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OP-932 A significant re-work of the OPLink and configuration of the OPLink. Auto-configuration is removed, and remote modems are bound the coordinator, rather than the other way around. Timing of the radio link is also significantly changed. The rfm22b code is also simplified so that it only sends packet, and has no notion about what those packets are, so the rfm22b is converteded to simply a com type device.

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This commit is contained in:
Brian Webb 2013-06-15 13:50:13 -07:00
parent 12c8ef2e3a
commit 8c370df319
23 changed files with 1507 additions and 3127 deletions
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111
flight/libraries/inc/packet_handler.h
View File

@ -1,111 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
*
* @file packet_handler.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A packet handler for handeling radio packet transmission.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef __PACKET_HANDLER_H__
#define __PACKET_HANDLER_H__
#include <uavobjectmanager.h>
#include <gcsreceiver.h>
#include <oplinksettings.h>
#include <pios_rfm22b_rcvr.h>
// Public defines / macros
#define PHPacketSize(p) ((uint8_t *)(p->data) + p->header.data_size - (uint8_t *)p)
#define PHPacketSizeECC(p) ((uint8_t *)(p->data) + p->header.data_size + RS_ECC_NPARITY - (uint8_t *)p)
// Public types
typedef enum {
PACKET_TYPE_NONE = 0,
PACKET_TYPE_STATUS, // broadcasts status of this modem
PACKET_TYPE_CON_REQUEST, // request a connection to another modem
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, // Acknowlege the receipt of a packet
PACKET_TYPE_NACK, // Acknowlege the receipt of an uncorrectable packet
} PHPacketType;
typedef struct {
uint32_t destination_id;
portTickType prev_tx_time;
uint16_t seq_num;
uint8_t type;
uint8_t data_size;
} PHPacketHeader;
#define PH_MAX_DATA (PIOS_PH_MAX_PACKET - sizeof(PHPacketHeader) - RS_ECC_NPARITY)
#define PH_PACKET_SIZE(p) ((p)->data + (p)->header.data_size - (uint8_t *)(p) + RS_ECC_NPARITY)
typedef struct {
PHPacketHeader header;
uint8_t data[PH_MAX_DATA + RS_ECC_NPARITY];
} PHPacket, *PHPacketHandle;
#define PH_ACK_NACK_DATA_SIZE(p) ((uint8_t *)((p)->ecc) - (uint8_t *)(((PHPacketHandle)(p))->data))
typedef struct {
PHPacketHeader header;
uint8_t ecc[RS_ECC_NPARITY];
} PHAckNackPacket, *PHAckNackPacketHandle;
#define PH_PPM_DATA_SIZE(p) ((uint8_t *)((p)->ecc) - (uint8_t *)(((PHPacketHandle)(p))->data))
typedef struct {
PHPacketHeader header;
int16_t channels[PIOS_RFM22B_RCVR_MAX_CHANNELS];
uint8_t ecc[RS_ECC_NPARITY];
} PHPpmPacket, *PHPpmPacketHandle;
#define PH_STATUS_DATA_SIZE(p) ((uint8_t *)((p)->ecc) - (uint8_t *)(((PHPacketHandle)(p))->data))
typedef struct {
PHPacketHeader header;
uint32_t source_id;
uint8_t link_quality;
int8_t received_rssi;
uint8_t ecc[RS_ECC_NPARITY];
} PHStatusPacket, *PHStatusPacketHandle;
#define PH_CONNECTION_DATA_SIZE(p) ((uint8_t *)((p)->ecc) - (uint8_t *)(((PHPacketHandle)(p))->data))
typedef struct {
PHPacketHeader header;
uint32_t source_id;
uint32_t min_frequency;
uint32_t max_frequency;
uint32_t channel_spacing;
portTickType status_rx_time;
OPLinkSettingsMainPortOptions main_port;
OPLinkSettingsFlexiPortOptions flexi_port;
OPLinkSettingsVCPPortOptions vcp_port;
OPLinkSettingsComSpeedOptions com_speed;
uint8_t ecc[RS_ECC_NPARITY];
} PHConnectionPacket, *PHConnectionPacketHandle;
#endif // __PACKET_HANDLER_H__
/**
* @}
* @}
*/

4
flight/modules/OPLink/oplinkmod.c
View File

@ -38,10 +38,12 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <pios.h>
#include <uavobjectmanager.h>
#include <openpilot.h>
#include <oplinkstatus.h>
#include <oplinksettings.h>
#include <taskinfo.h>
#include <pios_rfm22b.h>

484
flight/modules/RadioComBridge/RadioComBridge.c
View File

@ -7,7 +7,7 @@
* @{
*
* @file RadioComBridge.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012-2013.
* @brief Bridges selected Com Port to the COM VCP emulated serial port
* @see The GNU Public License (GPL) Version 3
*
@ -32,8 +32,6 @@
#include <openpilot.h>
#include <radiocombridge.h>
#include <packet_handler.h>
#include <gcsreceiver.h>
#include <oplinkstatus.h>
#include <objectpersistence.h>
#include <oplinksettings.h>
@ -46,12 +44,6 @@
#include <stdbool.h>
// External functions
void PIOS_InitUartMainPort();
void PIOS_InitUartFlexiPort();
void PIOS_InitPPMMainPort(bool input);
void PIOS_InitPPMFlexiPort(bool input);
// ****************
// Private constants
@ -75,12 +67,12 @@ typedef struct {
xTaskHandle radioRxTaskHandle;
// The UAVTalk connection on the com side.
UAVTalkConnection outUAVTalkCon;
UAVTalkConnection inUAVTalkCon;
UAVTalkConnection telemUAVTalkCon;
UAVTalkConnection radioUAVTalkCon;
// Queue handles.
xQueueHandle gcsEventQueue;
xQueueHandle uavtalkEventQueue;
xQueueHandle radioEventQueue;
// Error statistics.
uint32_t comTxErrors;
@ -91,9 +83,6 @@ typedef struct {
// Should we parse UAVTalk?
bool parseUAVTalk;
// We can only configure the hardware once.
bool configured;
// The current configured uart speed
OPLinkSettingsComSpeedOptions comSpeed;
} RadioComBridgeData;
@ -107,11 +96,9 @@ static void radioTxTask(void *parameters);
static void radioRxTask(void *parameters);
static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length);
static int32_t RadioSendHandler(uint8_t *buf, int32_t length);
static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte);
static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type);
static void configureComCallback(OPLinkSettingsRemoteMainPortOptions main_port, OPLinkSettingsRemoteFlexiPortOptions flexi_port,
OPLinkSettingsRemoteVCPPortOptions vcp_port, OPLinkSettingsComSpeedOptions com_speed);
static void updateSettings(OPLinkSettingsData *oplinkSettings);
static void ProcessTelemetryStream(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle, uint8_t rxbyte);
static void ProcessRadioStream(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle, uint8_t rxbyte);
static void objectPersistenceUpdatedCb(UAVObjEvent *objEv);
// ****************
// Private variables
@ -119,7 +106,7 @@ static void updateSettings(OPLinkSettingsData *oplinkSettings);
static RadioComBridgeData *data;
/**
* Start the module
* @brief Start the module
*
* @return -1 if initialisation failed, 0 on success
*/
@ -130,26 +117,10 @@ static int32_t RadioComBridgeStart(void)
OPLinkSettingsData oplinkSettings;
OPLinkSettingsGet(&oplinkSettings);
// Set the baudrates, etc.
bool is_coordinator = PIOS_RFM22B_IsCoordinator(pios_rfm22b_id);
if (is_coordinator) {
// Set the frequency range.
PIOS_RFM22B_SetFrequencyRange(pios_rfm22b_id, oplinkSettings.MinFrequency, oplinkSettings.MaxFrequency, oplinkSettings.ChannelSpacing);
// Set the com baud rates.
updateSettings(&oplinkSettings);
// Reinitilize the modem.
PIOS_RFM22B_Reinit(pios_rfm22b_id);
// We will not parse/send UAVTalk if any ports are configured as Serial (except for over the USB HID port).
data->parseUAVTalk = ((oplinkSettings.MainPort != OPLINKSETTINGS_MAINPORT_SERIAL) &&
(oplinkSettings.FlexiPort != OPLINKSETTINGS_FLEXIPORT_SERIAL) &&
(oplinkSettings.VCPPort != OPLINKSETTINGS_VCPPORT_SERIAL));
} else {
// Configure the com port configuration callback on the remote modem.
PIOS_RFM22B_SetComConfigCallback(pios_rfm22b_id, &configureComCallback);
}
// We will not parse/send UAVTalk if any ports are configured as Serial (except for over the USB HID port).
data->parseUAVTalk = ((oplinkSettings.MainPort != OPLINKSETTINGS_MAINPORT_SERIAL) &&
(oplinkSettings.FlexiPort != OPLINKSETTINGS_FLEXIPORT_SERIAL) &&
(oplinkSettings.VCPPort != OPLINKSETTINGS_VCPPORT_SERIAL));
// Set the maximum radio RF power.
switch (oplinkSettings.MaxRFPower) {
@ -182,8 +153,9 @@ static int32_t RadioComBridgeStart(void)
break;
}
// Set the initial frequency.
PIOS_RFM22B_SetInitialFrequency(pios_rfm22b_id, oplinkSettings.InitFrequency);
// Configure our UAVObjects for updates.
UAVObjConnectQueue(UAVObjGetByID(OPLINKSTATUS_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
// Start the primary tasks for receiving/sending UAVTalk packets from the GCS.
xTaskCreate(telemetryTxTask, (signed char *)"telemetryTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->telemetryTxTaskHandle));
@ -205,7 +177,7 @@ static int32_t RadioComBridgeStart(void)
}
/**
* Initialise the module
* @brief Initialise the module
*
* @return -1 if initialisation failed on success
*/
@ -221,12 +193,16 @@ static int32_t RadioComBridgeInitialize(void)
OPLinkStatusInitialize();
ObjectPersistenceInitialize();
// Configure the UAVObject callbacks
ObjectPersistenceConnectCallback(&objectPersistenceUpdatedCb);
// Initialise UAVTalk
data->outUAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
data->inUAVTalkCon = UAVTalkInitialize(&RadioSendHandler);
data->telemUAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
data->radioUAVTalkCon = UAVTalkInitialize(&RadioSendHandler);
// Initialize the queues.
data->uavtalkEventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(UAVObjEvent));
data->radioEventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(UAVObjEvent));
// Configure our UAVObjects for updates.
UAVObjConnectQueue(UAVObjGetByID(OPLINKSTATUS_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
@ -240,7 +216,6 @@ static int32_t RadioComBridgeInitialize(void)
data->comTxRetries = 0;
data->UAVTalkErrors = 0;
data->parseUAVTalk = true;
data->configured = false;
data->comSpeed = OPLINKSETTINGS_COMSPEED_9600;
PIOS_COM_RADIO = PIOS_COM_RFM22B;
@ -249,7 +224,7 @@ static int32_t RadioComBridgeInitialize(void)
MODULE_INITCALL(RadioComBridgeInitialize, RadioComBridgeStart);
/**
* Telemetry transmit task, regular priority
* @brief Telemetry transmit task, regular priority
*
* @param[in] parameters The task parameters
*/
@ -269,7 +244,7 @@ static void telemetryTxTask(__attribute__((unused)) void *parameters)
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(data->outUAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS) == 0;
success = UAVTalkSendObject(data->telemUAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS) == 0;
if (!success) {
++retries;
}
@ -280,7 +255,7 @@ static void telemetryTxTask(__attribute__((unused)) void *parameters)
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendAck(data->outUAVTalkCon, ev.obj, ev.instId) == 0;
success = UAVTalkSendAck(data->telemUAVTalkCon, ev.obj, ev.instId) == 0;
if (!success) {
++retries;
}
@ -291,7 +266,7 @@ static void telemetryTxTask(__attribute__((unused)) void *parameters)
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendNack(data->outUAVTalkCon, UAVObjGetID(ev.obj)) == 0;
success = UAVTalkSendNack(data->telemUAVTalkCon, UAVObjGetID(ev.obj)) == 0;
if (!success) {
++retries;
}
@ -303,7 +278,7 @@ static void telemetryTxTask(__attribute__((unused)) void *parameters)
}
/**
* Radio tx task. Receive data packets from the com port and send to the radio.
* @brief Radio tx task. Receive data packets from the com port and send to the radio.
*
* @param[in] parameters The task parameters
*/
@ -315,23 +290,51 @@ static void radioTxTask(__attribute__((unused)) void *parameters)
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIOTX);
#endif
// Wait until the com port is available.
if (data->parseUAVTalk || !PIOS_COM_TELEMETRY) {
vTaskDelay(5);
continue;
}
// Process the radio event queue, sending UAVObjects over the radio link as necessary.
UAVObjEvent ev;
// Read from the com port.
uint8_t serial_data[1];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEMETRY, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0) {
PIOS_COM_SendBufferNonBlocking(PIOS_COM_RADIO, serial_data, bytes_to_process);
// Wait for queue message
if (xQueueReceive(data->radioEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ)) {
// Send update (with retries)
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(data->radioUAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS) == 0;
if (!success) {
++retries;
}
}
data->comTxRetries += retries;
} else if (ev.event == EV_SEND_ACK) {
// Send the ACK
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendAck(data->radioUAVTalkCon, ev.obj, ev.instId) == 0;
if (!success) {
++retries;
}
}
data->comTxRetries += retries;
} else if (ev.event == EV_SEND_NACK) {
// Send the NACK
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendNack(data->radioUAVTalkCon, UAVObjGetID(ev.obj)) == 0;
if (!success) {
++retries;
}
}
data->comTxRetries += retries;
}
}
}
}
/**
* Radio rx task. Receive data packets from the radio and pass them on.
* @brief Radio rx task. Receive data packets from the radio and pass them on.
*
* @param[in] parameters The task parameters
*/
@ -345,22 +348,16 @@ static void radioRxTask(__attribute__((unused)) void *parameters)
uint8_t serial_data[1];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0) {
// Either pass the data through the UAVTalk parser, or just send it to the radio (if we're doing raw comms).
if (data->parseUAVTalk) {
for (uint8_t i = 0; i < bytes_to_process; i++) {
if (UAVTalkRelayInputStream(data->outUAVTalkCon, serial_data[i]) == UAVTALK_STATE_ERROR) {
data->UAVTalkErrors++;
}
}
} else if (PIOS_COM_TELEMETRY) {
PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEMETRY, serial_data, bytes_to_process);
// Pass the data through the UAVTalk parser.
for (uint8_t i = 0; i < bytes_to_process; i++) {
ProcessRadioStream(data->radioUAVTalkCon, data->telemUAVTalkCon, serial_data[i]);
}
}
}
}
/**
* Receive telemetry from the USB/COM port.
* @brief Receive telemetry from the USB/COM port.
*
* @param[in] parameters The task parameters
*/
@ -383,7 +380,7 @@ static void telemetryRxTask(__attribute__((unused)) void *parameters)
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++) {
ProcessInputStream(data->inUAVTalkCon, serial_data[i]);
ProcessTelemetryStream(data->telemUAVTalkCon, data->radioUAVTalkCon, serial_data[i]);
}
}
} else {
@ -393,7 +390,7 @@ static void telemetryRxTask(__attribute__((unused)) void *parameters)
}
/**
* Transmit data buffer to the com port.
* @brief Transmit data buffer to the com port.
*
* @param[in] buf Data buffer to send
* @param[in] length Length of buffer
@ -439,272 +436,109 @@ static int32_t RadioSendHandler(uint8_t *buf, int32_t length)
}
/**
* Process a byte of data received
* @brief Process a byte of data received on the telemetry stream
*
* @param[in] connectionHandle The UAVTalk connection handle
* @param[in] inConnectionHandle The UAVTalk connection handle on the telemetry port
* @param[in] outConnectionHandle The UAVTalk connection handle on the radio port.
* @param[in] rxbyte The received byte.
*/
static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte)
static void ProcessTelemetryStream(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle, uint8_t rxbyte)
{
// Keep reading until we receive a completed packet.
UAVTalkRxState state = UAVTalkRelayInputStream(connectionHandle, rxbyte);
UAVTalkConnectionData *connection = (UAVTalkConnectionData *)(connectionHandle);
UAVTalkInputProcessor *iproc = &(connection->iproc);
UAVTalkRxState state = UAVTalkProcessInputStream(inConnectionHandle, rxbyte);
if (state == UAVTALK_STATE_COMPLETE) {
// Is this a local UAVObject?
// We only generate GcsReceiver ojects, we don't consume them.
if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID)) {
// We treat the ObjectPersistence object differently
if (iproc->objId == OBJECTPERSISTENCE_OBJID) {
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
// Get the ObjectPersistence object.
ObjectPersistenceData obj_per;
ObjectPersistenceGet(&obj_per);
// Is this concerning or setting object?
if (obj_per.ObjectID == OPLINKSETTINGS_OBJID) {
// Queue up the ACK.
queueEvent(data->uavtalkEventQueue, (void *)iproc->obj, iproc->instId, EV_SEND_ACK);
// Is this a save, load, or delete?
bool success = true;
switch (obj_per.Operation) {
case OBJECTPERSISTENCE_OPERATION_LOAD:
{
#if defined(PIOS_INCLUDE_FLASH_LOGFS_SETTINGS)
// Load the settings.
void *obj = UAVObjGetByID(obj_per.ObjectID);
if (obj == 0) {
success = false;
} else {
// Load selected instance
success = (UAVObjLoad(obj, obj_per.InstanceID) == 0);
}
#endif
break;
}
case OBJECTPERSISTENCE_OPERATION_SAVE:
{
#if defined(PIOS_INCLUDE_FLASH_LOGFS_SETTINGS)
void *obj = UAVObjGetByID(obj_per.ObjectID);
if (obj == 0) {
success = false;
} else {
// Save selected instance
success = UAVObjSave(obj, obj_per.InstanceID) == 0;
}
#endif
break;
}
case OBJECTPERSISTENCE_OPERATION_DELETE:
{
#if defined(PIOS_INCLUDE_FLASH_LOGFS_SETTINGS)
void *obj = UAVObjGetByID(obj_per.ObjectID);
if (obj == 0) {
success = false;
} else {
// Save selected instance
success = UAVObjDelete(obj, obj_per.InstanceID) == 0;
}
#endif
break;
}
default:
break;
}
if (success == true) {
obj_per.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
ObjectPersistenceSet(&obj_per);
}
}
} else {
switch (iproc->type) {
case UAVTALK_TYPE_OBJ:
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
break;
case UAVTALK_TYPE_OBJ_REQ:
// Queue up an object send request.
queueEvent(data->uavtalkEventQueue, (void *)iproc->obj, iproc->instId, EV_UPDATE_REQ);
break;
case UAVTALK_TYPE_OBJ_ACK:
if (UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer) == 0) {
// Queue up an ACK
queueEvent(data->uavtalkEventQueue, (void *)iproc->obj, iproc->instId, EV_SEND_ACK);
}
break;
}
}
}
} else if (state == UAVTALK_STATE_ERROR) {
if (state == UAVTALK_STATE_ERROR) {
data->UAVTalkErrors++;
} else if (state == UAVTALK_STATE_COMPLETE) {
UAVTalkRelayPacket(inConnectionHandle, outConnectionHandle);
}
}
// Send a NACK if required.
if ((iproc->obj) && (iproc->type == UAVTALK_TYPE_OBJ_ACK)) {
// Queue up a NACK
queueEvent(data->uavtalkEventQueue, iproc->obj, iproc->instId, EV_SEND_NACK);
/**
* @brief Process a byte of data received on the radio data stream.
*
* @param[in] inConnectionHandle The UAVTalk connection handle on the radio port.
* @param[in] outConnectionHandle The UAVTalk connection handle on the telemetry port.
* @param[in] rxbyte The received byte.
*/
static void ProcessRadioStream(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle, uint8_t rxbyte)
{
// Keep reading until we receive a completed packet.
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(inConnectionHandle, rxbyte);
if (state == UAVTALK_STATE_ERROR) {
data->UAVTalkErrors++;
} else if (state == UAVTALK_STATE_COMPLETE) {
// We only want to unpack certain objects from the remote modem.
uint32_t objId = UAVTalkGetPacketObjId(inConnectionHandle);
if (objId != OPLINKSTATUS_OBJID) {
UAVTalkRelayPacket(inConnectionHandle, outConnectionHandle);
}
}
}
/**
* Queue and event into an event queue.
*
* @param[in] queue The event queue
* @param[in] obj The data pointer
* @param[in] type The event type
* @brief Callback that is called when the ObjectPersistence UAVObject is changed.
* @param[in] objEv The event that precipitated the callback.
*/
static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type)
static void objectPersistenceUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
{
UAVObjEvent ev;
// Get the ObjectPersistence object.
ObjectPersistenceData obj_per;
ev.obj = (UAVObjHandle)obj;
ev.instId = instId;
ev.event = type;
xQueueSend(queue, &ev, portMAX_DELAY);
}
ObjectPersistenceGet(&obj_per);
/**
* Configure the output port based on a configuration event from the remote coordinator.
*
* @param[in] com_port The com port to configure
* @param[in] com_speed The com port speed
*/
static void configureComCallback(OPLinkSettingsRemoteMainPortOptions main_port, OPLinkSettingsRemoteFlexiPortOptions flexi_port,
OPLinkSettingsRemoteVCPPortOptions vcp_port, OPLinkSettingsComSpeedOptions com_speed)
{
// Update the com baud rate
data->comSpeed = com_speed;
// Get the settings.
OPLinkSettingsData oplinkSettings;
OPLinkSettingsGet(&oplinkSettings);
switch (main_port) {
case OPLINKSETTINGS_REMOTEMAINPORT_DISABLED:
oplinkSettings.MainPort = OPLINKSETTINGS_MAINPORT_DISABLED;
break;
case OPLINKSETTINGS_REMOTEMAINPORT_SERIAL:
oplinkSettings.MainPort = OPLINKSETTINGS_MAINPORT_SERIAL;
break;
case OPLINKSETTINGS_REMOTEMAINPORT_PPM:
oplinkSettings.MainPort = OPLINKSETTINGS_MAINPORT_PPM;
break;
}
switch (flexi_port) {
case OPLINKSETTINGS_REMOTEFLEXIPORT_DISABLED:
oplinkSettings.FlexiPort = OPLINKSETTINGS_FLEXIPORT_DISABLED;
break;
case OPLINKSETTINGS_REMOTEFLEXIPORT_SERIAL:
oplinkSettings.FlexiPort = OPLINKSETTINGS_FLEXIPORT_SERIAL;
break;
case OPLINKSETTINGS_REMOTEFLEXIPORT_PPM:
oplinkSettings.FlexiPort = OPLINKSETTINGS_FLEXIPORT_PPM;
break;
}
switch (vcp_port) {
case OPLINKSETTINGS_REMOTEVCPPORT_DISABLED:
oplinkSettings.VCPPort = OPLINKSETTINGS_VCPPORT_DISABLED;
break;
case OPLINKSETTINGS_REMOTEVCPPORT_SERIAL:
oplinkSettings.VCPPort = OPLINKSETTINGS_VCPPORT_SERIAL;
break;
}
// We will not parse/send UAVTalk if any ports are configured as Serial (except for over the USB HID port).
data->parseUAVTalk = ((oplinkSettings.MainPort != OPLINKSETTINGS_MAINPORT_SERIAL) &&
(oplinkSettings.FlexiPort != OPLINKSETTINGS_FLEXIPORT_SERIAL) &&
(oplinkSettings.VCPPort != OPLINKSETTINGS_VCPPORT_SERIAL));
// Update the OPLinkSettings object.
OPLinkSettingsSet(&oplinkSettings);
// Perform the update.
updateSettings(&oplinkSettings);
}
/**
* Update the oplink settings.
*/
static void updateSettings(OPLinkSettingsData *oplinkSettings)
{
// We can only configure the hardware once.
if (data->configured) {
return;
}
data->configured = true;
// Configure the main port
bool is_coordinator = PIOS_RFM22B_IsCoordinator(pios_rfm22b_id);
switch (oplinkSettings->MainPort) {
case OPLINKSETTINGS_MAINPORT_TELEMETRY:
case OPLINKSETTINGS_MAINPORT_SERIAL:
/* Configure the main port for uart serial */
PIOS_InitUartMainPort();
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_MAIN;
break;
case OPLINKSETTINGS_MAINPORT_PPM:
PIOS_InitPPMMainPort(is_coordinator);
break;
case OPLINKSETTINGS_MAINPORT_DISABLED:
break;
}
// Configure the flexi port
switch (oplinkSettings->FlexiPort) {
case OPLINKSETTINGS_FLEXIPORT_TELEMETRY:
case OPLINKSETTINGS_FLEXIPORT_SERIAL:
/* Configure the flexi port as uart serial */
PIOS_InitUartFlexiPort();
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_FLEXI;
break;
case OPLINKSETTINGS_FLEXIPORT_PPM:
PIOS_InitPPMFlexiPort(is_coordinator);
break;
case OPLINKSETTINGS_FLEXIPORT_DISABLED:
break;
}
// Configure the USB VCP port
switch (oplinkSettings->VCPPort) {
case OPLINKSETTINGS_VCPPORT_SERIAL:
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_USB_VCP;
break;
case OPLINKSETTINGS_VCPPORT_DISABLED:
break;
}
// Update the com baud rate.
uint32_t comBaud = 9600;
switch (data->comSpeed) {
case OPLINKSETTINGS_COMSPEED_2400:
comBaud = 2400;
break;
case OPLINKSETTINGS_COMSPEED_4800:
comBaud = 4800;
break;
case OPLINKSETTINGS_COMSPEED_9600:
comBaud = 9600;
break;
case OPLINKSETTINGS_COMSPEED_19200:
comBaud = 19200;
break;
case OPLINKSETTINGS_COMSPEED_38400:
comBaud = 38400;
break;
case OPLINKSETTINGS_COMSPEED_57600:
comBaud = 57600;
break;
case OPLINKSETTINGS_COMSPEED_115200:
comBaud = 115200;
break;
}
if (PIOS_COM_TELEMETRY) {
PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, comBaud);
// Is this concerning or setting object?
if (obj_per.ObjectID == OPLINKSETTINGS_OBJID) {
// Is this a save, load, or delete?
bool success = true;
switch (obj_per.Operation) {
case OBJECTPERSISTENCE_OPERATION_LOAD:
{
#if defined(PIOS_INCLUDE_FLASH_LOGFS_SETTINGS)
// Load the settings.
void *obj = UAVObjGetByID(obj_per.ObjectID);
if (obj == 0) {
success = false;
} else {
// Load selected instance
success = (UAVObjLoad(obj, obj_per.InstanceID) == 0);
}
#endif
break;
}
case OBJECTPERSISTENCE_OPERATION_SAVE:
{
#if defined(PIOS_INCLUDE_FLASH_LOGFS_SETTINGS)
void *obj = UAVObjGetByID(obj_per.ObjectID);
if (obj == 0) {
success = false;
} else {
// Save selected instance
success = UAVObjSave(obj, obj_per.InstanceID) == 0;
}
#endif
break;
}
case OBJECTPERSISTENCE_OPERATION_DELETE:
{
#if defined(PIOS_INCLUDE_FLASH_LOGFS_SETTINGS)
void *obj = UAVObjGetByID(obj_per.ObjectID);
if (obj == 0) {
success = false;
} else {
// Save selected instance
success = UAVObjDelete(obj, obj_per.InstanceID) == 0;
}
#endif
break;
}
default:
break;
}
if (success == true) {
obj_per.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
ObjectPersistenceSet(&obj_per);
}
}
}

53
flight/modules/System/systemmod.c
View File

@ -54,6 +54,9 @@
#include <taskinfo.h>
#include <hwsettings.h>
#include <pios_flashfs.h>
#if defined(PIOS_INCLUDE_RFM22B)
#include <oplinkstatus.h>
#endif
// Flight Libraries
#include <sanitycheck.h>
@ -80,7 +83,7 @@
#if defined(PIOS_SYSTEM_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_SYSTEM_STACK_SIZE
#else
#define STACK_SIZE_BYTES 924
#define STACK_SIZE_BYTES 1024
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
@ -249,6 +252,54 @@ static void systemTask(__attribute__((unused)) void *parameters)
UAVObjEvent ev;
int delayTime = SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ * 2);
#if defined(PIOS_INCLUDE_RFM22B)
// Update the OPLinkStatus UAVO
OPLinkStatusData oplinkStatus;
OPLinkStatusGet(&oplinkStatus);
// Get the other device stats.
PIOS_RFM2B_GetPairStats(pios_rfm22b_id, oplinkStatus.PairIDs, oplinkStatus.PairSignalStrengths, OPLINKSTATUS_PAIRIDS_NUMELEM);
// Get the stats from the radio device
struct rfm22b_stats radio_stats;
PIOS_RFM22B_GetStats(pios_rfm22b_id, &radio_stats);
// Update the OPLInk status
static bool first_time = true;
static uint16_t prev_tx_count = 0;
static uint16_t prev_rx_count = 0;
oplinkStatus.HeapRemaining = xPortGetFreeHeapSize();
oplinkStatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
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.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;
oplinkStatus.LinkQuality = radio_stats.link_quality;
if (first_time) {
first_time = false;
} else {
uint16_t tx_count = radio_stats.tx_byte_count;
uint16_t rx_count = radio_stats.rx_byte_count;
uint16_t tx_bytes = (tx_count < prev_tx_count) ? (0xffff - prev_tx_count + tx_count) : (tx_count - prev_tx_count);
uint16_t rx_bytes = (rx_count < prev_rx_count) ? (0xffff - prev_rx_count + rx_count) : (rx_count - prev_rx_count);
oplinkStatus.TXRate = (uint16_t)((float)(tx_bytes * 1000) / SYSTEM_UPDATE_PERIOD_MS);
oplinkStatus.RXRate = (uint16_t)((float)(rx_bytes * 1000) / SYSTEM_UPDATE_PERIOD_MS);
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;
OPLinkStatusSet(&oplinkStatus);
#endif /* if defined(PIOS_INCLUDE_RFM22B) */
if (xQueueReceive(objectPersistenceQueue, &ev, delayTime) == pdTRUE) {
// If object persistence is updated call the callback
objectUpdatedCb(&ev);

1162
flight/pios/common/pios_rfm22b.c
View File

@ -51,12 +51,8 @@
#ifdef PIOS_INCLUDE_RFM22B
#include <pios_spi_priv.h>
#include <packet_handler.h>
#if defined(PIOS_INCLUDE_GCSRCVR)
#include <gcsreceiver.h>
#endif
#include <pios_rfm22b_priv.h>
#include <pios_ppm_out_priv.h>
#include <pios_ppm_out.h>
#include <ecc.h>
/* Local Defines */
@ -66,32 +62,24 @@
#define EVENT_QUEUE_SIZE 5
#define RFM22B_DEFAULT_RX_DATARATE RFM22_datarate_9600
#define RFM22B_DEFAULT_TX_POWER RFM22_tx_pwr_txpow_0
#define RFM22B_LINK_QUALITY_THRESHOLD 20
#define RFM22B_NOMINAL_CARRIER_FREQUENCY 430000000
#define RFM22B_MAXIMUM_FREQUENCY 440000000
#define RFM22B_DEFAULT_FREQUENCY 433000000
#define RFM22B_FREQUENCY_HOP_STEP_SIZE 75000
// The maximum amount of time since the last message received to consider the connection broken.
#define DISCONNECT_TIMEOUT_MS 1000 // ms
#define RFM22B_LINK_QUALITY_THRESHOLD 20
#define RFM22B_DEFAULT_NUM_CHANNELS 1
#define RFM22B_DEFAULT_MIN_CHANNEL 0
#define RFM22B_DEFAULT_MAX_CHANNEL 250
#define RFM22B_DEFAULT_CHANNEL_SET 24
#define RFM22B_DEFAULT_PACKET_PERIOD 15
// The maximum amount of time without activity before initiating a reset.
#define PIOS_RFM22B_SUPERVISOR_TIMEOUT 100 // ms
// 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 30
// this is too adjust the RF module so that it is on frequency
#define OSC_LOAD_CAP 0x7F // cap = 12.5pf .. default
#define TX_PREAMBLE_NIBBLES 12 // 7 to 511 (number of nibbles)
#define RX_PREAMBLE_NIBBLES 6 // 5 to 31 (number of nibbles)
#define SYNC_BYTES 4
#define HEADER_BYTES 4
// the size of the rf modules internal FIFO buffers
#define FIFO_SIZE 64
@ -155,24 +143,19 @@ static const uint8_t OUT_FF[64] = {
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF
};
// The randomized channel list.
static const uint8_t channel_list[] = { 68, 34, 2, 184, 166, 94, 204, 18, 47, 118, 239, 176, 5, 213, 218, 186, 104, 160, 199, 209, 231, 197, 92, 191, 88, 129, 40, 19, 93, 200, 156, 14, 247, 182, 193, 194, 208, 210, 248, 76, 244, 48, 179, 105, 25, 74, 155, 203, 39, 97, 195, 81, 83, 180, 134, 172, 235, 132, 198, 119, 207, 154, 0, 61, 140, 171, 245, 26, 95, 3, 22, 62, 169, 55, 127, 144, 45, 33, 170, 91, 158, 167, 63, 201, 41, 21, 190, 51, 103, 49, 189, 205, 240, 89, 181, 149, 6, 157, 249, 230, 115, 72, 163, 17, 29, 99, 28, 117, 219, 73, 78, 53, 69, 216, 161, 124, 110, 242, 214, 145, 13, 11, 220, 113, 138, 58, 54, 162, 237, 37, 152, 187, 232, 77, 126, 85, 38, 238, 173, 23, 188, 100, 131, 226, 31, 9, 114, 106, 221, 42, 233, 139, 4, 241, 96, 211, 8, 98, 121, 147, 24, 217, 27, 87, 122, 125, 135, 148, 178, 71, 206, 57, 141, 35, 30, 246, 159, 16, 32, 15, 229, 20, 12, 223, 150, 101, 79, 56, 102, 111, 174, 236, 137, 143, 52, 225, 64, 224, 112, 168, 243, 130, 108, 202, 123, 146, 228, 75, 46, 153, 7, 192, 175, 151, 222, 59, 82, 90, 1, 65, 109, 44, 165, 84, 43, 36, 128, 196, 67, 80, 136, 86, 70, 234, 66, 185, 10, 164, 177, 116, 50, 107, 183, 215, 212, 60, 227, 133, 120, 142 };
/* Local function forwared declarations */
static void pios_rfm22_task(void *parameters);
static bool pios_rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev);
static void pios_rfm22_setDatarate(struct pios_rfm22b_dev *rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening);
static void pios_rfm22_setDatarate(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev);
static void pios_rfm22_inject_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_radio_event event, bool inISR);
static enum pios_radio_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_receiveStatus(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event radio_setRxMode(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event radio_rxData(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event radio_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHandle p, uint16_t rx_len);
static enum pios_radio_event radio_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, uint8_t *p, uint16_t rx_len);
static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event radio_txData(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_txFailure(struct pios_rfm22b_dev *rfm22b_dev);
@ -181,17 +164,19 @@ static void rfm22_process_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_ra
static enum pios_radio_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_radio_event rfm22_fatal_error(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22b_add_rx_status(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_rx_packet_status status);
static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t min_frequency, uint32_t max_frequency, uint32_t step_size);
static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint8_t init_chan);
static bool rfm22_setFreqHopChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t channel);
static void rfm22_updatePairStatus(struct pios_rfm22b_dev *radio_dev);
static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev);
static bool rfm22_isConnected(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev);
static bool rfm22_isCoordinator(struct pios_rfm22b_dev *rfm22b_dev);
static uint32_t rfm22_destinationID(struct pios_rfm22b_dev *rfm22b_dev);
static bool rfm22_timeToSend(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_synchronizeClock(struct pios_rfm22b_dev *rfm22b_dev);
static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, portTickType ticks);
static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev);
static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t index);
static uint8_t rfm22_calcChannelFromClock(struct pios_rfm22b_dev *rfm22b_dev);
static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_clearLEDs();
@ -212,110 +197,50 @@ static uint8_t rfm22_read(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr);
/* The state transition table */
static const struct pios_rfm22b_transition rfm22b_transitions[RADIO_STATE_NUM_STATES] = {
// Initialization thread
[RADIO_STATE_UNINITIALIZED] = {
[RADIO_STATE_UNINITIALIZED] = {
.entry_fn = 0,
.next_state = {
.next_state = {
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
},
},
[RADIO_STATE_INITIALIZING] = {
[RADIO_STATE_INITIALIZING] = {
.entry_fn = rfm22_init,
.next_state = {
.next_state = {
[RADIO_EVENT_INITIALIZED] = RADIO_STATE_RX_MODE,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_ERROR,
},
},
[RADIO_STATE_REQUESTING_CONNECTION] = {
.entry_fn = rfm22_requestConnection,
.next_state = {
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_ERROR
},
},
[RADIO_STATE_ACCEPTING_CONNECTION] = {
.entry_fn = rfm22_acceptConnection,
.next_state = {
[RADIO_EVENT_DEFAULT] = RADIO_STATE_SENDING_ACK,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_ERROR,
},
},
[RADIO_STATE_RX_MODE] = {
[RADIO_STATE_RX_MODE] = {
.entry_fn = radio_setRxMode,
.next_state = {
.next_state = {
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_ACK_TIMEOUT] = RADIO_STATE_RECEIVING_NACK,
[RADIO_EVENT_INT_RECEIVED] = RADIO_STATE_RX_DATA,
[RADIO_EVENT_FAILURE] = RADIO_STATE_RX_FAILURE,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_ERROR,
},
},
[RADIO_STATE_RX_DATA] = {
.entry_fn = radio_rxData,
.next_state = {
[RADIO_EVENT_INT_RECEIVED] = RADIO_STATE_RX_DATA,
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_ACK_TIMEOUT] = RADIO_STATE_RECEIVING_NACK,
[RADIO_EVENT_RX_COMPLETE] = RADIO_STATE_SENDING_ACK,
[RADIO_EVENT_RX_MODE] = RADIO_STATE_RX_MODE,
[RADIO_EVENT_STATUS_RECEIVED] = RADIO_STATE_RECEIVING_STATUS,
[RADIO_EVENT_CONNECTION_REQUESTED] = RADIO_STATE_ACCEPTING_CONNECTION,
[RADIO_EVENT_PACKET_ACKED] = RADIO_STATE_RECEIVING_ACK,
[RADIO_EVENT_PACKET_NACKED] = RADIO_STATE_RECEIVING_NACK,
[RADIO_EVENT_FAILURE] = RADIO_STATE_RX_FAILURE,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_ERROR,
},
},
[RADIO_STATE_RECEIVING_ACK] = {
.entry_fn = rfm22_receiveAck,
.next_state = {
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_RX_MODE] = RADIO_STATE_RX_MODE,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_ERROR,
},
},
[RADIO_STATE_RECEIVING_NACK] = {
.entry_fn = rfm22_receiveNack,
.next_state = {
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_ERROR,
},
},
[RADIO_STATE_RECEIVING_STATUS] = {
.entry_fn = rfm22_receiveStatus,
.next_state = {
[RADIO_EVENT_RX_COMPLETE] = RADIO_STATE_TX_START,
[RADIO_EVENT_REQUEST_CONNECTION] = RADIO_STATE_REQUESTING_CONNECTION,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_ERROR,
},
},
[RADIO_STATE_RX_DATA] = {
.entry_fn = radio_rxData,
.next_state = {
[RADIO_EVENT_INT_RECEIVED] = RADIO_STATE_RX_DATA,
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_RX_COMPLETE] = RADIO_STATE_TX_START,
[RADIO_EVENT_RX_MODE] = RADIO_STATE_RX_MODE,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_ERROR,
},
},
[RADIO_STATE_TX_START] = {
[RADIO_STATE_TX_START] = {
.entry_fn = radio_txStart,
.next_state = {
.next_state = {
[RADIO_EVENT_INT_RECEIVED] = RADIO_STATE_TX_DATA,
[RADIO_EVENT_RX_MODE] = RADIO_STATE_RX_MODE,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
@ -324,21 +249,20 @@ static const struct pios_rfm22b_transition rfm22b_transitions[RADIO_STATE_NUM_ST
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_ERROR,
},
},
[RADIO_STATE_TX_DATA] = {
[RADIO_STATE_TX_DATA] = {
.entry_fn = radio_txData,
.next_state = {
.next_state = {
[RADIO_EVENT_INT_RECEIVED] = RADIO_STATE_TX_DATA,
[RADIO_EVENT_RX_MODE] = RADIO_STATE_RX_MODE,
[RADIO_EVENT_FAILURE] = RADIO_STATE_TX_FAILURE,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_ERROR,
},
},
[RADIO_STATE_TX_FAILURE] = {
[RADIO_STATE_TX_FAILURE] = {
.entry_fn = rfm22_txFailure,
.next_state = {
.next_state = {
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
@ -346,29 +270,9 @@ static const struct pios_rfm22b_transition rfm22b_transitions[RADIO_STATE_NUM_ST
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_ERROR,
},
},
[RADIO_STATE_SENDING_ACK] = {
.entry_fn = rfm22_sendAck,
.next_state = {
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_ERROR,
},
},
[RADIO_STATE_SENDING_NACK] = {
.entry_fn = rfm22_sendNack,
.next_state = {
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_TIMEOUT] = RADIO_STATE_TIMEOUT,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_ERROR,
},
},
[RADIO_STATE_TIMEOUT] = {
[RADIO_STATE_TIMEOUT] = {
.entry_fn = rfm22_timeout,
.next_state = {
.next_state = {
[RADIO_EVENT_TX_START] = RADIO_STATE_TX_START,
[RADIO_EVENT_RX_MODE] = RADIO_STATE_RX_MODE,
[RADIO_EVENT_ERROR] = RADIO_STATE_ERROR,
@ -376,16 +280,16 @@ static const struct pios_rfm22b_transition rfm22b_transitions[RADIO_STATE_NUM_ST
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_ERROR,
},
},
[RADIO_STATE_ERROR] = {
[RADIO_STATE_ERROR] = {
.entry_fn = rfm22_error,
.next_state = {
.next_state = {
[RADIO_EVENT_INITIALIZE] = RADIO_STATE_INITIALIZING,
[RADIO_EVENT_FATAL_ERROR] = RADIO_STATE_FATAL_ERROR,
},
},
[RADIO_STATE_FATAL_ERROR] = {
[RADIO_STATE_FATAL_ERROR] = {
.entry_fn = rfm22_fatal_error,
.next_state = {},
.next_state = {},
},
};
@ -451,12 +355,12 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
rfm22b_dev->spi_id = spi_id;
// Initialize our configuration parameters
rfm22b_dev->send_ppm = false;
rfm22b_dev->datarate = RFM22B_DEFAULT_RX_DATARATE;
rfm22b_dev->tx_power = RFM22B_DEFAULT_TX_POWER;
rfm22b_dev->coordinator = false;
rfm22b_dev->coordinatorID = 0;
// Initialize the com callbacks.
rfm22b_dev->com_config_cb = NULL;
rfm22b_dev->rx_in_cb = NULL;
rfm22b_dev->tx_out_cb = NULL;
@ -476,18 +380,11 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
rfm22b_dev->stats.rx_seq = 0;
rfm22b_dev->stats.tx_failure = 0;
// Initialize the frequencies.
PIOS_RFM22B_SetInitialFrequency(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY);
PIOS_RFM22B_SetFrequencyRange(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY, RFM22B_DEFAULT_FREQUENCY, RFM22B_FREQUENCY_HOP_STEP_SIZE);
// Initialize the bindings.
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
rfm22b_dev->bindings[i].pairID = 0;
}
rfm22b_dev->coordinator = false;
// Initialize the channels.
PIOS_RFM22B_SetChannelConfig(*rfm22b_id, RFM22B_DEFAULT_NUM_CHANNELS, RFM22B_DEFAULT_MIN_CHANNEL, RFM22B_DEFAULT_MAX_CHANNEL, RFM22B_DEFAULT_CHANNEL_SET, RFM22B_DEFAULT_PACKET_PERIOD, false);
// Create the event queue
rfm22b_dev->eventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(enum pios_radio_event));
rfm22b_dev->eventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(enum pios_radio_event));
// Bind the configuration to the device instance
rfm22b_dev->cfg = *cfg;
@ -508,11 +405,6 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
rfm22b_dev->deviceID = crcs[0] | crcs[1] << 8 | crcs[2] << 16 | crcs[3] << 24;
DEBUG_PRINTF(2, "RF device ID: %x\n\r", rfm22b_dev->deviceID);
#if defined(PIOS_INCLUDE_GCSRCVR)
// Initialize the GCSReceive object
GCSReceiverInitialize();
#endif
// Initialize the external interrupt.
PIOS_EXTI_Init(cfg->exti_cfg);
@ -580,6 +472,16 @@ uint32_t PIOS_RFM22B_DeviceID(uint32_t rfm22b_id)
return 0;
}
/**
* Are we connected to the remote modem?
*
* @param[in] rfm22b_dev The device structure
*/
static bool rfm22_isConnected(struct pios_rfm22b_dev *rfm22b_dev)
{
return (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) || (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTING);
}
/**
* Returns true if the modem is configured as a coordinator.
*
@ -591,7 +493,7 @@ bool PIOS_RFM22B_IsCoordinator(uint32_t rfm22b_id)
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_Validate(rfm22b_dev)) {
return rfm22b_dev->coordinator;
return rfm22_isCoordinator(rfm22b_dev);
}
return false;
}
@ -629,85 +531,68 @@ void PIOS_RFM22B_SetTxPower(uint32_t rfm22b_id, enum rfm22b_tx_power tx_pwr)
}
/**
* Sets the radio frequency range and initial frequency
* Sets the range and number of channels to use for the radio.
* The channels are 0 to 255 divided across the 430-440 MHz range.
* The number of channels configured will be spread across the selected channel range.
* The channel spacing is 10MHz / 250 = 40kHz
*
* @param[in] rfm22b_id The RFM22B device index.
* @param[in] min_freq The minimum frequency
* @param[in] max_freq The maximum frequency
* @param[in] step_size The channel step size
* @param[in] num_channels The number of channels to use for frequency hopping.
* @param[in] min_chan The minimum channel.
* @param[in] max_chan The maximum channel.
* @param[in] chan_set The "seed" for selecting a channel sequence.
* @param[in] packet_period The fixed time alloted to sending a single packet
* @param[in] oneway Only the coordinator can send packets if true.
*/
void PIOS_RFM22B_SetFrequencyRange(uint32_t rfm22b_id, uint32_t min_freq, uint32_t max_freq, uint32_t step_size)
void PIOS_RFM22B_SetChannelConfig(uint32_t rfm22b_id, uint8_t num_chan, uint8_t min_chan, uint8_t max_chan, uint8_t chan_set, uint8_t packet_period, bool oneway)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
rfm22b_dev->con_packet.min_frequency = min_freq;
rfm22b_dev->con_packet.max_frequency = max_freq;
rfm22b_dev->con_packet.channel_spacing = step_size;
rfm22b_dev->packet_period = packet_period;
rfm22b_dev->num_channels = num_chan;
rfm22b_dev->one_way_link = oneway;
// Find the first N channels that meet the min/max criteria out of the random channel list.
uint8_t num_found = 0;
for (uint16_t i = 0; (i < RFM22B_NUM_CHANNELS) && (num_found < num_chan); ++i) {
uint8_t idx = (i + chan_set) % RFM22B_NUM_CHANNELS;
uint8_t chan = channel_list[idx];
if ((chan >= min_chan) && (chan <= max_chan)) {
rfm22b_dev->channels[num_found++] = chan;
}
}
}
/**
* Sets the initial radio frequency range
* Set a modem to be a coordinator or not.
*
* @param[in] rfm22b_id The RFM22B device index.
* @param[in] init_freq The initial frequency
* @param[in] rfm22b_id The RFM22B device index.
* @param[in] coordinator If true, this modem will be configured as a coordinator.
*/
void PIOS_RFM22B_SetInitialFrequency(uint32_t rfm22b_id, uint32_t init_freq)
extern void PIOS_RFM22B_SetCoordinator(uint32_t rfm22b_id, bool coordinator)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
if (PIOS_RFM22B_Validate(rfm22b_dev)) {
rfm22b_dev->coordinator = coordinator;
}
rfm22b_dev->init_frequency = init_freq;
}
/**
* Set the com port configuration callback (to receive com configuration over the air)
* Sets the device coordinator ID.
*
* @param[in] rfm22b_id The rfm22b device.
* @param[in] cb A pointer to the callback function
* @param[in] rfm22b_id The RFM22B device index.
* @param[in] coord_id The coordinator ID.
*/
void PIOS_RFM22B_SetComConfigCallback(uint32_t rfm22b_id, PIOS_RFM22B_ComConfigCallback cb)
void PIOS_RFM22B_SetCoordinatorID(uint32_t rfm22b_id, uint32_t coord_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
rfm22b_dev->com_config_cb = cb;
}
/**
* Set the list of modems that this modem will bind with.
*
* @param[in] rfm22b_id The rfm22b device.
* @param[in] bindingPairIDs The array of binding IDs.
* @param[in] mainPortSettings The array of main com port configurations.
* @param[in] flexiPortSettings The array of flexi com port configurations.
* @param[in] vcpPortSettings The array of VCP com port configurations.
* @param[in] comSpeeds The array of com port speeds.
*/
void PIOS_RFM22B_SetBindings(uint32_t rfm22b_id, const uint32_t bindingPairIDs[], const uint8_t mainPortSettings[],
const uint8_t flexiPortSettings[], const uint8_t vcpPortSettings[], const uint8_t comSpeeds[])
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
// This modem will be considered a coordinator if any bindings have been set.
rfm22b_dev->coordinator = false;
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
rfm22b_dev->bindings[i].pairID = bindingPairIDs[i];
rfm22b_dev->bindings[i].main_port = mainPortSettings[i];
rfm22b_dev->bindings[i].flexi_port = flexiPortSettings[i];
rfm22b_dev->bindings[i].vcp_port = vcpPortSettings[i];
rfm22b_dev->bindings[i].com_speed = comSpeeds[i];
rfm22b_dev->coordinator |= (rfm22b_dev->bindings[i].pairID != 0);
if (PIOS_RFM22B_Validate(rfm22b_dev)) {
rfm22b_dev->coordinatorID = coord_id;
}
}
@ -728,17 +613,7 @@ void PIOS_RFM22B_GetStats(uint32_t rfm22b_id, struct rfm22b_stats *stats)
// Calculate the current link quality
rfm22_calculateLinkQuality(rfm22b_dev);
// We are connected if our destination ID is in the pair stats.
if (rfm22b_dev->destination_id != 0xffffffff) {
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i) {
if ((rfm22b_dev->pair_stats[i].pairID == rfm22b_dev->destination_id) &&
(rfm22b_dev->pair_stats[i].rssi > -127)) {
rfm22b_dev->stats.rssi = rfm22b_dev->pair_stats[i].rssi;
rfm22b_dev->stats.afc_correction = rfm22b_dev->pair_stats[i].afc_correction;
break;
}
}
}
// Return the stats.
*stats = rfm22b_dev->stats;
}
@ -780,7 +655,7 @@ bool PIOS_RFM22B_LinkStatus(uint32_t rfm22b_id)
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return false;
}
return rfm22_isConnected(rfm22b_dev) && (rfm22b_dev->stats.link_quality > RFM22B_LINK_QUALITY_THRESHOLD);
return rfm22b_dev->stats.link_quality > RFM22B_LINK_QUALITY_THRESHOLD;
}
/**
@ -790,7 +665,7 @@ bool PIOS_RFM22B_LinkStatus(uint32_t rfm22b_id)
* @param[in] p The packet to receive into.
* @return true if Rx mode was entered sucessfully.
*/
bool PIOS_RFM22B_ReceivePacket(uint32_t rfm22b_id, PHPacketHandle p)
bool PIOS_RFM22B_ReceivePacket(uint32_t rfm22b_id, uint8_t *p)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
@ -855,7 +730,7 @@ bool PIOS_RFM22B_ReceivePacket(uint32_t rfm22b_id, PHPacketHandle p)
* @param[in] p The packet to transmit.
* @return true if there if the packet was queued for transmission.
*/
bool PIOS_RFM22B_TransmitPacket(uint32_t rfm22b_id, PHPacketHandle p)
bool PIOS_RFM22B_TransmitPacket(uint32_t rfm22b_id, uint8_t *p, uint8_t len)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
@ -863,8 +738,9 @@ bool PIOS_RFM22B_TransmitPacket(uint32_t rfm22b_id, PHPacketHandle p)
return false;
}
rfm22b_dev->tx_packet = p;
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
rfm22b_dev->tx_packet_handle = p;
rfm22b_dev->stats.tx_byte_count += len;
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_ticks == 0) {
rfm22b_dev->packet_start_ticks = 1;
}
@ -877,23 +753,23 @@ bool PIOS_RFM22B_TransmitPacket(uint32_t rfm22b_id, PHPacketHandle p)
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// set the tx power
rfm22b_dev->tx_power = 0x7;
rfm22_write(rfm22b_dev, RFM22_tx_power, RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power);
// TUNE mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
// Queue the data up for sending
rfm22b_dev->tx_data_wr = PH_PACKET_SIZE(rfm22b_dev->tx_packet);
rfm22b_dev->tx_data_wr = len;
RX_LED_OFF;
// Set the destination address in the transmit header.
// The destination address is the first 4 bytes of the message.
uint8_t *tx_buffer = (uint8_t *)(rfm22b_dev->tx_packet);
rfm22_write(rfm22b_dev, RFM22_transmit_header0, tx_buffer[0]);
rfm22_write(rfm22b_dev, RFM22_transmit_header1, tx_buffer[1]);
rfm22_write(rfm22b_dev, RFM22_transmit_header2, tx_buffer[2]);
rfm22_write(rfm22b_dev, RFM22_transmit_header3, tx_buffer[3]);
uint32_t id = rfm22_destinationID(rfm22b_dev);
rfm22_write(rfm22b_dev, RFM22_transmit_header0, id & 0xff);
rfm22_write(rfm22b_dev, RFM22_transmit_header1, (id >> 8) & 0xff);
rfm22_write(rfm22b_dev, RFM22_transmit_header2, (id >> 16) & 0xff);
rfm22_write(rfm22b_dev, RFM22_transmit_header3, (id >> 24) & 0xff);
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
@ -904,9 +780,10 @@ bool PIOS_RFM22B_TransmitPacket(uint32_t rfm22b_id, PHPacketHandle p)
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
// Set the total number of data bytes we are going to transmit.
rfm22_write(rfm22b_dev, RFM22_transmit_packet_length, rfm22b_dev->tx_data_wr);
rfm22_write(rfm22b_dev, RFM22_transmit_packet_length, len);
// Add some data to the chips TX FIFO before enabling the transmitter
uint8_t *tx_buffer = rfm22b_dev->tx_packet_handle;
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
@ -929,6 +806,10 @@ bool PIOS_RFM22B_TransmitPacket(uint32_t rfm22b_id, PHPacketHandle p)
TX_LED_ON;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D1_LED_ON;
#endif
return true;
}
@ -951,11 +832,10 @@ pios_rfm22b_int_result PIOS_RFM22B_ProcessTx(uint32_t rfm22b_id)
return PIOS_RFM22B_INT_FAILURE;
}
// TX FIFO almost empty, it needs filling up
if (rfm22b_dev->status_regs.int_status_1.tx_fifo_almost_empty) {
// Add data to the TX FIFO buffer
uint8_t *tx_buffer = (uint8_t *)(rfm22b_dev->tx_packet);
uint8_t *tx_buffer = rfm22b_dev->tx_packet_handle;
uint16_t max_bytes = FIFO_SIZE - TX_FIFO_LO_WATERMARK - 1;
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
@ -971,7 +851,6 @@ pios_rfm22b_int_result PIOS_RFM22B_ProcessTx(uint32_t rfm22b_id)
} else if (rfm22b_dev->status_regs.int_status_1.packet_sent_interrupt) {
// Transition out of Tx mode.
rfm22b_dev->rfm22b_state = RFM22B_STATE_TRANSITION;
return PIOS_RFM22B_TX_COMPLETE;
}
@ -991,7 +870,7 @@ pios_rfm22b_int_result PIOS_RFM22B_ProcessRx(uint32_t rfm22b_id)
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return PIOS_RFM22B_INT_FAILURE;
}
uint8_t *rx_buffer = (uint8_t *)(rfm22b_dev->rx_packet_handle);
uint8_t *rx_buffer = rfm22b_dev->rx_packet_handle;
pios_rfm22b_int_result ret = PIOS_RFM22B_INT_SUCCESS;
// Read the device status registers
@ -1015,7 +894,14 @@ pios_rfm22b_int_result PIOS_RFM22B_ProcessRx(uint32_t rfm22b_id)
// read the total length of the packet data
uint32_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
// their must still be data in the RX FIFO we need to get
// The received packet is going to be larger than the receive buffer
if (len > rfm22b_dev->max_packet_len) {
rfm22_releaseBus(rfm22b_dev);
rfm22_rxFailure(rfm22b_dev);
return PIOS_RFM22B_INT_FAILURE;
}
// there must still be data in the RX FIFO we need to get
if (rfm22b_dev->rx_buffer_wr < len) {
int32_t bytes_to_read = len - rfm22b_dev->rx_buffer_wr;
// Fetch the data from the RX FIFO
@ -1026,6 +912,12 @@ pios_rfm22b_int_result PIOS_RFM22B_ProcessRx(uint32_t rfm22b_id)
rfm22_deassertCs(rfm22b_dev);
}
// Read the packet header (destination ID)
rfm22b_dev->rx_destination_id = rfm22_read(rfm22b_dev, RFM22_received_header0);
rfm22b_dev->rx_destination_id |= (rfm22_read(rfm22b_dev, RFM22_received_header1) << 8);
rfm22b_dev->rx_destination_id |= (rfm22_read(rfm22b_dev, RFM22_received_header2) << 16);
rfm22b_dev->rx_destination_id |= (rfm22_read(rfm22b_dev, RFM22_received_header3) << 24);
// Release the SPI bus.
rfm22_releaseBus(rfm22b_dev);
@ -1038,6 +930,9 @@ pios_rfm22b_int_result PIOS_RFM22B_ProcessRx(uint32_t rfm22b_id)
// Increment the total byte received count.
rfm22b_dev->stats.rx_byte_count += rfm22b_dev->rx_buffer_wr;
// Update the pair status with this packet.
rfm22_updatePairStatus(rfm22b_dev);
// We're finished with Rx mode
rfm22b_dev->rfm22b_state = RFM22B_STATE_TRANSITION;
@ -1059,6 +954,13 @@ pios_rfm22b_int_result PIOS_RFM22B_ProcessRx(uint32_t rfm22b_id)
return PIOS_RFM22B_INT_FAILURE;
}
// The received packet is going to be larger than the receive buffer
if ((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) > rfm22b_dev->max_packet_len) {
rfm22_releaseBus(rfm22b_dev);
rfm22_rxFailure(rfm22b_dev);
return PIOS_RFM22B_INT_FAILURE;
}
// Fetch the data from the RX FIFO
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access & 0x7F);
@ -1074,15 +976,19 @@ pios_rfm22b_int_result PIOS_RFM22B_ProcessRx(uint32_t rfm22b_id)
} else if (rfm22b_dev->status_regs.int_status_2.valid_preamble_detected) {
// Valid preamble detected
RX_LED_ON;
// Sync word detected
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D2_LED_ON;
#endif // PIOS_RFM22B_DEBUG_ON_TELEM
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_ticks == 0) {
rfm22b_dev->packet_start_ticks = 1;
}
// We detected the preamble, now wait for sync.
rfm22b_dev->rfm22b_state = RFM22B_STATE_RX_WAIT_SYNC;
} else if (rfm22b_dev->status_regs.int_status_2.sync_word_detected) {
// Sync word detected
// Claim the SPI bus.
rfm22_claimBus(rfm22b_dev);
@ -1112,15 +1018,6 @@ pios_rfm22b_int_result PIOS_RFM22B_ProcessRx(uint32_t rfm22b_id)
return PIOS_RFM22B_INT_FAILURE;
}
// Set the packet start time if necessary.
if ((rfm22b_dev->packet_start_ticks == 0) &&
((rfm22b_dev->rfm22b_state == RFM22B_STATE_RX_WAIT_SYNC) || (rfm22b_dev->rfm22b_state == RFM22B_STATE_RX_WAIT_SYNC))) {
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_ticks == 0) {
rfm22b_dev->packet_start_ticks = 1;
}
}
return ret;
}
@ -1151,9 +1048,7 @@ static void pios_rfm22_task(void *parameters)
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
portTickType lastEventTicks = xTaskGetTickCount();
portTickType lastStatusTicks = lastEventTicks;
portTickType lastPPMTicks = lastEventTicks;
portTickType lastEventTicks = xTaskGetTickCount();
while (1) {
#if defined(PIOS_INCLUDE_WDG) && defined(PIOS_WDG_RFM22B)
@ -1191,41 +1086,13 @@ static void pios_rfm22_task(void *parameters)
}
// Change channels if necessary.
if (PIOS_RFM22B_InRxWait((uint32_t)rfm22b_dev)) {
rfm22_changeChannel(rfm22b_dev);
}
rfm22_changeChannel(rfm22b_dev);
portTickType curTicks = xTaskGetTickCount();
uint32_t last_rec_ms = (rfm22b_dev->rx_complete_ticks == 0) ? 0 : pios_rfm22_time_difference_ms(rfm22b_dev->rx_complete_ticks, curTicks);
// Have we been sending / receiving this packet too long?
if ((rfm22b_dev->packet_start_ticks > 0) &&
(pios_rfm22_time_difference_ms(rfm22b_dev->packet_start_ticks, curTicks) > (rfm22b_dev->max_packet_time * 3))) {
(pios_rfm22_time_difference_ms(rfm22b_dev->packet_start_ticks, curTicks) > (rfm22b_dev->packet_period * 3))) {
rfm22_process_event(rfm22b_dev, RADIO_EVENT_TIMEOUT);
} else if (last_rec_ms > DISCONNECT_TIMEOUT_MS) {
// Has it been too long since we received a packet
rfm22_process_event(rfm22b_dev, RADIO_EVENT_ERROR);
} else {
// Are we waiting for an ACK?
if (rfm22b_dev->prev_tx_packet) {
// Should we resend the packet?
if ((pios_rfm22_time_difference_ms(rfm22b_dev->tx_complete_ticks, curTicks) > rfm22b_dev->max_ack_delay) &&
PIOS_RFM22B_InRxWait((uint32_t)rfm22b_dev)) {
rfm22b_dev->tx_complete_ticks = curTicks;
rfm22_process_event(rfm22b_dev, RADIO_EVENT_ACK_TIMEOUT);
}
} else {
// Queue up a PPM packet if it's time.
if (pios_rfm22_time_difference_ms(lastPPMTicks, curTicks) > PPM_UPDATE_PERIOD_MS) {
rfm22_sendPPM(rfm22b_dev);
lastPPMTicks = curTicks;
}
// Queue up a status packet if it's time.
if (pios_rfm22_time_difference_ms(lastStatusTicks, curTicks) > RADIOSTATS_UPDATE_PERIOD_MS) {
rfm22_sendStatus(rfm22b_dev);
lastStatusTicks = curTicks;
}
}
}
// Send a packet if it's our time slice
@ -1237,7 +1104,19 @@ static void pios_rfm22_task(void *parameters)
D4_LED_OFF;
}
#endif
// Start transmitting a packet if it's time.
if (time_to_send && PIOS_RFM22B_InRxWait((uint32_t)rfm22b_dev)) {
// If the on_sync_channel flag is set, it means that we were on the sync channel, but no packet was received, so transition to a non-connected state.
if (rfm22b_dev->on_sync_channel) {
rfm22b_dev->on_sync_channel = false;
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) {
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTING;
} else {
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
}
}
rfm22_process_event(rfm22b_dev, RADIO_EVENT_TX_START);
}
}
@ -1371,28 +1250,23 @@ static enum pios_radio_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
}
// Initialize the state
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
rfm22b_dev->destination_id = 0xffffffff;
rfm22b_dev->send_status = false;
rfm22b_dev->send_connection_request = false;
rfm22b_dev->send_ack_nack = false;
rfm22b_dev->resend_packet = false;
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
// Initialize the packets.
rfm22b_dev->rx_packet_len = 0;
rfm22b_dev->tx_packet = NULL;
rfm22b_dev->prev_tx_packet = NULL;
rfm22b_dev->data_packet.header.data_size = 0;
rfm22b_dev->rx_packet_len = 0;
rfm22b_dev->rx_destination_id = 0;
rfm22b_dev->tx_packet_handle = NULL;
// Initialize the devide state
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
rfm22b_dev->frequency_hop_channel = 0;
rfm22b_dev->afc_correction_Hz = 0;
rfm22b_dev->packet_start_ticks = 0;
rfm22b_dev->tx_complete_ticks = 0;
rfm22b_dev->rx_complete_ticks = 0;
rfm22b_dev->rfm22b_state = RFM22B_STATE_INITIALIZING;
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
rfm22b_dev->channel = 0;
rfm22b_dev->channel_index = 0;
rfm22b_dev->afc_correction_Hz = 0;
rfm22b_dev->packet_start_ticks = 0;
rfm22b_dev->tx_complete_ticks = 0;
rfm22b_dev->rfm22b_state = RFM22B_STATE_INITIALIZING;
rfm22b_dev->on_sync_channel = false;
// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
rfm22_write_claim(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
@ -1522,13 +1396,14 @@ static enum pios_radio_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
RFM22_header_cntl1_hdch_1 |
RFM22_header_cntl1_hdch_2 |
RFM22_header_cntl1_hdch_3);
// Check all bit of all bytes of the header
rfm22_write(rfm22b_dev, RFM22_header_enable0, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable1, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable2, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable3, 0xff);
// Set the ID to be checked
uint32_t id = rfm22b_dev->deviceID;
// Check all bit of all bytes of the header, unless we're an unbound modem.
uint8_t header_mask = (rfm22_destinationID(rfm22b_dev) == 0xffffffff) ? 0 : 0xff;
rfm22_write(rfm22b_dev, RFM22_header_enable0, header_mask);
rfm22_write(rfm22b_dev, RFM22_header_enable1, header_mask);
rfm22_write(rfm22b_dev, RFM22_header_enable2, header_mask);
rfm22_write(rfm22b_dev, RFM22_header_enable3, header_mask);
// The destination ID and receive ID should be the same.
uint32_t id = rfm22_destinationID(rfm22b_dev);
rfm22_write(rfm22b_dev, RFM22_check_header0, id & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header1, (id >> 8) & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header2, (id >> 16) & 0xff);
@ -1561,8 +1436,8 @@ static enum pios_radio_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
rfm22_releaseBus(rfm22b_dev);
// Initialize the frequency and datarate to te default.
rfm22_setNominalCarrierFrequency(rfm22b_dev, rfm22b_dev->init_frequency, rfm22b_dev->init_frequency, RFM22B_FREQUENCY_HOP_STEP_SIZE);
pios_rfm22_setDatarate(rfm22b_dev, RFM22B_DEFAULT_RX_DATARATE, true);
rfm22_setNominalCarrierFrequency(rfm22b_dev, 0);
pios_rfm22_setDatarate(rfm22b_dev);
return RADIO_EVENT_INITIALIZED;
}
@ -1580,15 +1455,19 @@ static enum pios_radio_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
* @param[in] datarate The air datarate.
* @param[in] data_whitening Is data whitening desired?
*/
static void pios_rfm22_setDatarate(struct pios_rfm22b_dev *rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening)
static void pios_rfm22_setDatarate(struct pios_rfm22b_dev *rfm22b_dev)
{
uint32_t datarate_bps = data_rate[datarate];
enum rfm22b_datarate datarate = rfm22b_dev->datarate;
bool data_whitening = true;
uint32_t datarate_bps = data_rate[datarate];
rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(datarate_bps) + 0.5f);
// Calculate the maximum packet length from the datarate.
float bytes_per_period = (float)datarate_bps * (float)(rfm22b_dev->packet_period) / 8000;
// 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(PHAckNackPacket) * 8 + TX_PREAMBLE_NIBBLES * 4) * 1000) / (float)(datarate_bps) + 0.5f) * 4 + 4 + random;
rfm22b_dev->max_packet_len = bytes_per_period - TX_PREAMBLE_NIBBLES / 2 - SYNC_BYTES - HEADER_BYTES - 5;
if (rfm22b_dev->max_packet_len > RFM22B_MAX_PACKET_LEN) {
rfm22b_dev->max_packet_len = RFM22B_MAX_PACKET_LEN;
}
// Claim the SPI bus.
rfm22_claimBus(rfm22b_dev);
@ -1651,16 +1530,17 @@ static void pios_rfm22_setDatarate(struct pios_rfm22b_dev *rfm22b_dev, enum rfm2
}
/**
* Set the nominal carrier frequency and channel step size.
* Set the nominal carrier frequency, channel step size, and initial channel
*
* @param[in] rfm33b_dev The device structure pointer.
* @param[in] min_frequency The minimum frequenc to transmit on (in Hz).
* @param[in] max_frequency The maximum frequenc to transmit on (in Hz).
* @param[in] step_size The channel spacing (in Hz).
* @param[in] init_chan The initial channel to tune to.
*/
static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t min_frequency, uint32_t max_frequency, uint32_t step_size)
static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint8_t init_chan)
{
uint32_t frequency_hz = min_frequency;
// Set the frequency channels to start at 430MHz
uint32_t frequency_hz = RFM22B_NOMINAL_CARRIER_FREQUENCY;
// The step size is 10MHz / 250 channels = 40khz, and the step size is specified in 10khz increments.
uint8_t freq_hop_step_size = 4;
// holds the hbsel (1 or 2)
uint8_t hbsel;
@ -1681,22 +1561,15 @@ static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev,
// Claim the SPI bus.
rfm22_claimBus(rfm22b_dev);
// Calculate the number of frequency hopping channels.
rfm22b_dev->num_channels = (step_size == 0) ? 1 : (uint16_t)((max_frequency - min_frequency) / step_size);
// initialize the frequency hopping step size (specified in 10khz increments).
uint32_t freq_hop_step_size = step_size / 10000;
if (freq_hop_step_size > 255) {
freq_hop_step_size = 255;
}
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_step_size, (uint8_t)freq_hop_step_size);
// Setthe frequency hopping step size.
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_step_size, freq_hop_step_size);
// frequency hopping channel (0-255)
rfm22b_dev->frequency_step_size = 156.25f * hbsel;
rfm22b_dev->frequency_step_size = 156.25f * hbsel;
// frequency hopping channel (0-255)
rfm22b_dev->frequency_hop_channel = 0;
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, 0);
rfm22b_dev->channel = init_chan;
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, init_chan);
// no frequency offset
rfm22_write(rfm22b_dev, RFM22_frequency_offset1, 0);
@ -1720,14 +1593,14 @@ static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev,
static bool rfm22_setFreqHopChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t channel)
{
// set the frequency hopping channel
if (rfm22b_dev->frequency_hop_channel == channel) {
if (rfm22b_dev->channel == channel) {
return false;
}
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D3_LED_TOGGLE;
#endif // PIOS_RFM22B_DEBUG_ON_TELEM
rfm22b_dev->frequency_hop_channel = channel;
rfm22_write_claim(rfm22b_dev, RFM22_frequency_hopping_channel_select, channel);
rfm22b_dev->channel = channel;
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, channel);
return true;
}
@ -1777,10 +1650,6 @@ static void rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->packet_start_ticks = 0;
rfm22b_dev->rfm22b_state = RFM22B_STATE_TRANSITION;
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
if (rfm22b_dev->rx_complete_ticks == 0) {
rfm22b_dev->rx_complete_ticks = 1;
}
}
@ -1796,94 +1665,45 @@ static void rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev)
*/
static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
{
PHPacketHandle p = NULL;
uint8_t *p = radio_dev->rx_packet;
uint8_t len = 0;
uint8_t max_data_len = radio_dev->max_packet_len - RS_ECC_NPARITY;
// Don't send if it's not our turn, or if we're receiving a packet.
if (!rfm22_timeToSend(radio_dev) || !PIOS_RFM22B_InRxWait((uint32_t)radio_dev)) {
return RADIO_EVENT_RX_MODE;
}
#ifdef PIOS_PPM_RECEIVER
// Send a PPM packet?
if (radio_dev->send_ppm) {
p = (PHPacketHandle) & (radio_dev->ppm_packet);
radio_dev->send_ppm = false;
}
#endif
// Send an ACK/NACK?
if (!p && radio_dev->send_ack_nack) {
p = (PHPacketHandle) & (radio_dev->ack_nack_packet);
radio_dev->send_ack_nack = false;
}
// Resend a packet?
if (!p && radio_dev->resend_packet) {
p = radio_dev->prev_tx_packet;
radio_dev->prev_tx_packet = NULL;
radio_dev->resend_packet = false;
}
// Don't send another packet if we're waiting for an ACK.
if (!p && radio_dev->prev_tx_packet) {
// Don't send anything if we're bound to a coordinator and not yet connected.
if (!rfm22_isCoordinator(radio_dev) && !rfm22_isConnected(radio_dev)) {
return RADIO_EVENT_RX_MODE;
}
// Send a connection request?
if (!p && radio_dev->send_connection_request) {
p = (PHPacketHandle) & (radio_dev->con_packet);
radio_dev->send_connection_request = false;
}
// Try to get some data to send
if (!p) {
if (radio_dev->tx_out_cb) {
bool need_yield = false;
p = &radio_dev->data_packet;
p->header.type = PACKET_TYPE_DATA;
p->header.destination_id = radio_dev->destination_id;
if (radio_dev->tx_out_cb && (p->header.data_size == 0)) {
p->header.data_size = (radio_dev->tx_out_cb)(radio_dev->tx_out_context, p->data, PH_MAX_DATA, NULL, &need_yield);
}
// Don't send any data until we're connected.
if (!rfm22_isConnected(radio_dev)) {
p->header.data_size = 0;
}
if (p->header.data_size == 0) {
p = NULL;
}
len = (radio_dev->tx_out_cb)(radio_dev->tx_out_context, p, max_data_len, NULL, &need_yield);
}
// Send status?
if (!p && radio_dev->send_status) {
p = (PHPacketHandle) & (radio_dev->status_packet);
radio_dev->send_status = false;
}
if (!p) {
// Always send a packet on the sync channel if this modem is a coordinator.
if ((len == 0) && ((radio_dev->channel_index != 0) || !rfm22_isCoordinator(radio_dev))) {
return RADIO_EVENT_RX_MODE;
}
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D1_LED_ON;
#endif
// Increment the packet sequence number.
radio_dev->stats.tx_seq++;
// Add the packet sequence number.
p->header.seq_num = radio_dev->stats.tx_seq++;
// Pass the time of the previous transmitted packet to use for synchronizing the clocks.
p->header.prev_tx_time = radio_dev->tx_complete_ticks;
// Change the channel if necessary, but not when ACKing the connection request message.
if ((p->header.type != PACKET_TYPE_ACK) || (radio_dev->rx_packet.header.type != PACKET_TYPE_CON_REQUEST)) {
rfm22_changeChannel(radio_dev);
}
// Change the channel.
rfm22_changeChannel(radio_dev);
// Add the error correcting code.
encode_data((unsigned char *)p, PHPacketSize(p), (unsigned char *)p);
if (len != 0) {
encode_data((unsigned char *)p, len, (unsigned char *)p);
}
len += RS_ECC_NPARITY;
// Transmit the packet.
PIOS_RFM22B_TransmitPacket((uint32_t)radio_dev, p);
PIOS_RFM22B_TransmitPacket((uint32_t)radio_dev, p, len);
return RADIO_EVENT_NUM_EVENTS;
}
@ -1901,25 +1721,11 @@ static enum pios_radio_event radio_txData(struct pios_rfm22b_dev *radio_dev)
// Is the transmition complete
if (res == PIOS_RFM22B_TX_COMPLETE) {
radio_dev->stats.tx_byte_count += PH_PACKET_SIZE(radio_dev->tx_packet);
radio_dev->tx_complete_ticks = xTaskGetTickCount();
radio_dev->tx_complete_ticks = xTaskGetTickCount();
// Is this an ACK?
bool is_ack = (radio_dev->tx_packet->header.type == PACKET_TYPE_ACK);
ret_event = RADIO_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 (radio_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
rfm22_setConnectionParameters(radio_dev);
}
} else if ((radio_dev->tx_packet->header.type != PACKET_TYPE_NACK) &&
(radio_dev->tx_packet->header.type != PACKET_TYPE_PPM) &&
(radio_dev->tx_packet->header.type != PACKET_TYPE_STATUS)) {
// We need to wait for an ACK if this packet it not an ACK, NACK, PPM, or status packet.
radio_dev->prev_tx_packet = radio_dev->tx_packet;
}
radio_dev->tx_packet = 0;
radio_dev->tx_packet_handle = 0;
radio_dev->tx_data_wr = radio_dev->tx_data_rd = 0;
// Start a new transaction
radio_dev->packet_start_ticks = 0;
@ -1940,7 +1746,7 @@ static enum pios_radio_event radio_txData(struct pios_rfm22b_dev *radio_dev)
*/
static enum pios_radio_event radio_setRxMode(struct pios_rfm22b_dev *rfm22b_dev)
{
if (!PIOS_RFM22B_ReceivePacket((uint32_t)rfm22b_dev, &(rfm22b_dev->rx_packet))) {
if (!PIOS_RFM22B_ReceivePacket((uint32_t)rfm22b_dev, rfm22b_dev->rx_packet)) {
return RADIO_EVENT_NUM_EVENTS;
}
rfm22b_dev->packet_start_ticks = 0;
@ -1957,19 +1763,22 @@ static enum pios_radio_event radio_setRxMode(struct pios_rfm22b_dev *rfm22b_dev)
* @param[in] rc_len The number of bytes received.
* @return enum pios_radio_event The next event to inject
*/
static enum pios_radio_event radio_receivePacket(struct pios_rfm22b_dev *radio_dev, PHPacketHandle p, uint16_t rx_len)
static enum pios_radio_event radio_receivePacket(struct pios_rfm22b_dev *radio_dev, uint8_t *p, uint16_t rx_len)
{
portTickType curTicks = xTaskGetTickCount();
uint8_t data_len = rx_len - RS_ECC_NPARITY;
// Attempt to correct any errors in the packet.
decode_data((unsigned char *)p, rx_len);
bool good_packet = check_syndrome() == 0;
bool good_packet = true;
bool corrected_packet = false;
// We have an error. Try to correct it.
if (!good_packet && (correct_errors_erasures((unsigned char *)p, rx_len, 0, 0) != 0)) {
// We corrected it
corrected_packet = true;
if (data_len > 0) {
decode_data((unsigned char *)p, rx_len);
good_packet = check_syndrome() == 0;
// We have an error. Try to correct it.
if (!good_packet && (correct_errors_erasures((unsigned char *)p, rx_len, 0, 0) != 0)) {
// We corrected it
corrected_packet = true;
}
}
// Set the packet status
@ -1985,101 +1794,22 @@ static enum pios_radio_event radio_receivePacket(struct pios_rfm22b_dev *radio_d
enum pios_radio_event ret_event = RADIO_EVENT_RX_COMPLETE;
if (good_packet || corrected_packet) {
switch (p->header.type) {
case PACKET_TYPE_STATUS:
ret_event = RADIO_EVENT_STATUS_RECEIVED;
break;
case PACKET_TYPE_CON_REQUEST:
ret_event = RADIO_EVENT_CONNECTION_REQUESTED;
break;
case PACKET_TYPE_DATA:
{
// Send the data to the com port
bool rx_need_yield;
if (radio_dev->rx_in_cb) {
(radio_dev->rx_in_cb)(radio_dev->rx_in_context, p->data, p->header.data_size, NULL, &rx_need_yield);
}
break;
}
case PACKET_TYPE_DUPLICATE_DATA:
break;
case PACKET_TYPE_ACK:
ret_event = RADIO_EVENT_PACKET_ACKED;
break;
case PACKET_TYPE_NACK:
ret_event = RADIO_EVENT_PACKET_NACKED;
break;
case PACKET_TYPE_PPM:
{
#if defined(PIOS_INCLUDE_GCSRCVR) || (defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT)) || defined(PIOS_INCLUDE_RFM22B_RCVR)
PHPpmPacketHandle ppmp = (PHPpmPacketHandle)p;
#if defined(PIOS_INCLUDE_GCSRCVR) || (defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT))
bool ppm_output = false;
#endif
#endif
#if defined(PIOS_INCLUDE_RFM22B_RCVR)
ppm_output = true;
radio_dev->ppm_fresh = true;
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
radio_dev->ppm_channel[i] = ppmp->channels[i];
}
#endif
#if defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT)
if (PIOS_PPM_OUTPUT) {
ppm_output = true;
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, ppmp->channels[i]);
}
}
#endif
#if defined(PIOS_INCLUDE_GCSRCVR)
if (!ppm_output) {
GCSReceiverData gcsRcvr;
for (uint8_t i = 0; (i < PIOS_RFM22B_RCVR_MAX_CHANNELS) && (i < GCSRECEIVER_CHANNEL_NUMELEM); ++i) {
gcsRcvr.Channel[i] = ppmp->channels[i];
}
GCSReceiverSet(&gcsRcvr);
}
#endif
break;
}
default:
break;
// Send the data to the com port
bool rx_need_yield;
if (radio_dev->rx_in_cb) {
(radio_dev->rx_in_cb)(radio_dev->rx_in_context, p, data_len, NULL, &rx_need_yield);
}
uint16_t seq_num = radio_dev->rx_packet.header.seq_num;
if (rfm22_isConnected(radio_dev)) {
// Adjust the clock syncronization if this is the remote modem.
// The coordinator sends the time that the previous packet was finised transmitting,
// which should match the time that the last packet was received.
uint16_t prev_seq_num = radio_dev->stats.rx_seq;
if (seq_num == (prev_seq_num + 1)) {
portTickType local_rx_time = radio_dev->rx_complete_ticks;
portTickType remote_tx_time = radio_dev->rx_packet.header.prev_tx_time;
portTickType time_delta = remote_tx_time - local_rx_time;
portTickType time_delta_delta = (time_delta > radio_dev->time_delta) ? (time_delta - radio_dev->time_delta) : (radio_dev->time_delta - time_delta);
if (time_delta_delta <= 2) {
radio_dev->time_delta = remote_tx_time - local_rx_time;
}
} else if (seq_num > prev_seq_num) {
// Add any missed packets into the stats.
uint16_t missed_packets = seq_num - prev_seq_num - 1;
radio_dev->stats.rx_missed += missed_packets;
}
// We only synchronize the clock on packets from our coordinator on the sync channel.
if (!rfm22_isCoordinator(radio_dev) && (radio_dev->rx_destination_id == rfm22_destinationID(radio_dev)) && (radio_dev->channel_index == 0)) {
rfm22_synchronizeClock(radio_dev);
radio_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
radio_dev->on_sync_channel = false;
}
// Update the sequence number
radio_dev->stats.rx_seq = seq_num;
} else {
ret_event = RADIO_EVENT_RX_COMPLETE;
}
// Log the time that the packet was received.
radio_dev->rx_complete_ticks = curTicks;
if (radio_dev->rx_complete_ticks == 0) {
radio_dev->rx_complete_ticks = 1;
}
return ret_event;
}
@ -2122,210 +1852,19 @@ static enum pios_radio_event radio_rxData(struct pios_rfm22b_dev *radio_dev)
}
/*****************************************************************************
* Packet Transmition Functions
* Link Statistics Functions
*****************************************************************************/
/**
* Send a radio status message.
*
* @param[in] rfm22b_dev The device structure
*/
static void rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
{
// Don't send if a status is already queued or if we're the coordinator and not connected.
if (rfm22b_dev->send_status || (rfm22b_dev->coordinator && !rfm22_isConnected(rfm22b_dev))) {
return;
}
// Update the link quality metric.
rfm22_calculateLinkQuality(rfm22b_dev);
// Queue the status message
if (rfm22_isConnected(rfm22b_dev)) {
rfm22b_dev->status_packet.header.destination_id = rfm22b_dev->destination_id;
} else if (rfm22b_dev->coordinator) {
return;
} else {
rfm22b_dev->status_packet.header.destination_id = 0xffffffff; // Broadcast
}
rfm22b_dev->status_packet.header.type = PACKET_TYPE_STATUS;
rfm22b_dev->status_packet.header.data_size = PH_STATUS_DATA_SIZE(&(rfm22b_dev->status_packet));
rfm22b_dev->status_packet.source_id = rfm22b_dev->deviceID;
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;
}
/**
* Send a PPM packet.
*
* @param[in] rfm22b_dev The device structure
*/
static void rfm22_sendPPM(__attribute__((unused)) struct pios_rfm22b_dev *rfm22b_dev)
{
#ifdef PIOS_PPM_RECEIVER
// Only send PPM if we're connected
if (!rfm22_isConnected(rfm22b_dev)) {
return;
}
// Just return if the PPM receiver is not configured.
if (PIOS_PPM_RECEIVER == 0) {
return;
}
// See if we have any valid channels.
bool valid_input_detected = false;
for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS; ++i) {
rfm22b_dev->ppm_packet.channels[i] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i + 1);
if ((rfm22b_dev->ppm_packet.channels[i] != PIOS_RCVR_INVALID) && (rfm22b_dev->ppm_packet.channels[i] != PIOS_RCVR_TIMEOUT)) {
valid_input_detected = true;
}
}
// Send the PPM packet if it's valid
if (valid_input_detected) {
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));
rfm22b_dev->send_ppm = true;
}
#endif /* ifdef PIOS_PPM_RECEIVER */
}
/**
* Send an ACK to a received packet.
* Update the modem pair status.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_radio_event The next event to inject
*/
static enum pios_radio_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev)
static void rfm22_updatePairStatus(struct pios_rfm22b_dev *radio_dev)
{
// We don't ACK PPM or status packets.
if ((rfm22b_dev->rx_packet.header.type != PACKET_TYPE_PPM) && (rfm22b_dev->rx_packet.header.type != PACKET_TYPE_STATUS)) {
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
aph->header.destination_id = rfm22b_dev->destination_id;
aph->header.type = PACKET_TYPE_ACK;
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
rfm22b_dev->send_ack_nack = true;
}
return RADIO_EVENT_TX_START;
}
/**
* Send an NACK to a received packet.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_radio_event The next event to inject
*/
static enum pios_radio_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev)
{
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
// We don't NACK PPM or status packets.
if ((rfm22b_dev->rx_packet.header.type != PACKET_TYPE_PPM) && (rfm22b_dev->rx_packet.header.type != PACKET_TYPE_STATUS)) {
aph->header.destination_id = rfm22b_dev->destination_id;
aph->header.type = PACKET_TYPE_NACK;
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
rfm22b_dev->send_ack_nack = true;
}
return RADIO_EVENT_TX_START;
}
/**
* Send a connection request message.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_radio_event The next event to inject
*/
static enum pios_radio_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev)
{
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
// Set our connection state to requesting connection.
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTING;
// Fill in the connection request
rfm22b_dev->destination_id = rfm22b_dev->bindings[rfm22b_dev->cur_binding].pairID;
cph->header.destination_id = rfm22b_dev->destination_id;
cph->header.type = PACKET_TYPE_CON_REQUEST;
cph->header.data_size = PH_CONNECTION_DATA_SIZE(&(rfm22b_dev->con_packet));
cph->source_id = rfm22b_dev->deviceID;
cph->status_rx_time = rfm22b_dev->rx_complete_ticks;
cph->main_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].main_port;
cph->flexi_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].flexi_port;
cph->vcp_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].vcp_port;
cph->com_speed = rfm22b_dev->bindings[rfm22b_dev->cur_binding].com_speed;
rfm22b_dev->send_connection_request = true;
rfm22b_dev->prev_tx_packet = NULL;
return RADIO_EVENT_TX_START;
}
/*****************************************************************************
* Packet Receipt Functions
*****************************************************************************/
/**
* Receive an ACK.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_radio_event The next event to inject
*/
static enum pios_radio_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_dev)
{
PHPacketHandle prev = rfm22b_dev->prev_tx_packet;
// Clear the previous TX packet.
rfm22b_dev->prev_tx_packet = NULL;
// Was this a connection request?
switch (prev->header.type) {
case PACKET_TYPE_CON_REQUEST:
rfm22_setConnectionParameters(rfm22b_dev);
break;
case PACKET_TYPE_DATA:
rfm22b_dev->data_packet.header.data_size = 0;
break;
}
// Should we try to start another TX?
return RADIO_EVENT_TX_START;
}
/**
* Receive an MACK.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_radio_event The next event to inject
*/
static enum pios_radio_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_dev)
{
// Resend the previous TX packet.
rfm22b_dev->tx_packet = rfm22b_dev->prev_tx_packet;
rfm22b_dev->prev_tx_packet = NULL;
// Increment the reset packet counter if we're connected.
if (rfm22_isConnected(rfm22b_dev)) {
rfm22b_add_rx_status(rfm22b_dev, RADIO_RESENT_TX_PACKET);
}
return RADIO_EVENT_TX_START;
}
/**
* Receive a status packet
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_radio_event The next event to inject
*/
static enum pios_radio_event rfm22_receiveStatus(struct pios_rfm22b_dev *radio_dev)
{
PHStatusPacketHandle status = (PHStatusPacketHandle) & (radio_dev->rx_packet);
int8_t rssi = radio_dev->rssi_dBm;
int8_t afc = radio_dev->afc_correction_Hz;
uint32_t id = status->source_id;
enum pios_radio_event ret_event = RADIO_EVENT_RX_COMPLETE;
int8_t rssi = radio_dev->rssi_dBm;
int8_t afc = radio_dev->afc_correction_Hz;
uint32_t id = radio_dev->rx_destination_id;
// Have we seen this device recently?
bool found = false;
@ -2338,7 +1877,7 @@ static enum pios_radio_event rfm22_receiveStatus(struct pios_rfm22b_dev *radio_d
}
}
// If we have seen it, update the RSSI and reset the last contact couter
// If we have seen it, update the RSSI and reset the last contact counter
if (found) {
radio_dev->pair_stats[id_idx].rssi = rssi;
radio_dev->pair_stats[id_idx].afc_correction = afc;
@ -2358,26 +1897,8 @@ static enum pios_radio_event rfm22_receiveStatus(struct pios_rfm22b_dev *radio_d
radio_dev->pair_stats[min_idx].afc_correction = afc;
radio_dev->pair_stats[min_idx].lastContact = 0;
}
// Send a connection request message if we're not connected, and this is a status message from a modem that we're bound to.
if (radio_dev->coordinator && !rfm22_isConnected(radio_dev)) {
for (uint8_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
if (radio_dev->bindings[i].pairID == id) {
radio_dev->cur_binding = i;
ret_event = RADIO_EVENT_REQUEST_CONNECTION;
break;
}
}
}
return ret_event;
}
/*****************************************************************************
* Link Statistics Functions
*****************************************************************************/
/**
* Calculate the link quality from the packet receipt, tranmittion statistics.
*
@ -2438,87 +1959,30 @@ static void rfm22b_add_rx_status(struct pios_rfm22b_dev *rfm22b_dev, enum pios_r
*****************************************************************************/
/**
* Are we connected to the remote modem?
* Are we a coordinator modem?
*
* @param[in] rfm22b_dev The device structure
*/
static bool rfm22_isConnected(struct pios_rfm22b_dev *rfm22b_dev)
static bool rfm22_isCoordinator(struct pios_rfm22b_dev *rfm22b_dev)
{
return rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED;
return rfm22b_dev->coordinator;
}
/**
* Set the connection parameters from a connection request message.
* Returns the destination ID to send packets to.
*
* @param[in] rfm22b_dev The device structure
* @param[in] rfm22b_id The RFM22B device index.
* @return The destination ID
*/
static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev)
uint32_t rfm22_destinationID(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;
// Call the com port configuration function
if (rfm22b_dev->com_config_cb) {
rfm22b_dev->com_config_cb(cph->main_port, cph->flexi_port, cph->vcp_port, cph->com_speed);
if (rfm22_isCoordinator(rfm22b_dev)) {
return rfm22b_dev->deviceID;
} else if (rfm22b_dev->coordinatorID) {
return rfm22b_dev->coordinatorID;
} else {
return 0xffffffff;
}
// Configure this modem min an max frequency.
rfm22_setNominalCarrierFrequency(rfm22b_dev, cph->min_frequency, cph->max_frequency, cph->channel_spacing);
// Configure the modem datarate.
rfm22b_dev->datarate = RFM22_datarate_64000;
switch (cph->com_speed) {
case OPLINKSETTINGS_COMSPEED_2400:
rfm22b_dev->datarate = RFM22_datarate_8000;
break;
case OPLINKSETTINGS_COMSPEED_4800:
rfm22b_dev->datarate = RFM22_datarate_8000;
break;
case OPLINKSETTINGS_COMSPEED_9600:
rfm22b_dev->datarate = RFM22_datarate_16000;
break;
case OPLINKSETTINGS_COMSPEED_19200:
rfm22b_dev->datarate = RFM22_datarate_32000;
break;
case OPLINKSETTINGS_COMSPEED_38400:
rfm22b_dev->datarate = RFM22_datarate_57600;
break;
case OPLINKSETTINGS_COMSPEED_57600:
rfm22b_dev->datarate = RFM22_datarate_128000;
break;
case OPLINKSETTINGS_COMSPEED_115200:
rfm22b_dev->datarate = RFM22_datarate_192000;
break;
}
pios_rfm22_setDatarate(rfm22b_dev, rfm22b_dev->datarate, true);
}
/**
* Accept a connection request.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_radio_event The next event to inject
*/
static enum pios_radio_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev)
{
// Copy the connection packet
PHConnectionPacketHandle cph = (PHConnectionPacketHandle)(&(rfm22b_dev->rx_packet));
PHConnectionPacketHandle lcph = (PHConnectionPacketHandle)(&(rfm22b_dev->con_packet));
memcpy((uint8_t *)lcph, (uint8_t *)cph, PH_PACKET_SIZE((PHPacketHandle)cph));
// Set the destination ID to the source of the connection request message.
rfm22b_dev->destination_id = cph->source_id;
// The remote modem sets the time delta between the two modems using the differene between the clock
// on the local modem when it sent the status packet and the time on the coordinator modem when it was received.
portTickType local_tx_time = rfm22b_dev->tx_complete_ticks;
portTickType remote_rx_time = cph->status_rx_time;
rfm22b_dev->time_delta = remote_rx_time - local_tx_time;
return RADIO_EVENT_DEFAULT;
}
@ -2526,6 +1990,23 @@ static enum pios_radio_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm2
* Frequency Hopping Functions
*****************************************************************************/
/**
* Synchronize the clock after a packet receive from our coordinator on the syncronization channel.
* This function should be called when a packet is received on the synchronization channel.
*
* @param[in] rfm22b_dev The device structure
*/
static void rfm22_synchronizeClock(struct pios_rfm22b_dev *rfm22b_dev)
{
portTickType start_time = rfm22b_dev->packet_start_ticks;
// This packet was transmitted on channel 0, calculate the time delta that will force us to transmit on channel 0 at the time this packet started.
uint16_t frequency_hop_cycle_time = rfm22b_dev->packet_period * rfm22b_dev->num_channels;
uint16_t time_delta = start_time % frequency_hop_cycle_time;
rfm22b_dev->time_delta = frequency_hop_cycle_time - time_delta + 1;
}
/**
* Return the extimated current clock ticks count on the coordinator modem.
* This is the master clock used for all synchronization.
@ -2534,7 +2015,7 @@ static enum pios_radio_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm2
*/
static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, portTickType ticks)
{
if (rfm22b_dev->coordinator) {
if (rfm22_isCoordinator(rfm22b_dev)) {
return ticks;
}
return ticks + rfm22b_dev->time_delta;
@ -2549,9 +2030,30 @@ static bool rfm22_timeToSend(struct pios_rfm22b_dev *rfm22b_dev)
{
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
// Divide time into 8ms blocks. Coordinator sends in first 1 ms, and remote send in 4th.
// Channel changes occurs in the 7th.
return (rfm22b_dev->coordinator) ? ((time & 0x7) == 0) : ((time & 0x7) == 3);
if (!rfm22_isCoordinator(rfm22b_dev)) {
time += rfm22b_dev->packet_period - 1;
} else {
time -= 1;
}
return (time % (rfm22b_dev->packet_period * 2)) == 0;
}
/**
* Calculate the nth channel index.
*
* @param[in] rfm22b_dev The device structure
* @param[in] index The channel index to calculate
*/
static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t index)
{
// Make sure we don't index outside of the range.
uint8_t idx = index % rfm22b_dev->num_channels;
rfm22b_dev->channel_index = idx;
if (idx == 0) {
rfm22b_dev->on_sync_channel = true;
}
return rfm22b_dev->channels[idx];
}
/**
@ -2559,14 +2061,14 @@ static bool rfm22_timeToSend(struct pios_rfm22b_dev *rfm22b_dev)
*
* @param[in] rfm22b_dev The device structure
*/
static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev)
static uint8_t rfm22_calcChannelFromClock(struct pios_rfm22b_dev *rfm22b_dev)
{
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
// Divide time into 8ms blocks. Coordinator sends in first 2 ms, and remote send in 5th and 6th ms.
// Channel changes occur in the last 2 ms.
uint8_t n = (((time + 2) >> 3) & 0xff);
uint8_t n = (time / rfm22b_dev->packet_period) % rfm22b_dev->num_channels;
return PIOS_CRC_updateByte(0, n) % rfm22b_dev->num_channels;
return rfm22_calcChannel(rfm22b_dev, n);
}
/**
@ -2576,10 +2078,12 @@ static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev)
*/
static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev)
{
if (rfm22_isConnected(rfm22b_dev)) {
return rfm22_setFreqHopChannel(rfm22b_dev, rfm22_calcChannel(rfm22b_dev));
// A disconnected non-coordinator modem should sit on the sync channel until connected.
if (!rfm22_isCoordinator(rfm22b_dev) && !rfm22_isConnected(rfm22b_dev)) {
return rfm22_setFreqHopChannel(rfm22b_dev, rfm22_calcChannel(rfm22b_dev, 0));
} else {
return rfm22_setFreqHopChannel(rfm22b_dev, rfm22_calcChannelFromClock(rfm22b_dev));
}
return false;
}
@ -2612,7 +2116,7 @@ static enum pios_radio_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->stats.timeouts++;
rfm22b_dev->packet_start_ticks = 0;
// Release the Tx packet if it's set.
if (rfm22b_dev->tx_packet != 0) {
if (rfm22b_dev->tx_packet_handle != 0) {
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
}
rfm22b_dev->rfm22b_state = RFM22B_STATE_TRANSITION;

2
flight/pios/common/pios_rfm22b_rcvr.c
View File

@ -34,6 +34,8 @@
#include "pios_rfm22b_priv.h"
#include <gcsreceiver.h>
/* Provide a RCVR driver */
static int32_t PIOS_RFM22B_RCVR_Get(uint32_t rcvr_id, uint8_t channel);
static void PIOS_RFM22B_RCVR_Supervisor(uint32_t rcvr_id);

19
flight/pios/inc/pios_rfm22b.h
View File

@ -31,7 +31,7 @@
#ifndef PIOS_RFM22B_H
#define PIOS_RFM22B_H
#include <packet_handler.h>
#include <uavobjectmanager.h>
#include <oplinksettings.h>
/* Constant definitions */
@ -104,28 +104,21 @@ struct rfm22b_stats {
uint8_t link_state;
};
/* Callback function prototypes */
typedef void (*PIOS_RFM22B_ComConfigCallback)(OPLinkSettingsRemoteMainPortOptions main_port, OPLinkSettingsRemoteFlexiPortOptions flexi_port,
OPLinkSettingsRemoteVCPPortOptions vcp_port, OPLinkSettingsComSpeedOptions com_speed);
/* Public Functions */
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_Reinit(uint32_t rfb22b_id);
extern void PIOS_RFM22B_SetTxPower(uint32_t rfm22b_id, enum rfm22b_tx_power tx_pwr);
extern void PIOS_RFM22B_SetFrequencyRange(uint32_t rfm22b_id, uint32_t min_freq, uint32_t max_freq, uint32_t step_size);
extern void PIOS_RFM22B_SetInitialFrequency(uint32_t rfm22b_id, uint32_t init_freq);
extern void PIOS_RFM22B_SetDestinationId(uint32_t rfm22b_id, uint32_t dest_id);
extern void PIOS_RFM22B_SetComConfigCallback(uint32_t rfm22b_id, PIOS_RFM22B_ComConfigCallback cb);
extern void PIOS_RFM22B_SetBindings(uint32_t rfm22b_id, const uint32_t bindingPairIDs[], const uint8_t mainPortSettings[],
const uint8_t flexiPortSettings[], const uint8_t vcpPortSettings[], const uint8_t comSpeeds[]);
extern void PIOS_RFM22B_SetChannelConfig(uint32_t rfm22b_id, uint8_t num_chan, uint8_t min_chan, uint8_t max_chan, uint8_t chan_set, uint8_t packet_period, bool oneway);
extern void PIOS_RFM22B_SetCoordinator(uint32_t rfm22b_id, bool coordinator);
extern void PIOS_RFM22B_SetCoordinatorID(uint32_t rfm22b_id, uint32_t coord_id);
extern uint32_t PIOS_RFM22B_DeviceID(uint32_t rfb22b_id);
extern bool PIOS_RFM22B_IsCoordinator(uint32_t rfb22b_id);
extern void PIOS_RFM22B_GetStats(uint32_t rfm22b_id, struct rfm22b_stats *stats);
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_InRxWait(uint32_t rfb22b_id);
extern bool PIOS_RFM22B_LinkStatus(uint32_t rfm22b_id);
extern bool PIOS_RFM22B_ReceivePacket(uint32_t rfm22b_id, PHPacketHandle p);
extern bool PIOS_RFM22B_TransmitPacket(uint32_t rfm22b_id, PHPacketHandle p);
extern bool PIOS_RFM22B_ReceivePacket(uint32_t rfm22b_id, uint8_t *p);
extern bool PIOS_RFM22B_TransmitPacket(uint32_t rfm22b_id, uint8_t *p, uint8_t len);
extern pios_rfm22b_int_result PIOS_RFM22B_ProcessTx(uint32_t rfm22b_id);
extern pios_rfm22b_int_result PIOS_RFM22B_ProcessRx(uint32_t rfm22b_id);

128
flight/pios/inc/pios_rfm22b_priv.h
View File

@ -40,14 +40,14 @@
// ************************************
#define RFM22_DEVICE_VERSION_V2 0x02
#define RFM22_DEVICE_VERSION_A0 0x04
#define RFM22_DEVICE_VERSION_B1 0x06
#define RFM22B_MAX_PACKET_LEN 64
#define RFM22B_NUM_CHANNELS 250
// ************************************
#define RFM22_MIN_CARRIER_FREQUENCY_HZ 240000000ul
#define RFM22_MAX_CARRIER_FREQUENCY_HZ 930000000ul
#define RFM22_DEVICE_VERSION_V2 0x02
#define RFM22_DEVICE_VERSION_A0 0x04
#define RFM22_DEVICE_VERSION_B1 0x06
// ************************************
@ -534,19 +534,12 @@ enum pios_rfm22b_dev_magic {
enum pios_radio_state {
RADIO_STATE_UNINITIALIZED,
RADIO_STATE_INITIALIZING,
RADIO_STATE_REQUESTING_CONNECTION,
RADIO_STATE_ACCEPTING_CONNECTION,
RADIO_STATE_RX_MODE,
RADIO_STATE_RX_DATA,
RADIO_STATE_RX_FAILURE,
RADIO_STATE_RECEIVING_STATUS,
RADIO_STATE_TX_START,
RADIO_STATE_TX_DATA,
RADIO_STATE_TX_FAILURE,
RADIO_STATE_SENDING_ACK,
RADIO_STATE_SENDING_NACK,
RADIO_STATE_RECEIVING_ACK,
RADIO_STATE_RECEIVING_NACK,
RADIO_STATE_TIMEOUT,
RADIO_STATE_ERROR,
RADIO_STATE_FATAL_ERROR,
@ -559,16 +552,9 @@ enum pios_radio_event {
RADIO_EVENT_INT_RECEIVED,
RADIO_EVENT_INITIALIZE,
RADIO_EVENT_INITIALIZED,
RADIO_EVENT_REQUEST_CONNECTION,
RADIO_EVENT_CONNECTION_REQUESTED,
RADIO_EVENT_PACKET_ACKED,
RADIO_EVENT_PACKET_NACKED,
RADIO_EVENT_ACK_TIMEOUT,
RADIO_EVENT_RX_MODE,
RADIO_EVENT_RX_COMPLETE,
RADIO_EVENT_STATUS_RECEIVED,
RADIO_EVENT_TX_START,
RADIO_EVENT_FAILURE,
RADIO_EVENT_TIMEOUT,
RADIO_EVENT_ERROR,
RADIO_EVENT_FATAL_ERROR,
@ -603,14 +589,6 @@ typedef struct {
uint8_t lastContact;
} rfm22b_pair_stats;
typedef struct {
uint32_t pairID;
OPLinkSettingsRemoteMainPortOptions main_port;
OPLinkSettingsRemoteFlexiPortOptions flexi_port;
OPLinkSettingsRemoteVCPPortOptions vcp_port;
OPLinkSettingsComSpeedOptions com_speed;
} rfm22b_binding;
enum pios_rfm22b_chip_power_state {
RFM22B_IDLE_STATE = 0x00,
RFM22B_RX_STATE = 0x01,
@ -683,27 +661,22 @@ typedef struct {
rfm22b_int_status_2 int_status_2;
} rfm22b_device_status;
struct pios_rfm22b_dev {
enum pios_rfm22b_dev_magic magic;
struct pios_rfm22b_cfg cfg;
// The SPI bus information
uint32_t spi_id;
uint32_t slave_num;
uint32_t spi_id;
uint32_t slave_num;
// Should this modem ack as a coordinator.
bool coordinator;
// The device ID
uint32_t deviceID;
uint32_t deviceID;
// The destination ID
uint32_t destination_id;
// The list of bound radios.
rfm22b_binding bindings[OPLINKSETTINGS_BINDINGS_NUMELEM];
uint8_t cur_binding;
// Is this device a coordinator?
bool coordinator;
// The coodinator ID (0 if this modem is a coordinator).
uint32_t coordinatorID;
// The task handle
xTaskHandle taskHandle;
@ -714,9 +687,6 @@ struct pios_rfm22b_dev {
// ISR pending semaphore
xSemaphoreHandle isrPending;
// The com configuration callback
PIOS_RFM22B_ComConfigCallback com_config_cb;
// The COM callback functions.
pios_com_callback rx_in_cb;
uint32_t rx_in_context;
@ -749,77 +719,57 @@ struct pios_rfm22b_dev {
struct rfm22b_stats stats;
// Stats
uint16_t errors;
uint16_t errors;
// RSSI in dBm
int8_t rssi_dBm;
int8_t rssi_dBm;
// The tx data packet
PHPacket data_packet;
uint8_t tx_packet[RFM22B_MAX_PACKET_LEN];
// The current tx packet
PHPacketHandle tx_packet;
// The previous tx packet (waiting for an ACK)
PHPacketHandle prev_tx_packet;
uint8_t *tx_packet_handle;
// The tx data read index
uint16_t tx_data_rd;
uint16_t tx_data_rd;
// The tx data write index
uint16_t tx_data_wr;
uint16_t tx_data_wr;
// The tx packet sequence number
uint16_t tx_seq;
uint16_t tx_seq;
// The rx data packet
PHPacket rx_packet;
uint8_t rx_packet[RFM22B_MAX_PACKET_LEN];
// The rx data packet
PHPacketHandle rx_packet_handle;
uint8_t *rx_packet_handle;
// The receive buffer write index
uint16_t rx_buffer_wr;
uint16_t rx_buffer_wr;
// The receive buffer write index
uint16_t rx_packet_len;
uint16_t rx_packet_len;
// The id that the packet was received from
uint32_t rx_destination_id;
// The maximum packet length (including header, etc.)
uint8_t max_packet_len;
// The time alloted for transmission of a packet.
uint8_t packet_period;
// Do all packets originate from the coordinator modem?
bool one_way_link;
// The status packet
PHStatusPacket status_packet;
// The ACK/NACK packet
PHAckNackPacket ack_nack_packet;
#ifdef PIOS_PPM_RECEIVER
// The PPM packet
PHPpmPacket ppm_packet;
#endif
// The connection packet.
PHConnectionPacket con_packet;
// Send flags
bool send_status;
bool send_ppm;
bool send_connection_request;
bool send_ack_nack;
bool resend_packet;
// The initial frequency
uint32_t init_frequency;
// The channel list
uint8_t channels[RFM22B_NUM_CHANNELS];
// The number of frequency hopping channels.
uint16_t num_channels;
uint8_t num_channels;
// The frequency hopping step size
float frequency_step_size;
// current frequency hop channel
uint8_t frequency_hop_channel;
uint8_t channel;
// current frequency hop channel index
uint8_t channel_index;
// afc correction reading (in Hz)
int8_t afc_correction_Hz;
// The packet timers.
portTickType packet_start_ticks;
portTickType tx_complete_ticks;
portTickType rx_complete_ticks;
portTickType time_delta;
// The maximum time (ms) that it should take to transmit / receive a packet.
uint32_t max_packet_time;
// The maximum time to wait for an ACK.
uint8_t max_ack_delay;
bool on_sync_channel;
#ifdef PIOS_INCLUDE_RFM22B_RCVR
// The PPM channel values

2
flight/targets/boards/oplinkmini/firmware/inc/pios_config.h
View File

@ -118,7 +118,7 @@
#define PIOS_INCLUDE_RFM22B_COM
/* #define PIOS_INCLUDE_RFM22B_RCVR */
#define PIOS_INCLUDE_PPM_OUT
/* #define PIOS_RFM22B_DEBUG_ON_TELEM */
#define PIOS_RFM22B_DEBUG_ON_TELEM
/* PIOS misc peripherals */
/* #define PIOS_INCLUDE_VIDEO */

121
flight/targets/boards/oplinkmini/firmware/pios_board.c
View File

@ -75,6 +75,12 @@ uint8_t *pios_uart_tx_buffer;
uintptr_t pios_uavo_settings_fs_id;
// Forward definitions
static void PIOS_InitUartMainPort();
static void PIOS_InitUartFlexiPort();
static void PIOS_InitPPMMainPort(bool input);
static void PIOS_InitPPMFlexiPort(bool input);
/**
* PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware
@ -216,12 +222,14 @@ void PIOS_Board_Init(void)
/* Initalize the RFM22B radio COM device. */
#if defined(PIOS_INCLUDE_RFM22B)
{
// Configure the RFM22B device
const struct pios_board_info *bdinfo = &pios_board_info_blob;
const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg)) {
PIOS_Assert(0);
}
// Configure the radio com interface
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);
@ -231,10 +239,40 @@ void PIOS_Board_Init(void)
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
uint32_t comBaud = 9600;
switch (oplinkSettings.ComSpeed) {
case OPLINKSETTINGS_COMSPEED_2400:
comBaud = 2400;
break;
case OPLINKSETTINGS_COMSPEED_4800:
comBaud = 4800;
break;
case OPLINKSETTINGS_COMSPEED_9600:
comBaud = 9600;
break;
case OPLINKSETTINGS_COMSPEED_19200:
comBaud = 19200;
break;
case OPLINKSETTINGS_COMSPEED_38400:
comBaud = 38400;
break;
case OPLINKSETTINGS_COMSPEED_57600:
comBaud = 57600;
break;
case OPLINKSETTINGS_COMSPEED_115200:
comBaud = 115200;
break;
}
PIOS_COM_ChangeBaud(pios_com_rfm22b_id, comBaud);
/* Set the RFM22B bindings. */
PIOS_RFM22B_SetBindings(pios_rfm22b_id, oplinkSettings.Bindings, oplinkSettings.RemoteMainPort,
oplinkSettings.RemoteFlexiPort, oplinkSettings.RemoteVCPPort, oplinkSettings.ComSpeed);
// Set the radio configuration parameters.
PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, oplinkSettings.NumChannels, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, oplinkSettings.ChannelSet,
oplinkSettings.PacketTime, (oplinkSettings.OneWayLink == OPLINKSETTINGS_ONEWAYLINK_TRUE));
PIOS_RFM22B_SetCoordinator(pios_rfm22b_id, (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE));
PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);
// Reinitilize the modem to affect te changes.
PIOS_RFM22B_Reinit(pios_rfm22b_id);
}
#endif /* PIOS_INCLUDE_RFM22B */
@ -242,6 +280,75 @@ void PIOS_Board_Init(void)
pios_uart_rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RX_BUF_LEN);
pios_uart_tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_TX_BUF_LEN);
// Configure the main port
bool is_coordinator = PIOS_RFM22B_IsCoordinator(pios_rfm22b_id);
switch (oplinkSettings.MainPort) {
case OPLINKSETTINGS_MAINPORT_TELEMETRY:
case OPLINKSETTINGS_MAINPORT_SERIAL:
/* Configure the main port for uart serial */
PIOS_InitUartMainPort();
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_MAIN;
break;
case OPLINKSETTINGS_MAINPORT_PPM:
PIOS_InitPPMMainPort(is_coordinator);
break;
case OPLINKSETTINGS_MAINPORT_DISABLED:
break;
}
// Configure the flexi port
switch (oplinkSettings.FlexiPort) {
case OPLINKSETTINGS_FLEXIPORT_TELEMETRY:
case OPLINKSETTINGS_FLEXIPORT_SERIAL:
/* Configure the flexi port as uart serial */
PIOS_InitUartFlexiPort();
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_FLEXI;
break;
case OPLINKSETTINGS_FLEXIPORT_PPM:
PIOS_InitPPMFlexiPort(is_coordinator);
break;
case OPLINKSETTINGS_FLEXIPORT_DISABLED:
break;
}
// Configure the USB VCP port
switch (oplinkSettings.VCPPort) {
case OPLINKSETTINGS_VCPPORT_SERIAL:
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_USB_VCP;
break;
case OPLINKSETTINGS_VCPPORT_DISABLED:
break;
}
// Update the com baud rate.
uint32_t comBaud = 9600;
switch (oplinkSettings.ComSpeed) {
case OPLINKSETTINGS_COMSPEED_2400:
comBaud = 2400;
break;
case OPLINKSETTINGS_COMSPEED_4800:
comBaud = 4800;
break;
case OPLINKSETTINGS_COMSPEED_9600:
comBaud = 9600;
break;
case OPLINKSETTINGS_COMSPEED_19200:
comBaud = 19200;
break;
case OPLINKSETTINGS_COMSPEED_38400:
comBaud = 38400;
break;
case OPLINKSETTINGS_COMSPEED_57600:
comBaud = 57600;
break;
case OPLINKSETTINGS_COMSPEED_115200:
comBaud = 115200;
break;
}
if (PIOS_COM_TELEMETRY) {
PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, comBaud);
}
/* Remap AFIO pin */
GPIO_PinRemapConfig(GPIO_Remap_SWJ_NoJTRST, ENABLE);
@ -251,7 +358,7 @@ void PIOS_Board_Init(void)
PIOS_GPIO_Init();
}
void PIOS_InitUartMainPort()
static void PIOS_InitUartMainPort()
{
#ifndef PIOS_RFM22B_DEBUG_ON_TELEM
uint32_t pios_usart1_id;
@ -268,7 +375,7 @@ void PIOS_InitUartMainPort()
#endif
}
void PIOS_InitUartFlexiPort()
static void PIOS_InitUartFlexiPort()
{
uint32_t pios_usart3_id;
@ -284,7 +391,7 @@ void PIOS_InitUartFlexiPort()
}
}
void PIOS_InitPPMMainPort(bool input)
static void PIOS_InitPPMMainPort(bool input)
{
#if defined(PIOS_INCLUDE_PPM)
/* PPM input is configured on the coordinator modem and output on the remote modem. */
@ -300,7 +407,7 @@ void PIOS_InitPPMMainPort(bool input)
#endif /* PIOS_INCLUDE_PPM */
}
void PIOS_InitPPMFlexiPort(bool input)
static void PIOS_InitPPMFlexiPort(bool input)
{
#if defined(PIOS_INCLUDE_PPM)
/* PPM input is configured on the coordinator modem and output on the remote modem. */

5
flight/targets/boards/revolution/firmware/UAVObjects.inc
View File

@ -87,7 +87,10 @@ UAVOBJSRCFILENAMES += hwsettings
UAVOBJSRCFILENAMES += receiveractivity
UAVOBJSRCFILENAMES += cameradesired
UAVOBJSRCFILENAMES += camerastabsettings
UAVOBJSRCFILENAMES += altitudeholdsettings
UAVOBJSRCFILENAMES += altitudeholdsettings
UAVOBJSRCFILENAMES += oplinksettings
UAVOBJSRCFILENAMES += oplinkstatus
UAVOBJSRCFILENAMES += altitudeholddesired
UAVOBJSRCFILENAMES += waypoint
UAVOBJSRCFILENAMES += waypointactive

2
flight/targets/boards/revolution/firmware/inc/pios_config.h
View File

@ -118,7 +118,7 @@
#define PIOS_INCLUDE_RFM22B_COM
#define PIOS_INCLUDE_RFM22B_RCVR
/* #define PIOS_INCLUDE_PPM_OUT */
/* #define PIOS_RFM22B_DEBUG_ON_TELEM */
#define PIOS_RFM22B_DEBUG_ON_TELEM
/* PIOS misc peripherals */
/* #define PIOS_INCLUDE_VIDEO */

61
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -30,6 +30,8 @@
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#include <oplinksettings.h>
#include <oplinkstatus.h>
#include <taskinfo.h>
/*
@ -391,8 +393,9 @@ void PIOS_Board_Init(void)
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
HwSettingsInitialize();
OPLinkStatusInitialize();
/* Initialize the alarms library */
AlarmsInitialize();
@ -704,25 +707,54 @@ void PIOS_Board_Init(void)
/* Initalize the RFM22B radio COM device. */
#if defined(PIOS_INCLUDE_RFM22B)
/* Is the radio turned on? */
uint8_t hwsettings_radioport;
HwSettingsRadioPortGet(&hwsettings_radioport);
uint8_t hwsettings_maxrfpower;
HwSettingsMaxRFPowerGet(&hwsettings_maxrfpower);
uint32_t hwsettings_deffreq;
HwSettingsDefaultFrequencyGet(&hwsettings_deffreq);
switch (hwsettings_radioport) {
case HWSETTINGS_RADIOPORT_DISABLED:
break;
case HWSETTINGS_RADIOPORT_TELEMETRY:
{
// Initialize out status object.
OPLinkStatusData oplinkStatus;
OPLinkStatusGet(&oplinkStatus);
oplinkStatus.BoardType = bdinfo->board_type;
PIOS_BL_HELPER_FLASH_Read_Description(oplinkStatus.Description, OPLINKSTATUS_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(oplinkStatus.CPUSerial);
oplinkStatus.BoardRevision = bdinfo->board_rev;
OPLinkStatusSet(&oplinkStatus);
/* Initialize the OPLinkSettings object. */
OPLinkSettingsInitialize();
/* Fetch the OPinkSettings object. */
OPLinkSettingsData oplinkSettings;
OPLinkSettingsGet(&oplinkSettings);
/* Configure the RFM22B device. */
const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg)) {
PIOS_Assert(0);
}
// Set the modem parameters and reinitilize the modem.
PIOS_RFM22B_SetInitialFrequency(pios_rfm22b_id, hwsettings_deffreq);
switch (hwsettings_maxrfpower) {
/* Configure the radio com interface */
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);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
/* Set the radio configuration parameters. */
PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, oplinkSettings.NumChannels, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, oplinkSettings.ChannelSet,
oplinkSettings.PacketTime, (oplinkSettings.OneWayLink == OPLINKSETTINGS_ONEWAYLINK_TRUE));
PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);
/* Set the modem Tx poer level */
switch (oplinkSettings.MaxRFPower) {
case OPLINKSETTINGS_MAXRFPOWER_125:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
break;
@ -751,19 +783,10 @@ void PIOS_Board_Init(void)
// do nothing
break;
}
/* Reinitialize the modem. */
PIOS_RFM22B_Reinit(pios_rfm22b_id);
#ifdef PIOS_INCLUDE_RFM22B_COM
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);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
#endif
#ifdef PIOS_INCLUDE_RFM22B_RCVR
if (PIOS_RFM22B_RCVR_Init(pios_rfm22b_id) != 0) {
PIOS_Assert(0);

1
flight/targets/boards/revolution/pios_board.h
View File

@ -229,6 +229,7 @@ extern uint32_t pios_packet_handler;
#define PIOS_RCVR_MAX_CHANNELS 12
#define PIOS_GCSRCVR_TIMEOUT_MS 100
#define PIOS_RFM22B_RCVR_TIMEOUT_MS 200
#define PIOS_OPLINK_RCVR_TIMEOUT_MS 100
// -------------------------
// Receiver PPM input

153
ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
View File

@ -63,11 +63,16 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
addUAVObjectToWidgetRelation("OPLinkSettings", "MainPort", m_oplink->MainPort);
addUAVObjectToWidgetRelation("OPLinkSettings", "FlexiPort", m_oplink->FlexiPort);
addUAVObjectToWidgetRelation("OPLinkSettings", "VCPPort", m_oplink->VCPPort);
addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed);
addUAVObjectToWidgetRelation("OPLinkSettings", "MaxRFPower", m_oplink->MaxRFTxPower);
addUAVObjectToWidgetRelation("OPLinkSettings", "MinFrequency", m_oplink->MinimumFrequency);
addUAVObjectToWidgetRelation("OPLinkSettings", "MaxFrequency", m_oplink->MaximumFrequency);
addUAVObjectToWidgetRelation("OPLinkSettings", "InitFrequency", m_oplink->InitFrequency);
addUAVObjectToWidgetRelation("OPLinkSettings", "ChannelSpacing", m_oplink->StepSize);
addUAVObjectToWidgetRelation("OPLinkSettings", "NumChannels", m_oplink->NumChannels);
addUAVObjectToWidgetRelation("OPLinkSettings", "MinChannel", m_oplink->MinimumChannel);
addUAVObjectToWidgetRelation("OPLinkSettings", "MaxChannel", m_oplink->MaximumChannel);
addUAVObjectToWidgetRelation("OPLinkSettings", "ChannelSet", m_oplink->ChannelSet);
addUAVObjectToWidgetRelation("OPLinkSettings", "PacketTime", m_oplink->PacketLength);
addUAVObjectToWidgetRelation("OPLinkSettings", "CoordID", m_oplink->CoordID);
addUAVObjectToWidgetRelation("OPLinkSettings", "Coordinator", m_oplink->Coordinator);
addUAVObjectToWidgetRelation("OPLinkSettings", "OneWayLink", m_oplink->OneWayLink);
addUAVObjectToWidgetRelation("OPLinkStatus", "DeviceID", m_oplink->DeviceID);
addUAVObjectToWidgetRelation("OPLinkStatus", "RxGood", m_oplink->Good);
@ -89,82 +94,11 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
addUAVObjectToWidgetRelation("OPLinkStatus", "RXRate", m_oplink->RXRate);
addUAVObjectToWidgetRelation("OPLinkStatus", "TXRate", m_oplink->TXRate);
signalMapperAddBinding = new QSignalMapper(this);
signalMapperRemBinding = new QSignalMapper(this);
connect(m_oplink->BindingAdd_1, SIGNAL(clicked()), signalMapperAddBinding, SLOT(map()));
signalMapperAddBinding->setMapping(m_oplink->BindingAdd_1, (QWidget *)(m_oplink->BindingID_1));
connect(m_oplink->BindingRemove_1, SIGNAL(clicked()), signalMapperRemBinding, SLOT(map()));
signalMapperRemBinding->setMapping(m_oplink->BindingRemove_1, (QWidget *)(m_oplink->BindingID_1));
addUAVObjectToWidgetRelation("OPLinkSettings", "Bindings", m_oplink->BindingID_1, "0");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteMainPort", m_oplink->RemoteMainPort_1, "0");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteFlexiPort", m_oplink->RemoteFlexiPort_1, "0");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteVCPPort", m_oplink->RemoteVCPPort_1, "0");
addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed_1, "0");
connect(m_oplink->BindingAdd_2, SIGNAL(clicked()), signalMapperAddBinding, SLOT(map()));
signalMapperAddBinding->setMapping(m_oplink->BindingAdd_2, (QWidget *)(m_oplink->BindingID_2));
connect(m_oplink->BindingRemove_2, SIGNAL(clicked()), signalMapperRemBinding, SLOT(map()));
signalMapperRemBinding->setMapping(m_oplink->BindingRemove_2, (QWidget *)(m_oplink->BindingID_2));
addUAVObjectToWidgetRelation("OPLinkSettings", "Bindings", m_oplink->BindingID_2, "1");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteMainPort", m_oplink->RemoteMainPort_2, "1");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteFlexiPort", m_oplink->RemoteFlexiPort_2, "1");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteVCPPort", m_oplink->RemoteVCPPort_2, "1");
addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed_2, "1");
connect(m_oplink->BindingAdd_3, SIGNAL(clicked()), signalMapperAddBinding, SLOT(map()));
signalMapperAddBinding->setMapping(m_oplink->BindingAdd_3, (QWidget *)(m_oplink->BindingID_3));
connect(m_oplink->BindingRemove_3, SIGNAL(clicked()), signalMapperRemBinding, SLOT(map()));
signalMapperRemBinding->setMapping(m_oplink->BindingRemove_3, (QWidget *)(m_oplink->BindingID_3));
addUAVObjectToWidgetRelation("OPLinkSettings", "Bindings", m_oplink->BindingID_3, "2");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteMainPort", m_oplink->RemoteMainPort_3, "2");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteFlexiPort", m_oplink->RemoteFlexiPort_3, "2");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteVCPPort", m_oplink->RemoteVCPPort_3, "2");
addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed_3, "2");
connect(m_oplink->BindingAdd_4, SIGNAL(clicked()), signalMapperAddBinding, SLOT(map()));
signalMapperAddBinding->setMapping(m_oplink->BindingAdd_4, (QWidget *)(m_oplink->BindingID_4));
connect(m_oplink->BindingRemove_4, SIGNAL(clicked()), signalMapperRemBinding, SLOT(map()));
signalMapperRemBinding->setMapping(m_oplink->BindingRemove_4, (QWidget *)(m_oplink->BindingID_4));
addUAVObjectToWidgetRelation("OPLinkSettings", "Bindings", m_oplink->BindingID_4, "3");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteMainPort", m_oplink->RemoteMainPort_4, "3");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteFlexiPort", m_oplink->RemoteFlexiPort_4, "3");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteVCPPort", m_oplink->RemoteVCPPort_4, "3");
addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed_4, "3");
connect(m_oplink->BindingAdd_5, SIGNAL(clicked()), signalMapperAddBinding, SLOT(map()));
signalMapperAddBinding->setMapping(m_oplink->BindingAdd_5, (QWidget *)(m_oplink->BindingID_5));
connect(m_oplink->BindingRemove_5, SIGNAL(clicked()), signalMapperRemBinding, SLOT(map()));
signalMapperRemBinding->setMapping(m_oplink->BindingRemove_5, (QWidget *)(m_oplink->BindingID_5));
addUAVObjectToWidgetRelation("OPLinkSettings", "Bindings", m_oplink->BindingID_5, "4");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteMainPort", m_oplink->RemoteMainPort_5, "4");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteFlexiPort", m_oplink->RemoteFlexiPort_5, "4");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteVCPPort", m_oplink->RemoteVCPPort_5, "4");
addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed_5, "4");
connect(m_oplink->BindingAdd_6, SIGNAL(clicked()), signalMapperAddBinding, SLOT(map()));
signalMapperAddBinding->setMapping(m_oplink->BindingAdd_6, (QWidget *)(m_oplink->BindingID_6));
connect(m_oplink->BindingRemove_6, SIGNAL(clicked()), signalMapperRemBinding, SLOT(map()));
signalMapperRemBinding->setMapping(m_oplink->BindingRemove_6, (QWidget *)(m_oplink->BindingID_6));
addUAVObjectToWidgetRelation("OPLinkSettings", "Bindings", m_oplink->BindingID_6, "5");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteMainPort", m_oplink->RemoteMainPort_6, "5");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteFlexiPort", m_oplink->RemoteFlexiPort_6, "5");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteVCPPort", m_oplink->RemoteVCPPort_6, "5");
addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed_6, "5");
connect(m_oplink->BindingAdd_7, SIGNAL(clicked()), signalMapperAddBinding, SLOT(map()));
signalMapperAddBinding->setMapping(m_oplink->BindingAdd_7, (QWidget *)(m_oplink->BindingID_7));
connect(m_oplink->BindingRemove_7, SIGNAL(clicked()), signalMapperRemBinding, SLOT(map()));
signalMapperRemBinding->setMapping(m_oplink->BindingRemove_7, (QWidget *)(m_oplink->BindingID_7));
addUAVObjectToWidgetRelation("OPLinkSettings", "Bindings", m_oplink->BindingID_7, "6");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteMainPort", m_oplink->RemoteMainPort_7, "6");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteFlexiPort", m_oplink->RemoteFlexiPort_7, "6");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteVCPPort", m_oplink->RemoteVCPPort_7, "6");
addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed_7, "6");
connect(m_oplink->BindingAdd_8, SIGNAL(clicked()), signalMapperAddBinding, SLOT(map()));
signalMapperAddBinding->setMapping(m_oplink->BindingAdd_8, (QWidget *)(m_oplink->BindingID_8));
connect(m_oplink->BindingRemove_8, SIGNAL(clicked()), signalMapperRemBinding, SLOT(map()));
signalMapperRemBinding->setMapping(m_oplink->BindingRemove_8, (QWidget *)(m_oplink->BindingID_8));
addUAVObjectToWidgetRelation("OPLinkSettings", "Bindings", m_oplink->BindingID_8, "7");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteMainPort", m_oplink->RemoteMainPort_8, "7");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteFlexiPort", m_oplink->RemoteFlexiPort_8, "7");
addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteVCPPort", m_oplink->RemoteVCPPort_8, "7");
addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed_8, "7");
connect(signalMapperAddBinding, SIGNAL(mapped(QWidget *)), this, SLOT(addBinding(QWidget *)));
connect(signalMapperRemBinding, SIGNAL(mapped(QWidget *)), this, SLOT(removeBinding(QWidget *)));
// Connect the bind buttons
connect(m_oplink->Bind1, SIGNAL(clicked()), this, SLOT(bind1()));
connect(m_oplink->Bind2, SIGNAL(clicked()), this, SLOT(bind2()));
connect(m_oplink->Bind3, SIGNAL(clicked()), this, SLOT(bind3()));
connect(m_oplink->Bind4, SIGNAL(clicked()), this, SLOT(bind3()));
// Add scroll bar when necessary
QScrollArea *scroll = new QScrollArea;
@ -179,10 +113,7 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
}
ConfigPipXtremeWidget::~ConfigPipXtremeWidget()
{
delete signalMapperAddBinding;
delete signalMapperRemBinding;
}
{}
/*!
\brief Called by updates to @OPLinkStatus
@ -200,19 +131,19 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
quint32 pairid1 = pairIdField->getValue(0).toUInt();
m_oplink->PairID1->setText(QString::number(pairid1, 16).toUpper());
m_oplink->PairID1->setEnabled(false);
m_oplink->PairSelect1->setEnabled(pairid1);
m_oplink->Bind1->setEnabled(pairid1);
quint32 pairid2 = pairIdField->getValue(1).toUInt();
m_oplink->PairID2->setText(QString::number(pairIdField->getValue(1).toUInt(), 16).toUpper());
m_oplink->PairID2->setEnabled(false);
m_oplink->PairSelect2->setEnabled(pairid2);
m_oplink->Bind2->setEnabled(pairid2);
quint32 pairid3 = pairIdField->getValue(2).toUInt();
m_oplink->PairID3->setText(QString::number(pairIdField->getValue(2).toUInt(), 16).toUpper());
m_oplink->PairID3->setEnabled(false);
m_oplink->PairSelect3->setEnabled(pairid3);
m_oplink->Bind3->setEnabled(pairid3);
quint32 pairid4 = pairIdField->getValue(3).toUInt();
m_oplink->PairID4->setText(QString::number(pairIdField->getValue(3).toUInt(), 16).toUpper());
m_oplink->PairID4->setEnabled(false);
m_oplink->PairSelect4->setEnabled(pairid4);
m_oplink->Bind4->setEnabled(pairid4);
} else {
qDebug() << "PipXtremeGadgetWidget: Count not read PairID field.";
}
@ -307,32 +238,36 @@ void ConfigPipXtremeWidget::disconnected()
}
}
void ConfigPipXtremeWidget::addBinding(QWidget *w)
void ConfigPipXtremeWidget::SetPairID(QLineEdit *pairIdWidget)
{
if (QLineEdit * le = qobject_cast<QLineEdit *>(w)) {
// Get the pair ID out of the selection widget
quint32 pairID = 0;
bool okay;
if (m_oplink->PairSelect1->isChecked()) {
pairID = m_oplink->PairID1->text().toUInt(&okay, 16);
} else if (m_oplink->PairSelect2->isChecked()) {
pairID = m_oplink->PairID2->text().toUInt(&okay, 16);
} else if (m_oplink->PairSelect3->isChecked()) {
pairID = m_oplink->PairID3->text().toUInt(&okay, 16);
} else if (m_oplink->PairSelect4->isChecked()) {
pairID = m_oplink->PairID4->text().toUInt(&okay, 16);
}
// Get the pair ID out of the selection widget
quint32 pairID = 0;
bool okay;
// Store the ID in the first open slot (or the last slot if all are full).
le->setText(QString::number(pairID, 16).toUpper());
}
pairID = pairIdWidget->text().toUInt(&okay, 16);
// Store the ID in the coord ID field.
m_oplink->CoordID->setText(QString::number(pairID, 16).toUpper());
}
void ConfigPipXtremeWidget::removeBinding(QWidget *w)
void ConfigPipXtremeWidget::bind1()
{
if (QLineEdit * le = qobject_cast<QLineEdit *>(w)) {
le->setText(QString::number(0, 16).toUpper());
}
SetPairID(m_oplink->PairID1);
}
void ConfigPipXtremeWidget::bind2()
{
SetPairID(m_oplink->PairID1);
}
void ConfigPipXtremeWidget::bind3()
{
SetPairID(m_oplink->PairID1);
}
void ConfigPipXtremeWidget::bind4()
{
SetPairID(m_oplink->PairID1);
}
/**

10
ground/openpilotgcs/src/plugins/config/configpipxtremewidget.h
View File

@ -55,14 +55,14 @@ private:
// Are the settings current?
bool settingsUpdated;
// Signal mappers to add arguments to signals.
QSignalMapper *signalMapperAddBinding;
QSignalMapper *signalMapperRemBinding;
void SetPairID(QLineEdit *pairIdWidget);
private slots:
void disconnected();
void addBinding(QWidget *w);
void removeBinding(QWidget *w);
void bind1();
void bind2();
void bind3();
void bind4();
};
#endif // CONFIGTXPIDWIDGET_H

13
ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp
View File

@ -66,8 +66,7 @@ ConfigRevoHWWidget::ConfigRevoHWWidget(QWidget *parent) : ConfigTaskWidget(paren
addUAVObjectToWidgetRelation("HwSettings", "ComUsbBridgeSpeed", m_ui->cbMainComSpeed);
addUAVObjectToWidgetRelation("HwSettings", "RadioPort", m_ui->cbModem);
addUAVObjectToWidgetRelation("HwSettings", "MaxRFPower", m_ui->cbTxPower);
addUAVObjectToWidgetRelation("HwSettings", "DefaultFrequency", m_ui->leInitFreq);
addUAVObjectToWidgetRelation("HwSettings", "TelemetrySpeed", m_ui->cbRadioSpeed);
connect(m_ui->cchwHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
@ -291,18 +290,12 @@ void ConfigRevoHWWidget::modemPortChanged(int index)
if (m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_TELEMETRY) {
m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
}
m_ui->lblTxPower->setVisible(true);
m_ui->cbTxPower->setVisible(true);
m_ui->lblInitFreq->setVisible(true);
m_ui->leInitFreq->setVisible(true);
m_ui->cbRadioSpeed->setVisible(true);
if (!m_refreshing) {
QMessageBox::warning(this, tr("Warning"), tr("Activating the Radio requires an antenna be attached or modem damage will occur."));
}
} else {
m_ui->lblTxPower->setVisible(false);
m_ui->cbTxPower->setVisible(false);
m_ui->lblInitFreq->setVisible(false);
m_ui->leInitFreq->setVisible(false);
m_ui->cbRadioSpeed->setVisible(false);
}
}

240
ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui
View File

@ -113,8 +113,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>810</width>
<height>665</height>
<width>818</width>
<height>673</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_3">
@ -122,77 +122,22 @@
<number>12</number>
</property>
<item row="2" column="2">
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0">
<item row="7" column="0">
<widget class="QLabel" name="label_8">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0">
<item row="16" column="4">
<spacer name="horizontalSpacer_8">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="text">
<string>USB VCP Function</string>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
<property name="sizeHint" stdset="0">
<size>
<width>120</width>
<height>10</height>
</size>
</property>
</widget>
</item>
<item row="14" column="3">
<widget class="QLabel" name="lblMainSpeed">
<property name="text">
<string>Speed</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="6" column="5">
<widget class="QComboBox" name="cbSonar">
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="lblUSBVCPSpeed">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Speed</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QComboBox" name="cbRcvr"/>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_4">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>USB HID Function</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QComboBox" name="cbUSBHIDFunction"/>
</spacer>
</item>
<item row="10" column="0">
<widget class="QComboBox" name="cbUSBVCPSpeed">
@ -243,6 +188,29 @@
</property>
</spacer>
</item>
<item row="6" column="5">
<widget class="QComboBox" name="cbSonar">
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="lblUSBVCPSpeed">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Speed</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="1" column="1" rowspan="11" colspan="4" alignment="Qt::AlignHCenter|Qt::AlignVCenter">
<widget class="QLabel" name="label_2">
<property name="sizePolicy">
@ -293,9 +261,51 @@
</property>
</widget>
</item>
<item row="1" column="0">
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>120</height>
</size>
</property>
</spacer>
</item>
<item row="13" column="3">
<widget class="QComboBox" name="cbMain"/>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_8">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>USB VCP Function</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="14" column="3">
<widget class="QLabel" name="lblMainSpeed">
<property name="text">
<string>Speed</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="15" column="1">
<layout class="QVBoxLayout" name="verticalLayout_5">
<property name="spacing">
@ -342,6 +352,28 @@
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QComboBox" name="cbRcvr"/>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_4">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>USB HID Function</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QComboBox" name="cbUSBHIDFunction"/>
</item>
<item row="15" column="3">
<layout class="QVBoxLayout" name="verticalLayout_6">
<property name="spacing">
@ -379,9 +411,9 @@
<widget class="QComboBox" name="cbModem"/>
</item>
<item row="14" column="2">
<widget class="QLabel" name="lblTxPower">
<widget class="QLabel" name="lblRadioSpeed">
<property name="text">
<string>Max Tx Power (mW)</string>
<string>Speed</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
@ -389,24 +421,7 @@
</widget>
</item>
<item row="15" column="2">
<widget class="QComboBox" name="cbTxPower"/>
</item>
<item row="16" column="2">
<widget class="QLabel" name="lblInitFreq">
<property name="text">
<string>Initial Frequency (Hz)</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="17" column="2">
<widget class="QLineEdit" name="leInitFreq">
<property name="toolTip">
<string extracomment="The initial connection frequency (Hz)"/>
</property>
</widget>
<widget class="QComboBox" name="cbRadioSpeed"/>
</item>
<item row="14" column="1">
<widget class="QLabel" name="lblFlexiSpeed">
@ -466,38 +481,6 @@
</property>
</spacer>
</item>
<item row="1" column="0">
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>120</height>
</size>
</property>
</spacer>
</item>
<item row="16" column="2">
<spacer name="horizontalSpacer_8">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Minimum</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>120</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="16" column="3">
<spacer name="horizontalSpacer_9">
<property name="orientation">
@ -594,6 +577,19 @@
</property>
</spacer>
</item>
<item row="16" column="2">
<spacer name="horizontalSpacer_10">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>120</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="0" column="2">

2039
ground/openpilotgcs/src/plugins/config/pipxtreme.ui
View File

@ -23,10 +23,7 @@
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout">
<item row="4" column="0" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout_12"/>
</item>
<item row="5" column="0" colspan="2">
<item row="6" column="0" colspan="2">
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="message">
@ -113,7 +110,24 @@
</item>
</layout>
</item>
<item row="2" column="0" colspan="2">
<item row="5" column="0" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row="3" column="0" colspan="2">
<widget class="QFrame" name="frame_4">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
@ -136,132 +150,16 @@
<bold>true</bold>
</font>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="title">
<string>Status</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<item row="0" column="0">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Firmware Ver.</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="1" colspan="3">
<widget class="QLineEdit" name="FirmwareVersion">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</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="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Serial Number</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="1" colspan="3">
<widget class="QLineEdit" name="SerialNumber">
<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>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="acceptDrops">
<bool>false</bool>
</property>
<property name="toolTip">
<string>The modems serial number</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="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="DeviceIDLabel">
<property name="text">
<string>Device ID</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="5">
<widget class="QLineEdit" name="DeviceID">
<property name="minimumSize">
@ -366,6 +264,163 @@
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Firmware Ver.</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="1" colspan="3">
<widget class="QLineEdit" name="FirmwareVersion">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</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="1" column="7">
<widget class="QLineEdit" name="RSSI">
<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="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Serial Number</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="1" colspan="3">
<widget class="QLineEdit" name="SerialNumber">
<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>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="acceptDrops">
<bool>false</bool>
</property>
<property name="toolTip">
<string>The modems serial number</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="frame">
<bool>true</bool>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="DeviceIDLabel">
<property name="text">
<string>Device ID</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QLabel" name="LinkQualityLabel">
<property name="text">
@ -418,13 +473,13 @@
</property>
</widget>
</item>
<item row="1" column="7">
<widget class="QLineEdit" name="RSSI">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
<item row="3" 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>
@ -438,6 +493,9 @@
<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;
@ -448,6 +506,9 @@
/* 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>
@ -922,47 +983,6 @@
</property>
</widget>
</item>
<item row="3" 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="5" column="2">
<widget class="QLabel" name="TxFailureLabel">
<property name="text">
@ -1239,1186 +1259,6 @@
</layout>
</widget>
</item>
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox_2">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="title">
<string>Remote Modems</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QFrame" name="PairingFrame">
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="0">
<widget class="QRadioButton" name="PairSelect1">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QLabel" name="PairSignalStrengthLabel4">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar4">
<property name="minimum">
<number>-127</number>
</property>
<property name="maximum">
<number>0</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="textVisible">
<bool>false</bool>
</property>
<property name="format">
<string>%v dBm</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLabel" name="PairSignalStrengthLabel2">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="PairID2">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar2">
<property name="minimum">
<number>-127</number>
</property>
<property name="maximum">
<number>0</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="textVisible">
<bool>false</bool>
</property>
<property name="format">
<string>%v dBm</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="PairSignalStrengthLabel1">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar1">
<property name="minimum">
<number>-127</number>
</property>
<property name="maximum">
<number>0</number>
</property>
<property name="value">
<number>-127</number>
</property>
<property name="textVisible">
<bool>false</bool>
</property>
<property name="format">
<string>%v dBm</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="PairID4">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLabel" name="PairSignalStrengthLabel3">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="PairID1">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
<property name="placeholderText">
<string>12345678</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QRadioButton" name="PairSelect3">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar3">
<property name="minimum">
<number>-127</number>
</property>
<property name="maximum">
<number>0</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="textVisible">
<bool>false</bool>
</property>
<property name="format">
<string>%v dBm</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QRadioButton" name="PairSelect2">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLineEdit" name="PairID3">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QRadioButton" name="PairSelect4">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>
<item row="1" column="0" colspan="2">
<widget class="QGroupBox" name="groupBox_4">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="title">
<string>Bindings</string>
</property>
<layout class="QGridLayout" name="gridLayout_6">
<item row="0" column="0">
<widget class="QLabel" name="DeviceIDLabel_3">
<property name="text">
<string>Add</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="DeviceIDLabel_4">
<property name="text">
<string>Clear</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="DeviceIDLabel_2">
<property name="text">
<string>Device ID</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="RemoteMainPortLabel">
<property name="text">
<string>Main Port</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="RemoteFlexiPortLabel">
<property name="text">
<string>Flexi Port</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="5">
<widget class="QLabel" name="RemoteVCPPortLabel">
<property name="text">
<string>VCP Port</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="6">
<widget class="QLabel" name="ComSpeedLabel">
<property name="text">
<string>COM Speed</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0" colspan="7">
<widget class="QScrollArea" name="scrollArea">
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>757</width>
<height>244</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_7">
<item row="0" column="0">
<widget class="QPushButton" name="BindingAdd_1">
<property name="text">
<string>Add &gt;&gt;</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QPushButton" name="BindingRemove_1">
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLineEdit" name="BindingID_1">
<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="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="placeholderText">
<string>12345678</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QComboBox" name="RemoteMainPort_1">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote main port</string>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QComboBox" name="RemoteFlexiPort_1">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote flexi port</string>
</property>
</widget>
</item>
<item row="0" column="5">
<widget class="QComboBox" name="RemoteVCPPort_1">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote USB virtual com port</string>
</property>
</widget>
</item>
<item row="0" column="6">
<widget class="QComboBox" name="ComSpeed_1">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Set the telemetry port speed</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="BindingAdd_2">
<property name="text">
<string>Add &gt;&gt;</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QPushButton" name="BindingRemove_2">
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLineEdit" name="BindingID_2">
<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="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="placeholderText">
<string>12345678</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QComboBox" name="RemoteMainPort_2">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote main port</string>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QComboBox" name="RemoteFlexiPort_2">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote flexi port</string>
</property>
</widget>
</item>
<item row="1" column="5">
<widget class="QComboBox" name="RemoteVCPPort_2">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote USB virtual com port</string>
</property>
</widget>
</item>
<item row="1" column="6">
<widget class="QComboBox" name="ComSpeed_2">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Set the telemetry port speed</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QPushButton" name="BindingAdd_3">
<property name="text">
<string>Add &gt;&gt;</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QPushButton" name="BindingRemove_3">
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLineEdit" name="BindingID_3">
<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="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="placeholderText">
<string>12345678</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QComboBox" name="RemoteMainPort_3">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote main port</string>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QComboBox" name="RemoteFlexiPort_3">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote flexi port</string>
</property>
</widget>
</item>
<item row="2" column="5">
<widget class="QComboBox" name="RemoteVCPPort_3">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote USB virtual com port</string>
</property>
</widget>
</item>
<item row="2" column="6">
<widget class="QComboBox" name="ComSpeed_3">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Set the telemetry port speed</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QPushButton" name="BindingAdd_4">
<property name="text">
<string>Add &gt;&gt;</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QPushButton" name="BindingRemove_4">
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLineEdit" name="BindingID_4">
<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="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="placeholderText">
<string>12345678</string>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QComboBox" name="RemoteMainPort_4">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote main port</string>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QComboBox" name="RemoteFlexiPort_4">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote flexi port</string>
</property>
</widget>
</item>
<item row="3" column="5">
<widget class="QComboBox" name="RemoteVCPPort_4">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote USB virtual com port</string>
</property>
</widget>
</item>
<item row="3" column="6">
<widget class="QComboBox" name="ComSpeed_4">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Set the telemetry port speed</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QPushButton" name="BindingAdd_5">
<property name="text">
<string>Add &gt;&gt;</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QPushButton" name="BindingRemove_5">
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLineEdit" name="BindingID_5">
<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="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="placeholderText">
<string>12345678</string>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QComboBox" name="RemoteMainPort_5">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote main port</string>
</property>
</widget>
</item>
<item row="4" column="4">
<widget class="QComboBox" name="RemoteFlexiPort_5">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote flexi port</string>
</property>
</widget>
</item>
<item row="4" column="5">
<widget class="QComboBox" name="RemoteVCPPort_5">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote USB virtual com port</string>
</property>
</widget>
</item>
<item row="4" column="6">
<widget class="QComboBox" name="ComSpeed_5">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Set the telemetry port speed</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QPushButton" name="BindingAdd_6">
<property name="text">
<string>Add &gt;&gt;</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QPushButton" name="BindingRemove_6">
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLineEdit" name="BindingID_6">
<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="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="placeholderText">
<string>12345678</string>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QComboBox" name="RemoteMainPort_6">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote main port</string>
</property>
</widget>
</item>
<item row="5" column="4">
<widget class="QComboBox" name="RemoteFlexiPort_6">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote flexi port</string>
</property>
</widget>
</item>
<item row="5" column="5">
<widget class="QComboBox" name="RemoteVCPPort_6">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote USB virtual com port</string>
</property>
</widget>
</item>
<item row="5" column="6">
<widget class="QComboBox" name="ComSpeed_6">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Set the telemetry port speed</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QPushButton" name="BindingAdd_7">
<property name="text">
<string>Add &gt;&gt;</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QPushButton" name="BindingRemove_7">
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLineEdit" name="BindingID_7">
<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="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="placeholderText">
<string>12345678</string>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QComboBox" name="RemoteMainPort_7">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote main port</string>
</property>
</widget>
</item>
<item row="6" column="4">
<widget class="QComboBox" name="RemoteFlexiPort_7">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote flexi port</string>
</property>
</widget>
</item>
<item row="6" column="5">
<widget class="QComboBox" name="RemoteVCPPort_7">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote USB virtual com port</string>
</property>
</widget>
</item>
<item row="6" column="6">
<widget class="QComboBox" name="ComSpeed_7">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Set the telemetry port speed</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QPushButton" name="BindingAdd_8">
<property name="text">
<string>Add &gt;&gt;</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QPushButton" name="BindingRemove_8">
<property name="text">
<string>Clear</string>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLineEdit" name="BindingID_8">
<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="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="placeholderText">
<string>12345678</string>
</property>
</widget>
</item>
<item row="7" column="3">
<widget class="QComboBox" name="RemoteMainPort_8">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote main port</string>
</property>
</widget>
</item>
<item row="7" column="4">
<widget class="QComboBox" name="RemoteFlexiPort_8">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote flexi port</string>
</property>
</widget>
</item>
<item row="7" column="5">
<widget class="QComboBox" name="RemoteVCPPort_8">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the remote USB virtual com port</string>
</property>
</widget>
</item>
<item row="7" column="6">
<widget class="QComboBox" name="ComSpeed_8">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Set the telemetry port speed</string>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
</widget>
</item>
<item row="0" column="1">
<widget class="QGroupBox" name="groupBox">
<property name="sizePolicy">
@ -2437,7 +1277,37 @@
<string>Configuration</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<item row="4" column="2">
<widget class="QLabel" name="MaximumChannelLabel">
<property name="text">
<string>Max Chan</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="PacketLengthLabel">
<property name="text">
<string>Packet Length</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="NumChannelsLabel">
<property name="text">
<string>Num Chan</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="MainPortLabel">
<property name="text">
<string>Main Port</string>
@ -2447,87 +1317,7 @@
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="MainPort">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the main port</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="MinimumFrequencyLabel">
<property name="text">
<string>Min Freq</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLineEdit" name="MinimumFrequency">
<property name="toolTip">
<string extracomment="The minimum transmit frequency (Hz)"/>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="FlexiPortLabel">
<property name="text">
<string>Flexi Port</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="FlexiPort">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the flexi port</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="MaximumFrequencyLabel">
<property name="text">
<string>Max Freq</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLineEdit" name="MaximumFrequency">
<property name="toolTip">
<string extracomment="The maximum transmit frequency (Hz)"/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="VCPPortLabel">
<property name="text">
<string>VCP Port</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="1">
<item row="4" column="1">
<widget class="QComboBox" name="VCPPort">
<property name="maximumSize">
<size>
@ -2540,24 +1330,114 @@
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="InitFrequencyLabel">
<item row="2" column="3">
<widget class="QSpinBox" name="NumChannels">
<property name="maximum">
<number>250</number>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="FlexiPortLabel">
<property name="text">
<string>Initial Freq</string>
<string>Flexi Port</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLineEdit" name="InitFrequency">
<property name="toolTip">
<string extracomment="The initial transmit frequency (Hz)"/>
<item row="5" column="1">
<widget class="QComboBox" name="ComSpeed"/>
</item>
<item row="4" column="0">
<widget class="QLabel" name="VCPPortLabel">
<property name="text">
<string>VCP Port</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="0">
<item row="2" column="1">
<widget class="QComboBox" name="MainPort">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the main port</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="ComSpeedLabel">
<property name="text">
<string>Com Speed</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="MinimumChannelLabel">
<property name="text">
<string>Min Chan</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QSpinBox" name="MinimumChannel">
<property name="maximum">
<number>249</number>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="ChannelSetLabel">
<property name="text">
<string>Channel Set</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QSpinBox" name="ChannelSet">
<property name="maximum">
<number>249</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="FlexiPort">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose the function for the flexi port</string>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QSpinBox" name="MaximumChannel">
<property name="maximum">
<number>249</number>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="MaxRFTxPowerLabel">
<property name="text">
<string>Max Power</string>
@ -2567,7 +1447,7 @@
</property>
</widget>
</item>
<item row="3" column="1">
<item row="7" column="1">
<widget class="QComboBox" name="MaxRFTxPower">
<property name="maximumSize">
<size>
@ -2586,38 +1466,260 @@
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="StepSizeLabel">
<property name="text">
<string>Step Size</string>
<item row="7" column="3">
<widget class="QSpinBox" name="PacketLength">
<property name="toolTip">
<string extracomment="The packet length in ms / packet"/>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
<property name="minimum">
<number>10</number>
</property>
<property name="maximum">
<number>50</number>
</property>
<property name="value">
<number>15</number>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QLineEdit" name="StepSize">
<property name="toolTip">
<string extracomment="The channel spacing (Hz)"/>
<item row="8" column="0">
<widget class="QCheckBox" name="Coordinator">
<property name="text">
<string>Coordinator</string>
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QCheckBox" name="OneWayLink">
<property name="text">
<string>One-Way Link</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="3" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox_2">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
<property name="title">
<string>Remote Modems</string>
</property>
</spacer>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QFrame" name="PairingFrame">
<layout class="QGridLayout" name="gridLayout_3">
<item row="5" column="3">
<widget class="QLabel" name="PairSignalStrengthLabel4">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar4">
<property name="minimum">
<number>-127</number>
</property>
<property name="maximum">
<number>0</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="textVisible">
<bool>false</bool>
</property>
<property name="format">
<string>%v dBm</string>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QLabel" name="PairSignalStrengthLabel2">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="PairID2">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar2">
<property name="minimum">
<number>-127</number>
</property>
<property name="maximum">
<number>0</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="textVisible">
<bool>false</bool>
</property>
<property name="format">
<string>%v dBm</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLineEdit" name="PairID4">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar1">
<property name="minimum">
<number>-127</number>
</property>
<property name="maximum">
<number>0</number>
</property>
<property name="value">
<number>-127</number>
</property>
<property name="textVisible">
<bool>false</bool>
</property>
<property name="format">
<string>%v dBm</string>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLabel" name="PairSignalStrengthLabel1">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar3">
<property name="minimum">
<number>-127</number>
</property>
<property name="maximum">
<number>0</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="textVisible">
<bool>false</bool>
</property>
<property name="format">
<string>%v dBm</string>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QLabel" name="PairSignalStrengthLabel3">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLineEdit" name="PairID3">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLineEdit" name="PairID1">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
<property name="placeholderText">
<string>12345678</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QPushButton" name="Bind2">
<property name="text">
<string>Bind</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QPushButton" name="Bind1">
<property name="text">
<string>Bind</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QPushButton" name="Bind4">
<property name="text">
<string>Bind</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QPushButton" name="Bind3">
<property name="text">
<string>Bind</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="CoordIDLabel">
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="text">
<string>Coord ID</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLineEdit" name="CoordID">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
<property name="maxLength">
<number>8</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
@ -2625,17 +1727,12 @@
</layout>
</widget>
<tabstops>
<tabstop>PairSelect1</tabstop>
<tabstop>PairID1</tabstop>
<tabstop>PairSelect2</tabstop>
<tabstop>PairID2</tabstop>
<tabstop>PairSelect3</tabstop>
<tabstop>PairID3</tabstop>
<tabstop>PairSelect4</tabstop>
<tabstop>PairID4</tabstop>
<tabstop>FirmwareVersion</tabstop>
<tabstop>SerialNumber</tabstop>
<tabstop>MaxRFTxPower</tabstop>
<tabstop>Apply</tabstop>
<tabstop>Save</tabstop>
</tabstops>

2
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -101,6 +101,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/poilocation.h \
$$UAVOBJECT_SYNTHETICS/oplinksettings.h \
$$UAVOBJECT_SYNTHETICS/oplinkstatus.h \
$$UAVOBJECT_SYNTHETICS/oplinkreceiver.h \
$$UAVOBJECT_SYNTHETICS/osdsettings.h \
$$UAVOBJECT_SYNTHETICS/waypoint.h \
$$UAVOBJECT_SYNTHETICS/waypointactive.h \
@ -185,6 +186,7 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/poilocation.cpp \
$$UAVOBJECT_SYNTHETICS/oplinksettings.cpp \
$$UAVOBJECT_SYNTHETICS/oplinkstatus.cpp \
$$UAVOBJECT_SYNTHETICS/oplinkreceiver.cpp \
$$UAVOBJECT_SYNTHETICS/osdsettings.cpp \
$$UAVOBJECT_SYNTHETICS/waypoint.cpp \
$$UAVOBJECT_SYNTHETICS/waypointactive.cpp \

2
shared/uavobjectdefinition/hwsettings.xml
View File

@ -17,8 +17,6 @@
<field name="RM_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM2,DSMX (10bit),DSMX (11bit),DebugConsole,ComBridge,OsdHk" defaultvalue="Disabled"/>
<field name="RadioPort" units="function" type="enum" elements="1" options="Disabled,Telemetry" defaultvalue="Disabled"/>
<field name="MaxRFPower" units="mW" type="enum" elements="1" options="1.25,1.6,3.16,6.3,12.6,25,50,100" defaultvalue="1.25"/>
<field name="DefaultFrequency" units="Hz" type="uint32" elements="1" defaultvalue="433000000"/>
<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="GPSSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>

18
shared/uavobjectdefinition/oplinksettings.xml
View File

@ -1,19 +1,19 @@
<xml>
<object name="OPLinkSettings" singleinstance="true" settings="true">
<description>OPLink configurations options.</description>
<field name="Bindings" units="hex" type="uint32" elements="8" defaultvalue="0"/>
<field name="RemoteMainPort" units="" type="enum" elements="8" options="Disabled,Serial,PPM" defaultvalue="Disabled"/>
<field name="RemoteFlexiPort" units="" type="enum" elements="8" options="Disabled,Serial,PPM" defaultvalue="Disabled"/>
<field name="RemoteVCPPort" units="" type="enum" elements="8" options="Disabled,Serial" defaultvalue="Disabled"/>
<field name="ComSpeed" units="bps" type="enum" elements="8" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="38400"/>
<field name="Coordinator" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="OneWayLink" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="CoordID" units="hex" type="uint32" elements="1" defaultvalue="0"/>
<field name="MainPort" units="" type="enum" elements="1" options="Disabled,Telemetry,Serial,PPM" defaultvalue="Telemetry"/>
<field name="FlexiPort" units="" type="enum" elements="1" options="Disabled,Telemetry,Serial,PPM" defaultvalue="Disabled"/>
<field name="VCPPort" units="" type="enum" elements="1" options="Disabled,Serial" defaultvalue="Disabled"/>
<field name="ComSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="38400"/>
<field name="MaxRFPower" units="mW" type="enum" elements="1" options="1.25,1.6,3.16,6.3,12.6,25,50,100" defaultvalue="1.25"/>
<field name="MinFrequency" units="Hz" type="uint32" elements="1" defaultvalue="430000000"/>
<field name="MaxFrequency" units="Hz" type="uint32" elements="1" defaultvalue="440000000"/>
<field name="InitFrequency" units="Hz" type="uint32" elements="1" defaultvalue="433000000"/>
<field name="ChannelSpacing" units="Hz" type="uint32" elements="1" defaultvalue="75000"/>
<field name="MinChannel" units="" type="uint8" elements="1" defaultvalue="0"/>
<field name="MaxChannel" units="" type="uint8" elements="1" defaultvalue="250"/>
<field name="NumChannels" units="" type="uint8" elements="1" defaultvalue="10"/>
<field name="ChannelSet" units="" type="uint8" elements="1" defaultvalue="39"/>
<field name="PacketTime" units="ms" type="uint8" elements="1" defaultvalue="39"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>

2
shared/uavobjectdefinition/oplinkstatus.xml
View File

@ -30,7 +30,7 @@
<access gcs="readonly" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<telemetryflight acked="false" updatemode="throttled" period="500"/>
<logging updatemode="periodic" period="1000"/>
</object>
</xml>