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Code Issues Releases Activity

RFM22B: Added a message timeout event to the RFM22B state machine that will fire if a packet takes too long to transmit / receive.

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This commit is contained in:
Brian Webb 2012-09-24 20:51:34 -07:00
parent a070e1cc3e
commit 88be2ddf1e
1 changed files with 72 additions and 16 deletions
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88
flight/PiOS/Common/pios_rfm22b.c
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@ -145,13 +145,14 @@ enum pios_rfm22b_dev_magic {
enum pios_rfm22b_state {
RFM22B_STATE_UNINITIALIZED,
RFM22B_STATE_INITIALIZING,
RFM22B_STATE_ERROR,
RFM22B_STATE_RX_MODE,
RFM22B_STATE_WAIT_PREAMBLE,
RFM22B_STATE_WAIT_SYNC,
RFM22B_STATE_RX_DATA,
RFM22B_STATE_TX_START,
RFM22B_STATE_TX_DATA,
RFM22B_STATE_TIMEOUT,
RFM22B_STATE_ERROR,
RFM22B_STATE_FATAL_ERROR,
RFM22B_STATE_NUM_STATES // Must be last
@ -161,7 +162,6 @@ enum pios_rfm22b_event {
RFM22B_EVENT_INITIALIZE,
RFM22B_EVENT_INITIALIZED,
RFM22B_EVENT_INT_RECEIVED,
RFM22B_EVENT_TX_MODE,
RFM22B_EVENT_RX_MODE,
RFM22B_EVENT_PREAMBLE_DETECTED,
RFM22B_EVENT_SYNC_DETECTED,
@ -257,6 +257,10 @@ struct pios_rfm22b_dev {
// afc correction reading (in Hz)
int32_t afc_correction_Hz;
int8_t rx_packet_start_afc_Hz;
// The maximum time (ms) that it should take to transmit / receive a packet.
uint32_t max_packet_time;
portTickType packet_start_time;
};
struct pios_rfm22b_transition {
@ -301,6 +305,7 @@ static enum pios_rfm22b_event rfm22_init(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);
static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev);
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);
@ -346,20 +351,13 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_ERROR] = {
.entry_fn = rfm22_error,
.next_state = {
[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_SEND_PACKET] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
@ -371,7 +369,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_EVENT_PREAMBLE_DETECTED] = RFM22B_STATE_WAIT_SYNC,
[RFM22B_EVENT_SEND_PACKET] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
@ -382,6 +380,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_SYNC,
[RFM22B_EVENT_SYNC_DETECTED] = RFM22B_STATE_RX_DATA,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
@ -390,8 +389,8 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
.entry_fn = rfm22_rxData,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_RX_DATA,
[RFM22B_EVENT_TX_MODE] = RFM22B_STATE_TX_DATA,
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
@ -400,8 +399,8 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
.entry_fn = rfm22_txStart,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
[RFM22B_EVENT_TX_MODE] = 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_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
@ -410,8 +409,25 @@ 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_MODE] = RFM22B_STATE_TX_DATA,
[RFM22B_EVENT_TX_COMPLETE] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[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_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_ERROR] = {
.entry_fn = rfm22_error,
.next_state = {
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
@ -569,6 +585,10 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
*rfm22b_id = (uint32_t)rfm22b_dev;
g_rfm22b_dev = rfm22b_dev;
// Calculate the (approximate) maximum amount of time that it should take to transmit / receive a packet.
rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(rfm22b_dev->cfg.maxRFBandwidth) + 0.5);
rfm22b_dev->packet_start_time = 0;
// Create a semaphore to know if an ISR needs responding to
vSemaphoreCreateBinary( rfm22b_dev->isrPending );
@ -803,8 +823,6 @@ static void PIOS_RFM22B_Task(void *parameters)
portTickType timeSinceEvent = xTaskGetTickCount() - lastEventTime;
if ((timeSinceEvent / portTICK_RATE_MS) > PIOS_RFM22B_SUPERVISOR_TIMEOUT)
{
rfm22b_dev->resets++;
// Transsition through an error event.
enum pios_rfm22b_event event = RFM22B_EVENT_ERROR;
while(event != RFM22B_EVENT_NUM_EVENTS)
@ -822,6 +840,24 @@ static void PIOS_RFM22B_Task(void *parameters)
event = rfm22_process_state_transition(rfm22b_dev, event);
}
}
// Have we locked up sending / receiving a packet?
if (rfm22b_dev->packet_start_time > 0)
{
portTickType cur_time = xTaskGetTickCount();
// Did the clock wrap around?
if (cur_time < rfm22b_dev->packet_start_time)
rfm22b_dev->packet_start_time = (cur_time > 0) ? cur_time : 1;
// Have we been sending this packet too long?
if ((cur_time - rfm22b_dev->packet_start_time) > (rfm22b_dev->max_packet_time * 5))
{
enum pios_rfm22b_event event = RFM22B_EVENT_TIMEOUT;
while(event != RFM22B_EVENT_NUM_EVENTS)
event = rfm22_process_state_transition(rfm22b_dev, event);
}
}
}
}
@ -1165,6 +1201,7 @@ void rfm22_setDatarate(uint32_t datarate_bps, bool data_whitening)
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->packet_start_time = 0;
// disable interrupts
rfm22_write(RFM22_interrupt_enable1, 0x00);
@ -1212,6 +1249,9 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
return RFM22B_EVENT_RX_MODE;
}
rfm22b_dev->tx_packet = p;
rfm22b_dev->packet_start_time = xTaskGetTickCount();
if (rfm22b_dev->packet_start_time == 0)
rfm22b_dev->packet_start_time = 1;
// disable interrupts
rfm22_write(RFM22_interrupt_enable1, 0x00);
@ -1319,6 +1359,9 @@ static enum pios_rfm22b_event rfm22_detectPreamble(struct pios_rfm22b_dev *rfm22
// Valid preamble detected
if (rfm22b_dev->int_status2 & RFM22_is2_ipreaval)
{
rfm22b_dev->packet_start_time = xTaskGetTickCount();
if (rfm22b_dev->packet_start_time == 0)
rfm22b_dev->packet_start_time = 1;
RX_LED_ON;
return RFM22B_EVENT_PREAMBLE_DETECTED;
}
@ -1452,6 +1495,7 @@ static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
}
// Start a new transaction
rfm22b_dev->packet_start_time = 0;
return RFM22B_EVENT_RX_COMPLETE;
}
@ -1506,6 +1550,7 @@ static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
// Start a new transaction
rfm22b_dev->packet_start_time = 0;
return RFM22B_EVENT_TX_COMPLETE;
}
@ -1595,6 +1640,8 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->afc_correction_Hz = 0;
rfm22b_dev->packet_start_time = 0;
// ****************
// read the RF chip ID bytes
@ -1781,8 +1828,17 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
return RFM22B_EVENT_INITIALIZED;
}
static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->resets++;
rfm22b_dev->packet_start_time = 0;
return RFM22B_EVENT_TX_START;
}
static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->resets++;
rfm22b_dev->packet_start_time = 0;
return RFM22B_EVENT_INITIALIZE;
}