PERIOD_MS)
{
rfm22_sendPPM(rfm22b_dev);
lastPPMTicks = curTicks;
}
} else {
// Queue up a status packet if it's time.
if ((timeDifferenceMs(lastStatusTicks, curTicks) > RADIOSTATS_UPDATE_PERIOD_MS) || (last_rec_ms > rfm22b_dev->max_packet_time * 4))
{
rfm22_sendStatus(rfm22b_dev);
lastStatusTicks = curTicks;
}
}
// Queue up a PPM packet if it's time.
if (pios_rfm22_time_difference_ms(lastPPMTicks, curTicks) > PPM_UPDATE_PERIOD_MS) {
rfm22_sendPPM(rfm22b_dev);
lastPPMTicks = curTicks;
}
}
// Queue up a status packet if it's time.
if ((pios_rfm22_time_difference_ms(lastStatusTicks, curTicks) > RADIOSTATS_UPDATE_PERIOD_MS) || (last_rec_ms > rfm22b_dev->max_packet_time * 4)) {
rfm22_sendStatus(rfm22b_dev);
lastStatusTicks = curTicks;
}
}
// Send a packet if it's our time slice
rfm22b_dev->time_to_send = (((curTicks - rfm22b_dev->time_to_send_offset) & 0x6) == 0);
}
// Send a packet if it's our time slice
rfm22b_dev->time_to_send = (((curTicks - rfm22b_dev->time_to_send_offset) & 0x6) == 0);
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
if (rfm22b_dev->time_to_send) {
D4_LED_ON;
} else {
D4_LED_OFF;
}
if (rfm22_inChannelBuffer(rfm22b_dev)) {
D3_LED_ON;
} else {
D3_LED_OFF;
}
if (rfm22b_dev->time_to_send) {
D4_LED_ON;
} else {
D4_LED_OFF;
}
if (rfm22_inChannelBuffer(rfm22b_dev)) {
D3_LED_ON;
} else {
D3_LED_OFF;
}
#endif
if (rfm22b_dev->time_to_send)
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TX_START);
}
if (rfm22b_dev->time_to_send) {
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TX_START);
}
}
}
// ************************************
// radio datarate about 19200 Baud
// radio frequency deviation 45kHz
// radio receiver bandwidth 67kHz.
//
// Carson's rule:
// The signal bandwidth is about 2(Delta-f + fm) ..
//
// Delta-f = frequency deviation
// fm = maximum frequency of the signal
//
// This gives 2(45 + 9.6) = 109.2kHz.
static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening)
{
uint32_t datarate_bps = data_rate[datarate];
rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(datarate_bps) + 0.5f);
if (rfm22_isConnected(rfm22b_dev))
{
// Generate a pseudo-random number from 0-8 to add to the delay
uint8_t random = PIOS_CRC_updateByte(0, (uint8_t)(xTaskGetTickCount() & 0xff)) & 0x03;
rfm22b_dev->max_ack_delay = (uint16_t)((float)((sizeof(PHAckNackPacket) * 8 + TX_PREAMBLE_NIBBLES * 4) * 1000) / (float)(datarate_bps) + 0.5f) * 4 + 4 + random;
}
else
rfm22b_dev->max_ack_delay = CONNECT_ATTEMPT_PERIOD_MS;
// rfm22_if_filter_bandwidth
rfm22_write(rfm22b_dev, 0x1C, reg_1C[datarate]);
// rfm22_afc_loop_gearshift_override
rfm22_write(rfm22b_dev, 0x1D, reg_1D[datarate]);
// RFM22_afc_timing_control
rfm22_write(rfm22b_dev, 0x1E, reg_1E[datarate]);
// RFM22_clk_recovery_gearshift_override
rfm22_write(rfm22b_dev, 0x1F, reg_1F[datarate]);
// rfm22_clk_recovery_oversampling_ratio
rfm22_write(rfm22b_dev, 0x20, reg_20[datarate]);
// rfm22_clk_recovery_offset2
rfm22_write(rfm22b_dev, 0x21, reg_21[datarate]);
// rfm22_clk_recovery_offset1
rfm22_write(rfm22b_dev, 0x22, reg_22[datarate]);
// rfm22_clk_recovery_offset0
rfm22_write(rfm22b_dev, 0x23, reg_23[datarate]);
// rfm22_clk_recovery_timing_loop_gain1
rfm22_write(rfm22b_dev, 0x24, reg_24[datarate]);
// rfm22_clk_recovery_timing_loop_gain0
rfm22_write(rfm22b_dev, 0x25, reg_25[datarate]);
// rfm22_agc_override1
rfm22_write(rfm22b_dev, RFM22_agc_override1, reg_69[datarate]);
// rfm22_afc_limiter
rfm22_write(rfm22b_dev, 0x2A, reg_2A[datarate]);
// rfm22_tx_data_rate1
rfm22_write(rfm22b_dev, 0x6E, reg_6E[datarate]);
// rfm22_tx_data_rate0
rfm22_write(rfm22b_dev, 0x6F, reg_6F[datarate]);
if (!data_whitening)
// rfm22_modulation_mode_control1
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] & ~RFM22_mmc1_enwhite);
else
// rfm22_modulation_mode_control1
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] | RFM22_mmc1_enwhite);
// rfm22_modulation_mode_control2
rfm22_write(rfm22b_dev, 0x71, reg_71[datarate]);
// rfm22_frequency_deviation
rfm22_write(rfm22b_dev, 0x72, reg_72[datarate]);
// rfm22_cpcuu
rfm22_write(rfm22b_dev, 0x58, reg_58[datarate]);
rfm22_write(rfm22b_dev, RFM22_ook_counter_value1, 0x00);
rfm22_write(rfm22b_dev, RFM22_ook_counter_value2, 0x00);
}
// ************************************
// SPI read/write
//! Assert the CS line
static void rfm22_assertCs(struct pios_rfm22b_dev *rfm22b_dev)
{
PIOS_DELAY_WaituS(1);
if(rfm22b_dev->spi_id != 0)
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 0);
}
//! Deassert the CS line
static void rfm22_deassertCs(struct pios_rfm22b_dev *rfm22b_dev)
{
if(rfm22b_dev->spi_id != 0)
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 1);
}
//! Claim the SPI bus semaphore
static void rfm22_claimBus(struct pios_rfm22b_dev *rfm22b_dev)
{
if(rfm22b_dev->spi_id != 0)
PIOS_SPI_ClaimBus(rfm22b_dev->spi_id);
}
//! Release the SPI bus semaphore
static void rfm22_releaseBus(struct pios_rfm22b_dev *rfm22b_dev)
{
if(rfm22b_dev->spi_id != 0)
PIOS_SPI_ReleaseBus(rfm22b_dev->spi_id);
}
/*****************************************************************************
* The State Machine Functions
*****************************************************************************/
/**
* Claim the semaphore and write a byte to a register
* @param[in] addr The address to write to
* @param[in] data The datat to write to that address
* Inject an event into the RFM22B state machine.
*
* @param[in] rfm22b_dev The device structure
* @param[in] event The event to inject
* @param[in] inISR Is this being called from an interrrup service routine?
*/
static void rfm22_write(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data)
static void pios_rfm22_inject_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR)
{
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
uint8_t buf[2] = {addr | 0x80, data};
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
// Store the event.
if (xQueueSend(rfm22b_dev->eventQueue, &event, portMAX_DELAY) != pdTRUE)
return;
// Signal the semaphore to wake up the handler thread.
if (inISR) {
portBASE_TYPE pxHigherPriorityTaskWoken;
if (xSemaphoreGiveFromISR(rfm22b_dev->isrPending, &pxHigherPriorityTaskWoken) != pdTRUE) {
// Something went fairly seriously wrong
rfm22b_dev->errors++;
}
portEND_SWITCHING_ISR(pxHigherPriorityTaskWoken);
} else {
if (xSemaphoreGive(rfm22b_dev->isrPending) != pdTRUE) {
// Something went fairly seriously wrong
rfm22b_dev->errors++;
}
}
}
/**
* Write a byte to a register without claiming the bus. Also
* toggle the NSS line
* @param[in] addr The address of the RFM22b register to write
* @param[in] data The data to write to that register
static void rfm22_write_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data)
{
uint8_t buf[2] = {addr | 0x80, data};
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
rfm22_deassertCs(rfm22b_dev);
}
*/
/**
* Read a byte from an RFM22b register
* @param[in] addr The address to read from
* @return Returns the result of the register read
* Process the next state transition from the given event.
*
* @param[in] rfm22b_dev The device structure
* @param[in] event The event to process
* @return enum pios_rfm22b_event The next event to inject
*/
static uint8_t rfm22_read(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
{
uint8_t in[2];
uint8_t out[2] = {addr & 0x7f, 0xFF};
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
return in[1];
}
/**
* Read a byte from an RFM22b register without claiming the bus
* @param[in] addr The address to read from
* @return Returns the result of the register read
*/
static uint8_t rfm22_read_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
{
uint8_t out[2] = {addr & 0x7F, 0xFF};
uint8_t in[2];
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
rfm22_deassertCs(rfm22b_dev);
return in[1];
}
// ************************************
static enum pios_rfm22b_event rfm22_process_state_transition(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event)
{
// No event
if (event == RFM22B_EVENT_NUM_EVENTS)
return RFM22B_EVENT_NUM_EVENTS;
// Don't transition if there is no transition defined
enum pios_rfm22b_state next_state = rfm22b_transitions[rfm22b_dev->state].next_state[event];
if (!next_state)
return RFM22B_EVENT_NUM_EVENTS;
/*
* Move to the next state
*
* This is done prior to calling the new state's entry function to
* guarantee that the entry function never depends on the previous
* state. This way, it cannot ever know what the previous state was.
*/
enum pios_rfm22b_state prev_state = rfm22b_dev->state;
if (prev_state) ;
rfm22b_dev->state = next_state;
/* Call the entry function (if any) for the next state. */
if (rfm22b_transitions[rfm22b_dev->state].entry_fn)
return rfm22b_transitions[rfm22b_dev->state].entry_fn(rfm22b_dev);
return RFM22B_EVENT_NUM_EVENTS;
}
static void rfm22_process_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event)
{
// Process all state transitions.
while(event != RFM22B_EVENT_NUM_EVENTS)
event = rfm22_process_state_transition(rfm22b_dev, event);
}
// ************************************
static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t min_frequency, uint32_t max_frequency, uint32_t step_size)
{
uint32_t frequency_hz = min_frequency;
// holds the hbsel (1 or 2)
uint8_t hbsel;
if (frequency_hz < 480000000)
hbsel = 0;
else
hbsel = 1;
float freq_mhz = (float)(frequency_hz) / 1000000.0;
float xtal_freq_khz = 30000;
float sfreq = freq_mhz / (10.0 * (xtal_freq_khz / 30000.0) * (1 + hbsel));
uint32_t fb = (uint32_t)sfreq - 24 + (64 + 32 * hbsel);
uint32_t fc = (uint32_t)((sfreq - (uint32_t)sfreq) * 64000.0);
uint8_t fch = (fc >> 8) & 0xff;
uint8_t fcl = fc & 0xff;
// Calculate the number of frequency hopping channels.
rfm22b_dev->num_channels = (step_size == 0) ? 1 : (uint16_t)((max_frequency - min_frequency) / step_size);
// initialize the frequency hopping step size (specified in 10khz increments).
uint32_t freq_hop_step_size = step_size / 10000;
if (freq_hop_step_size > 255) {
freq_hop_step_size = 255;
}
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_step_size, (uint8_t)freq_hop_step_size);
// frequency hopping channel (0-255)
rfm22b_dev->frequency_step_size = 156.25f * hbsel;
// frequency hopping channel (0-255)
rfm22b_dev->frequency_hop_channel = 0;
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, 0);
// no frequency offset
rfm22_write(rfm22b_dev, RFM22_frequency_offset1, 0);
rfm22_write(rfm22b_dev, RFM22_frequency_offset2, 0);
// set the carrier frequency
rfm22_write(rfm22b_dev, RFM22_frequency_band_select, fb & 0xff);
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency1, fch);
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency0, fcl);
}
static bool rfm22_setFreqHopChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t channel)
{
// set the frequency hopping channel
if (rfm22b_dev->frequency_hop_channel == channel)
return false;
rfm22b_dev->frequency_hop_channel = channel;
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, channel);
return true;
}
static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev)
{
// Add the RX packet statistics
rfm22b_dev->stats.rx_good = 0;
rfm22b_dev->stats.rx_corrected = 0;
rfm22b_dev->stats.rx_error = 0;
rfm22b_dev->stats.tx_resent = 0;
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i)
{
uint32_t val = rfm22b_dev->rx_packet_stats[i];
for (uint8_t j = 0; j < 16; ++j)
{
switch ((val >> (j * 2)) & 0x3)
{
case RFM22B_GOOD_RX_PACKET:
rfm22b_dev->stats.rx_good++;
break;
case RFM22B_CORRECTED_RX_PACKET:
rfm22b_dev->stats.rx_corrected++;
break;
case RFM22B_ERROR_RX_PACKET:
rfm22b_dev->stats.rx_error++;
break;
case RFM22B_RESENT_TX_PACKET:
rfm22b_dev->stats.tx_resent++;
break;
}
}
}
// Calculate the link quality metric, which is related to the number of good packets in relation to the number of bad packets.
// Note: This assumes that the number of packets sampled for the stats is 64.
// Using this equation, error and resent packets are counted as -2, and corrected packets are counted as -1.
// The range is 0 (all error or resent packets) to 128 (all good packets).
rfm22b_dev->stats.link_quality = 64 + rfm22b_dev->stats.rx_good - rfm22b_dev->stats.rx_error - rfm22b_dev->stats.tx_resent;
}
// ************************************
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev)
{
// Are we already in Rx mode?
if (rfm22b_dev->in_rx_mode)
return RFM22B_EVENT_NUM_EVENTS;
rfm22b_dev->packet_start_ticks = 0;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D2_LED_ON;
#endif // PIOS_RFM22B_DEBUG_ON_TELEM
// disable interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// Switch to TUNE mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
RX_LED_OFF;
TX_LED_OFF;
// empty the rx buffer
rfm22b_dev->rx_buffer_wr = 0;
// Clear the TX buffer.
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
// clear FIFOs
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
// enable RX interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_encrcerror | RFM22_ie1_enpkvalid |
RFM22_ie1_enrxffafull | RFM22_ie1_enfferr);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, RFM22_ie2_enpreainval | RFM22_ie2_enpreaval |
RFM22_ie2_enswdet);
// enable the receiver
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_rxon);
// Indicate that we're in RX mode.
rfm22b_dev->in_rx_mode = true;
// No event generated
return RFM22B_EVENT_NUM_EVENTS;
}
// ************************************
static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev)
{
// Is there a status of PPM packet ready to send?
if (rfm22b_dev->prev_tx_packet || rfm22b_dev->send_ppm || rfm22b_dev->send_status)
return true;
// Are we not connected yet?
if (!rfm22_isConnected(rfm22b_dev))
return true;
// Is there some data ready to sent?
PHPacketHandle dp = &rfm22b_dev->data_packet;
if (dp->header.data_size > 0)
return true;
bool need_yield = false;
if (rfm22b_dev->tx_out_cb)
dp->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, dp->data, PH_MAX_DATA, NULL, &need_yield);
if (dp->header.data_size > 0)
return true;
return false;
}
static bool rfm22_isConnected(struct pios_rfm22b_dev *rfm22b_dev)
{
return (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED);
}
static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
{
PHPacketHandle p = NULL;
// Don't send if it's not our turn.
if (!rfm22b_dev->time_to_send || (rfm22_inChannelBuffer(rfm22b_dev) && rfm22_isConnected(rfm22b_dev)))
return RFM22B_EVENT_RX_MODE;
// See if there's a packet ready to send.
if (rfm22b_dev->tx_packet)
p = rfm22b_dev->tx_packet;
else {
// Don't send a packet if we're waiting for an ACK
if (rfm22b_dev->prev_tx_packet)
return RFM22B_EVENT_RX_MODE;
// Send a connection request?
if (!p && rfm22b_dev->send_connection_request) {
p = (PHPacketHandle)&(rfm22b_dev->con_packet);
rfm22b_dev->send_connection_request = false;
}
#ifdef PIOS_PPM_RECEIVER
// Send a PPM packet?
if (!p && rfm22b_dev->send_ppm) {
p = (PHPacketHandle)&(rfm22b_dev->ppm_packet);
rfm22b_dev->send_ppm = false;
}
#endif
// Send status?
if (!p && rfm22b_dev->send_status) {
p = (PHPacketHandle)&(rfm22b_dev->status_packet);
rfm22b_dev->send_status = false;
}
// Try to get some data to send
if (!p) {
bool need_yield = false;
p = &rfm22b_dev->data_packet;
p->header.type = PACKET_TYPE_DATA;
p->header.destination_id = rfm22b_dev->destination_id;
if (rfm22b_dev->tx_out_cb && (p->header.data_size == 0))
p->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, p->data, PH_MAX_DATA, NULL, &need_yield);
// Don't send any data until we're connected.
if (!rfm22_isConnected(rfm22b_dev))
p->header.data_size = 0;
if (p->header.data_size == 0)
p = NULL;
}
if (p)
p->header.seq_num = rfm22b_dev->stats.tx_seq++;
}
if (!p)
return RFM22B_EVENT_RX_MODE;
// We're transitioning out of Rx mode.
rfm22b_dev->in_rx_mode = false;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D1_LED_ON;
D2_LED_OFF;
#endif
// Change the channel if necessary.
if (((p->header.type != PACKET_TYPE_ACK) && (p->header.type != PACKET_TYPE_ACK_RTS)) ||
(rfm22b_dev->rx_packet.header.type != PACKET_TYPE_CON_REQUEST))
rfm22_changeChannel(rfm22b_dev);
// Add the error correcting code.
encode_data((unsigned char*)p, PHPacketSize(p), (unsigned char*)p);
rfm22b_dev->tx_packet = p;
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_ticks == 0)
rfm22b_dev->packet_start_ticks = 1;
// disable interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// TUNE mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
// Queue the data up for sending
rfm22b_dev->tx_data_wr = PH_PACKET_SIZE(rfm22b_dev->tx_packet);
RX_LED_OFF;
// Set the destination address in the transmit header.
// The destination address is the first 4 bytes of the message.
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
rfm22_write(rfm22b_dev, RFM22_transmit_header0, tx_buffer[0]);
rfm22_write(rfm22b_dev, RFM22_transmit_header1, tx_buffer[1]);
rfm22_write(rfm22b_dev, RFM22_transmit_header2, tx_buffer[2]);
rfm22_write(rfm22b_dev, RFM22_transmit_header3, tx_buffer[3]);
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(rfm22b_dev, RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo |
RFM22_mmc2_modtyp_gfsk);
// clear FIFOs
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
// *******************
// add some data to the chips TX FIFO before enabling the transmitter
// set the total number of data bytes we are going to transmit
rfm22_write(rfm22b_dev, RFM22_transmit_packet_length, rfm22b_dev->tx_data_wr);
// add some data
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
bytes_to_write = (bytes_to_write > FIFO_SIZE) ? FIFO_SIZE: bytes_to_write;
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
rfm22b_dev->tx_data_rd += bytes_to_write;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
// enable TX interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem);
// enable the transmitter
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_txon);
TX_LED_ON;
return RFM22B_EVENT_NUM_EVENTS;
}
static void rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
{
// The coordinator doesn't send status.
if (rfm22b_dev->coordinator)
return;
// Update the link quality metric.
rfm22_calculateLinkQuality(rfm22b_dev);
// Queue the status message
if (rfm22_isConnected(rfm22b_dev))
rfm22b_dev->status_packet.header.destination_id = rfm22b_dev->destination_id;
else if (rfm22b_dev->coordinator)
return;
else
rfm22b_dev->status_packet.header.destination_id = 0xffffffff; // Broadcast
rfm22b_dev->status_packet.header.type = PACKET_TYPE_STATUS;
rfm22b_dev->status_packet.header.data_size = PH_STATUS_DATA_SIZE(&(rfm22b_dev->status_packet));
rfm22b_dev->status_packet.source_id = rfm22b_dev->deviceID;
rfm22b_dev->status_packet.link_quality = rfm22b_dev->stats.link_quality;
rfm22b_dev->status_packet.received_rssi = rfm22b_dev->rssi_dBm;
rfm22b_dev->send_status = true;
return;
}
static void rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev)
{
#ifdef PIOS_PPM_RECEIVER
// Only send PPM if we're connected
if (!rfm22_isConnected(rfm22b_dev)) {
return;
}
// Just return if the PPM receiver is not configured.
if (PIOS_PPM_RECEIVER == 0) {
return;
}
// See if we have any valid channels.
bool valid_input_detected = false;
for (uint8_t i = 1; i <= PIOS_PPM_NUM_INPUTS; ++i)
{
rfm22b_dev->ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i);
if(rfm22b_dev->ppm_packet.channels[i - 1] != PIOS_RCVR_TIMEOUT)
valid_input_detected = true;
}
// Send the PPM packet if it's valid
if (valid_input_detected)
{
rfm22b_dev->ppm_packet.header.destination_id = rfm22b_dev->destination_id;
rfm22b_dev->ppm_packet.header.type = PACKET_TYPE_PPM;
rfm22b_dev->ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&(rfm22b_dev->ppm_packet));
rfm22b_dev->send_ppm = true;
}
#endif
// No event
if (event == RFM22B_EVENT_NUM_EVENTS) {
return RFM22B_EVENT_NUM_EVENTS;
}
// Don't transition if there is no transition defined
enum pios_rfm22b_state next_state = rfm22b_transitions[rfm22b_dev->state].next_state[event];
if (!next_state) {
return RFM22B_EVENT_NUM_EVENTS;
}
/*
* Move to the next state
*
* This is done prior to calling the new state's entry function to
* guarantee that the entry function never depends on the previous
* state. This way, it cannot ever know what the previous state was.
*/
rfm22b_dev->state = next_state;
/* Call the entry function (if any) for the next state. */
if (rfm22b_transitions[rfm22b_dev->state].entry_fn) {
return rfm22b_transitions[rfm22b_dev->state].entry_fn(rfm22b_dev);
}
return RFM22B_EVENT_NUM_EVENTS;
}
/**
* Process the given event through the state transition table.
* This could cause a series of events and transitions to take place.
*
* @param[in] rfm22b_dev The device structure
* @param[in] event The event to process
*/
static void rfm22_process_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event)
{
// Process all state transitions.
while(event != RFM22B_EVENT_NUM_EVENTS) {
event = rfm22_process_state_transition(rfm22b_dev, event);
}
}
/*****************************************************************************
* The Device Initialization / Configuration Functions
*****************************************************************************/
/**
* Initialize (or re-initialize) the RFM22B radio device.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
{
// Initialize the register values.
rfm22b_dev->device_status = 0;
rfm22b_dev->int_status1 = 0;
rfm22b_dev->int_status2 = 0;
rfm22b_dev->ezmac_status = 0;
// Clean the LEDs
rfm22_clearLEDs();
// 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 state
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
rfm22b_dev->destination_id = 0xffffffff;
rfm22b_dev->time_to_send = false;
rfm22b_dev->time_to_send_offset = 0;
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->data_packet.header.data_size = 0;
rfm22b_dev->in_rx_mode = false;
// Initialize the devide state
rfm22b_dev->device_status = rfm22b_dev->int_status1 = rfm22b_dev->int_status2 = rfm22b_dev->ezmac_status = 0;
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
rfm22b_dev->frequency_hop_channel = 0;
rfm22b_dev->afc_correction_Hz = 0;
rfm22b_dev->packet_start_ticks = 0;
rfm22b_dev->tx_complete_ticks = 0;
rfm22b_dev->rx_complete_ticks = 0;
// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
for (int i = 50; i > 0; i--) {
// read the status registers
rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
if (rfm22b_dev->int_status2 & RFM22_is2_ichiprdy) break;
// wait 1ms
PIOS_DELAY_WaitmS(1);
}
// ****************
// read status - clears interrupt
rfm22b_dev->device_status = rfm22_read(rfm22b_dev, RFM22_device_status);
rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
rfm22b_dev->ezmac_status = rfm22_read(rfm22b_dev, RFM22_ezmac_status);
// disable all interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// read the RF chip ID bytes
// read the device type
uint8_t device_type = rfm22_read(rfm22b_dev, RFM22_DEVICE_TYPE) & RFM22_DT_MASK;
// read the device version
uint8_t device_version = rfm22_read(rfm22b_dev, RFM22_DEVICE_VERSION) & RFM22_DV_MASK;
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "rf device type: %d\n\r", device_type);
DEBUG_PRINTF(2, "rf device version: %d\n\r", device_version);
#endif
if (device_type != 0x08) {
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "rf device type: INCORRECT - should be 0x08\n\r");
#endif
// incorrect RF module type
return RFM22B_EVENT_FATAL_ERROR;
}
if (device_version != RFM22_DEVICE_VERSION_B1) {
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "rf device version: INCORRECT\n\r");
#endif
// incorrect RF module version
return RFM22B_EVENT_FATAL_ERROR;
}
// calibrate our RF module to be exactly on frequency .. different for every module
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, OSC_LOAD_CAP);
// disable Low Duty Cycle Mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
// 1MHz clock output
rfm22_write(rfm22b_dev, RFM22_cpu_output_clk, RFM22_coc_1MHz);
// READY mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_xton);
// choose the 3 GPIO pin functions
// GPIO port use default value
rfm22_write(rfm22b_dev, RFM22_io_port_config, RFM22_io_port_default);
if (rfm22b_dev->cfg.gpio_direction == GPIO0_TX_GPIO1_RX) {
// GPIO0 = TX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_txstate);
// GPIO1 = RX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_rxstate);
} else {
// GPIO0 = TX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_rxstate);
// GPIO1 = RX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_txstate);
}
// GPIO2 = Clear Channel Assessment
rfm22_write(rfm22b_dev, RFM22_gpio2_config, RFM22_gpio2_config_drv3 | RFM22_gpio2_config_cca);
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(rfm22b_dev, RFM22_modulation_mode_control2, RFM22_mmc2_trclk_clk_none | RFM22_mmc2_dtmod_fifo | fd_bit | RFM22_mmc2_modtyp_gfsk);
// setup to read the internal temperature sensor
// ADC used to sample the temperature sensor
uint8_t adc_config = RFM22_ac_adcsel_temp_sensor | RFM22_ac_adcref_bg;
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config);
// adc offset
rfm22_write(rfm22b_dev, RFM22_adc_sensor_amp_offset, 0);
// temp sensor calibration .. <20>40C to +64C 0.5C resolution
rfm22_write(rfm22b_dev, RFM22_temp_sensor_calib, RFM22_tsc_tsrange0 | RFM22_tsc_entsoffs);
// temp sensor offset
rfm22_write(rfm22b_dev, RFM22_temp_value_offset, 0);
// start an ADC conversion
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config | RFM22_ac_adcstartbusy);
// set the RSSI threshold interrupt to about -90dBm
rfm22_write(rfm22b_dev, RFM22_rssi_threshold_clear_chan_indicator, (-90 + 122) * 2);
// enable the internal Tx & Rx packet handlers (without CRC)
rfm22_write(rfm22b_dev, RFM22_data_access_control, RFM22_dac_enpacrx | RFM22_dac_enpactx);
// x-nibbles tx preamble
rfm22_write(rfm22b_dev, RFM22_preamble_length, TX_PREAMBLE_NIBBLES);
// x-nibbles rx preamble detection
rfm22_write(rfm22b_dev, RFM22_preamble_detection_ctrl1, RX_PREAMBLE_NIBBLES << 3);
// header control - using a 4 by header with broadcast of 0xffffffff
rfm22_write(rfm22b_dev, RFM22_header_control1,
RFM22_header_cntl1_bcen_0 |
RFM22_header_cntl1_bcen_1 |
RFM22_header_cntl1_bcen_2 |
RFM22_header_cntl1_bcen_3 |
RFM22_header_cntl1_hdch_0 |
RFM22_header_cntl1_hdch_1 |
RFM22_header_cntl1_hdch_2 |
RFM22_header_cntl1_hdch_3);
// Check all bit of all bytes of the header
rfm22_write(rfm22b_dev, RFM22_header_enable0, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable1, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable2, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable3, 0xff);
// Set the ID to be checked
uint32_t id = rfm22b_dev->deviceID;
rfm22_write(rfm22b_dev, RFM22_check_header0, id & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header1, (id >> 8) & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header2, (id >> 16) & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header3, (id >> 24) & 0xff);
// 4 header bytes, synchronization word length 3, 2, 1 & 0 used, packet length included in header.
rfm22_write(rfm22b_dev, RFM22_header_control2,
RFM22_header_cntl2_hdlen_3210 |
RFM22_header_cntl2_synclen_3210 |
((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
// sync word
rfm22_write(rfm22b_dev, RFM22_sync_word3, SYNC_BYTE_1);
rfm22_write(rfm22b_dev, RFM22_sync_word2, SYNC_BYTE_2);
rfm22_write(rfm22b_dev, RFM22_sync_word1, SYNC_BYTE_3);
rfm22_write(rfm22b_dev, RFM22_sync_word0, SYNC_BYTE_4);
// set the tx power
rfm22_write(rfm22b_dev, RFM22_tx_power, RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power);
// TX FIFO Almost Full Threshold (0 - 63)
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control1, TX_FIFO_HI_WATERMARK);
// TX FIFO Almost Empty Threshold (0 - 63)
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control2, TX_FIFO_LO_WATERMARK);
// RX FIFO Almost Full Threshold (0 - 63)
rfm22_write(rfm22b_dev, RFM22_rx_fifo_control, RX_FIFO_HI_WATERMARK);
// Set the frequency calibration
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, rfm22b_dev->cfg.RFXtalCap);
// Initialize the frequency and datarate to te default.
rfm22_setNominalCarrierFrequency(rfm22b_dev, rfm22b_dev->init_frequency, rfm22b_dev->init_frequency, RFM22B_FREQUENCY_HOP_STEP_SIZE);
rfm22_setDatarate(rfm22b_dev, RFM22B_DEFAULT_RX_DATARATE, true);
return RFM22B_EVENT_INITIALIZED;
}
/**
* Set the air datarate for the RFM22B device.
*
* Carson's rule:
* The signal bandwidth is about 2(Delta-f + fm) ..
*
* Delta-f = frequency deviation
* fm = maximum frequency of the signal
*
* @param[in] rfm33b_dev The device structure pointer.
* @param[in] datarate The air datarate.
* @param[in] data_whitening Is data whitening desired?
*/
static void rfm22_setDatarate(struct pios_rfm22b_dev *rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening)
{
uint32_t datarate_bps = data_rate[datarate];
rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(datarate_bps) + 0.5);
// Generate a pseudo-random number from 0-8 to add to the delay
uint8_t random = PIOS_CRC_updateByte(0, (uint8_t)(xTaskGetTickCount() & 0xff)) & 0x03;
rfm22b_dev->max_ack_delay = (uint16_t)((float)((sizeof(PHAckNackPacket) * 8 + TX_PREAMBLE_NIBBLES * 4) * 1000) / (float)(datarate_bps) + 0.5) * 4 + 4 + random;
// rfm22_if_filter_bandwidth
rfm22_write(rfm22b_dev, 0x1C, reg_1C[datarate]);
// rfm22_afc_loop_gearshift_override
rfm22_write(rfm22b_dev, 0x1D, reg_1D[datarate]);
// RFM22_afc_timing_control
rfm22_write(rfm22b_dev, 0x1E, reg_1E[datarate]);
// RFM22_clk_recovery_gearshift_override
rfm22_write(rfm22b_dev, 0x1F, reg_1F[datarate]);
// rfm22_clk_recovery_oversampling_ratio
rfm22_write(rfm22b_dev, 0x20, reg_20[datarate]);
// rfm22_clk_recovery_offset2
rfm22_write(rfm22b_dev, 0x21, reg_21[datarate]);
// rfm22_clk_recovery_offset1
rfm22_write(rfm22b_dev, 0x22, reg_22[datarate]);
// rfm22_clk_recovery_offset0
rfm22_write(rfm22b_dev, 0x23, reg_23[datarate]);
// rfm22_clk_recovery_timing_loop_gain1
rfm22_write(rfm22b_dev, 0x24, reg_24[datarate]);
// rfm22_clk_recovery_timing_loop_gain0
rfm22_write(rfm22b_dev, 0x25, reg_25[datarate]);
// rfm22_agc_override1
rfm22_write(rfm22b_dev, RFM22_agc_override1, reg_69[datarate]);
// rfm22_afc_limiter
rfm22_write(rfm22b_dev, 0x2A, reg_2A[datarate]);
// rfm22_tx_data_rate1
rfm22_write(rfm22b_dev, 0x6E, reg_6E[datarate]);
// rfm22_tx_data_rate0
rfm22_write(rfm22b_dev, 0x6F, reg_6F[datarate]);
if (!data_whitening) {
// rfm22_modulation_mode_control1
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] & ~RFM22_mmc1_enwhite);
} else {
// rfm22_modulation_mode_control1
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] | RFM22_mmc1_enwhite);
}
// rfm22_modulation_mode_control2
rfm22_write(rfm22b_dev, 0x71, reg_71[datarate]);
// rfm22_frequency_deviation
rfm22_write(rfm22b_dev, 0x72, reg_72[datarate]);
// rfm22_cpcuu
rfm22_write(rfm22b_dev, 0x58, reg_58[datarate]);
rfm22_write(rfm22b_dev, RFM22_ook_counter_value1, 0x00);
rfm22_write(rfm22b_dev, RFM22_ook_counter_value2, 0x00);
}
/**
* Set the nominal carrier frequency and channel step size.
*
* @param[in] rfm33b_dev The device structure pointer.
* @param[in] min_frequency The minimum frequenc to transmit on (in Hz).
* @param[in] max_frequency The maximum frequenc to transmit on (in Hz).
* @param[in] step_size The channel spacing (in Hz).
*/
static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t min_frequency, uint32_t max_frequency, uint32_t step_size)
{
uint32_t frequency_hz = min_frequency;
// holds the hbsel (1 or 2)
uint8_t hbsel;
if (frequency_hz < 480000000) {
hbsel = 0;
} else {
hbsel = 1;
}
float freq_mhz = (float)(frequency_hz) / 1000000.0;
float xtal_freq_khz = 30000;
float sfreq = freq_mhz / (10.0 * (xtal_freq_khz / 30000.0) * (1 + hbsel));
uint32_t fb = (uint32_t)sfreq - 24 + (64 + 32 * hbsel);
uint32_t fc = (uint32_t)((sfreq - (uint32_t)sfreq) * 64000.0);
uint8_t fch = (fc >> 8) & 0xff;
uint8_t fcl = fc & 0xff;
// Calculate the number of frequency hopping channels.
rfm22b_dev->num_channels = (step_size == 0) ? 1 : (uint16_t)((max_frequency - min_frequency) / step_size);
// initialize the frequency hopping step size (specified in 10khz increments).
uint32_t freq_hop_step_size = step_size / 10000;
if (freq_hop_step_size > 255) {
freq_hop_step_size = 255;
}
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_step_size, (uint8_t)freq_hop_step_size);
// frequency hopping channel (0-255)
rfm22b_dev->frequency_step_size = 156.25f * hbsel;
// frequency hopping channel (0-255)
rfm22b_dev->frequency_hop_channel = 0;
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, 0);
// no frequency offset
rfm22_write(rfm22b_dev, RFM22_frequency_offset1, 0);
rfm22_write(rfm22b_dev, RFM22_frequency_offset2, 0);
// set the carrier frequency
rfm22_write(rfm22b_dev, RFM22_frequency_band_select, fb & 0xff);
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency1, fch);
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency0, fcl);
}
/**
* Set the frequency hopping channel.
*
* @param[in] rfm33b_dev The device structure pointer.
*/
static bool rfm22_setFreqHopChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t channel)
{
// set the frequency hopping channel
if (rfm22b_dev->frequency_hop_channel == channel) {
return false;
}
rfm22b_dev->frequency_hop_channel = channel;
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, channel);
return true;
}
/*****************************************************************************
* Radio Transmit and Receive functions.
*****************************************************************************/
/**
* Read the RFM22B interrupt and device status registers
* \param[in] rfm22b_dev The device structure
*
* @param[in] rfm22b_dev The device structure
*/
static bool rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev)
{
// 1. Read the interrupt statuses with burst read
rfm22_claimBus(rfm22b_dev); // Set RC and the semaphore
uint8_t write_buf[3] = {RFM22_interrupt_status1 & 0x7f, 0xFF, 0xFF};
uint8_t read_buf[3];
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, write_buf, read_buf, sizeof(write_buf), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22b_dev->int_status1 = read_buf[1];
rfm22b_dev->int_status2 = read_buf[2];
// 1. Read the interrupt statuses with burst read
rfm22_claimBus(rfm22b_dev); // Set RC and the semaphore
uint8_t write_buf[3] = {RFM22_interrupt_status1 & 0x7f, 0xFF, 0xFF};
uint8_t read_buf[3];
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, write_buf, read_buf, sizeof(write_buf), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22b_dev->int_status1 = read_buf[1];
rfm22b_dev->int_status2 = read_buf[2];
// Device status
rfm22b_dev->device_status = rfm22_read_noclaim(rfm22b_dev, RFM22_device_status);
// Device status
rfm22b_dev->device_status = rfm22_read_noclaim(rfm22b_dev, RFM22_device_status);
// EzMAC status
rfm22b_dev->ezmac_status = rfm22_read_noclaim(rfm22b_dev, RFM22_ezmac_status);
// EzMAC status
rfm22b_dev->ezmac_status = rfm22_read_noclaim(rfm22b_dev, RFM22_ezmac_status);
// Release the bus
rfm22_releaseBus(rfm22b_dev);
// Release the bus
rfm22_releaseBus(rfm22b_dev);
// the RF module has gone and done a reset - we need to re-initialize the rf module
if (rfm22b_dev->int_status2 & RFM22_is2_ipor)
return false;
// the RF module has gone and done a reset - we need to re-initialize the rf module
if (rfm22b_dev->int_status2 & RFM22_is2_ipor) {
return false;
}
return true;
return true;
}
/**
* Add a status value to the RX packet status array.
* \param[in] rfm22b_dev The device structure
* \param[in] status The packet status value
* Switch the radio into receive mode.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static void rfm22b_add_rx_status(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_rx_packet_status status)
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev)
{
// Shift the status registers
for (uint8_t i = RFM22B_RX_PACKET_STATS_LEN - 1; i > 0; --i)
{
rfm22b_dev->rx_packet_stats[i] = (rfm22b_dev->rx_packet_stats[i] << 2) | (rfm22b_dev->rx_packet_stats[i - 1] >> 30);
}
rfm22b_dev->rx_packet_stats[0] = (rfm22b_dev->rx_packet_stats[0] << 2) | status;
// Are we already in Rx mode?
if (rfm22b_dev->in_rx_mode) {
return RFM22B_EVENT_NUM_EVENTS;
}
rfm22b_dev->packet_start_ticks = 0;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D2_LED_ON;
#endif // PIOS_RFM22B_DEBUG_ON_TELEM
// disable interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// Switch to TUNE mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
RX_LED_OFF;
TX_LED_OFF;
// empty the rx buffer
rfm22b_dev->rx_buffer_wr = 0;
// Clear the TX buffer.
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
// clear FIFOs
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
// enable RX interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_encrcerror | RFM22_ie1_enpkvalid |
RFM22_ie1_enrxffafull | RFM22_ie1_enfferr);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, RFM22_ie2_enpreainval | RFM22_ie2_enpreaval |
RFM22_ie2_enswdet);
// enable the receiver
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_rxon);
// Indicate that we're in RX mode.
rfm22b_dev->in_rx_mode = true;
// No event generated
return RFM22B_EVENT_NUM_EVENTS;
}
/**
* Detect the preamble
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_detectPreamble(struct pios_rfm22b_dev *rfm22b_dev)
{
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_FAILURE;
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_FAILURE;
// Valid preamble detected
if (rfm22b_dev->int_status2 & RFM22_is2_ipreaval)
{
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_ticks == 0)
rfm22b_dev->packet_start_ticks = 1;
RX_LED_ON;
return RFM22B_EVENT_PREAMBLE_DETECTED;
}
// Valid preamble detected
if (rfm22b_dev->int_status2 & RFM22_is2_ipreaval) {
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_ticks == 0)
rfm22b_dev->packet_start_ticks = 1;
RX_LED_ON;
return RFM22B_EVENT_PREAMBLE_DETECTED;
}
return RFM22B_EVENT_NUM_EVENTS;
return RFM22B_EVENT_NUM_EVENTS;
}
/**
* Detect the sync
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_detectSync(struct pios_rfm22b_dev *rfm22b_dev)
{
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_FAILURE;
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_FAILURE;
// Sync word detected
if (rfm22b_dev->int_status2 & RFM22_is2_iswdet)
{
RX_LED_ON;
// Sync word detected
if (rfm22b_dev->int_status2 & RFM22_is2_iswdet) {
RX_LED_ON;
// read the 10-bit signed afc correction value
// bits 9 to 2
uint16_t afc_correction = (uint16_t)rfm22_read(rfm22b_dev, RFM22_afc_correction_read) << 8;
// bits 1 & 0
afc_correction |= (uint16_t)rfm22_read(rfm22b_dev, RFM22_ook_counter_value1) & 0x00c0;
afc_correction >>= 6;
// convert the afc value to Hz
int32_t afc_corr = (int32_t)(rfm22b_dev->frequency_step_size * afc_correction + 0.5f);
rfm22b_dev->afc_correction_Hz = (afc_corr < -127) ? -127 : ((afc_corr > 127) ? 127 : afc_corr);
// read the 10-bit signed afc correction value
// bits 9 to 2
uint16_t afc_correction = (uint16_t)rfm22_read(rfm22b_dev, RFM22_afc_correction_read) << 8;
// bits 1 & 0
afc_correction |= (uint16_t)rfm22_read(rfm22b_dev, RFM22_ook_counter_value1) & 0x00c0;
afc_correction >>= 6;
// convert the afc value to Hz
int32_t afc_corr = (int32_t)(rfm22b_dev->frequency_step_size * afc_correction + 0.5f);
rfm22b_dev->afc_correction_Hz = (afc_corr < -127) ? -127 : ((afc_corr > 127) ? 127 : afc_corr);
// read rx signal strength .. 45 = -100dBm, 205 = -20dBm
uint8_t rssi = rfm22_read(rfm22b_dev, RFM22_rssi);
// convert to dBm
rfm22b_dev->rssi_dBm = (int8_t)(rssi >> 1) - 122;
// read rx signal strength .. 45 = -100dBm, 205 = -20dBm
uint8_t rssi = rfm22_read(rfm22b_dev, RFM22_rssi);
// convert to dBm
rfm22b_dev->rssi_dBm = (int8_t)(rssi >> 1) - 122;
return RFM22B_EVENT_SYNC_DETECTED;
}
else if (rfm22b_dev->int_status2 & !RFM22_is2_ipreaval)
// Waiting for sync timed out.
return RFM22B_EVENT_FAILURE;
return RFM22B_EVENT_SYNC_DETECTED;
} else if (rfm22b_dev->int_status2 & !RFM22_is2_ipreaval) {
// Waiting for sync timed out.
return RFM22B_EVENT_FAILURE;
}
return RFM22B_EVENT_NUM_EVENTS;
}
static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHandle p, uint16_t rx_len)
{
// Attempt to correct any errors in the packet.
decode_data((unsigned char*)p, rx_len);
bool good_packet = check_syndrome() == 0;
bool corrected_packet = false;
// We have an error. Try to correct it.
if(!good_packet && (correct_errors_erasures((unsigned char*)p, rx_len, 0, 0) != 0))
// We corrected it
corrected_packet = true;
// Add any missed packets into the stats.
bool ack_nack_packet = ((p->header.type == PACKET_TYPE_ACK) || (p->header.type == PACKET_TYPE_ACK_RTS) || (p->header.type == PACKET_TYPE_NACK));
if (!ack_nack_packet && (good_packet || corrected_packet))
{
uint16_t seq_num = p->header.seq_num;
if (rfm22_isConnected(rfm22b_dev)) {
static bool first_time = true;
uint16_t missed_packets = 0;
if (first_time)
first_time = false;
else
{
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;
}
rfm22b_dev->stats.rx_seq = seq_num;
}
// Set the packet status
if (good_packet)
rfm22b_add_rx_status(rfm22b_dev, RFM22B_GOOD_RX_PACKET);
else if(corrected_packet)
// We corrected the error.
rfm22b_add_rx_status(rfm22b_dev, RFM22B_CORRECTED_RX_PACKET);
else
// 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 RFM22B_EVENT_NUM_EVENTS;
}
/**
* Receive the packet data.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
{
// Swap in the next packet buffer if required.
uint8_t *rx_buffer = (uint8_t*)&(rfm22b_dev->rx_packet);
// Swap in the next packet buffer if required.
uint8_t *rx_buffer = (uint8_t*)&(rfm22b_dev->rx_packet);
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_FAILURE;
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev)) {
return RFM22B_EVENT_FAILURE;
}
// FIFO under/over flow error. Restart RX mode.
if (rfm22b_dev->int_status1 & RFM22_is1_ifferr)
return RFM22B_EVENT_FAILURE;
// FIFO under/over flow error. Restart RX mode.
if (rfm22b_dev->int_status1 & RFM22_is1_ifferr) {
return RFM22B_EVENT_FAILURE;
}
// RX FIFO almost full, it needs emptying
if (rfm22b_dev->int_status1 & RFM22_is1_irxffafull)
{
// read data from the rf chips FIFO buffer
// read the total length of the packet data
uint16_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
// RX FIFO almost full, it needs emptying
if (rfm22b_dev->int_status1 & RFM22_is1_irxffafull) {
// read data from the rf chips FIFO buffer
// read the total length of the packet data
uint16_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
// The received packet is going to be larger than the specified length
if ((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) > len)
return RFM22B_EVENT_FAILURE;
// The received packet is going to be larger than the specified length
if ((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) > len) {
return RFM22B_EVENT_FAILURE;
}
// Another packet length error.
if (((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) >= len) && !(rfm22b_dev->int_status1 & RFM22_is1_ipkvalid))
return RFM22B_EVENT_FAILURE;
// Another packet length error.
if (((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) >= len) && !(rfm22b_dev->int_status1 & RFM22_is1_ipkvalid)) {
return RFM22B_EVENT_FAILURE;
}
// Fetch the data from the RX FIFO
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id ,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], RX_FIFO_HI_WATERMARK, NULL) == 0) ? RX_FIFO_HI_WATERMARK : 0;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
// Fetch the data from the RX FIFO
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id ,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], RX_FIFO_HI_WATERMARK, NULL) == 0) ? RX_FIFO_HI_WATERMARK : 0;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
// CRC error .. discard the received data
if (rfm22b_dev->int_status1 & RFM22_is1_icrerror)
return RFM22B_EVENT_FAILURE;
// CRC error .. discard the received data
if (rfm22b_dev->int_status1 & RFM22_is1_icrerror) {
return RFM22B_EVENT_FAILURE;
}
// Valid packet received
if (rfm22b_dev->int_status1 & RFM22_is1_ipkvalid)
{
// Valid packet received
if (rfm22b_dev->int_status1 & RFM22_is1_ipkvalid) {
// read the total length of the packet data
uint32_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
// read the total length of the packet data
uint32_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
// their must still be data in the RX FIFO we need to get
if (rfm22b_dev->rx_buffer_wr < len)
{
int32_t bytes_to_read = len - rfm22b_dev->rx_buffer_wr;
// Fetch the data from the RX FIFO
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], bytes_to_read, NULL) == 0) ? bytes_to_read : 0;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
// their must still be data in the RX FIFO we need to get
if (rfm22b_dev->rx_buffer_wr < len) {
int32_t bytes_to_read = len - rfm22b_dev->rx_buffer_wr;
// Fetch the data from the RX FIFO
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], bytes_to_read, NULL) == 0) ? bytes_to_read : 0;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
if (rfm22b_dev->rx_buffer_wr != len)
return RFM22B_EVENT_FAILURE;
if (rfm22b_dev->rx_buffer_wr != len) {
return RFM22B_EVENT_FAILURE;
}
// we have a valid received packet
enum pios_rfm22b_event ret_event = RFM22B_EVENT_RX_COMPLETE;
if (rfm22b_dev->rx_buffer_wr > 0)
{
rfm22b_dev->stats.rx_byte_count += rfm22b_dev->rx_buffer_wr;
// Check the packet for errors.
if (rfm22_receivePacket(rfm22b_dev, &(rfm22b_dev->rx_packet), rfm22b_dev->rx_buffer_wr))
{
switch (rfm22b_dev->rx_packet.header.type)
{
case PACKET_TYPE_STATUS:
ret_event = RFM22B_EVENT_STATUS_RECEIVED;
break;
case PACKET_TYPE_CON_REQUEST:
ret_event = RFM22B_EVENT_CONNECTION_REQUESTED;
break;
case PACKET_TYPE_DATA:
{
// Send the data to the com port
bool rx_need_yield;
if (rfm22b_dev->rx_in_cb)
(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);
// we have a valid received packet
enum pios_rfm22b_event ret_event = RFM22B_EVENT_RX_COMPLETE;
if (rfm22b_dev->rx_buffer_wr > 0) {
rfm22b_dev->stats.rx_byte_count += rfm22b_dev->rx_buffer_wr;
// Check the packet for errors.
if (rfm22_receivePacket(rfm22b_dev, &(rfm22b_dev->rx_packet), rfm22b_dev->rx_buffer_wr)) {
switch (rfm22b_dev->rx_packet.header.type) {
case PACKET_TYPE_STATUS:
ret_event = RFM22B_EVENT_STATUS_RECEIVED;
break;
case PACKET_TYPE_CON_REQUEST:
ret_event = RFM22B_EVENT_CONNECTION_REQUESTED;
break;
case PACKET_TYPE_DATA:
{
// Send the data to the com port
bool rx_need_yield;
if (rfm22b_dev->rx_in_cb)
(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);
#ifdef RFM22B_TEST_DROPPED_PACKETS
// Inject radnom missed ACKs
{
static uint8_t crc = 0;
static uint8_t cntr = 0;
crc = PIOS_CRC_updateByte(crc, cntr++);
if ((crc & 0x7) == 0)
ret_event = RFM22B_EVENT_RX_MODE;
}
// Inject radnom missed ACKs
{
static uint8_t crc = 0;
static uint8_t cntr = 0;
crc = PIOS_CRC_updateByte(crc, cntr++);
if ((crc & 0x7) == 0)
ret_event = RFM22B_EVENT_RX_MODE;
}
#endif
break;
}
case PACKET_TYPE_DUPLICATE_DATA:
break;
case PACKET_TYPE_ACK:
case PACKET_TYPE_ACK_RTS:
ret_event = RFM22B_EVENT_PACKET_ACKED;
break;
case PACKET_TYPE_NACK:
ret_event = RFM22B_EVENT_PACKET_NACKED;
break;
case PACKET_TYPE_PPM:
{
break;
}
case PACKET_TYPE_DUPLICATE_DATA:
break;
case PACKET_TYPE_ACK:
case PACKET_TYPE_ACK_RTS:
ret_event = RFM22B_EVENT_PACKET_ACKED;
break;
case PACKET_TYPE_NACK:
ret_event = RFM22B_EVENT_PACKET_NACKED;
break;
case PACKET_TYPE_PPM:
{
#if defined(PIOS_INCLUDE_GCSRCVR) || (defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT)) || defined(PIOS_INCLUDE_RFM22B_RCVR)
PHPpmPacketHandle ppmp = (PHPpmPacketHandle)&(rfm22b_dev->rx_packet);
PHPpmPacketHandle ppmp = (PHPpmPacketHandle)&(rfm22b_dev->rx_packet);
#if defined(PIOS_INCLUDE_GCSRCVR) || (defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT))
bool ppm_output = false;
bool ppm_output = false;
#endif
#endif
#if defined(PIOS_INCLUDE_RFM22B_RCVR)
ppm_output = true;
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
rfm22b_dev->ppm_channel[i] = ppmp->channels[i];
}
ppm_output = true;
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
rfm22b_dev->ppm_channel[i] = ppmp->channels[i];
}
#endif
#if defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT)
if (PIOS_PPM_OUTPUT) {
ppm_output = true;
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, ppmp->channels[i]);
}
}
if (PIOS_PPM_OUTPUT) {
ppm_output = true;
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, ppmp->channels[i]);
}
}
#endif
#if defined(PIOS_INCLUDE_GCSRCVR)
if (!ppm_output) {
GCSReceiverData gcsRcvr;
for (uint8_t i = 0; (i < PIOS_RFM22B_RCVR_MAX_CHANNELS) && (i < GCSRECEIVER_CHANNEL_NUMELEM); ++i) {
gcsRcvr.Channel[i] = ppmp->channels[i];
}
GCSReceiverSet(&gcsRcvr);
}
if (!ppm_output) {
GCSReceiverData gcsRcvr;
for (uint8_t i = 0; (i < PIOS_RFM22B_RCVR_MAX_CHANNELS) && (i < GCSRECEIVER_CHANNEL_NUMELEM); ++i) {
gcsRcvr.Channel[i] = ppmp->channels[i];
}
GCSReceiverSet(&gcsRcvr);
}
#endif
break;
}
default:
break;
}
break;
}
default:
break;
}
}
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;
}
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;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D2_LED_OFF;
D2_LED_OFF;
#endif
}
}
// We're finished with Rx mode
rfm22b_dev->in_rx_mode = false;
// We're finished with Rx mode
rfm22b_dev->in_rx_mode = false;
// Start a new transaction
rfm22b_dev->packet_start_ticks = 0;
return ret_event;
}
// Start a new transaction
rfm22b_dev->packet_start_ticks = 0;
return ret_event;
}
return RFM22B_EVENT_NUM_EVENTS;
return RFM22B_EVENT_NUM_EVENTS;
}
static enum pios_rfm22b_event rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev)
/**
* Complete the receipt of a packet.
*
* @param[in] rfm22b_dev The device structure
* @param[in] p The packet handle of the received packet.
* @param[in] rc_len The number of bytes received.
*/
static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHandle p, uint16_t rx_len)
{
rfm22b_dev->stats.rx_failure++;
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
rfm22b_dev->in_rx_mode = false;
if (rfm22b_dev->rx_complete_ticks == 0)
rfm22b_dev->rx_complete_ticks = 1;
return RFM22B_EVENT_RX_MODE;
// Attempt to correct any errors in the packet.
decode_data((unsigned char*)p, rx_len);
bool good_packet = check_syndrome() == 0;
bool corrected_packet = false;
// We have an error. Try to correct it.
if(!good_packet && (correct_errors_erasures((unsigned char*)p, rx_len, 0, 0) != 0)) {
// We corrected it
corrected_packet = true;
}
// Add any missed packets into the stats.
bool ack_nack_packet = ((p->header.type == PACKET_TYPE_ACK) || (p->header.type == PACKET_TYPE_ACK_RTS) || (p->header.type == PACKET_TYPE_NACK));
if (!ack_nack_packet && (good_packet || corrected_packet)) {
uint16_t seq_num = p->header.seq_num;
if (rfm22_isConnected(rfm22b_dev)) {
static bool first_time = true;
uint16_t missed_packets = 0;
if (first_time) {
first_time = false;
} else {
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;
}
rfm22b_dev->stats.rx_seq = seq_num;
}
// Set the packet status
if (good_packet) {
rfm22b_add_rx_status(rfm22b_dev, RFM22B_GOOD_RX_PACKET);
} else if(corrected_packet) {
// We corrected the error.
rfm22b_add_rx_status(rfm22b_dev, RFM22B_CORRECTED_RX_PACKET);
} else {
// 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);
}
/**
* Start a transmit if possible
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
{
PHPacketHandle p = NULL;
// Don't send if it's not our turn.
if (!rfm22b_dev->time_to_send || (rfm22_inChannelBuffer(rfm22b_dev) && rfm22_isConnected(rfm22b_dev))) {
return RFM22B_EVENT_RX_MODE;
}
// See if there's a packet ready to send.
if (rfm22b_dev->tx_packet) {
p = rfm22b_dev->tx_packet;
} else {
// Don't send a packet if we're waiting for an ACK
if (rfm22b_dev->prev_tx_packet) {
return RFM22B_EVENT_RX_MODE;
}
// Send a connection request?
if (!p && rfm22b_dev->send_connection_request) {
p = (PHPacketHandle)&(rfm22b_dev->con_packet);
rfm22b_dev->send_connection_request = false;
}
#ifdef PIOS_PPM_RECEIVER
// Send a PPM packet?
if (!p && rfm22b_dev->send_ppm) {
p = (PHPacketHandle)&(rfm22b_dev->ppm_packet);
rfm22b_dev->send_ppm = false;
}
#endif
// Send status?
if (!p && rfm22b_dev->send_status) {
p = (PHPacketHandle)&(rfm22b_dev->status_packet);
rfm22b_dev->send_status = false;
}
// Try to get some data to send
if (!p) {
bool need_yield = false;
p = &rfm22b_dev->data_packet;
p->header.type = PACKET_TYPE_DATA;
p->header.destination_id = rfm22b_dev->destination_id;
if (rfm22b_dev->tx_out_cb && (p->header.data_size == 0)) {
p->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, p->data, PH_MAX_DATA, NULL, &need_yield);
}
// Don't send any data until we're connected.
if (!rfm22_isConnected(rfm22b_dev)) {
p->header.data_size = 0;
}
if (p->header.data_size == 0) {
p = NULL;
}
}
if (p) {
p->header.seq_num = rfm22b_dev->stats.tx_seq++;
}
}
if (!p) {
return RFM22B_EVENT_RX_MODE;
}
// We're transitioning out of Rx mode.
rfm22b_dev->in_rx_mode = false;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D1_LED_ON;
D2_LED_OFF;
#endif
// Change the channel if necessary.
if (((p->header.type != PACKET_TYPE_ACK) && (p->header.type != PACKET_TYPE_ACK_RTS)) ||
(rfm22b_dev->rx_packet.header.type != PACKET_TYPE_CON_REQUEST)) {
rfm22_changeChannel(rfm22b_dev);
}
// Add the error correcting code.
encode_data((unsigned char*)p, PHPacketSize(p), (unsigned char*)p);
rfm22b_dev->tx_packet = p;
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_ticks == 0) {
rfm22b_dev->packet_start_ticks = 1;
}
// disable interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// TUNE mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
// Queue the data up for sending
rfm22b_dev->tx_data_wr = PH_PACKET_SIZE(rfm22b_dev->tx_packet);
RX_LED_OFF;
// Set the destination address in the transmit header.
// The destination address is the first 4 bytes of the message.
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
rfm22_write(rfm22b_dev, RFM22_transmit_header0, tx_buffer[0]);
rfm22_write(rfm22b_dev, RFM22_transmit_header1, tx_buffer[1]);
rfm22_write(rfm22b_dev, RFM22_transmit_header2, tx_buffer[2]);
rfm22_write(rfm22b_dev, RFM22_transmit_header3, tx_buffer[3]);
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(rfm22b_dev, RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo |
RFM22_mmc2_modtyp_gfsk);
// clear FIFOs
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
// *******************
// add some data to the chips TX FIFO before enabling the transmitter
// set the total number of data bytes we are going to transmit
rfm22_write(rfm22b_dev, RFM22_transmit_packet_length, rfm22b_dev->tx_data_wr);
// add some data
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
bytes_to_write = (bytes_to_write > FIFO_SIZE) ? FIFO_SIZE: bytes_to_write;
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
rfm22b_dev->tx_data_rd += bytes_to_write;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
// enable TX interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem);
// enable the transmitter
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_txon);
TX_LED_ON;
return RFM22B_EVENT_NUM_EVENTS;
}
/**
* Receive packet data.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
{
enum pios_rfm22b_event ret_event = RFM22B_EVENT_NUM_EVENTS;
enum pios_rfm22b_event ret_event = RFM22B_EVENT_NUM_EVENTS;
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_FAILURE;
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev)) {
return RFM22B_EVENT_FAILURE;
}
// TX FIFO almost empty, it needs filling up
if (rfm22b_dev->int_status1 & RFM22_is1_ixtffaem)
{
// top-up the rf chips TX FIFO buffer
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
uint16_t max_bytes = FIFO_SIZE - TX_FIFO_LO_WATERMARK - 1;
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
bytes_to_write = (bytes_to_write > max_bytes) ? max_bytes: bytes_to_write;
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
rfm22b_dev->tx_data_rd += bytes_to_write;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
// TX FIFO almost empty, it needs filling up
if (rfm22b_dev->int_status1 & RFM22_is1_ixtffaem) {
// top-up the rf chips TX FIFO buffer
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
uint16_t max_bytes = FIFO_SIZE - TX_FIFO_LO_WATERMARK - 1;
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
bytes_to_write = (bytes_to_write > max_bytes) ? max_bytes: bytes_to_write;
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
rfm22b_dev->tx_data_rd += bytes_to_write;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
// Packet has been sent
else if (rfm22b_dev->int_status1 & RFM22_is1_ipksent)
{
portTickType curTicks = xTaskGetTickCount();
rfm22b_dev->stats.tx_byte_count += PH_PACKET_SIZE(rfm22b_dev->tx_packet);
// Packet has been sent
} else if (rfm22b_dev->int_status1 & RFM22_is1_ipksent) {
portTickType curTicks = xTaskGetTickCount();
rfm22b_dev->stats.tx_byte_count += PH_PACKET_SIZE(rfm22b_dev->tx_packet);
// Is this an ACK?
bool is_ack = ((rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK) || (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS));
ret_event = RFM22B_EVENT_RX_MODE;
if (is_ack) {
// Is this an ACK?
bool is_ack = ((rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK) || (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS));
ret_event = RFM22B_EVENT_RX_MODE;
if (is_ack) {
// If this is an ACK for a connection request message we need to
// configure this modem from the connection request message.
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
// If this is an ACK for a connection request message we need to
// configure this modem from the connection request message.
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
rfm22_setConnectionParameters(rfm22b_dev);
rfm22_setConnectionParameters(rfm22b_dev);
} else if (rfm22b_dev->coordinator && !rfm22_isConnected(rfm22b_dev) && (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_STATUS)) {
} else if (rfm22b_dev->coordinator && !rfm22_isConnected(rfm22b_dev) && (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_STATUS)) {
// Send a connection request message if we're not connected, and this is a status message from a modem that we're bound to.
PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
uint32_t source_id = status->source_id;
for (uint8_t i = 0; OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
if (rfm22b_dev->bindings[i].pairID == source_id) {
rfm22b_dev->cur_binding = i;
ret_event = RFM22B_EVENT_REQUEST_CONNECTION;
break;
}
}
}
// Send a connection request message if we're not connected, and this is a status message from a modem that we're bound to.
PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
uint32_t source_id = status->source_id;
for (uint8_t i = 0; OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
if (rfm22b_dev->bindings[i].pairID == source_id) {
rfm22b_dev->cur_binding = i;
ret_event = RFM22B_EVENT_REQUEST_CONNECTION;
break;
}
}
}
// Change the channel
// On the remote side, we initialize the time delta when we finish sending the ACK for the connection request message.
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
rfm22b_dev->time_delta = portMAX_DELAY - curTicks;
}
// Change the channel
// On the remote side, we initialize the time delta when we finish sending the ACK for the connection request message.
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
rfm22b_dev->time_delta = portMAX_DELAY - curTicks;
}
} else if (rfm22b_dev->tx_packet->header.type != PACKET_TYPE_NACK) {
} else if (rfm22b_dev->tx_packet->header.type != PACKET_TYPE_NACK) {
// We need to wait for an ACK if this packet it not an ACK or NACK.
rfm22b_dev->prev_tx_packet = rfm22b_dev->tx_packet;
rfm22b_dev->tx_complete_ticks = xTaskGetTickCount();
}
// Set the Tx period
if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK)
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
else if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS)
rfm22b_dev->time_to_send_offset = curTicks;
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
// Start a new transaction
rfm22b_dev->packet_start_ticks = 0;
// We need to wait for an ACK if this packet it not an ACK or NACK.
rfm22b_dev->prev_tx_packet = rfm22b_dev->tx_packet;
rfm22b_dev->tx_complete_ticks = xTaskGetTickCount();
}
// Set the Tx period
if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK) {
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
} else if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS) {
rfm22b_dev->time_to_send_offset = curTicks;
}
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
// Start a new transaction
rfm22b_dev->packet_start_ticks = 0;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D1_LED_OFF;
D1_LED_OFF;
#endif
}
}
return ret_event;
return ret_event;
}
static enum pios_rfm22b_event rfm22_txFailure(struct pios_rfm22b_dev *rfm22b_dev)
/*****************************************************************************
* Packet Transmition Functions
*****************************************************************************/
/**
* Send a radio status message.
*
* @param[in] rfm22b_dev The device structure
*/
static void rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->stats.tx_failure++;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
return RFM22B_EVENT_TX_START;
// The coordinator doesn't send status.
if (rfm22b_dev->coordinator) {
return;
}
// Update the link quality metric.
rfm22_calculateLinkQuality(rfm22b_dev);
// Queue the status message
if (rfm22_isConnected(rfm22b_dev)) {
rfm22b_dev->status_packet.header.destination_id = rfm22b_dev->destination_id;
} else if (rfm22b_dev->coordinator) {
return;
} else {
rfm22b_dev->status_packet.header.destination_id = 0xffffffff; // Broadcast
}
rfm22b_dev->status_packet.header.type = PACKET_TYPE_STATUS;
rfm22b_dev->status_packet.header.data_size = PH_STATUS_DATA_SIZE(&(rfm22b_dev->status_packet));
rfm22b_dev->status_packet.source_id = rfm22b_dev->deviceID;
rfm22b_dev->status_packet.link_quality = rfm22b_dev->stats.link_quality;
rfm22b_dev->status_packet.received_rssi = rfm22b_dev->rssi_dBm;
rfm22b_dev->send_status = true;
return;
}
/**
* Send a PPM packet.
*
* @param[in] rfm22b_dev The device structure
*/
static void rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev)
{
#ifdef PIOS_PPM_RECEIVER
// Only send PPM if we're connected
if (!rfm22_isConnected(rfm22b_dev)) {
return;
}
// Just return if the PPM receiver is not configured.
if (PIOS_PPM_RECEIVER == 0) {
return;
}
// See if we have any valid channels.
bool valid_input_detected = false;
for (uint8_t i = 1; i <= PIOS_PPM_NUM_INPUTS; ++i) {
rfm22b_dev->ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i);
if(rfm22b_dev->ppm_packet.channels[i - 1] != PIOS_RCVR_TIMEOUT)
valid_input_detected = true;
}
// Send the PPM packet if it's valid
if (valid_input_detected) {
rfm22b_dev->ppm_packet.header.destination_id = rfm22b_dev->destination_id;
rfm22b_dev->ppm_packet.header.type = PACKET_TYPE_PPM;
rfm22b_dev->ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&(rfm22b_dev->ppm_packet));
rfm22b_dev->send_ppm = true;
}
#endif
}
/**
* Send an ACK to a received packet.
* \param[in] rfm22b_dev The device structure
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev)
{
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
aph->header.destination_id = rfm22b_dev->destination_id;
aph->header.type = rfm22_ready_to_send(rfm22b_dev) ? PACKET_TYPE_ACK_RTS : PACKET_TYPE_ACK;
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
aph->packet_recv_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->rx_complete_ticks);
rfm22b_dev->tx_packet = (PHPacketHandle)aph;
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
aph->header.destination_id = rfm22b_dev->destination_id;
aph->header.type = rfm22_ready_to_send(rfm22b_dev) ? PACKET_TYPE_ACK_RTS : PACKET_TYPE_ACK;
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
aph->packet_recv_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->rx_complete_ticks);
rfm22b_dev->tx_packet = (PHPacketHandle)aph;
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
}
/**
* Send an NACK to a received packet.
* \param[in] rfm22b_dev The device structure
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev)
{
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
aph->header.destination_id = rfm22b_dev->destination_id;
aph->header.type = PACKET_TYPE_NACK;
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
rfm22b_dev->tx_packet = (PHPacketHandle)aph;
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
aph->header.destination_id = rfm22b_dev->destination_id;
aph->header.type = PACKET_TYPE_NACK;
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
rfm22b_dev->tx_packet = (PHPacketHandle)aph;
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
}
/**
* Send a connection request message.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev)
{
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
// Set our connection state to requesting connection.
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTING;
// Fill in the connection request
rfm22b_dev->destination_id = rfm22b_dev->bindings[rfm22b_dev->cur_binding].pairID;
cph->header.destination_id = rfm22b_dev->destination_id;
cph->header.type = PACKET_TYPE_CON_REQUEST;
cph->header.data_size = PH_CONNECTION_DATA_SIZE(&(rfm22b_dev->con_packet));
cph->source_id = rfm22b_dev->deviceID;
cph->main_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].main_port;
cph->flexi_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].flexi_port;
cph->vcp_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].vcp_port;
cph->com_speed = rfm22b_dev->bindings[rfm22b_dev->cur_binding].com_speed;
rfm22b_dev->time_to_send = true;
rfm22b_dev->send_connection_request = true;
rfm22b_dev->prev_tx_packet = NULL;
return RFM22B_EVENT_TX_START;
}
/*****************************************************************************
* Packet Receipt Functions
*****************************************************************************/
/**
* Receive an ACK.
* \param[in] rfm22b_dev The device structure
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_dev)
{
PHPacketHandle prev = rfm22b_dev->prev_tx_packet;
portTickType curTicks = xTaskGetTickCount();
PHPacketHandle prev = rfm22b_dev->prev_tx_packet;
portTickType curTicks = xTaskGetTickCount();
// Clear the previous TX packet.
rfm22b_dev->prev_tx_packet = NULL;
// Clear the previous TX packet.
rfm22b_dev->prev_tx_packet = NULL;
// Was this a connection request?
switch (prev->header.type) {
case PACKET_TYPE_CON_REQUEST:
rfm22_setConnectionParameters(rfm22b_dev);
break;
case PACKET_TYPE_DATA:
rfm22b_dev->data_packet.header.data_size = 0;
break;
}
// Was this a connection request?
switch (prev->header.type) {
case PACKET_TYPE_CON_REQUEST:
rfm22_setConnectionParameters(rfm22b_dev);
break;
case PACKET_TYPE_DATA:
rfm22b_dev->data_packet.header.data_size = 0;
break;
}
// On the coordinator side, we initialize the time delta when we receive the ACK for the connection request message.
if (prev->header.type == PACKET_TYPE_CON_REQUEST) {
rfm22b_dev->time_delta = portMAX_DELAY - rfm22b_dev->rx_complete_ticks;
} else if (!rfm22b_dev->coordinator) {
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->rx_packet));
portTickType local_tx_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->tx_complete_ticks);
portTickType remote_rx_time = aph->packet_recv_time;
// Adjust the time delta based on the difference between our estimated time offset and the coordinator offset.
// This is not working yet
rfm22b_dev->time_delta += remote_rx_time - local_tx_time;
}
// On the coordinator side, we initialize the time delta when we receive the ACK for the connection request message.
if (prev->header.type == PACKET_TYPE_CON_REQUEST) {
rfm22b_dev->time_delta = portMAX_DELAY - rfm22b_dev->rx_complete_ticks;
} else if (!rfm22b_dev->coordinator) {
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->rx_packet));
portTickType local_tx_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->tx_complete_ticks);
portTickType remote_rx_time = aph->packet_recv_time;
// Adjust the time delta based on the difference between our estimated time offset and the coordinator offset.
// This is not working yet
rfm22b_dev->time_delta += remote_rx_time - local_tx_time;
}
// Reset the resend count
rfm22b_dev->cur_resent_count = 0;
// Should we try to start another TX?
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_ACK) {
rfm22b_dev->time_to_send_offset = curTicks;
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
} else {
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
return RFM22B_EVENT_RX_MODE;
}
// Should we try to start another TX?
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_ACK) {
rfm22b_dev->time_to_send_offset = curTicks;
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
} else {
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
return RFM22B_EVENT_RX_MODE;
}
}
/**
* Receive an MACK.
* \param[in] rfm22b_dev The device structure
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_dev)
{
// Resend the previous TX packet.
rfm22b_dev->tx_packet = rfm22b_dev->prev_tx_packet;
rfm22b_dev->prev_tx_packet = NULL;
// Resend the previous TX packet.
rfm22b_dev->tx_packet = rfm22b_dev->prev_tx_packet;
rfm22b_dev->prev_tx_packet = NULL;
// Increment the reset packet counter if we're connected.
if (rfm22_isConnected(rfm22b_dev)) {
rfm22b_add_rx_status(rfm22b_dev, RFM22B_RESENT_TX_PACKET);
}
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
// Increment the reset packet counter if we're connected.
if (rfm22_isConnected(rfm22b_dev)) {
rfm22b_add_rx_status(rfm22b_dev, RFM22B_RESENT_TX_PACKET);
}
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
}
/**
* Receive a status packet
* \param[in] rfm22b_dev The device structure
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_receiveStatus(struct pios_rfm22b_dev *rfm22b_dev)
{
PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
int8_t rssi = rfm22b_dev->rssi_dBm;
int8_t afc = rfm22b_dev->afc_correction_Hz;
uint32_t id = status->source_id;
PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
int8_t rssi = rfm22b_dev->rssi_dBm;
int8_t afc = rfm22b_dev->afc_correction_Hz;
uint32_t id = status->source_id;
// Have we seen this device recently?
bool found = false;
uint8_t id_idx = 0;
for ( ; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx)
if(rfm22b_dev->pair_stats[id_idx].pairID == id)
{
found = true;
break;
}
// Have we seen this device recently?
bool found = false;
uint8_t id_idx = 0;
for ( ; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx) {
if(rfm22b_dev->pair_stats[id_idx].pairID == id) {
found = true;
break;
}
}
// If we have seen it, update the RSSI and reset the last contact couter
if(found)
{
rfm22b_dev->pair_stats[id_idx].rssi = rssi;
rfm22b_dev->pair_stats[id_idx].afc_correction = afc;
rfm22b_dev->pair_stats[id_idx].lastContact = 0;
}
// If we have seen it, update the RSSI and reset the last contact couter
if(found) {
rfm22b_dev->pair_stats[id_idx].rssi = rssi;
rfm22b_dev->pair_stats[id_idx].afc_correction = afc;
rfm22b_dev->pair_stats[id_idx].lastContact = 0;
// If we haven't seen it, find a slot to put it in.
else
{
uint8_t min_idx = 0;
int8_t min_rssi = rfm22b_dev->pair_stats[0].rssi;
for (id_idx = 1; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx)
{
if(rfm22b_dev->pair_stats[id_idx].rssi < min_rssi)
{
min_rssi = rfm22b_dev->pair_stats[id_idx].rssi;
min_idx = id_idx;
}
}
rfm22b_dev->pair_stats[min_idx].pairID = id;
rfm22b_dev->pair_stats[min_idx].rssi = rssi;
rfm22b_dev->pair_stats[min_idx].afc_correction = afc;
rfm22b_dev->pair_stats[min_idx].lastContact = 0;
}
// If we haven't seen it, find a slot to put it in.
} else {
uint8_t min_idx = 0;
int8_t min_rssi = rfm22b_dev->pair_stats[0].rssi;
for (id_idx = 1; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx) {
if(rfm22b_dev->pair_stats[id_idx].rssi < min_rssi) {
min_rssi = rfm22b_dev->pair_stats[id_idx].rssi;
min_idx = id_idx;
}
}
rfm22b_dev->pair_stats[min_idx].pairID = id;
rfm22b_dev->pair_stats[min_idx].rssi = rssi;
rfm22b_dev->pair_stats[min_idx].afc_correction = afc;
rfm22b_dev->pair_stats[min_idx].lastContact = 0;
}
return RFM22B_EVENT_RX_COMPLETE;
return RFM22B_EVENT_RX_COMPLETE;
}
static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev)
/*****************************************************************************
* Link Statistics Functions
*****************************************************************************/
/**
* Calculate the link quality from the packet receipt, tranmittion statistics.
*
* @param[in] rfm22b_dev The device structure
*/
static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev)
{
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
// Add the RX packet statistics
rfm22b_dev->stats.rx_good = 0;
rfm22b_dev->stats.rx_corrected = 0;
rfm22b_dev->stats.rx_error = 0;
rfm22b_dev->stats.tx_resent = 0;
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i) {
uint32_t val = rfm22b_dev->rx_packet_stats[i];
for (uint8_t j = 0; j < 16; ++j) {
switch ((val >> (j * 2)) & 0x3) {
case RFM22B_GOOD_RX_PACKET:
rfm22b_dev->stats.rx_good++;
break;
case RFM22B_CORRECTED_RX_PACKET:
rfm22b_dev->stats.rx_corrected++;
break;
case RFM22B_ERROR_RX_PACKET:
rfm22b_dev->stats.rx_error++;
break;
case RFM22B_RESENT_TX_PACKET:
rfm22b_dev->stats.tx_resent++;
break;
}
}
}
// Set our connection state to requesting connection.
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTING;
// Fill in the connection request
rfm22b_dev->destination_id = rfm22b_dev->bindings[rfm22b_dev->cur_binding].pairID;
cph->header.destination_id = rfm22b_dev->destination_id;
cph->header.type = PACKET_TYPE_CON_REQUEST;
cph->header.data_size = PH_CONNECTION_DATA_SIZE(&(rfm22b_dev->con_packet));
cph->source_id = rfm22b_dev->deviceID;
cph->main_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].main_port;
cph->flexi_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].flexi_port;
cph->vcp_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].vcp_port;
cph->com_speed = rfm22b_dev->bindings[rfm22b_dev->cur_binding].com_speed;
rfm22b_dev->time_to_send = true;
rfm22b_dev->send_connection_request = true;
rfm22b_dev->prev_tx_packet = NULL;
return RFM22B_EVENT_TX_START;
// Calculate the link quality metric, which is related to the number of good packets in relation to the number of bad packets.
// Note: This assumes that the number of packets sampled for the stats is 64.
// Using this equation, error and resent packets are counted as -2, and corrected packets are counted as -1.
// The range is 0 (all error or resent packets) to 128 (all good packets).
rfm22b_dev->stats.link_quality = 64 + rfm22b_dev->stats.rx_good - rfm22b_dev->stats.rx_error - rfm22b_dev->stats.tx_resent;
}
/**
* Add a status value to the RX packet status array.
*
* @param[in] rfm22b_dev The device structure
* @param[in] status The packet status value
*/
static void rfm22b_add_rx_status(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_rx_packet_status status)
{
// Shift the status registers
for (uint8_t i = RFM22B_RX_PACKET_STATS_LEN - 1; i > 0; --i) {
rfm22b_dev->rx_packet_stats[i] = (rfm22b_dev->rx_packet_stats[i] << 2) | (rfm22b_dev->rx_packet_stats[i - 1] >> 30);
}
rfm22b_dev->rx_packet_stats[0] = (rfm22b_dev->rx_packet_stats[0] << 2) | status;
}
/**
* Is it this modem's turn to send?
*
* @param[in] rfm22b_dev The device structure
*/
static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev)
{
// Is there a status of PPM packet ready to send?
if (rfm22b_dev->prev_tx_packet || rfm22b_dev->send_ppm || rfm22b_dev->send_status) {
return true;
}
// Are we not connected yet?
if (!rfm22_isConnected(rfm22b_dev)) {
return true;
}
// Is there some data ready to sent?
PHPacketHandle dp = &rfm22b_dev->data_packet;
if (dp->header.data_size > 0) {
return true;
}
bool need_yield = false;
if (rfm22b_dev->tx_out_cb) {
dp->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, dp->data, PH_MAX_DATA, NULL, &need_yield);
}
if (dp->header.data_size > 0) {
return true;
}
return false;
}
/*****************************************************************************
* Connection Handling Functions
*****************************************************************************/
/**
* Are we connected to the remote modem?
*
* @param[in] rfm22b_dev The device structure
*/
static bool rfm22_isConnected(struct pios_rfm22b_dev *rfm22b_dev)
{
return (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED);
}
/**
* Set the connection parameters from a connection request message.
*
* @param[in] rfm22b_dev The device structure
*/
static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev)
{
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
// Set our connection state to connected
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
// Set our connection state to connected
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
// Call the com port configuration function
if (rfm22b_dev->com_config_cb)
rfm22b_dev->com_config_cb(cph->main_port, cph->flexi_port, cph->vcp_port, cph->com_speed,
cph->min_frequency, cph->max_frequency, cph->channel_spacing);
// Configure this modem from the connection request message.
rfm22_setNominalCarrierFrequency(rfm22b_dev, cph->min_frequency, cph->max_frequency, cph->channel_spacing);
rfm22_setDatarate(rfm22b_dev, rfm22b_dev->datarate, true);
}
static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, portTickType ticks)
{
return ticks + rfm22b_dev->time_delta;
}
static bool rfm22_inChannelBuffer(struct pios_rfm22b_dev *rfm22b_dev)
{
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
uint8_t window = (uint8_t)(time & 0x7e);
return ((window == 0x7f) || (window == 0));
}
static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev)
{
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
// We change channels every 128 ms.
uint16_t n = (time >> 7) & 0xffff;
// The channel is calculated using the 16 bit CRC as the pseudo random number generator.
n = PIOS_CRC16_updateByte(n, 0);
float num_channels = rfm22b_dev->num_channels;
return (uint8_t)(num_channels * (float)n / (float)0xffff);
}
static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev)
{
if (rfm22_isConnected(rfm22b_dev)) {
return rfm22_setFreqHopChannel(rfm22b_dev, rfm22_calcChannel(rfm22b_dev));
}
return false;
// Call the com port configuration function
if (rfm22b_dev->com_config_cb) {
rfm22b_dev->com_config_cb(cph->main_port, cph->flexi_port, cph->vcp_port, cph->com_speed,
cph->min_frequency, cph->max_frequency, cph->channel_spacing);
}
// Configure this modem from the connection request message.
rfm22_setNominalCarrierFrequency(rfm22b_dev, cph->min_frequency, cph->max_frequency, cph->channel_spacing);
rfm22_setDatarate(rfm22b_dev, rfm22b_dev->datarate, true);
}
/**
* Accept a connection request.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev)
{
// Set our connection state to connected
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
// Set our connection state to connected
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
// Copy the connection packet
PHConnectionPacketHandle cph = (PHConnectionPacketHandle)(&(rfm22b_dev->rx_packet));
PHConnectionPacketHandle lcph = (PHConnectionPacketHandle)(&(rfm22b_dev->con_packet));
memcpy((uint8_t*)lcph, (uint8_t*)cph, PH_PACKET_SIZE((PHPacketHandle)cph));
// Copy the connection packet
PHConnectionPacketHandle cph = (PHConnectionPacketHandle)(&(rfm22b_dev->rx_packet));
PHConnectionPacketHandle lcph = (PHConnectionPacketHandle)(&(rfm22b_dev->con_packet));
memcpy((uint8_t*)lcph, (uint8_t*)cph, PH_PACKET_SIZE((PHPacketHandle)cph));
// Set the destination ID to the source of the connection request message.
rfm22b_dev->destination_id = cph->source_id;
// Set the destination ID to the source of the connection request message.
rfm22b_dev->destination_id = cph->source_id;
return RFM22B_EVENT_DEFAULT;
return RFM22B_EVENT_DEFAULT;
}
// ************************************
// Initialise this hardware layer module and the rf module
static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
/*****************************************************************************
* Frequency Hopping Functions
*****************************************************************************/
/**
* There needs to be a buffer in time around a channel change in which we delay starting a new packet transmit.
* This function returns true of we are in that range of time.
*
* @param[in] rfm22b_dev The device structure
* @return True if we're near a channel change time.
*/
static bool rfm22_inChannelBuffer(struct pios_rfm22b_dev *rfm22b_dev)
{
// Initialize the register values.
rfm22b_dev->device_status = 0;
rfm22b_dev->int_status1 = 0;
rfm22b_dev->int_status2 = 0;
rfm22b_dev->ezmac_status = 0;
// Clean the LEDs
rfm22_clearLEDs();
// 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 state
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
rfm22b_dev->destination_id = 0xffffffff;
rfm22b_dev->time_to_send = false;
rfm22b_dev->time_to_send_offset = 0;
rfm22b_dev->send_status = false;
rfm22b_dev->send_connection_request = false;
rfm22b_dev->cur_resent_count = 0;
// Initialize the packets.
rfm22b_dev->rx_packet_len = 0;
rfm22b_dev->tx_packet = NULL;
rfm22b_dev->prev_tx_packet = NULL;
rfm22b_dev->data_packet.header.data_size = 0;
rfm22b_dev->in_rx_mode = false;
// Initialize the devide state
rfm22b_dev->device_status = rfm22b_dev->int_status1 = rfm22b_dev->int_status2 = rfm22b_dev->ezmac_status = 0;
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
rfm22b_dev->frequency_hop_channel = 0;
rfm22b_dev->afc_correction_Hz = 0;
rfm22b_dev->packet_start_ticks = 0;
rfm22b_dev->tx_complete_ticks = 0;
rfm22b_dev->rx_complete_ticks = 0;
// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
for (int i = 50; i > 0; i--) {
// read the status registers
rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
if (rfm22b_dev->int_status2 & RFM22_is2_ichiprdy) break;
// wait 1ms
PIOS_DELAY_WaitmS(1);
}
// ****************
// read status - clears interrupt
rfm22b_dev->device_status = rfm22_read(rfm22b_dev, RFM22_device_status);
rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
rfm22b_dev->ezmac_status = rfm22_read(rfm22b_dev, RFM22_ezmac_status);
// disable all interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// read the RF chip ID bytes
// read the device type
uint8_t device_type = rfm22_read(rfm22b_dev, RFM22_DEVICE_TYPE) & RFM22_DT_MASK;
// read the device version
uint8_t device_version = rfm22_read(rfm22b_dev, RFM22_DEVICE_VERSION) & RFM22_DV_MASK;
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "rf device type: %d\n\r", device_type);
DEBUG_PRINTF(2, "rf device version: %d\n\r", device_version);
#endif
if (device_type != 0x08)
{
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "rf device type: INCORRECT - should be 0x08\n\r");
#endif
// incorrect RF module type
return RFM22B_EVENT_FATAL_ERROR;
}
if (device_version != RFM22_DEVICE_VERSION_B1)
{
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "rf device version: INCORRECT\n\r");
#endif
// incorrect RF module version
return RFM22B_EVENT_FATAL_ERROR;
}
// calibrate our RF module to be exactly on frequency .. different for every module
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, OSC_LOAD_CAP);
// disable Low Duty Cycle Mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
// 1MHz clock output
rfm22_write(rfm22b_dev, RFM22_cpu_output_clk, RFM22_coc_1MHz);
// READY mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_xton);
// choose the 3 GPIO pin functions
// GPIO port use default value
rfm22_write(rfm22b_dev, RFM22_io_port_config, RFM22_io_port_default);
if (rfm22b_dev->cfg.gpio_direction == GPIO0_TX_GPIO1_RX) {
// GPIO0 = TX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_txstate);
// GPIO1 = RX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_rxstate);
} else {
// GPIO0 = TX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_rxstate);
// GPIO1 = RX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_txstate);
}
// GPIO2 = Clear Channel Assessment
rfm22_write(rfm22b_dev, RFM22_gpio2_config, RFM22_gpio2_config_drv3 | RFM22_gpio2_config_cca);
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(rfm22b_dev, RFM22_modulation_mode_control2, RFM22_mmc2_trclk_clk_none | RFM22_mmc2_dtmod_fifo | fd_bit | RFM22_mmc2_modtyp_gfsk);
// setup to read the internal temperature sensor
// ADC used to sample the temperature sensor
uint8_t adc_config = RFM22_ac_adcsel_temp_sensor | RFM22_ac_adcref_bg;
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config);
// adc offset
rfm22_write(rfm22b_dev, RFM22_adc_sensor_amp_offset, 0);
// temp sensor calibration .. <20>40C to +64C 0.5C resolution
rfm22_write(rfm22b_dev, RFM22_temp_sensor_calib, RFM22_tsc_tsrange0 | RFM22_tsc_entsoffs);
// temp sensor offset
rfm22_write(rfm22b_dev, RFM22_temp_value_offset, 0);
// start an ADC conversion
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config | RFM22_ac_adcstartbusy);
// set the RSSI threshold interrupt to about -90dBm
rfm22_write(rfm22b_dev, RFM22_rssi_threshold_clear_chan_indicator, (-90 + 122) * 2);
// enable the internal Tx & Rx packet handlers (without CRC)
rfm22_write(rfm22b_dev, RFM22_data_access_control, RFM22_dac_enpacrx | RFM22_dac_enpactx);
// x-nibbles tx preamble
rfm22_write(rfm22b_dev, RFM22_preamble_length, TX_PREAMBLE_NIBBLES);
// x-nibbles rx preamble detection
rfm22_write(rfm22b_dev, RFM22_preamble_detection_ctrl1, RX_PREAMBLE_NIBBLES << 3);
#ifdef PIOS_RFM22_NO_HEADER
// header control - we are not using the header
rfm22_write(rfm22b_dev, RFM22_header_control1, RFM22_header_cntl1_bcen_none | RFM22_header_cntl1_hdch_none);
// no header bytes, synchronization word length 3, 2, 1 & 0 used, packet length included in header.
rfm22_write(rfm22b_dev, RFM22_header_control2, RFM22_header_cntl2_hdlen_none |
RFM22_header_cntl2_synclen_3210 | ((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
#else
// header control - using a 4 by header with broadcast of 0xffffffff
rfm22_write(rfm22b_dev, RFM22_header_control1,
RFM22_header_cntl1_bcen_0 |
RFM22_header_cntl1_bcen_1 |
RFM22_header_cntl1_bcen_2 |
RFM22_header_cntl1_bcen_3 |
RFM22_header_cntl1_hdch_0 |
RFM22_header_cntl1_hdch_1 |
RFM22_header_cntl1_hdch_2 |
RFM22_header_cntl1_hdch_3);
// Check all bit of all bytes of the header
rfm22_write(rfm22b_dev, RFM22_header_enable0, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable1, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable2, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable3, 0xff);
// Set the ID to be checked
uint32_t id = rfm22b_dev->deviceID;
rfm22_write(rfm22b_dev, RFM22_check_header0, id & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header1, (id >> 8) & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header2, (id >> 16) & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header3, (id >> 24) & 0xff);
// 4 header bytes, synchronization word length 3, 2, 1 & 0 used, packet length included in header.
rfm22_write(rfm22b_dev, RFM22_header_control2,
RFM22_header_cntl2_hdlen_3210 |
RFM22_header_cntl2_synclen_3210 |
((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
#endif
// sync word
rfm22_write(rfm22b_dev, RFM22_sync_word3, SYNC_BYTE_1);
rfm22_write(rfm22b_dev, RFM22_sync_word2, SYNC_BYTE_2);
rfm22_write(rfm22b_dev, RFM22_sync_word1, SYNC_BYTE_3);
rfm22_write(rfm22b_dev, RFM22_sync_word0, SYNC_BYTE_4);
// set the tx power
rfm22_write(rfm22b_dev, RFM22_tx_power, RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power);
// TX FIFO Almost Full Threshold (0 - 63)
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control1, TX_FIFO_HI_WATERMARK);
// TX FIFO Almost Empty Threshold (0 - 63)
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control2, TX_FIFO_LO_WATERMARK);
// RX FIFO Almost Full Threshold (0 - 63)
rfm22_write(rfm22b_dev, RFM22_rx_fifo_control, RX_FIFO_HI_WATERMARK);
// Set the frequency calibration
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, rfm22b_dev->cfg.RFXtalCap);
// Initialize the frequency and datarate to te default.
rfm22_setNominalCarrierFrequency(rfm22b_dev, rfm22b_dev->init_frequency, rfm22b_dev->init_frequency, RFM22B_FREQUENCY_HOP_STEP_SIZE);
rfm22_setDatarate(rfm22b_dev, RFM22B_DEFAULT_RX_DATARATE, true);
return RFM22B_EVENT_INITIALIZED;
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
uint8_t window = (uint8_t)(time & 0x7e);
return ((window == 0x7f) || (window == 0));
}
static void rfm22_clearLEDs() {
LINK_LED_OFF;
RX_LED_OFF;
TX_LED_OFF;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D1_LED_OFF;
D2_LED_OFF;
D3_LED_OFF;
D4_LED_OFF;
#endif
/**
* Return the extimated current clock ticks count on the coordinator modem.
* This is the master clock used for all synchronization.
*
* @param[in] rfm22b_dev The device structure
*/
static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, portTickType ticks)
{
return ticks + rfm22b_dev->time_delta;
}
/**
* Calculate what the current channel shold be.
*
* @param[in] rfm22b_dev The device structure
*/
static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev)
{
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
// We change channels every 128 ms.
uint16_t n = (time >> 7) & 0xffff;
// The channel is calculated using the 16 bit CRC as the pseudo random number generator.
n = PIOS_CRC16_updateByte(n, 0);
float num_channels = rfm22b_dev->num_channels;
return (uint8_t)(num_channels * (float)n / (float)0xffff);
}
/**
* Change channels to the calculated current channel.
*
* @param[in] rfm22b_dev The device structure
*/
static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev)
{
if (rfm22_isConnected(rfm22b_dev)) {
return rfm22_setFreqHopChannel(rfm22b_dev, rfm22_calcChannel(rfm22b_dev));
}
return false;
}
/*****************************************************************************
* Error Handling Functions
*****************************************************************************/
/**
* Recover from a failure in receiving a packet.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->stats.rx_failure++;
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
rfm22b_dev->in_rx_mode = false;
if (rfm22b_dev->rx_complete_ticks == 0) {
rfm22b_dev->rx_complete_ticks = 1;
}
return RFM22B_EVENT_RX_MODE;
}
/**
* Recover from a transmit failure.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_txFailure(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->stats.tx_failure++;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
return RFM22B_EVENT_TX_START;
}
/**
* Recover from a timeout event.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->stats.timeouts++;
rfm22b_dev->packet_start_ticks = 0;
// Release the Tx packet if it's set.
if (rfm22b_dev->tx_packet != 0)
{
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
}
rfm22b_dev->rx_buffer_wr = 0;
TX_LED_OFF;
RX_LED_OFF;
rfm22b_dev->stats.timeouts++;
rfm22b_dev->packet_start_ticks = 0;
// Release the Tx packet if it's set.
if (rfm22b_dev->tx_packet != 0) {
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
}
rfm22b_dev->rx_buffer_wr = 0;
TX_LED_OFF;
RX_LED_OFF;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D1_LED_OFF;
D2_LED_OFF;
D3_LED_OFF;
D4_LED_OFF;
D1_LED_OFF;
D2_LED_OFF;
D3_LED_OFF;
D4_LED_OFF;
#endif
return RFM22B_EVENT_TX_START;
return RFM22B_EVENT_TX_START;
}
/**
* Recover from a severe error.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->stats.resets++;
rfm22_clearLEDs();
return RFM22B_EVENT_INITIALIZE;
rfm22b_dev->stats.resets++;
rfm22_clearLEDs();
return RFM22B_EVENT_INITIALIZE;
}
/**
* A fatal error has occured in the state machine.
* this should not happen.
* \parem [in] rfm22b_dev The device structure
* \return enum pios_rfm22b_event The next event to inject
*
* @parem [in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_fatal_error(struct pios_rfm22b_dev *rfm22b_dev)
{
// RF module error .. flash the LED's
rfm22_clearLEDs();
for(unsigned int j = 0; j < 16; j++)
{
USB_LED_ON;
LINK_LED_ON;
RX_LED_OFF;
TX_LED_OFF;
// RF module error .. flash the LED's
rfm22_clearLEDs();
for(unsigned int j = 0; j < 16; j++) {
USB_LED_ON;
LINK_LED_ON;
RX_LED_OFF;
TX_LED_OFF;
PIOS_DELAY_WaitmS(200);
PIOS_DELAY_WaitmS(200);
USB_LED_OFF;
LINK_LED_OFF;
RX_LED_ON;
TX_LED_ON;
USB_LED_OFF;
LINK_LED_OFF;
RX_LED_ON;
TX_LED_ON;
PIOS_DELAY_WaitmS(200);
}
PIOS_DELAY_WaitmS(200);
}
PIOS_DELAY_WaitmS(1000);
PIOS_DELAY_WaitmS(1000);
PIOS_Assert(0);
PIOS_Assert(0);
return RFM22B_EVENT_FATAL_ERROR;
return RFM22B_EVENT_FATAL_ERROR;
}
// ************************************
/*****************************************************************************
* Utility Functions
*****************************************************************************/
/**
* Calculate the time difference between the start time and end time.
* Times are in ticks. Also handles rollover.
*
* @param[in] start_time The start time in ticks.
* @param[in] end_time The end time in ticks.
*/
static uint32_t pios_rfm22_time_difference_ms(portTickType start_time, portTickType end_time)
{
if(end_time >= start_time) {
return (end_time - start_time) * portTICK_RATE_MS;
}
// Rollover
return ((portMAX_DELAY - start_time) + end_time) * portTICK_RATE_MS;
}
/**
* Allocate the device structure
*/
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_rfm22b_dev *pios_rfm22_alloc(void)
{
struct pios_rfm22b_dev * rfm22b_dev;
rfm22b_dev = (struct pios_rfm22b_dev *)pvPortMalloc(sizeof(*rfm22b_dev));
rfm22b_dev->spi_id = 0;
if (!rfm22b_dev) {
return NULL;
}
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
return(rfm22b_dev);
}
#else
static struct pios_rfm22b_dev pios_rfm22b_devs[PIOS_RFM22B_MAX_DEVS];
static uint8_t pios_rfm22b_num_devs;
static struct pios_rfm22b_dev *pios_rfm22_alloc(void)
{
struct pios_rfm22b_dev * rfm22b_dev;
if (pios_rfm22b_num_devs >= PIOS_RFM22B_MAX_DEVS) {
return NULL;
}
rfm22b_dev = &pios_rfm22b_devs[pios_rfm22b_num_devs++];
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
return (rfm22b_dev);
}
#endif
/**
* Turn off all of the LEDs
*/
static void rfm22_clearLEDs(void) {
LINK_LED_OFF;
RX_LED_OFF;
TX_LED_OFF;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D1_LED_OFF;
D2_LED_OFF;
D3_LED_OFF;
D4_LED_OFF;
#endif
}
/*****************************************************************************
* SPI Read/Write Functions
*****************************************************************************/
/**
* Assert the chip select line.
*
* @param[in] rfm22b_dev The RFM22B device.
*/
static void rfm22_assertCs(struct pios_rfm22b_dev *rfm22b_dev)
{
PIOS_DELAY_WaituS(1);
if(rfm22b_dev->spi_id != 0) {
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 0);
}
}
/**
* Deassert the chip select line.
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
*/
static void rfm22_deassertCs(struct pios_rfm22b_dev *rfm22b_dev)
{
if(rfm22b_dev->spi_id != 0) {
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 1);
}
}
/**
* Claim the SPI bus.
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
*/
static void rfm22_claimBus(struct pios_rfm22b_dev *rfm22b_dev)
{
if(rfm22b_dev->spi_id != 0) {
PIOS_SPI_ClaimBus(rfm22b_dev->spi_id);
}
}
/**
* Release the SPI bus.
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
*/
static void rfm22_releaseBus(struct pios_rfm22b_dev *rfm22b_dev)
{
if(rfm22b_dev->spi_id != 0) {
PIOS_SPI_ReleaseBus(rfm22b_dev->spi_id);
}
}
/**
* Claim the semaphore and write a byte to a register
*
* @param[in] rfm22b_dev The RFM22B device.
* @param[in] addr The address to write to
* @param[in] data The datat to write to that address
*/
static void rfm22_write(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data)
{
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
uint8_t buf[2] = {addr | 0x80, data};
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
/**
* Read a byte from an RFM22b register
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
* @param[in] addr The address to read from
* @return Returns the result of the register read
*/
static uint8_t rfm22_read(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
{
uint8_t in[2];
uint8_t out[2] = {addr & 0x7f, 0xFF};
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
return in[1];
}
/**
* Read a byte from an RFM22b register without claiming the bus
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
* @param[in] addr The address to read from
* @return Returns the result of the register read
*/
static uint8_t rfm22_read_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
{
uint8_t out[2] = {addr & 0x7F, 0xFF};
uint8_t in[2];
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
rfm22_deassertCs(rfm22b_dev);
return in[1];
}
#endif /* PIOS_INCLUDE_RFM22B */

140
flight/pios/common/pios_rfm22b_com.c
View File

@ -44,87 +44,123 @@ static bool PIOS_RFM22B_COM_Available(uint32_t rfm22b_com_id);
/* Local variables */
const struct pios_com_driver pios_rfm22b_com_driver = {
.set_baud = PIOS_RFM22B_COM_ChangeBaud,
.tx_start = PIOS_RFM22B_COM_TxStart,
.rx_start = PIOS_RFM22B_COM_RxStart,
.bind_tx_cb = PIOS_RFM22B_COM_RegisterTxCallback,
.bind_rx_cb = PIOS_RFM22B_COM_RegisterRxCallback,
.available = PIOS_RFM22B_COM_Available
.set_baud = PIOS_RFM22B_COM_ChangeBaud,
.tx_start = PIOS_RFM22B_COM_TxStart,
.rx_start = PIOS_RFM22B_COM_RxStart,
.bind_tx_cb = PIOS_RFM22B_COM_RegisterTxCallback,
.bind_rx_cb = PIOS_RFM22B_COM_RegisterRxCallback,
.available = PIOS_RFM22B_COM_Available
};
/**
* Changes the baud rate of the RFM22B peripheral without re-initialising.
* \param[in] rfm22b_id RFM22B name (GPS, TELEM, AUX)
* \param[in] baud Requested baud rate
*
* @param[in] rfm22b_id RFM22B name (GPS, TELEM, AUX)
* @param[in] baud Requested baud rate
*/
static void PIOS_RFM22B_COM_ChangeBaud(uint32_t rfm22b_id, uint32_t baud)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
// Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
enum rfm22b_datarate datarate = RFM22_datarate_64000;
if (baud <= 1024)
datarate = RFM22_datarate_500;
else if (baud <= 2048)
datarate = RFM22_datarate_1000;
else if (baud <= 4096)
datarate = RFM22_datarate_8000;
else if (baud <= 9600)
datarate = RFM22_datarate_16000;
else if (baud <= 19200)
datarate = RFM22_datarate_32000;
else if (baud <= 38400)
datarate = RFM22_datarate_57600;
else if (baud <= 57600)
datarate = RFM22_datarate_128000;
else if (baud <= 115200)
datarate = RFM22_datarate_192000;
rfm22b_dev->datarate = datarate;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
// Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
enum rfm22b_datarate datarate = RFM22_datarate_64000;
if (baud <= 1024)
datarate = RFM22_datarate_500;
else if (baud <= 2048)
datarate = RFM22_datarate_1000;
else if (baud <= 4096)
datarate = RFM22_datarate_8000;
else if (baud <= 9600)
datarate = RFM22_datarate_16000;
else if (baud <= 19200)
datarate = RFM22_datarate_32000;
else if (baud <= 38400)
datarate = RFM22_datarate_57600;
else if (baud <= 57600)
datarate = RFM22_datarate_128000;
else if (baud <= 115200)
datarate = RFM22_datarate_192000;
rfm22b_dev->datarate = datarate;
}
/**
* Start a receive from the COM device
*
* @param[in] rfm22b_dev The device ID.
* @param[in] rx_bytes_available The number of bytes available to receive
*/
static void PIOS_RFM22B_COM_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail)
{
}
/**
* Start a transmit from the COM device
*
* @param[in] rfm22b_dev The device ID.
* @param[in] tx_bytes_available The number of bytes available to transmit
*/
static void PIOS_RFM22B_COM_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
}
/**
* Register the callback to pass received data to
*
* @param[in] rfm22b_dev The device ID.
* @param[in] rx_in_cb The Rx callback function.
* @param[in] context The callback context.
*/
static void PIOS_RFM22B_COM_RegisterRxCallback(uint32_t rfm22b_id, pios_com_callback rx_in_cb, uint32_t context)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev))
return;
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
rfm22b_dev->rx_in_context = context;
rfm22b_dev->rx_in_cb = rx_in_cb;
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
rfm22b_dev->rx_in_context = context;
rfm22b_dev->rx_in_cb = rx_in_cb;
}
/**
* Register the callback to get data from.
*
* @param[in] rfm22b_dev The device ID.
* @param[in] rx_in_cb The Tx callback function.
* @param[in] context The callback context.
*/
static void PIOS_RFM22B_COM_RegisterTxCallback(uint32_t rfm22b_id, pios_com_callback tx_out_cb, uint32_t context)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
rfm22b_dev->tx_out_context = context;
rfm22b_dev->tx_out_cb = tx_out_cb;
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
rfm22b_dev->tx_out_context = context;
rfm22b_dev->tx_out_cb = tx_out_cb;
}
/**
* See if the COM port is alive
*
* @param[in] rfm22b_dev The device ID.
* @return True of the device is available.
*/
static bool PIOS_RFM22B_COM_Available(uint32_t rfm22b_id)
{
return PIOS_RFM22B_LinkStatus(rfm22b_id);
return PIOS_RFM22B_LinkStatus(rfm22b_id);
}
#endif /* PIOS_INCLUDE_RFM22B_COM */

120
flight/pios/common/pios_rfm22b_rcvr.c
View File

@ -1,17 +1,17 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RFM22B_RCVR RFM22B Receiver Input Functions
* @brief Code to output the PPM signal from the RFM22B
* @{
*
* @file pios_rfm22b_rcvr.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Implements a receiver interface to the RFM22B device
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RFM22B_RCVR RFM22B Receiver Input Functions
* @brief Code to output the PPM signal from the RFM22B
* @{
*
* @file pios_rfm22b_rcvr.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Implements a receiver interface to the RFM22B device
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
@ -39,60 +39,86 @@ static int32_t PIOS_RFM22B_RCVR_Get(uint32_t rcvr_id, uint8_t channel);
static void PIOS_RFM22B_RCVR_Supervisor(uint32_t rcvr_id);
const struct pios_rcvr_driver pios_rfm22b_rcvr_driver = {
.read = PIOS_RFM22B_RCVR_Get,
.read = PIOS_RFM22B_RCVR_Get,
};
/**
* Initialize the receiver.
*
* @param[in] rfm22b_dev The receiver ID.
* @return < 0 on failure.
*/
int32_t PIOS_RFM22B_RCVR_Init(uint32_t rcvr_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return -1;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return -1;
}
// Initialize
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i)
rfm22b_dev->ppm_channel[i] = PIOS_RCVR_TIMEOUT;
rfm22b_dev->ppm_supv_timer = 0;
// Initialize
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
rfm22b_dev->ppm_channel[i] = PIOS_RCVR_TIMEOUT;
}
rfm22b_dev->ppm_supv_timer = 0;
// Register the failsafe timer callback.
if (!PIOS_RTC_RegisterTickCallback(PIOS_RFM22B_RCVR_Supervisor, rcvr_id))
PIOS_DEBUG_Assert(0);
// Register the failsafe timer callback.
if (!PIOS_RTC_RegisterTickCallback(PIOS_RFM22B_RCVR_Supervisor, rcvr_id)) {
PIOS_DEBUG_Assert(0);
}
return 0;
return 0;
}
/**
* Get a channel from the receiver.
*
* @param[in] rcvr_id The receiver ID.
* @return The channel value, or -1 on failure.
*/
static int32_t PIOS_RFM22B_RCVR_Get(uint32_t rcvr_id, uint8_t channel)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return -1;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return -1;
}
if (channel >= GCSRECEIVER_CHANNEL_NUMELEM)
/* channel is out of range */
return -1;
if (channel >= GCSRECEIVER_CHANNEL_NUMELEM) {
/* channel is out of range */
return -1;
}
return rfm22b_dev->ppm_channel[channel];
return rfm22b_dev->ppm_channel[channel];
}
/**
* The supervisor function that ensures that the data is current.
*
* @param[in] rcvr_id The receiver ID.
*/
static void PIOS_RFM22B_RCVR_Supervisor(uint32_t rcvr_id) {
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
// RTC runs at 625Hz.
if (++(rfm22b_dev->ppm_supv_timer) < (PIOS_RFM22B_RCVR_TIMEOUT_MS * 1000 / 625))
return;
rfm22b_dev->ppm_supv_timer = 0;
// RTC runs at 625Hz.
if (++(rfm22b_dev->ppm_supv_timer) < (PIOS_RFM22B_RCVR_TIMEOUT_MS * 1000 / 625)) {
return;
}
rfm22b_dev->ppm_supv_timer = 0;
// Have we received fresh values since the last update?
if (!rfm22b_dev->ppm_fresh)
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i)
rfm22b_dev->ppm_channel[i] = 0;
rfm22b_dev->ppm_fresh = false;
// Have we received fresh values since the last update?
if (!rfm22b_dev->ppm_fresh) {
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
rfm22b_dev->ppm_channel[i] = 0;
}
}
rfm22b_dev->ppm_fresh = false;
}
#endif /* PIOS_INCLUDE_RFM22B_RCVR */
/**
* @}
* @}
*/
* @}
* @}
*/

6
flight/pios/inc/pios_debug.h
View File

@ -68,6 +68,12 @@ void PIOS_DEBUG_Panic(const char *msg);
#define PIOS_Assert(test) if (!(test)) while (1);
#endif
/* Static (compile-time) assertion for use in a function.
If test evaluates to 0 (ie fails) at compile time then compilation will
fail with the error: "size of unnamed array is negative" */
#define PIOS_STATIC_ASSERT(test) ((void)sizeof(int[1 - 2*!(test)]))
#endif /* PIOS_DEBUG_H */
/**

126
flight/pios/inc/pios_rfm22b.h
View File

@ -1,17 +1,17 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RFM22B Radio Functions
* @brief PIOS interface for RFM22B Radio
* @{
*
* @file pios_rfm22b.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief RFM22B functions header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RFM22B Radio Functions
* @brief PIOS interface for RFM22B Radio
* @{
*
* @file pios_rfm22b.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief RFM22B functions header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
@ -39,62 +39,62 @@ enum gpio_direction {GPIO0_TX_GPIO1_RX, GPIO0_RX_GPIO1_TX};
/* Global Types */
struct pios_rfm22b_cfg {
const struct pios_spi_cfg * spi_cfg; /* Pointer to SPI interface configuration */
const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
uint8_t RFXtalCap;
uint8_t slave_num;
enum gpio_direction gpio_direction;
const struct pios_spi_cfg * spi_cfg; /* Pointer to SPI interface configuration */
const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
uint8_t RFXtalCap;
uint8_t slave_num;
enum gpio_direction gpio_direction;
};
enum rfm22b_tx_power {
RFM22_tx_pwr_txpow_0 = 0x00, // +1dBm .. 1.25mW
RFM22_tx_pwr_txpow_1 = 0x01, // +2dBm .. 1.6mW
RFM22_tx_pwr_txpow_2 = 0x02, // +5dBm .. 3.16mW
RFM22_tx_pwr_txpow_3 = 0x03, // +8dBm .. 6.3mW
RFM22_tx_pwr_txpow_4 = 0x04, // +11dBm .. 12.6mW
RFM22_tx_pwr_txpow_5 = 0x05, // +14dBm .. 25mW
RFM22_tx_pwr_txpow_6 = 0x06, // +17dBm .. 50mW
RFM22_tx_pwr_txpow_7 = 0x07 // +20dBm .. 100mW
RFM22_tx_pwr_txpow_0 = 0x00, // +1dBm .. 1.25mW
RFM22_tx_pwr_txpow_1 = 0x01, // +2dBm .. 1.6mW
RFM22_tx_pwr_txpow_2 = 0x02, // +5dBm .. 3.16mW
RFM22_tx_pwr_txpow_3 = 0x03, // +8dBm .. 6.3mW
RFM22_tx_pwr_txpow_4 = 0x04, // +11dBm .. 12.6mW
RFM22_tx_pwr_txpow_5 = 0x05, // +14dBm .. 25mW
RFM22_tx_pwr_txpow_6 = 0x06, // +17dBm .. 50mW
RFM22_tx_pwr_txpow_7 = 0x07 // +20dBm .. 100mW
};
enum rfm22b_datarate {
RFM22_datarate_500 = 0,
RFM22_datarate_1000 = 1,
RFM22_datarate_2000 = 2,
RFM22_datarate_4000 = 3,
RFM22_datarate_8000 = 4,
RFM22_datarate_9600 = 5,
RFM22_datarate_16000 = 6,
RFM22_datarate_19200 = 7,
RFM22_datarate_24000 = 8,
RFM22_datarate_32000 = 9,
RFM22_datarate_57600 = 10,
RFM22_datarate_64000 = 11,
RFM22_datarate_128000 = 12,
RFM22_datarate_192000 = 13,
RFM22_datarate_256000 = 14,
RFM22_datarate_500 = 0,
RFM22_datarate_1000 = 1,
RFM22_datarate_2000 = 2,
RFM22_datarate_4000 = 3,
RFM22_datarate_8000 = 4,
RFM22_datarate_9600 = 5,
RFM22_datarate_16000 = 6,
RFM22_datarate_19200 = 7,
RFM22_datarate_24000 = 8,
RFM22_datarate_32000 = 9,
RFM22_datarate_57600 = 10,
RFM22_datarate_64000 = 11,
RFM22_datarate_128000 = 12,
RFM22_datarate_192000 = 13,
RFM22_datarate_256000 = 14,
};
struct rfm22b_stats {
uint16_t packets_per_sec;
uint16_t tx_byte_count;
uint16_t rx_byte_count;
uint16_t tx_seq;
uint16_t rx_seq;
uint8_t rx_good;
uint8_t rx_corrected;
uint8_t rx_error;
uint8_t rx_missed;
uint8_t rx_failure;
uint8_t tx_dropped;
uint8_t tx_resent;
uint8_t tx_failure;
uint8_t resets;
uint8_t timeouts;
uint8_t link_quality;
int8_t rssi;
int8_t afc_correction;
uint8_t link_state;
uint16_t packets_per_sec;
uint16_t tx_byte_count;
uint16_t rx_byte_count;
uint16_t tx_seq;
uint16_t rx_seq;
uint8_t rx_good;
uint8_t rx_corrected;
uint8_t rx_error;
uint8_t rx_missed;
uint8_t rx_failure;
uint8_t tx_dropped;
uint8_t tx_resent;
uint8_t tx_failure;
uint8_t resets;
uint8_t timeouts;
uint8_t link_quality;
int8_t rssi;
int8_t afc_correction;
uint8_t link_state;
};
/* Callback function prototypes */
@ -124,6 +124,6 @@ extern const struct pios_com_driver pios_rfm22b_com_driver;
#endif /* PIOS_RFM22B_H */
/**
* @}
* @}
*/
* @}
* @}
*/

380
flight/pios/inc/pios_rfm22b_priv.h
View File

@ -443,37 +443,11 @@
#define RFM22_received_packet_length 0x4B // R
#define RFM22_adc8_control 0x4F // R/W
/*
#define RFM22_analog_test_bus 0x50 // R/W
#define RFM22_digital_test_bus 0x51 // R/W
#define RFM22_tx_ramp_control 0x52 // R/W
#define RFM22_pll_tune_time 0x53 // R/W
#define RFM22_calibration_control 0x55 // R/W
#define RFM22_modem_test 0x56 // R/W
#define RFM22_chargepump_test 0x57 // R/W
#define RFM22_chargepump_current_trimming_override 0x58 // R/W
#define RFM22_divider_current_trimming 0x59 // R/W
#define RFM22_vco_current_trimming 0x5A // R/W
#define RFM22_vco_calibration_override 0x5B // R/W
#define RFM22_synthersizer_test 0x5C // R/W
#define RFM22_block_enable_override1 0x5D // R/W
#define RFM22_block_enable_override2 0x5E // R/W
#define RFM22_block_enable_override3 0x5F // R/W
*/
#define RFM22_channel_filter_coeff_addr 0x60 // R/W
#define RFM22_ch_fil_coeff_ad_inv_pre_th_mask 0xF0 //
#define RFM22_ch_fil_coeff_ad_chfiladd_mask 0x0F // Channel Filter Coefficient Look-up Table Address. The address for channel filter coefficients used in the RX path.
//#define RFM22_channel_filter_coeff_value 0x61 // R/W
#define RFM22_xtal_osc_por_ctrl 0x62 // R/W
#define RFM22_xtal_osc_por_ctrl_pwst_mask 0xE0 // Internal Power States of the Chip.
#define RFM22_xtal_osc_por_ctrl_clkhyst 0x10 // Clock Hysteresis Setting.
@ -481,27 +455,13 @@
#define RFM22_xtal_osc_por_ctrl_enamp2x 0x04 // 2 Times Higher Amplification Enable.
#define RFM22_xtal_osc_por_ctrl_bufovr 0x02 // Output Buffer Enable Override.
#define RFM22_xtal_osc_por_ctrl_enbuf 0x01 // Output Buffer Enable.
/*
#define RFM22_rc_osc_coarse_calbration_override 0x63 // R/W
#define RFM22_rc_osc_fine_calbration_override 0x64 // R/W
#define RFM22_ldo_control_override 0x65 // R/W
#define RFM22_ldo_level_setting 0x66 // R/W
#define RFM22_deltasigma_adc_tuning1 0x67 // R/W
#define RFM22_deltasigma_adc_tuning2 0x68 // R/W
*/
#define RFM22_agc_override1 0x69 // R/W
#define RFM22_agc_ovr1_sgi 0x40 // AGC Loop, Set Gain Increase. If set to 0 then gain increasing will not be allowed. If set to 1 then gain increasing is allowed, default is 0.
#define RFM22_agc_ovr1_agcen 0x20 // Automatic Gain Control Enable. When this bit is set then the result of the control can be read out from bits [4:0], otherwise the gain can be controlled manually by writing into bits [4:0].
#define RFM22_agc_ovr1_lnagain 0x10 // LNA Gain Select. 0 = min gain = 5dB, 1 = max gain = 25 dB.
#define RFM22_agc_ovr1_pga_mask 0x0F // PGA Gain Override Value.
//#define RFM22_agc_override2 0x6A // R/W
//#define RFM22_gfsk_fir_coeff_addr 0x6B // R/W
//#define RFM22_gfsk_fir_coeff_value 0x6C // R/W
#define RFM22_tx_power 0x6D // R/W
#define RFM22_tx_pwr_lna_sw 0x08 // LNA Switch Controller. If set, lna_sw control from the digital will go high during TX modes, and low during other times. If reset, the digital control signal is low at all times.
@ -568,233 +528,229 @@
typedef int16_t (*t_rfm22_TxDataByteCallback) (void);
typedef bool (*t_rfm22_RxDataCallback) (void *data, uint8_t len);
enum pios_rfm22b_dev_magic {
PIOS_RFM22B_DEV_MAGIC = 0x68e971b6,
PIOS_RFM22B_DEV_MAGIC = 0x68e971b6,
};
enum pios_rfm22b_state {
RFM22B_STATE_UNINITIALIZED,
RFM22B_STATE_INITIALIZING,
RFM22B_STATE_REQUESTING_CONNECTION,
RFM22B_STATE_ACCEPTING_CONNECTION,
RFM22B_STATE_RX_MODE,
RFM22B_STATE_WAIT_PREAMBLE,
RFM22B_STATE_WAIT_SYNC,
RFM22B_STATE_RX_DATA,
RFM22B_STATE_RX_FAILURE,
RFM22B_STATE_RECEIVING_STATUS,
RFM22B_STATE_TX_START,
RFM22B_STATE_TX_DATA,
RFM22B_STATE_TX_FAILURE,
RFM22B_STATE_SENDING_ACK,
RFM22B_STATE_SENDING_NACK,
RFM22B_STATE_RECEIVING_ACK,
RFM22B_STATE_RECEIVING_NACK,
RFM22B_STATE_TIMEOUT,
RFM22B_STATE_ERROR,
RFM22B_STATE_FATAL_ERROR,
RFM22B_STATE_UNINITIALIZED,
RFM22B_STATE_INITIALIZING,
RFM22B_STATE_REQUESTING_CONNECTION,
RFM22B_STATE_ACCEPTING_CONNECTION,
RFM22B_STATE_RX_MODE,
RFM22B_STATE_WAIT_PREAMBLE,
RFM22B_STATE_WAIT_SYNC,
RFM22B_STATE_RX_DATA,
RFM22B_STATE_RX_FAILURE,
RFM22B_STATE_RECEIVING_STATUS,
RFM22B_STATE_TX_START,
RFM22B_STATE_TX_DATA,
RFM22B_STATE_TX_FAILURE,
RFM22B_STATE_SENDING_ACK,
RFM22B_STATE_SENDING_NACK,
RFM22B_STATE_RECEIVING_ACK,
RFM22B_STATE_RECEIVING_NACK,
RFM22B_STATE_TIMEOUT,
RFM22B_STATE_ERROR,
RFM22B_STATE_FATAL_ERROR,
RFM22B_STATE_NUM_STATES // Must be last
RFM22B_STATE_NUM_STATES // Must be last
};
enum pios_rfm22b_event {
RFM22B_EVENT_DEFAULT,
RFM22B_EVENT_INT_RECEIVED,
RFM22B_EVENT_INITIALIZE,
RFM22B_EVENT_INITIALIZED,
RFM22B_EVENT_REQUEST_CONNECTION,
RFM22B_EVENT_CONNECTION_REQUESTED,
RFM22B_EVENT_PACKET_ACKED,
RFM22B_EVENT_PACKET_NACKED,
RFM22B_EVENT_ACK_TIMEOUT,
RFM22B_EVENT_RX_MODE,
RFM22B_EVENT_PREAMBLE_DETECTED,
RFM22B_EVENT_SYNC_DETECTED,
RFM22B_EVENT_RX_COMPLETE,
RFM22B_EVENT_RX_ERROR,
RFM22B_EVENT_STATUS_RECEIVED,
RFM22B_EVENT_TX_START,
RFM22B_EVENT_FAILURE,
RFM22B_EVENT_TIMEOUT,
RFM22B_EVENT_ERROR,
RFM22B_EVENT_FATAL_ERROR,
RFM22B_EVENT_DEFAULT,
RFM22B_EVENT_INT_RECEIVED,
RFM22B_EVENT_INITIALIZE,
RFM22B_EVENT_INITIALIZED,
RFM22B_EVENT_REQUEST_CONNECTION,
RFM22B_EVENT_CONNECTION_REQUESTED,
RFM22B_EVENT_PACKET_ACKED,
RFM22B_EVENT_PACKET_NACKED,
RFM22B_EVENT_ACK_TIMEOUT,
RFM22B_EVENT_RX_MODE,
RFM22B_EVENT_PREAMBLE_DETECTED,
RFM22B_EVENT_SYNC_DETECTED,
RFM22B_EVENT_RX_COMPLETE,
RFM22B_EVENT_RX_ERROR,
RFM22B_EVENT_STATUS_RECEIVED,
RFM22B_EVENT_TX_START,
RFM22B_EVENT_FAILURE,
RFM22B_EVENT_TIMEOUT,
RFM22B_EVENT_ERROR,
RFM22B_EVENT_FATAL_ERROR,
RFM22B_EVENT_NUM_EVENTS // Must be last
RFM22B_EVENT_NUM_EVENTS // Must be last
};
#define RFM22B_RX_PACKET_STATS_LEN 4
enum pios_rfm22b_rx_packet_status {
RFM22B_GOOD_RX_PACKET = 0x00,
RFM22B_CORRECTED_RX_PACKET = 0x01,
RFM22B_ERROR_RX_PACKET = 0x2,
RFM22B_RESENT_TX_PACKET = 0x3
RFM22B_GOOD_RX_PACKET = 0x00,
RFM22B_CORRECTED_RX_PACKET = 0x01,
RFM22B_ERROR_RX_PACKET = 0x2,
RFM22B_RESENT_TX_PACKET = 0x3
};
typedef struct {
uint32_t pairID;
int8_t rssi;
int8_t afc_correction;
uint8_t lastContact;
uint32_t pairID;
int8_t rssi;
int8_t afc_correction;
uint8_t lastContact;
} rfm22b_pair_stats;
typedef struct {
uint32_t pairID;
OPLinkSettingsRemoteMainPortOptions main_port;
OPLinkSettingsRemoteFlexiPortOptions flexi_port;
OPLinkSettingsRemoteVCPPortOptions vcp_port;
OPLinkSettingsComSpeedOptions com_speed;
uint32_t pairID;
OPLinkSettingsRemoteMainPortOptions main_port;
OPLinkSettingsRemoteFlexiPortOptions flexi_port;
OPLinkSettingsRemoteVCPPortOptions vcp_port;
OPLinkSettingsComSpeedOptions com_speed;
} rfm22b_binding;
struct pios_rfm22b_dev {
enum pios_rfm22b_dev_magic magic;
struct pios_rfm22b_cfg cfg;
enum pios_rfm22b_dev_magic magic;
struct pios_rfm22b_cfg cfg;
// The SPI bus information
uint32_t spi_id;
uint32_t slave_num;
// The SPI bus information
uint32_t spi_id;
uint32_t slave_num;
// The device ID
uint32_t deviceID;
// The device ID
uint32_t deviceID;
// The destination ID
uint32_t destination_id;
// The destination ID
uint32_t destination_id;
// The list of bound radios.
rfm22b_binding bindings[OPLINKSETTINGS_BINDINGS_NUMELEM];
uint8_t cur_binding;
// The list of bound radios.
rfm22b_binding bindings[OPLINKSETTINGS_BINDINGS_NUMELEM];
uint8_t cur_binding;
// Is this device a coordinator?
bool coordinator;
// Is this device a coordinator?
bool coordinator;
// The task handle
xTaskHandle taskHandle;
// The task handle
xTaskHandle taskHandle;
// The potential paired statistics
rfm22b_pair_stats pair_stats[OPLINKSTATUS_PAIRIDS_NUMELEM];
// The potential paired statistics
rfm22b_pair_stats pair_stats[OPLINKSTATUS_PAIRIDS_NUMELEM];
// ISR pending semaphore
xSemaphoreHandle isrPending;
// ISR pending semaphore
xSemaphoreHandle isrPending;
// The com configuration callback
PIOS_RFM22B_ComConfigCallback com_config_cb;
// The com configuration callback
PIOS_RFM22B_ComConfigCallback com_config_cb;
// The COM callback functions.
pios_com_callback rx_in_cb;
uint32_t rx_in_context;
pios_com_callback tx_out_cb;
uint32_t tx_out_context;
// The COM callback functions.
pios_com_callback rx_in_cb;
uint32_t rx_in_context;
pios_com_callback tx_out_cb;
uint32_t tx_out_context;
// the transmit power to use for data transmissions
uint8_t tx_power;
// the transmit power to use for data transmissions
uint8_t tx_power;
// The RF datarate lookup index.
uint8_t datarate;
// The RF datarate lookup index.
uint8_t datarate;
// The state machine state and the current event
enum pios_rfm22b_state state;
// The state machine state and the current event
enum pios_rfm22b_state state;
// The event queue handle
xQueueHandle eventQueue;
// The event queue handle
xQueueHandle eventQueue;
// device status register
uint8_t device_status;
// interrupt status register 1
uint8_t int_status1;
// interrupt status register 2
uint8_t int_status2;
// ezmac status register
uint8_t ezmac_status;
// device status register
uint8_t device_status;
// interrupt status register 1
uint8_t int_status1;
// interrupt status register 2
uint8_t int_status2;
// ezmac status register
uint8_t ezmac_status;
// The error statistics counters
uint16_t prev_rx_seq_num;
uint32_t rx_packet_stats[RFM22B_RX_PACKET_STATS_LEN];
// The error statistics counters
uint16_t prev_rx_seq_num;
uint32_t rx_packet_stats[RFM22B_RX_PACKET_STATS_LEN];
// The packet statistics
struct rfm22b_stats stats;
// The packet statistics
struct rfm22b_stats stats;
// Stats
uint16_t errors;
// Stats
uint16_t errors;
// RSSI in dBm
int8_t rssi_dBm;
// RSSI in dBm
int8_t rssi_dBm;
// The tx data packet
PHPacket data_packet;
// The current tx packet
PHPacketHandle tx_packet;
// The previous tx packet (waiting for an ACK)
PHPacketHandle prev_tx_packet;
// The tx data read index
uint16_t tx_data_rd;
// The tx data write index
uint16_t tx_data_wr;
// The tx packet sequence number
uint16_t tx_seq;
// The tx data packet
PHPacket data_packet;
// The current tx packet
PHPacketHandle tx_packet;
// The previous tx packet (waiting for an ACK)
PHPacketHandle prev_tx_packet;
// The tx data read index
uint16_t tx_data_rd;
// The tx data write index
uint16_t tx_data_wr;
// The tx packet sequence number
uint16_t tx_seq;
// The rx data packet
PHPacket rx_packet;
// The receive buffer write index
uint16_t rx_buffer_wr;
// The receive buffer write index
uint16_t rx_packet_len;
// Is the modem currently in Rx mode?
bool in_rx_mode;
// The rx data packet
PHPacket rx_packet;
// The receive buffer write index
uint16_t rx_buffer_wr;
// The receive buffer write index
uint16_t rx_packet_len;
// Is the modem currently in Rx mode?
bool in_rx_mode;
// The status packet
PHStatusPacket status_packet;
// The status packet
PHStatusPacket status_packet;
// The ACK/NACK packet
PHAckNackPacket ack_nack_packet;
// The ACK/NACK packet
PHAckNackPacket ack_nack_packet;
#ifdef PIOS_PPM_RECEIVER
// The PPM packet
PHPpmPacket ppm_packet;
// The PPM packet
PHPpmPacket ppm_packet;
#endif
// The connection packet.
PHConnectionPacket con_packet;
// The connection packet.
PHConnectionPacket con_packet;
// Send flags
bool send_status;
bool send_ppm;
bool send_connection_request;
bool time_to_send;
// Send flags
bool send_status;
bool send_ppm;
bool send_connection_request;
bool time_to_send;
// The offset between our clock and the global send clock
uint8_t time_to_send_offset;
// The number of times that the current packet has been resent.
uint8_t cur_resent_count;
// The offset between our clock and the global send clock
uint8_t time_to_send_offset;
// The initial frequency
uint32_t init_frequency;
// The number of frequency hopping channels.
uint16_t num_channels;
// The initial frequency
uint32_t init_frequency;
// The number of frequency hopping channels.
uint16_t num_channels;
// The frequency hopping step size
float frequency_step_size;
// current frequency hop channel
uint8_t frequency_hop_channel;
// the frequency hop step size
uint8_t frequency_hop_step_size_reg;
// afc correction reading (in Hz)
int8_t afc_correction_Hz;
// The frequency hopping step size
float frequency_step_size;
// current frequency hop channel
uint8_t frequency_hop_channel;
// afc correction reading (in Hz)
int8_t afc_correction_Hz;
// The packet timers.
portTickType packet_start_ticks;
portTickType tx_complete_ticks;
portTickType rx_complete_ticks;
portTickType time_delta;
// The packet timers.
portTickType packet_start_ticks;
portTickType tx_complete_ticks;
portTickType rx_complete_ticks;
portTickType time_delta;
// The maximum time (ms) that it should take to transmit / receive a packet.
uint32_t max_packet_time;
// The maximum time (ms) that it should take to transmit / receive a packet.
uint32_t max_packet_time;
// The maximum time to wait for an ACK.
uint8_t max_ack_delay;
// The maximum time to wait for an ACK.
uint8_t max_ack_delay;
#ifdef PIOS_INCLUDE_RFM22B_RCVR
// The PPM channel values
uint16_t ppm_channel[PIOS_RFM22B_RCVR_MAX_CHANNELS];
uint8_t ppm_supv_timer;
bool ppm_fresh;
// The PPM channel values
uint16_t ppm_channel[PIOS_RFM22B_RCVR_MAX_CHANNELS];
uint8_t ppm_supv_timer;
bool ppm_fresh;
#endif
};
@ -802,9 +758,7 @@ struct pios_rfm22b_dev {
// External function definitions
bool PIOS_RFM22_EXT_Int(void);
bool PIOS_RFM22B_validate(struct pios_rfm22b_dev * rfm22b_dev);
void PIOS_RFM22B_InjectEvent(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR);
bool PIOS_RFM22B_Validate(struct pios_rfm22b_dev *rfm22b_dev);
// Global variable definitions

2
flight/uavobjects/inc/uavobjectmanager.h
View File

@ -75,7 +75,7 @@ typedef enum {
* 6-7 gcsTelemetryUpdateMode Update mode used by the GCS (UAVObjUpdateMode)
*/
typedef struct {
uint8_t flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
uint8_t flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
uint16_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
uint16_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
uint16_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */

12
flight/uavobjects/inc/uavobjecttemplate.h
View File

@ -51,11 +51,19 @@ int32_t $(NAME)Initialize();
UAVObjHandle $(NAME)Handle();
void $(NAME)SetDefaults(UAVObjHandle obj, uint16_t instId);
// Object data
// Packed Object data (unaligned).
// Should only be used where 4 byte alignment can be guaranteed
// (eg a single instance on the heap)
typedef struct {
$(DATAFIELDS)
} __attribute__((packed)) $(NAME)Data;
} __attribute__((packed)) $(NAME)DataPacked;
// Packed Object data.
// Alignment is forced to 4 bytes so as to avoid the potential for CPU usage faults
// on Cortex M4F during load/store of float UAVO fields
typedef $(NAME)DataPacked __attribute__((aligned(4))) $(NAME)Data;
// Typesafe Object access functions
/**
* @function $(NAME)Get(dataOut)

42
flight/uavobjects/uavobjectmanager.c
View File

@ -34,6 +34,10 @@
#include "openpilot.h"
#include "pios_struct_helper.h"
#if (defined(__MACH__) && defined(__APPLE__))
#include <mach-o/getsect.h>
#endif
// Constants
// Private types
@ -41,9 +45,21 @@
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
/* Table of UAVO handles registered at compile time */
// Mach-o: dummy segment to calculate ASLR offset in sim_osx
#if (defined(__MACH__) && defined(__APPLE__))
static long _aslr_offset __attribute__((section("__DATA,_aslr")));
#endif
/* Table of UAVO handles */
#if (defined(__MACH__) && defined(__APPLE__))
/* Mach-o format */
static struct UAVOData ** __start__uavo_handles;
static struct UAVOData ** __stop__uavo_handles;
#else
/* ELF format: automagically defined at compile time */
extern struct UAVOData * __start__uavo_handles[] __attribute__((weak));
extern struct UAVOData * __stop__uavo_handles[] __attribute__((weak));
#endif
#define UAVO_LIST_ITERATE(_item) \
for (struct UAVOData ** _uavo_slot = __start__uavo_handles; \
@ -60,10 +76,10 @@ for (struct UAVOData ** _uavo_slot = __start__uavo_handles; \
typedef void* InstanceHandle;
struct ObjectEventEntry {
struct ObjectEventEntry * next;
xQueueHandle queue;
UAVObjEventCallback cb;
uint8_t eventMask;
struct ObjectEventEntry * next;
};
/*
@ -91,7 +107,6 @@ struct UAVOBase {
bool isSingle : 1;
bool isSettings : 1;
} flags;
} __attribute__((packed));
/* Augmented type for Meta UAVO */
@ -110,7 +125,7 @@ struct UAVOData {
*/
struct UAVOMeta metaObj;
uint16_t instance_size;
} __attribute__((packed));
} __attribute__((packed, aligned(4)));
/* Augmented type for Single Instance Data UAVO */
struct UAVOSingle {
@ -136,9 +151,8 @@ struct UAVOMultiInst {
/* Augmented type for Multi Instance Data UAVO */
struct UAVOMulti {
struct UAVOData uavo;
uint16_t num_instances;
struct UAVOMultiInst instance0;
struct UAVOMultiInst instance0 __attribute__((aligned(4)));
/*
* Additional space will be malloc'd here to hold the
* the data for instance 0.
@ -199,6 +213,13 @@ int32_t UAVObjInitialize()
// Initialize variables
memset(&stats, 0, sizeof(UAVObjStats));
/* Initialize _uavo_handles start/stop pointers */
#if (defined(__MACH__) && defined(__APPLE__))
uint64_t aslr_offset = (uint64_t) & _aslr_offset - getsectbyname("__DATA","_aslr")->addr;
__start__uavo_handles = (struct UAVOData **) (getsectbyname("__DATA","_uavo_handles")->addr + aslr_offset);
__stop__uavo_handles = (struct UAVOData **) ((uint64_t)__start__uavo_handles + getsectbyname("__DATA","_uavo_handles")->size);
#endif
// Initialize the uavo handle table
memset(__start__uavo_handles, 0,
(uintptr_t)__stop__uavo_handles - (uintptr_t)__start__uavo_handles);
@ -296,8 +317,8 @@ static struct UAVOData * UAVObjAllocMulti(uint32_t num_bytes)
/* Set up the type-specific part of the UAVO */
uavo_multi->num_instances = 1;
/* Clear the instance data carried in the UAVO */
memset (&(uavo_multi->instance0), 0, num_bytes);
/* Clear the multi instance data carried in the UAVO */
memset (&(uavo_multi->instance0), 0, sizeof(struct UAVOMultiInst) + num_bytes);
/* Give back the generic UAVO part */
return (&(uavo_multi->uavo));
@ -1864,10 +1885,11 @@ static InstanceHandle createInstance(struct UAVOData * obj, uint16_t instId)
}
/* Create the actual instance */
instEntry = (struct UAVOMultiInst *) pvPortMalloc(sizeof(struct UAVOMultiInst)+obj->instance_size);
uint32_t size = sizeof(struct UAVOMultiInst) + obj->instance_size;
instEntry = (struct UAVOMultiInst *) pvPortMalloc(size);
if (!instEntry)
return NULL;
memset(InstanceDataOffset(instEntry), 0, obj->instance_size);
memset(instEntry, 0, size);
LL_APPEND(( (struct UAVOMulti*)obj )->instance0.next, instEntry);
( (struct UAVOMulti*)obj )->num_instances++;

9
flight/uavobjects/uavobjecttemplate.c
View File

@ -40,7 +40,11 @@
#include "$(NAMELC).h"
// Private variables
#if (defined(__MACH__) && defined(__APPLE__))
static UAVObjHandle handle __attribute__((section("__DATA,_uavo_handles")));
#else
static UAVObjHandle handle __attribute__((section("_uavo_handles")));
#endif
/**
* Initialize object.
@ -49,6 +53,11 @@ static UAVObjHandle handle __attribute__((section("_uavo_handles")));
*/
int32_t $(NAME)Initialize(void)
{
// Compile time assertion that the $(NAME)DataPacked and $(NAME)Data structs
// have the same size (though instances of $(NAME)Data
// should be placed in memory by the linker/compiler on a 4 byte alignment).
PIOS_STATIC_ASSERT(sizeof($(NAME)DataPacked) == sizeof($(NAME)Data));
// Don't set the handle to null if already registered
if(UAVObjGetByID($(NAMEUC)_OBJID) != NULL)
return -2;

2
make/common-defs.mk
View File

@ -153,7 +153,7 @@ ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(base
# -Map: create map file
# --cref: add cross reference to map file
LDFLAGS += -nostartfiles
LDFLAGS += -Wl,--warn-common,--fatal-warnings,--gc-sections
LDFLAGS += -Wl,--warn-common,--fatal-warnings,--sort-common,--sort-section=alignment,--gc-sections
LDFLAGS += -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref
LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))

4
make/templates/firmwareinfotemplate.c
View File

@ -55,7 +55,11 @@ struct __attribute__((packed)) fw_version_info {
uint8_t pad[20];
};
#if (defined(__MACH__) && defined(__APPLE__))
const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__((__section__("__TEXT,.fw_version_blob"))) = {
#else
const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__((__section__(".fw_version_blob"))) = {
#endif
.magic = { 'O','p','F','w' },
.commit_hash_prefix = 0x${HASH8},
.timestamp = ${UNIXTIME},

8
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -1,10 +1,10 @@
<xml>
<object name="StabilizationSettings" singleinstance="true" settings="true">
<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="200,200,200" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="40" limits="%BE:0:180"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="40" limits="%BE:0:180"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="40" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>