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Code Issues Releases Activity

RFM22B: Improved link stability, and added tracking of error encountered in the processes of transmitting and receiving.

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This commit is contained in:
Brian Webb 2012-11-17 13:18:34 -07:00
parent 4cb311538a
commit 6ffe518509
9 changed files with 227 additions and 83 deletions
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6
flight/Libraries/inc/packet_handler.h
View File

@ -45,8 +45,9 @@ typedef enum {
PACKET_TYPE_DATA, // data packet (packet contains user data)
PACKET_TYPE_DUPLICATE_DATA, // a duplicate data packet
PACKET_TYPE_PPM, // PPM relay values
PACKET_TYPE_ACK,
PACKET_TYPE_NACK,
PACKET_TYPE_ACK, // Acknowlege the receipt of a packet
PACKET_TYPE_ACK_RTS, // Acknowlege the receipt of a packet and indicate that the receiving side has data to send (ready to send)
PACKET_TYPE_NACK, // Acknowlege the receipt of an uncorrectable packet
} PHPacketType;
typedef struct {
@ -67,7 +68,6 @@ typedef struct {
#define PH_ACK_NACK_DATA_SIZE(p) ((uint8_t*)((p)->ecc) - (uint8_t*)(((PHPacketHandle)(p))->data))
typedef struct {
PHPacketHeader header;
bool ready_to_send;
uint8_t ecc[RS_ECC_NPARITY];
} PHAckNackPacket, *PHAckNackPacketHandle;

5
flight/Modules/PipXtreme/pipxtrememod.c
View File

@ -168,13 +168,14 @@ static void systemTask(void *parameters)
// Update the status
oplinkStatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
//oplinkStatus.UAVTalkErrors = data->UAVTalkErrors;
oplinkStatus.RxGood = radio_stats.rx_good;
oplinkStatus.RxCorrected = radio_stats.rx_corrected;
oplinkStatus.RxErrors = radio_stats.rx_error;
oplinkStatus.RxMissed = radio_stats.rx_missed;
oplinkStatus.TxDropped = radio_stats.tx_dropped; // + data->droppedPackets;
oplinkStatus.RxFailure = radio_stats.rx_failure;
oplinkStatus.TxDropped = radio_stats.tx_dropped;
oplinkStatus.TxResent = radio_stats.tx_resent;
oplinkStatus.TxFailure = radio_stats.tx_failure;
oplinkStatus.Resets = radio_stats.resets;
oplinkStatus.Timeouts = radio_stats.timeouts;
oplinkStatus.RSSI = radio_stats.rssi;

166
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_9600
#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)
@ -175,6 +175,7 @@ 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);
static enum pios_rfm22b_event rfm22_detectSync(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_receiveStatus(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_dev);
@ -185,6 +186,7 @@ static enum pios_rfm22b_event rfm22_initConnection(struct pios_rfm22b_dev *rfm22
static enum pios_rfm22b_event rfm22_acceptConnection(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_txFailure(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);
static void rfm22_process_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event);
static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev);
@ -242,7 +244,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_STATE_REQUESTING_CONNECTION] = {
.entry_fn = rfm22_requestConnection,
.next_state = {
[RFM22B_EVENT_START_TRANSFER] = RFM22B_STATE_TX_START,
[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,
@ -264,9 +266,10 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
.entry_fn = rfm22_setRxMode,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
[RFM22B_EVENT_SEND_PACKET] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_START_TRANSFER] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_DELAY,
[RFM22B_EVENT_SEND_DATA] = RFM22B_STATE_TX_DELAY,
[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,
@ -277,10 +280,11 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
.entry_fn = rfm22_detectPreamble,
.next_state = {
[RFM22B_EVENT_PREAMBLE_DETECTED] = RFM22B_STATE_WAIT_SYNC,
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
[RFM22B_EVENT_SEND_PACKET] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_START_TRANSFER] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_DELAY,
[RFM22B_EVENT_SEND_DATA] = RFM22B_STATE_TX_DELAY,
[RFM22B_EVENT_PACKET_NACKED] = 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,
@ -292,6 +296,9 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_SYNC,
[RFM22B_EVENT_SYNC_DETECTED] = RFM22B_STATE_RX_DATA,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_DELAY,
[RFM22B_EVENT_SEND_DATA] = RFM22B_STATE_TX_DELAY,
[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,
@ -308,6 +315,17 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[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,
@ -317,7 +335,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_STATE_RECEIVING_ACK] = {
.entry_fn = rfm22_receiveAck,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_DELAY,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
@ -328,7 +346,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_STATE_RECEIVING_NACK] = {
.entry_fn = rfm22_receiveNack,
.next_state = {
[RFM22B_EVENT_START_TRANSFER] = RFM22B_STATE_TX_START,
[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,
@ -369,8 +387,19 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
.entry_fn = rfm22_txData,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_DELAY,
[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,
@ -380,7 +409,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_STATE_SENDING_ACK] = {
.entry_fn = rfm22_sendAck,
.next_state = {
[RFM22B_EVENT_START_TRANSFER] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_DELAY,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
@ -390,7 +419,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_STATE_SENDING_NACK] = {
.entry_fn = rfm22_sendNack,
.next_state = {
[RFM22B_EVENT_START_TRANSFER] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_DELAY,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
@ -400,7 +429,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_STATE_TIMEOUT] = {
.entry_fn = rfm22_timeout,
.next_state = {
[RFM22B_EVENT_START_TRANSFER] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
@ -549,6 +578,19 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
rfm22b_dev->send_ppm = false;
rfm22b_dev->datarate = RFM22B_DEFAULT_RX_DATARATE;
// 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;
// Create the event queue
rfm22b_dev->eventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(enum pios_rfm22b_event));
@ -1392,7 +1434,7 @@ static bool rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
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;
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_START_TRANSFER);
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TX_START);
return true;
}
@ -1420,7 +1462,7 @@ static bool rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev)
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;
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_SEND_PACKET);
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TX_START);
}
#endif
@ -1477,10 +1519,9 @@ static void rfm22b_add_rx_status(struct pios_rfm22b_dev *rfm22b_dev, enum pios_r
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_ERROR;
return RFM22B_EVENT_FAILURE;
// Valid preamble detected
if (rfm22b_dev->int_status2 & RFM22_is2_ipreaval)
@ -1500,7 +1541,7 @@ static enum pios_rfm22b_event rfm22_detectSync(struct pios_rfm22b_dev *rfm22b_de
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_ERROR;
return RFM22B_EVENT_FAILURE;
// Sync word detected
if (rfm22b_dev->int_status2 & RFM22_is2_iswdet)
@ -1525,10 +1566,8 @@ static enum pios_rfm22b_event rfm22_detectSync(struct pios_rfm22b_dev *rfm22b_de
return RFM22B_EVENT_SYNC_DETECTED;
}
else if (rfm22b_dev->int_status2 & !RFM22_is2_ipreaval)
{
// Waiting for sync timed out.
return RFM22B_EVENT_START_TRANSFER;
}
return RFM22B_EVENT_FAILURE;
return RFM22B_EVENT_NUM_EVENTS;
}
@ -1547,7 +1586,7 @@ static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHand
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_NACK));
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;
@ -1590,11 +1629,11 @@ static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_ERROR;
return RFM22B_EVENT_FAILURE;
// FIFO under/over flow error. Restart RX mode.
if (rfm22b_dev->device_status & (RFM22_ds_ffunfl | RFM22_ds_ffovfl))
return RFM22B_EVENT_ERROR;
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)
@ -1605,11 +1644,11 @@ static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
// 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_ERROR;
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_ERROR;
return RFM22B_EVENT_FAILURE;
// Fetch the data from the RX FIFO
rfm22_claimBus();
@ -1622,7 +1661,7 @@ static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
// CRC error .. discard the received data
if (rfm22b_dev->int_status1 & RFM22_is1_icrerror)
return RFM22B_EVENT_ERROR;
return RFM22B_EVENT_FAILURE;
// Valid packet received
if (rfm22b_dev->int_status1 & RFM22_is1_ipkvalid)
@ -1645,7 +1684,7 @@ static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
}
if (rfm22b_dev->rx_buffer_wr != len)
return RFM22B_EVENT_ERROR;
return RFM22B_EVENT_FAILURE;
// we have a valid received packet
enum pios_rfm22b_event ret_event = RFM22B_EVENT_RX_COMPLETE;
@ -1673,6 +1712,7 @@ static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
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:
@ -1698,25 +1738,27 @@ static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
return RFM22B_EVENT_NUM_EVENTS;
}
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();
if (rfm22b_dev->rx_complete_ticks == 0)
rfm22b_dev->rx_complete_ticks = 1;
return RFM22B_EVENT_RX_MODE;
}
static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
{
enum pios_rfm22b_event ret_event = RFM22B_EVENT_NUM_EVENTS;
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
{
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
return RFM22B_EVENT_ERROR;
}
return RFM22B_EVENT_FAILURE;
// FIFO under/over flow error. Back to RX mode.
if (rfm22b_dev->device_status & (RFM22_ds_ffunfl | RFM22_ds_ffovfl))
{
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
return RFM22B_EVENT_ERROR;
}
// FIFO under/over flow error.
//if (rfm22b_dev->int_status1 & RFM22_is1_ifferr)
//return RFM22B_EVENT_FAILURE;
// TX FIFO almost empty, it needs filling up
if (rfm22b_dev->int_status1 & RFM22_is1_ixtffaem)
@ -1741,7 +1783,7 @@ static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
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);
bool is_ack = ((rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK) || (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS));
ret_event = is_ack ? RFM22B_EVENT_TX_START : RFM22B_EVENT_RX_MODE;
if (is_ack)
{
@ -1767,6 +1809,13 @@ static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
return ret_event;
}
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;
}
/**
* Send an ACK to a received packet.
* \param[in] rfm22b_dev The device structure
@ -1775,12 +1824,11 @@ 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->rx_packet.header.source_id;
aph->header.type = PACKET_TYPE_ACK;
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->ready_to_send = rfm22_ready_to_send(rfm22b_dev);
rfm22b_dev->tx_packet = (PHPacketHandle)aph;
return RFM22B_EVENT_START_TRANSFER;
return RFM22B_EVENT_TX_START;
}
/**
@ -1795,7 +1843,7 @@ static enum pios_rfm22b_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev)
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;
return RFM22B_EVENT_START_TRANSFER;
return RFM22B_EVENT_TX_START;
}
/**
@ -1821,11 +1869,10 @@ static enum pios_rfm22b_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_de
}
// Should we try to start another TX?
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)&(rfm22b_dev->rx_packet);
if (aph->ready_to_send)
return RFM22B_EVENT_RX_MODE;
else
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_ACK)
return RFM22B_EVENT_TX_START;
else
return RFM22B_EVENT_RX_MODE;
}
/**
@ -1839,7 +1886,7 @@ static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_d
rfm22b_dev->prev_tx_packet = NULL;
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
rfm22b_add_rx_status(rfm22b_dev, RFM22B_RESENT_TX_PACKET);
return RFM22B_EVENT_START_TRANSFER;
return RFM22B_EVENT_TX_START;
}
/**
@ -1924,7 +1971,7 @@ static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rf
cph->max_tx_power = rfm22b_dev->tx_power;
rfm22b_dev->send_connection_request = true;
return RFM22B_EVENT_START_TRANSFER;
return RFM22B_EVENT_TX_START;
}
static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev)
@ -1983,18 +2030,7 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i)
rfm22b_dev->rx_packet_stats[i] = 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;
// Initialize the state
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
rfm22b_dev->tx_power = RFM22B_DEFAULT_TX_POWER;
rfm22b_dev->destination_id = 0xffffffff;
@ -2241,7 +2277,7 @@ static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
}
rfm22b_dev->rx_buffer_wr = 0;
return RFM22B_EVENT_START_TRANSFER;
return RFM22B_EVENT_TX_START;
}
static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev)

2
flight/PiOS/Common/pios_rfm22b_com.c
View File

@ -96,7 +96,7 @@ static void PIOS_RFM22B_COM_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail)
return;
// Send a signal to the radio to start a transmit.
PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_SEND_PACKET, false);
PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_SEND_DATA, false);
}
static void PIOS_RFM22B_COM_RegisterRxCallback(uint32_t rfm22b_id, pios_com_callback rx_in_cb, uint32_t context)

2
flight/PiOS/inc/pios_rfm22b.h
View File

@ -82,8 +82,10 @@ struct rfm22b_stats {
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;

6
flight/PiOS/inc/pios_rfm22b_priv.h
View File

@ -587,10 +587,12 @@ enum pios_rfm22b_state {
RFM22B_STATE_WAIT_PREAMBLE,
RFM22B_STATE_WAIT_SYNC,
RFM22B_STATE_RX_DATA,
RFM22B_STATE_RX_FAILURE,
RFM22B_STATE_RECEIVING_STATUS,
RFM22B_STATE_TX_DELAY,
RFM22B_STATE_TX_START,
RFM22B_STATE_TX_DATA,
RFM22B_STATE_TX_FAILURE,
RFM22B_STATE_SENDING_ACK,
RFM22B_STATE_SENDING_NACK,
RFM22B_STATE_RECEIVING_ACK,
@ -618,11 +620,11 @@ enum pios_rfm22b_event {
RFM22B_EVENT_RX_COMPLETE,
RFM22B_EVENT_RX_ERROR,
RFM22B_EVENT_STATUS_RECEIVED,
RFM22B_EVENT_SEND_PACKET,
RFM22B_EVENT_START_TRANSFER,
RFM22B_EVENT_SEND_DATA,
RFM22B_EVENT_TX_START,
RFM22B_EVENT_TX_STARTED,
RFM22B_EVENT_TX_COMPLETE,
RFM22B_EVENT_FAILURE,
RFM22B_EVENT_TIMEOUT,
RFM22B_EVENT_ERROR,
RFM22B_EVENT_FATAL_ERROR,

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

@ -72,9 +72,11 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
addUAVObjectToWidgetRelation("OPLinkStatus", "RxCorrected", m_oplink->Corrected);
addUAVObjectToWidgetRelation("OPLinkStatus", "RxErrors", m_oplink->Errors);
addUAVObjectToWidgetRelation("OPLinkStatus", "RxMissed", m_oplink->Missed);
addUAVObjectToWidgetRelation("OPLinkStatus", "RxFailure", m_oplink->RxFailure);
addUAVObjectToWidgetRelation("OPLinkStatus", "UAVTalkErrors", m_oplink->UAVTalkErrors);
addUAVObjectToWidgetRelation("OPLinkStatus", "TxDropped", m_oplink->Dropped);
addUAVObjectToWidgetRelation("OPLinkStatus", "TxResent", m_oplink->Resent);
addUAVObjectToWidgetRelation("OPLinkStatus", "TxFailure", m_oplink->TxFailure);
addUAVObjectToWidgetRelation("OPLinkStatus", "Resets", m_oplink->Resets);
addUAVObjectToWidgetRelation("OPLinkStatus", "Timeouts", m_oplink->Timeouts);
addUAVObjectToWidgetRelation("OPLinkStatus", "RSSI", m_oplink->RSSI);

117
ground/openpilotgcs/src/plugins/config/pipxtreme.ui
View File

@ -1195,6 +1195,63 @@
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="RxFailureLabel">
<property name="text">
<string>RX Failure</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QLineEdit" name="RxFailure">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<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="toolTip">
<string>The percentage of packets that were not received at all</string>
</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="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="DroppedLabel">
<property name="text">
<string>TX Dropped</string>
@ -1204,7 +1261,7 @@
</property>
</widget>
</item>
<item row="6" column="3">
<item row="7" column="3">
<widget class="QLineEdit" name="Dropped">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -1245,7 +1302,7 @@
</property>
</widget>
</item>
<item row="7" column="2">
<item row="8" column="2">
<widget class="QLabel" name="ResentLabel">
<property name="text">
<string>TX Resent</string>
@ -1255,7 +1312,7 @@
</property>
</widget>
</item>
<item row="7" column="3">
<item row="8" column="3">
<widget class="QLineEdit" name="Resent">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -1296,7 +1353,49 @@
</property>
</widget>
</item>
<item row="8" column="2">
<item row="9" column="2">
<widget class="QLabel" name="TxFailureLabel">
<property name="text">
<string>Tx Failure</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="9" column="3">
<widget class="QLineEdit" name="TxFailure">
<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="2">
<widget class="QLabel" name="UAVTalkErrorsLabel">
<property name="text">
<string>UAVTalk Errors</string>
@ -1306,7 +1405,7 @@
</property>
</widget>
</item>
<item row="8" column="3">
<item row="10" column="3">
<widget class="QLineEdit" name="UAVTalkErrors">
<property name="maximumSize">
<size>
@ -1338,7 +1437,7 @@
</property>
</widget>
</item>
<item row="9" column="2">
<item row="11" column="2">
<widget class="QLabel" name="ResetsLabel">
<property name="text">
<string>Resets</string>
@ -1348,7 +1447,7 @@
</property>
</widget>
</item>
<item row="9" column="3">
<item row="11" column="3">
<widget class="QLineEdit" name="Resets">
<property name="minimumSize">
<size>
@ -1386,7 +1485,7 @@
</property>
</widget>
</item>
<item row="10" column="2">
<item row="12" column="2">
<widget class="QLabel" name="TimeoutsLabel">
<property name="text">
<string>Timeouts</string>
@ -1396,7 +1495,7 @@
</property>
</widget>
</item>
<item row="10" column="3">
<item row="12" column="3">
<widget class="QLineEdit" name="Timeouts">
<property name="maximumSize">
<size>

4
shared/uavobjectdefinition/oplinkstatus.xml
View File

@ -10,9 +10,11 @@
<field name="RxCorrected" units="%" type="uint8" elements="1" defaultvalue="0"/>
<field name="RxErrors" units="%" type="uint8" elements="1" defaultvalue="0"/>
<field name="RxMissed" units="%" type="uint8" elements="1" defaultvalue="0"/>
<field name="RxFailure" units="%" type="uint8" elements="1" defaultvalue="0"/>
<field name="UAVTalkErrors" units="" type="uint16" elements="1" defaultvalue="0"/>
<field name="TxDropped" units="%" type="uint8" elements="1" defaultvalue="0"/>
<field name="TxResent" units="%" type="uint8" elements="1" defaultvalue="0"/>
<field name="TxDropped" units="%" type="uint8" elements="1" defaultvalue="0"/>
<field name="TxFailure" units="%" type="uint8" elements="1" defaultvalue="0"/>
<field name="Resets" units="" type="uint8" elements="1" defaultvalue="0"/>
<field name="Timeouts" units="" type="uint8" elements="1" defaultvalue="0"/>
<field name="RSSI" units="dBm" type="int8" elements="1" defaultvalue="0"/>