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Code Issues Releases Activity

RFM22B: Added TX Resent to OPLink status. Also removed the need for the packet queue.

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This commit is contained in:
Brian Webb 2012-11-03 16:03:23 -07:00
parent fa5f7a8fdd
commit 7aaa02268f
6 changed files with 82 additions and 62 deletions
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1
flight/Modules/PipXtreme/pipxtrememod.c
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@ -174,6 +174,7 @@ static void systemTask(void *parameters)
oplinkStatus.RxErrors = radio_stats.rx_error;
oplinkStatus.RxMissed = radio_stats.rx_missed;
oplinkStatus.TxDropped = radio_stats.tx_dropped; // + data->droppedPackets;
oplinkStatus.TxResent = radio_stats.tx_resent;
oplinkStatus.Resets = radio_stats.resets;
oplinkStatus.Timeouts = radio_stats.timeouts;
oplinkStatus.RSSI = radio_stats.rssi;

79
flight/PiOS/Common/pios_rfm22b.c
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@ -61,7 +61,6 @@
#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
#define ISR_TIMEOUT 2 // ms
#define EVENT_QUEUE_SIZE 5
#define PACKET_QUEUE_SIZE 3
#define RFM22B_DEFAULT_RX_DATARATE RFM22_datarate_64000
#define RFM22B_DEFAULT_FREQUENCY 434000000
#define RFM22B_DEFAULT_MIN_FREQUENCY (RFM22B_DEFAULT_FREQUENCY - 2000000)
@ -604,9 +603,6 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
// Create a semaphore to know when an rx packet is available
vSemaphoreCreateBinary( rfm22b_dev->rxsem );
// Create the packet queue.
rfm22b_dev->packetQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(PHPacketHandle));
// Create our (hopefully) unique 32 bit id from the processor serial number.
uint8_t crcs[] = { 0, 0, 0, 0 };
{
@ -782,7 +778,6 @@ void PIOS_RFM22B_GetStats(uint32_t rfm22b_id, struct rfm22b_stats *stats) {
break;
}
}
rfm22b_dev->stats.tx_resent = rfm22b_dev->state;
*stats = rfm22b_dev->stats;
}
@ -809,32 +804,6 @@ uint8_t PIOS_RFM2B_GetPairStats(uint32_t rfm22b_id, uint32_t *device_ids, int8_t
return mp;
}
/**
* Insert a packet on the packet queue for sending.
* Note: If this finction succedds, the packet will be released by the driver, so no release is necessary.
* If this function doesn't success, the caller is still responsible for the packet.
* \param[in] rfm22b_id The rfm22b device.
* \param[in] p The packet handle.
* \param[in] max_delay The maximum time to delay waiting to queue the packet.
* \return true on success, false on failue to queue the packet.
*/
bool PIOS_RFM22B_Send_Packet(uint32_t rfm22b_id, PHPacketHandle p, uint32_t max_delay)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return false;
// Store the packet handle in the packet queue
if (xQueueSend(rfm22b_dev->packetQueue, &p, max_delay) != pdTRUE)
return false;
// Inject a send packet event
PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_SEND_PACKET, false);
// Success
return true;
}
/**
* Check the radio device for a valid connection
* \param[in] rfm22b_id The rfm22b device.
@ -1305,9 +1274,25 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
if (rfm22b_dev->prev_tx_packet)
return RFM22B_EVENT_RX_MODE;
// Is there a packet in the queue to send?
if (xQueueReceive(rfm22b_dev->packetQueue, &p, 0) != pdTRUE)
p = NULL;
if (!p && rfm22b_dev->send_connection_request)
{
p = (PHPacketHandle)&(rfm22b_dev->con_packet);
rfm22b_dev->send_connection_request = false;
}
#ifdef PIOS_PPM_RECEIVER
if (!p && rfm22b_dev->send_ppm)
{
p = (PHPacketHandle)&(rfm22b_dev->ppm_packet);
rfm22b_dev->send_ppm = false;
}
#endif
if (!p && rfm22b_dev->send_status)
{
p = (PHPacketHandle)&(rfm22b_dev->status_packet);
rfm22b_dev->send_status = false;
}
if (!p)
{
@ -1412,7 +1397,6 @@ static bool rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
rfm22_calculateLinkQuality(rfm22b_dev);
// Queue the status message
PHPacketHandle sph = (PHPacketHandle)&(rfm22b_dev->status_packet);
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
rfm22b_dev->status_packet.header.destination_id = rfm22b_dev->destination_id;
else
@ -1421,9 +1405,7 @@ static bool rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->status_packet.header.data_size = PH_STATUS_DATA_SIZE(&(rfm22b_dev->status_packet));
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;
if (xQueueSend(rfm22b_dev->packetQueue, &sph, 0) != pdTRUE)
return false;
rfm22b_dev->send_status = true;
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_START_TRANSFER);
return true;
@ -1451,13 +1433,7 @@ static bool rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev)
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));
// Queue the packet
PHPacketHandle pph = (PHPacketHandle)&(rfm22b_dev->ppm_packet);
if (xQueueSend(rfm22b_dev->packetQueue, &pph, 0) != pdTRUE)
return false;
// Process a SEND_PACKT event.
rfm22b_dev->send_ppm = true;
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_SEND_PACKET);
}
#endif
@ -1731,8 +1707,6 @@ static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
{
// Free the tx packet
PHReleaseTXPacket(pios_packet_handler, rfm22b_dev->tx_packet);
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
return RFM22B_EVENT_ERROR;
@ -1741,8 +1715,6 @@ static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
// FIFO under/over flow error. Back to RX mode.
if (rfm22b_dev->device_status & (RFM22_ds_ffunfl | RFM22_ds_ffovfl))
{
// Free the tx packet
PHReleaseTXPacket(pios_packet_handler, rfm22b_dev->tx_packet);
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
return RFM22B_EVENT_ERROR;
@ -1778,9 +1750,6 @@ static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->prev_tx_packet = rfm22b_dev->tx_packet;
rfm22b_dev->tx_complete_ticks = xTaskGetTickCount();
}
else
// Free the tx packet
PHReleaseTXPacket(pios_packet_handler, rfm22b_dev->tx_packet);
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
@ -1855,7 +1824,7 @@ static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_d
// Resend the previous TX packet.
rfm22b_dev->tx_packet = rfm22b_dev->prev_tx_packet;
rfm22b_dev->prev_tx_packet = NULL;
//rfm22b_dev->stats.tx_resent++;
rfm22b_dev->stats.tx_resent++;
return RFM22B_EVENT_START_TRANSFER;
}
@ -1939,7 +1908,7 @@ static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rf
cph->min_frequency = rfm22b_dev->min_frequency;
cph->max_frequency = rfm22b_dev->max_frequency;
cph->max_tx_power = rfm22b_dev->tx_power;
rfm22b_dev->tx_packet = (PHPacketHandle)cph;
rfm22b_dev->send_connection_request = true;
return RFM22B_EVENT_START_TRANSFER;
}
@ -2240,7 +2209,6 @@ static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev)
// Release the Tx packet if it's set.
if (rfm22b_dev->tx_packet != 0)
{
PHReleaseTXPacket(pios_packet_handler, rfm22b_dev->tx_packet);
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
}
@ -2255,7 +2223,6 @@ static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev)
// Release the Tx packet if it's set.
if (rfm22b_dev->tx_packet != 0)
{
PHReleaseTXPacket(pios_packet_handler, rfm22b_dev->tx_packet);
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
}

1
flight/PiOS/inc/pios_rfm22b.h
View File

@ -101,7 +101,6 @@ 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);
extern void PIOS_RFM22B_GetStats(uint32_t rfm22b_id, struct rfm22b_stats *stats);
extern bool PIOS_RFM22B_Send_Packet(uint32_t rfm22b_id, PHPacketHandle p, uint32_t max_delay);
extern uint8_t PIOS_RFM2B_GetPairStats(uint32_t rfm22b_id, uint32_t *device_ids, int8_t *RSSIs, uint8_t max_pairs);
extern bool PIOS_RFM22B_LinkStatus(uint32_t rfm22b_id);

1
ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
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@ -74,6 +74,7 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
addUAVObjectToWidgetRelation("OPLinkStatus", "RxMissed", m_oplink->Missed);
addUAVObjectToWidgetRelation("OPLinkStatus", "UAVTalkErrors", m_oplink->UAVTalkErrors);
addUAVObjectToWidgetRelation("OPLinkStatus", "TxDropped", m_oplink->Dropped);
addUAVObjectToWidgetRelation("OPLinkStatus", "TxResent", m_oplink->Resent);
addUAVObjectToWidgetRelation("OPLinkStatus", "Resets", m_oplink->Resets);
addUAVObjectToWidgetRelation("OPLinkStatus", "Timeouts", m_oplink->Timeouts);
addUAVObjectToWidgetRelation("OPLinkStatus", "RSSI", m_oplink->RSSI);

61
ground/openpilotgcs/src/plugins/config/pipxtreme.ui
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@ -1150,6 +1150,57 @@
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="ResentLabel">
<property name="text">
<string>TX Resent</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="7" column="3">
<widget class="QLineEdit" name="Resent">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</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 number of packets that were unable to be transmitted</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="8" column="2">
<widget class="QLabel" name="UAVTalkErrorsLabel">
<property name="text">
<string>UAVTalk Errors</string>
@ -1159,7 +1210,7 @@
</property>
</widget>
</item>
<item row="7" column="3">
<item row="8" column="3">
<widget class="QLineEdit" name="UAVTalkErrors">
<property name="maximumSize">
<size>
@ -1191,7 +1242,7 @@
</property>
</widget>
</item>
<item row="8" column="2">
<item row="9" column="2">
<widget class="QLabel" name="ResetsLabel">
<property name="text">
<string>Resets</string>
@ -1201,7 +1252,7 @@
</property>
</widget>
</item>
<item row="8" column="3">
<item row="9" column="3">
<widget class="QLineEdit" name="Resets">
<property name="minimumSize">
<size>
@ -1239,7 +1290,7 @@
</property>
</widget>
</item>
<item row="9" column="2">
<item row="10" column="2">
<widget class="QLabel" name="TimeoutsLabel">
<property name="text">
<string>Timeouts</string>
@ -1249,7 +1300,7 @@
</property>
</widget>
</item>
<item row="9" column="3">
<item row="10" column="3">
<widget class="QLineEdit" name="Timeouts">
<property name="maximumSize">
<size>

1
shared/uavobjectdefinition/oplinkstatus.xml
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@ -12,6 +12,7 @@
<field name="RxMissed" 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="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"/>