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Code Issues Releases Activity

RFM22B: Added optional debug signals on the telemetry port of the PipX. Also fixed a couple of bugs that were causing excessive re-transmissions (found using the debug signals).

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This commit is contained in:
Brian Webb 2012-12-02 09:41:48 -07:00
parent fecc23eb49
commit 7f6a718354
6 changed files with 133 additions and 14 deletions
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24
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
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@ -90,6 +90,12 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
#define PIOS_LED_LINK 1
#define PIOS_LED_RX 2
#define PIOS_LED_TX 3
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
#define PIOS_LED_D1 4
#define PIOS_LED_D2 5
#define PIOS_LED_D3 6
#define PIOS_LED_D4 7
#endif
#define PIOS_LED_HEARTBEAT PIOS_LED_USB
#define PIOS_LED_ALARM PIOS_LED_TX
@ -110,6 +116,24 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
#define TX_LED_OFF PIOS_LED_Off(PIOS_LED_TX)
#define TX_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_TX)
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
#define D1_LED_ON PIOS_LED_On(PIOS_LED_D1)
#define D1_LED_OFF PIOS_LED_Off(PIOS_LED_D1)
#define D1_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D1)
#define D2_LED_ON PIOS_LED_On(PIOS_LED_D2)
#define D2_LED_OFF PIOS_LED_Off(PIOS_LED_D2)
#define D2_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D2)
#define D3_LED_ON PIOS_LED_On(PIOS_LED_D3)
#define D3_LED_OFF PIOS_LED_Off(PIOS_LED_D3)
#define D3_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D3)
#define D4_LED_ON PIOS_LED_On(PIOS_LED_D4)
#define D4_LED_OFF PIOS_LED_Off(PIOS_LED_D4)
#define D4_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D4)
#endif
//-------------------------
// System Settings
//-------------------------

74
flight/PiOS/Common/pios_rfm22b.c
View File

@ -200,6 +200,7 @@ static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev,
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);
static void rfm22_clearLEDs();
// SPI read/write functions
static void rfm22_assertCs();
@ -268,7 +269,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
[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_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,
@ -282,7 +283,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_EVENT_PREAMBLE_DETECTED] = RFM22B_STATE_WAIT_SYNC,
[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_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,
@ -512,10 +513,12 @@ static const uint8_t ss_reg_70[] = { 0x24, 0x2D}; // rfm22_modulation_mode_cont
static const uint8_t ss_reg_71[] = { 0x2B, 0x23}; // rfm22_modulation_mode_control2
static inline uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time) {
if(end_time > start_time)
static inline uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time)
{
if(end_time >= start_time)
return (end_time - start_time) * portTICK_RATE_MS;
return ((((portTICK_RATE_MS) -1) - start_time) + end_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)
@ -921,7 +924,7 @@ static void PIOS_RFM22B_Task(void *parameters)
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);
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ACK_TIMEOUT);
}
}
else
@ -958,8 +961,11 @@ static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_d
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);
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;
{
// 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(PHPacketHeader) * 8 * 1000) / (float)(datarate_bps) + 0.5) * 4 + random;
}
else
rfm22b_dev->max_ack_delay = CONNECT_ATTEMPT_PERIOD_MS;
@ -1263,6 +1269,9 @@ static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev)
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->packet_start_ticks = 0;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D2_LED_ON;
#endif
// disable interrupts
rfm22_write(RFM22_interrupt_enable1, 0x00);
@ -1379,6 +1388,11 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
if (!p)
return RFM22B_EVENT_RX_MODE;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D1_LED_ON;
D2_LED_OFF;
#endif
// Add the error correcting code.
p->header.source_id = rfm22b_dev->deviceID;
encode_data((unsigned char*)p, PHPacketSize(p), (unsigned char*)p);
@ -1759,6 +1773,9 @@ static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
if (rfm22b_dev->rx_complete_ticks == 0)
rfm22b_dev->rx_complete_ticks = 1;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D2_LED_OFF;
#endif
}
// Start a new transaction
@ -1835,6 +1852,12 @@ static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
// Start a new transaction
rfm22b_dev->packet_start_ticks = 0;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D1_LED_OFF;
D3_LED_OFF;
D4_LED_OFF;
#endif
}
return ret_event;
@ -1859,6 +1882,9 @@ static enum pios_rfm22b_event rfm22_sendAck(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;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D3_LED_ON;
#endif
return RFM22B_EVENT_TX_START;
}
@ -1874,6 +1900,9 @@ 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;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D4_LED_ON;
#endif
return RFM22B_EVENT_TX_START;
}
@ -2052,6 +2081,9 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
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)
{
@ -2080,9 +2112,6 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->stats.rx_seq = 0;
rfm22b_dev->data_packet.header.data_size = 0;
// Calculate the (approximate) maximum amount of time that it should take to transmit / receive a packet.
rfm22b_dev->packet_start_ticks = 0;
// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
@ -2301,6 +2330,18 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
return RFM22B_EVENT_INITIALIZED;
}
static void rfm22_clearLEDs() {
LINK_LED_OFF;
RX_LED_OFF;
TX_LED_OFF;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D1_LED_OFF;
D2_LED_OFF;
D3_LED_OFF;
D4_LED_OFF;
#endif
}
static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->stats.timeouts++;
@ -2312,12 +2353,21 @@ 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;
TX_LED_OFF;
RX_LED_OFF;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D1_LED_OFF;
D2_LED_OFF;
D3_LED_OFF;
D4_LED_OFF;
#endif
return RFM22B_EVENT_TX_START;
}
static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->stats.resets++;
rfm22_clearLEDs();
return RFM22B_EVENT_INITIALIZE;
}
@ -2329,8 +2379,8 @@ static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev)
*/
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;

1
flight/PiOS/inc/pios_rfm22b_priv.h
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@ -614,6 +614,7 @@ enum pios_rfm22b_event {
RFM22B_EVENT_CONNECTION_ACCEPTED,
RFM22B_EVENT_PACKET_ACKED,
RFM22B_EVENT_PACKET_NACKED,
RFM22B_EVENT_ACK_TIMEOUT,
RFM22B_EVENT_RX_MODE,
RFM22B_EVENT_PREAMBLE_DETECTED,
RFM22B_EVENT_SYNC_DETECTED,

4
flight/PipXtreme/System/inc/pios_config.h
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@ -99,8 +99,8 @@
/* PIOS Initcall infrastructure */
#define PIOS_INCLUDE_INITCALL
/* Always include the radio module */
#define RADIO_BUILTIN
/* Turn on debugging signals on the telemetry port */
//#define PIOS_RFM22B_DEBUG_ON_TELEM
#endif /* PIOS_CONFIG_H */
/**

2
flight/PipXtreme/System/pios_board.c
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@ -179,6 +179,7 @@ void PIOS_Board_Init(void) {
#endif
/* Configure the telemetry serial port */
#ifndef PIOS_RFM22B_DEBUG_ON_TELEM
{
uint32_t pios_usart1_id;
if (PIOS_USART_Init(&pios_usart1_id, &pios_usart_serial_cfg)) {
@ -194,6 +195,7 @@ void PIOS_Board_Init(void) {
PIOS_Assert(0);
}
}
#endif
/* Configure the flexi serial port */
{

42
flight/board_hw_defs/pipxtreme/board_hw_defs.c
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@ -45,6 +45,48 @@ static const struct pios_led pios_leds[] = {
},
},
},
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
[PIOS_LED_D1] = {
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
[PIOS_LED_D2] = {
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
[PIOS_LED_D3] = {
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
[PIOS_LED_D4] = {
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
#endif
};
static const struct pios_led_cfg pios_led_cfg = {