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Code Issues Releases Activity

RFM22B: Changing configuration parameters over-the-air working. Added tracking of Tx/Rx sequence number. Still seeing too many resent packets.

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This commit is contained in:
Brian Webb 2012-11-11 08:52:53 -07:00
parent 0dce12e984
commit 6ed9b63da9
9 changed files with 259 additions and 147 deletions
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2
flight/Modules/PipXtreme/pipxtrememod.c
View File

@ -193,6 +193,8 @@ static void systemTask(void *parameters)
prev_tx_count = tx_count;
prev_rx_count = rx_count;
}
oplinkStatus.TXSeq = radio_stats.tx_seq;
oplinkStatus.RXSeq = radio_stats.rx_seq;
oplinkStatus.LinkState = radio_stats.link_state;
if (radio_stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
LINK_LED_ON;

274
flight/PiOS/Common/pios_rfm22b.c
View File

@ -61,7 +61,7 @@
#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
#define ISR_TIMEOUT 2 // ms
#define EVENT_QUEUE_SIZE 5
#define RFM22B_DEFAULT_RX_DATARATE RFM22_datarate_64000
#define RFM22B_DEFAULT_RX_DATARATE RFM22_datarate_32000
#define RFM22B_DEFAULT_FREQUENCY 434000000
#define RFM22B_DEFAULT_MIN_FREQUENCY (RFM22B_DEFAULT_FREQUENCY - 2000000)
#define RFM22B_DEFAULT_MAX_FREQUENCY (RFM22B_DEFAULT_FREQUENCY + 2000000)
@ -76,6 +76,9 @@
// The time between updates for sending stats the radio link.
#define RADIOSTATS_UPDATE_PERIOD_MS 250
// The number of stats updates that a modem can miss before it's considered disconnected
#define MAX_RADIOSTATS_MISS_COUNT 3
// The time between PPM updates
#define PPM_UPDATE_PERIOD_MS 40
@ -162,6 +165,7 @@ static const uint8_t OUT_FF[64] = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
/* Local function forwared declarations */
static void PIOS_RFM22B_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 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);
@ -175,7 +179,6 @@ static enum pios_rfm22b_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev)
static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_initConnection(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_connectionAccepted(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_process_state_transition(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event);
@ -190,6 +193,7 @@ static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHand
static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t frequency_hz);
static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev);
static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev);
// SPI read/write functions
static void rfm22_assertCs();
@ -251,16 +255,6 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_CONNECTION_ACCEPTED] = {
.entry_fn = rfm22_connectionAccepted,
.next_state = {
[RFM22B_EVENT_RX_COMPLETE] = 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_RX_MODE] = {
.entry_fn = rfm22_setRxMode,
@ -319,7 +313,6 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_STATE_RECEIVING_ACK] = {
.entry_fn = rfm22_receiveAck,
.next_state = {
[RFM22B_EVENT_CONNECTION_ACCEPTED] = RFM22B_STATE_CONNECTION_ACCEPTED,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
@ -348,6 +341,15 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_DELAY] = {
.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_TX_START] = {
.entry_fn = rfm22_txStart,
.next_state = {
@ -562,8 +564,6 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
// Initialize the stats.
rfm22b_dev->stats.packets_per_sec = 0;
rfm22b_dev->stats.tx_count = 0;
rfm22b_dev->stats.rx_count = 0;
rfm22b_dev->stats.rx_good = 0;
rfm22b_dev->stats.rx_corrected = 0;
rfm22b_dev->stats.rx_error = 0;
@ -590,8 +590,8 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
rfm22b_dev->rx_packet_len = 0;
rfm22b_dev->tx_packet = NULL;
rfm22b_dev->prev_tx_packet = NULL;
rfm22b_dev->tx_seq = 0;
rfm22b_dev->prev_rx_seq_num = 0;
rfm22b_dev->stats.tx_seq = 0;
rfm22b_dev->stats.rx_seq = 0;
rfm22b_dev->data_packet.header.data_size = 0;
*rfm22b_id = (uint32_t)rfm22b_dev;
@ -875,22 +875,35 @@ static void PIOS_RFM22B_Task(void *parameters)
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);
else if (rfm22b_dev->state == RFM22B_STATE_TX_DELAY)
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TX_START);
else
{
// Queue up a PPM packet if it's time.
if ((timeDifferenceMs(lastPPMTicks, curTicks) > PPM_UPDATE_PERIOD_MS) && rfm22_sendPPM(rfm22b_dev))
lastPPMTicks = curTicks;
// Queue up a status packet if it's time.
if ((timeDifferenceMs(lastStatusTicks, curTicks) > RADIOSTATS_UPDATE_PERIOD_MS) && rfm22_sendStatus(rfm22b_dev))
lastStatusTicks = curTicks;
// Can we kick of a transmit?
if (rfm22b_dev->prev_tx_packet && timeDifferenceMs(rfm22b_dev->tx_complete_ticks, curTicks) > rfm22b_dev->max_ack_delay)
// Are we waiting for an ACK?
if (rfm22b_dev->prev_tx_packet)
{
rfm22b_dev->tx_complete_ticks = curTicks;
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_PACKET_NACKED);
// Should be 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_PACKET_NACKED);
}
}
else
{
// Queue up a PPM packet if it's time.
if ((timeDifferenceMs(lastPPMTicks, curTicks) > PPM_UPDATE_PERIOD_MS) && rfm22_sendPPM(rfm22b_dev))
lastPPMTicks = curTicks;
// Queue up a status packet if it's time.
if ((timeDifferenceMs(lastStatusTicks, curTicks) > RADIOSTATS_UPDATE_PERIOD_MS) && rfm22_sendStatus(rfm22b_dev))
lastStatusTicks = curTicks;
}
}
}
}
@ -908,16 +921,15 @@ static void PIOS_RFM22B_Task(void *parameters)
//
// This gives 2(45 + 9.6) = 109.2kHz.
void RFM22_SetDatarate(uint32_t rfm22b_id, enum rfm22b_datarate datarate, bool data_whitening)
static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening)
{
struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return;
uint32_t datarate_bps = data_rate[datarate];
rfm22b_dev->datarate = datarate;
rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(datarate_bps) + 0.5);
rfm22b_dev->max_ack_delay = 25;
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
//rfm22b_dev->max_ack_delay = (uint16_t)((float)(sizeof(PHPacketHeader) * 8 * 1000) / (float)(datarate_bps) + 0.5) * 4;
rfm22b_dev->max_ack_delay = 50;
else
rfm22b_dev->max_ack_delay = CONNECT_ATTEMPT_PERIOD_MS;
// rfm22_if_filter_bandwidth
rfm22_write(0x1C, reg_1C[datarate]);
@ -945,24 +957,11 @@ void RFM22_SetDatarate(uint32_t rfm22b_id, enum rfm22b_datarate datarate, bool d
// rfm22_afc_limiter
rfm22_write(0x2A, reg_2A[datarate]);
/* This breaks all bit rates < 100000!
if (datarate_bps < 100000)
// rfm22_chargepump_current_trimming_override
rfm22_write(0x58, 0x80);
else
// rfm22_chargepump_current_trimming_override
rfm22_write(0x58, 0xC0);
*/
// rfm22_tx_data_rate1
rfm22_write(0x6E, reg_6E[datarate]);
// rfm22_tx_data_rate0
rfm22_write(0x6F, reg_6F[datarate]);
// Enable data whitening
// uint8_t txdtrtscale_bit = rfm22_read(RFM22_modulation_mode_control1) & RFM22_mmc1_txdtrtscale;
// rfm22_write(RFM22_modulation_mode_control1, txdtrtscale_bit | RFM22_mmc1_enwhite);
if (!data_whitening)
// rfm22_modulation_mode_control1
rfm22_write(0x70, reg_70[datarate] & ~RFM22_mmc1_enwhite);
@ -980,6 +979,17 @@ void RFM22_SetDatarate(uint32_t rfm22b_id, enum rfm22b_datarate datarate, bool d
rfm22_write(RFM22_ook_counter_value2, 0x00);
}
void PIOS_RFM22B_SetDatarate(uint32_t rfm22b_id, enum rfm22b_datarate datarate, bool data_whitening)
{
struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return;
rfm22b_dev->datarate = datarate;
// Re-initialize the radio device.
PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
}
// ************************************
// SPI read/write
@ -1260,7 +1270,7 @@ static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev
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->send_ppm || rfm22b_dev->send_status)
if (rfm22b_dev->prev_tx_packet || rfm22b_dev->send_ppm || rfm22b_dev->send_status)
return true;
// Is there some data ready to sent?
@ -1315,7 +1325,6 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
if (!p)
{
// Try to get some data to send
bool need_yield = false;
p = &rfm22b_dev->data_packet;
@ -1324,19 +1333,16 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
if (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);
if (p->header.data_size == 0)
p = NULL;
// Don't send any data until we're connected.
else if (rfm22b_dev->stats.link_state != OPLINKSTATUS_LINKSTATE_CONNECTED)
{
if (rfm22b_dev->stats.link_state != OPLINKSTATUS_LINKSTATE_CONNECTED)
p->header.data_size = 0;
return RFM22B_EVENT_RX_MODE;
}
if (p->header.data_size == 0)
p = NULL;
}
if (p)
p->header.seq_num = rfm22b_dev->tx_seq++;
p->header.seq_num = rfm22b_dev->stats.tx_seq++;
}
if (!p)
return RFM22B_EVENT_RX_MODE;
@ -1413,9 +1419,29 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
static bool rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
{
// We don't send status if we're a coordinator
if (rfm22b_dev->coordinator)
return true;
// Remove any modems that have been disconnected too long.
bool disconnected = false;
uint8_t id_idx;
for (id_idx = 0; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx)
{
if ((rfm22b_dev->pair_stats[id_idx].pairID != 0) && (rfm22b_dev->pair_stats[id_idx].lastContact++ > MAX_RADIOSTATS_MISS_COUNT))
{
if (id_idx > 0)
rfm22b_dev->pair_stats[id_idx].pairID = 0;
else
disconnected = true;
rfm22b_dev->pair_stats[id_idx].rssi = -127;
rfm22b_dev->pair_stats[id_idx].afc_correction = 0;
rfm22b_dev->pair_stats[id_idx].lastContact = 0;
}
}
// We need to re-connect if we lost connection to our remote modem.
if (disconnected)
{
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_INITIALIZE);
return false;
}
// Update the link quality metric.
rfm22_calculateLinkQuality(rfm22b_dev);
@ -1586,21 +1612,24 @@ static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHand
// Add any missed packets into the stats.
bool ack_nack_packet = ((p->header.type == PACKET_TYPE_ACK) || (p->header.type == PACKET_TYPE_NACK));
if (!ack_nack_packet && (good_packet || corrected_packet) && (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED))
if (!ack_nack_packet && (good_packet || corrected_packet))
{
static bool first_time = true;
uint16_t seq_num = p->header.seq_num;
uint16_t missed_packets = 0;
if (first_time)
first_time = false;
else
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
{
uint16_t prev_seq_num = rfm22b_dev->prev_rx_seq_num;
if (seq_num > prev_seq_num)
missed_packets = seq_num - prev_seq_num - 1;
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;
}
rfm22b_dev->stats.rx_missed += missed_packets;
}
rfm22b_dev->stats.rx_missed += missed_packets;
rfm22b_dev->prev_rx_seq_num = seq_num;
rfm22b_dev->stats.rx_seq = seq_num;
}
// Set the packet status
@ -1684,7 +1713,6 @@ static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
enum pios_rfm22b_event ret_event = RFM22B_EVENT_RX_COMPLETE;
if (rfm22b_dev->rx_buffer_wr > 0)
{
rfm22b_dev->stats.rx_count++;
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))
@ -1767,13 +1795,22 @@ static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
// Packet has been sent
else if (rfm22b_dev->int_status1 & RFM22_is1_ipksent)
{
rfm22b_dev->stats.tx_count++;
rfm22b_dev->stats.tx_byte_count += PH_PACKET_SIZE(rfm22b_dev->tx_packet);
ret_event = (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK) ? RFM22B_EVENT_TX_START : RFM22B_EVENT_RX_MODE;
// Do we require an ACK?
if ((rfm22b_dev->tx_packet->header.type != PACKET_TYPE_ACK) && (rfm22b_dev->tx_packet->header.type != PACKET_TYPE_NACK))
// Is this an ACK?
bool is_ack = (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK);
ret_event = is_ack ? RFM22B_EVENT_TX_START : 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)
rfm22_setConnectionParameters(rfm22b_dev);
}
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();
}
@ -1833,7 +1870,8 @@ static enum pios_rfm22b_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_de
switch (prev->header.type)
{
case PACKET_TYPE_CON_REQUEST:
return RFM22B_EVENT_CONNECTION_ACCEPTED;
rfm22_setConnectionParameters(rfm22b_dev);
break;
case PACKET_TYPE_DATA:
rfm22b_dev->data_packet.header.data_size = 0;
break;
@ -1946,6 +1984,21 @@ static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rf
return RFM22B_EVENT_START_TRANSFER;
}
static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev)
{
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
// Set our connection state to connected
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
// Configure this modem from the connection request message.
rfm22_setDatarate(rfm22b_dev, cph->datarate, true);
PIOS_RFM22B_SetTxPower((uint32_t)rfm22b_dev, cph->max_tx_power);
rfm22b_dev->min_frequency = cph->min_frequency;
rfm22b_dev->max_frequency = cph->max_frequency;
rfm22_setNominalCarrierFrequency(rfm22b_dev, cph->frequency_hz);
}
static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev)
{
// Set our connection state to connected
@ -1956,66 +2009,12 @@ static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm
PHConnectionPacketHandle lcph = (PHConnectionPacketHandle)(&(rfm22b_dev->con_packet));
memcpy((uint8_t*)lcph, (uint8_t*)cph, PH_PACKET_SIZE((PHPacketHandle)cph));
// Configure this modem from the connection request message.
// Set the destination ID to the source of the connection request message.
PIOS_RFM22B_SetDestinationId((uint32_t)rfm22b_dev, cph->header.source_id);
RFM22_SetDatarate((uint32_t)rfm22b_dev, cph->datarate, true);
PIOS_RFM22B_SetTxPower((uint32_t)rfm22b_dev, cph->max_tx_power);
rfm22b_dev->min_frequency = cph->min_frequency;
rfm22b_dev->max_frequency = cph->max_frequency;
rfm22_setNominalCarrierFrequency(rfm22b_dev, cph->frequency_hz);
return RFM22B_EVENT_CONNECTION_ACCEPTED;
}
static enum pios_rfm22b_event rfm22_connectionAccepted(struct pios_rfm22b_dev *rfm22b_dev)
{
PHConnectionPacketHandle cph = (PHConnectionPacketHandle)(&(rfm22b_dev->con_packet));
// Set our connection state to connected
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
// Configure this modem from the connection request message.
RFM22_SetDatarate((uint32_t)rfm22b_dev, cph->datarate, true);
PIOS_RFM22B_SetTxPower((uint32_t)rfm22b_dev, cph->max_tx_power);
rfm22b_dev->min_frequency = cph->min_frequency;
rfm22b_dev->max_frequency = cph->max_frequency;
rfm22_setNominalCarrierFrequency(rfm22b_dev, cph->frequency_hz);
return RFM22B_EVENT_RX_COMPLETE;
}
// ************************************
// return the current mode
int8_t rfm22_currentMode(void)
{
return g_rfm22b_dev->state;
}
// return true if we are transmitting
bool rfm22_transmitting(void)
{
return (g_rfm22b_dev->state == RFM22B_STATE_TX_DATA);
}
// return true if the channel is clear to transmit on
bool rfm22_channelIsClear(void)
{
if (g_rfm22b_dev->state != RFM22B_STATE_RX_MODE && g_rfm22b_dev->state != RFM22B_STATE_WAIT_PREAMBLE && g_rfm22b_dev->state != RFM22B_STATE_WAIT_SYNC)
// we are receiving something or we are transmitting or we are scanning the spectrum
return false;
return true;
}
// ************************************
// set/get the frequency calibration value
void rfm22_setFreqCalibration(uint8_t value)
{
rfm22_write(RFM22_xtal_osc_load_cap, value);
}
// ************************************
// Initialise this hardware layer module and the rf module
@ -2228,9 +2227,12 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
// RX FIFO Almost Full Threshold (0 - 63)
rfm22_write(RFM22_rx_fifo_control, RX_FIFO_HI_WATERMARK);
rfm22_setFreqCalibration(rfm22b_dev->cfg.RFXtalCap);
rfm22_setNominalCarrierFrequency(rfm22b_dev, rfm22b_dev->frequency_hz);
RFM22_SetDatarate((uint32_t)rfm22b_dev, rfm22b_dev->datarate, true);
// Set the frequency calibration
rfm22_write(RFM22_xtal_osc_load_cap, rfm22b_dev->cfg.RFXtalCap);
// Initialize the frequency and datarate to te default.
rfm22_setNominalCarrierFrequency(rfm22b_dev, RFM22B_DEFAULT_FREQUENCY);
rfm22_setDatarate(rfm22b_dev, RFM22B_DEFAULT_RX_DATARATE, true);
return RFM22B_EVENT_INITIALIZED;
}

8
flight/PiOS/Common/pios_rfm22b_com.c
View File

@ -58,6 +58,12 @@ const struct pios_com_driver pios_rfm22b_com_driver = {
*/
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;
// This is only allowed for coordinators.
if (!rfm22b_dev->coordinator)
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)
@ -76,7 +82,7 @@ static void PIOS_RFM22B_COM_ChangeBaud(uint32_t rfm22b_id, uint32_t baud)
datarate = RFM22_datarate_128000;
else if (baud <= 115200)
datarate = RFM22_datarate_192000;
RFM22_SetDatarate(rfm22b_id, datarate, true);
PIOS_RFM22B_SetDatarate(rfm22b_id, datarate, true);
}
static void PIOS_RFM22B_COM_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail)

6
flight/PiOS/inc/pios_rfm22b.h
View File

@ -76,8 +76,8 @@ struct rfm22b_stats {
uint16_t packets_per_sec;
uint16_t tx_byte_count;
uint16_t rx_byte_count;
uint16_t tx_count;
uint16_t rx_count;
uint16_t tx_seq;
uint16_t rx_seq;
uint8_t rx_good;
uint8_t rx_corrected;
uint8_t rx_error;
@ -96,7 +96,7 @@ struct rfm22b_stats {
extern int32_t PIOS_RFM22B_Init(uint32_t *rfb22b_id, uint32_t spi_id, uint32_t slave_num, const struct pios_rfm22b_cfg *cfg);
extern void PIOS_RFM22B_SetFrequencyRange(uint32_t rfm22b_id, uint32_t min_frequency, uint32_t max_frequency);
extern void PIOS_RFM22B_SetTxPower(uint32_t rfm22b_id, enum rfm22b_tx_power tx_pwr);
extern void RFM22_SetDatarate(uint32_t rfm22b_id, enum rfm22b_datarate datarate, bool data_whitening);
extern void PIOS_RFM22B_SetDatarate(uint32_t rfm22b_id, enum rfm22b_datarate datarate, bool data_whitening);
extern void PIOS_RFM22B_SetDestinationId(uint32_t rfm22b_id, uint32_t dest_id);
extern void PIOS_RFM22B_SetCoordinator(uint32_t rfm22b_id, bool coordinator);
extern uint32_t PIOS_RFM22B_DeviceID(uint32_t rfb22b_id);

1
flight/PiOS/inc/pios_rfm22b_priv.h
View File

@ -588,6 +588,7 @@ enum pios_rfm22b_state {
RFM22B_STATE_WAIT_SYNC,
RFM22B_STATE_RX_DATA,
RFM22B_STATE_RECEIVING_STATUS,
RFM22B_STATE_TX_DELAY,
RFM22B_STATE_TX_START,
RFM22B_STATE_TX_DATA,
RFM22B_STATE_SENDING_ACK,

7
flight/PipXtreme/System/pios_board.c
View File

@ -235,6 +235,10 @@ void PIOS_Board_Init(void) {
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, pios_rfm22b_cfg->slave_num, pios_rfm22b_cfg)) {
PIOS_Assert(0);
}
/* Configure the RFM22B device as coordinator or not */
PIOS_RFM22B_SetCoordinator(pios_rfm22b_id, oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE);
uint8_t *rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
@ -246,9 +250,6 @@ void PIOS_Board_Init(void) {
}
}
/* Configure the RFM22B device as coordinator or not */
PIOS_RFM22B_SetCoordinator(pios_rfm22b_id, oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE);
// Initialize the packet handler
PacketHandlerConfig pios_ph_cfg = {
.default_destination_id = 0xffffffff, // Broadcast

2
ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
View File

@ -80,6 +80,8 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
addUAVObjectToWidgetRelation("OPLinkStatus", "RSSI", m_oplink->RSSI);
addUAVObjectToWidgetRelation("OPLinkStatus", "AFCCorrection", m_oplink->AFCCorrection);
addUAVObjectToWidgetRelation("OPLinkStatus", "LinkQuality", m_oplink->LinkQuality);
addUAVObjectToWidgetRelation("OPLinkStatus", "RXSeq", m_oplink->RXSeq);
addUAVObjectToWidgetRelation("OPLinkStatus", "TXSeq", m_oplink->TXSeq);
addUAVObjectToWidgetRelation("OPLinkStatus", "RXRate", m_oplink->RXRate);
addUAVObjectToWidgetRelation("OPLinkStatus", "TXRate", m_oplink->TXRate);

104
ground/openpilotgcs/src/plugins/config/pipxtreme.ui
View File

@ -787,9 +787,9 @@
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="TXRateLabel">
<widget class="QLabel" name="TXSeqLabel">
<property name="text">
<string>TX Rate (B/s)</string>
<string>TX Seq. No.</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@ -797,7 +797,7 @@
</widget>
</item>
<item row="8" column="1">
<widget class="QLineEdit" name="TXRate">
<widget class="QLineEdit" name="TXSeq">
<property name="minimumSize">
<size>
<width>0</width>
@ -835,6 +835,102 @@
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="TXRateLabel">
<property name="text">
<string>TX Rate (B/s)</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLineEdit" name="TXRate">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QLabel" name="RXSeqLabel">
<property name="text">
<string>RX Seq. No.</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLineEdit" name="RXSeq">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QLabel" name="RXRateLabel">
<property name="text">
<string>RX Rate (B/s)</string>
@ -844,7 +940,7 @@
</property>
</widget>
</item>
<item row="9" column="1">
<item row="11" column="1">
<widget class="QLineEdit" name="RXRate">
<property name="maximumSize">
<size>

2
shared/uavobjectdefinition/oplinkstatus.xml
View File

@ -20,6 +20,8 @@
<field name="LinkQuality" units="" type="uint8" elements="1" defaultvalue="0"/>
<field name="TXRate" units="Bps" type="uint16" elements="1" defaultvalue="0"/>
<field name="RXRate" units="Bps" type="uint16" elements="1" defaultvalue="0"/>
<field name="TXSeq" units="" type="uint16" elements="1" defaultvalue="0"/>
<field name="RXSeq" units="" type="uint16" elements="1" defaultvalue="0"/>
<field name="LinkState" units="function" type="enum" elements="1" options="Disconnected,Connecting,Connected" defaultvalue="Disconnected"/>
<field name="PairIDs" units="" type="uint32" elements="4" defaultvalue="0"/>
<field name="PairSignalStrengths" units="dBm" type="int8" elements="4" defaultvalue="-127"/>