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Code Issues Releases Activity

Merge remote-tracking branch 'revo/brian/revo_link' into revo-mini

Browse Source 
Conflicts:
	ground/openpilotgcs/src/plugins/plugins.pro
This commit is contained in:
James Cotton 2012-08-25 15:05:47 -05:00
commit 982750a58f
26 changed files with 1213 additions and 921 deletions
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2
flight/Libraries/aes.c
View File

@ -1,7 +1,7 @@
// http://gladman.plushost.co.uk/oldsite/AES/index.php
//#include <stdio.h>
#include <stdint.h>
#include "aes.h"

2
flight/Libraries/inc/aes.h
View File

@ -2,8 +2,6 @@
#ifndef _AES_H_
#define _AES_H_
#include "stm32f10x.h"
#define N_ROW 4
#define N_COL 4
#define N_BLOCK (N_ROW * N_COL)

12
flight/Libraries/inc/packet_handler.h
View File

@ -30,6 +30,9 @@
#ifndef __PACKET_HANDLER_H__
#define __PACKET_HANDLER_H__
#include <uavobjectmanager.h>
#include <gcsreceiver.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)
@ -71,7 +74,7 @@ typedef struct {
#define PH_PPM_DATA_SIZE(p) ((uint8_t*)((p)->ecc) - (uint8_t*)(((PHPacketHandle)(p))->data))
typedef struct {
PHPacketHeader header;
uint16_t channels[PIOS_RCVR_MAX_CHANNELS];
uint16_t channels[GCSRECEIVER_CHANNEL_NUMELEM];
uint8_t ecc[RS_ECC_NPARITY];
} PHPpmPacket, *PHPpmPacketHandle;
@ -87,8 +90,10 @@ typedef struct {
} PHStatusPacket, *PHStatusPacketHandle;
typedef struct {
uint8_t winSize;
uint16_t maxConnections;
uint32_t default_destination_id;
uint32_t source_id;
uint16_t max_connections;
uint8_t win_size;
} PacketHandlerConfig;
typedef int32_t (*PHOutputStream)(PHPacketHandle packet);
@ -110,6 +115,7 @@ void PHReleaseRXPacket(PHInstHandle h, PHPacketHandle p);
PHPacketHandle PHGetTXPacket(PHInstHandle h);
void PHReleaseTXPacket(PHInstHandle h, PHPacketHandle p);
uint8_t PHTransmitPacket(PHInstHandle h, PHPacketHandle p);
uint8_t PHTransmitData(PHInstHandle h, uint8_t *buf, uint16_t len);
int32_t PHVerifyPacket(PHInstHandle h, PHPacketHandle p, uint16_t received_len);
uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p, bool rx_error);

70
flight/Libraries/packet_handler.c
View File

@ -44,7 +44,6 @@ typedef struct {
uint8_t rx_win_start;
uint8_t rx_win_end;
uint16_t tx_seq_id;
PHOutputStream stream;
xSemaphoreHandle lock;
PHOutputStream output_stream;
PHDataHandler data_handler;
@ -75,13 +74,13 @@ PHInstHandle PHInitialize(PacketHandlerConfig *cfg)
data->tx_seq_id = 0;
// Allocate the packet windows
data->tx_packets = pvPortMalloc(sizeof(PHPacket) * data->cfg.winSize);
data->rx_packets = pvPortMalloc(sizeof(PHPacket) * data->cfg.winSize);
data->tx_packets = pvPortMalloc(sizeof(PHPacket) * data->cfg.win_size);
data->rx_packets = pvPortMalloc(sizeof(PHPacket) * data->cfg.win_size);
// Initialize the windows
data->tx_win_start = data->tx_win_end = 0;
data->rx_win_start = data->rx_win_end = 0;
for (uint8_t i = 0; i < data->cfg.winSize; ++i)
for (uint8_t i = 0; i < data->cfg.win_size; ++i)
{
data->tx_packets[i].header.type = PACKET_TYPE_NONE;
data->rx_packets[i].header.type = PACKET_TYPE_NONE;
@ -93,6 +92,12 @@ PHInstHandle PHInitialize(PacketHandlerConfig *cfg)
// Initialize the ECC library.
initialize_ecc();
// Initialize the handlers
data->output_stream = 0;
data->data_handler = 0;
data->status_handler = 0;
data->ppm_handler = 0;
// Return the structure.
return (PHInstHandle)data;
}
@ -172,7 +177,7 @@ PHPacketHandle PHGetTXPacket(PHInstHandle h)
// Find a free packet.
PHPacketHandle p = NULL;
for (uint8_t i = 0; i < data->cfg.winSize; ++i)
for (uint8_t i = 0; i < data->cfg.win_size; ++i)
if (data->tx_packets[i].header.type == PACKET_TYPE_NONE)
{
p = data->tx_packets + i;
@ -205,7 +210,7 @@ void PHReleaseTXPacket(PHInstHandle h, PHPacketHandle p)
// If this packet is at the start of the window, increment the start index.
while ((data->tx_win_start != data->tx_win_end) &&
(data->tx_packets[data->tx_win_start].header.type == PACKET_TYPE_NONE))
data->tx_win_start = (data->tx_win_start + 1) % data->cfg.winSize;
data->tx_win_start = (data->tx_win_start + 1) % data->cfg.win_size;
// Release lock
xSemaphoreGiveRecursive(data->lock);
@ -226,7 +231,7 @@ PHPacketHandle PHGetRXPacket(PHInstHandle h)
// Find a free packet.
PHPacketHandle p = NULL;
for (uint8_t i = 0; i < data->cfg.winSize; ++i)
for (uint8_t i = 0; i < data->cfg.win_size; ++i)
if (data->rx_packets[i].header.type == PACKET_TYPE_NONE)
{
p = data->rx_packets + i;
@ -259,7 +264,7 @@ void PHReleaseRXPacket(PHInstHandle h, PHPacketHandle p)
// If this packet is at the start of the window, increment the start index.
while ((data->rx_win_start != data->rx_win_end) &&
(data->rx_packets[data->rx_win_start].header.type == PACKET_TYPE_NONE))
data->rx_win_start = (data->rx_win_start + 1) % data->cfg.winSize;
data->rx_win_start = (data->rx_win_start + 1) % data->cfg.win_size;
// Release lock
xSemaphoreGiveRecursive(data->lock);
@ -280,19 +285,39 @@ uint8_t PHTransmitPacket(PHInstHandle h, PHPacketHandle p)
if (!PHLTransmitPacket(data, p))
return 0;
// If this packet doesn't require an ACK, remove it from the TX window.
switch (p->header.type) {
case PACKET_TYPE_READY:
case PACKET_TYPE_NOTREADY:
case PACKET_TYPE_DATA:
case PACKET_TYPE_PPM:
PHReleaseTXPacket(h, p);
break;
}
return 1;
}
/**
* Transmit a packet of data.
* \param[in] h The packet handler instance data pointer.
* \param[in] p A pointer to the data buffer.
* \param[in] len The length of the data buffer.
* \return 1 Success
* \return 0 Failure
*/
uint8_t PHTransmitData(PHInstHandle h, uint8_t *buf, uint16_t len)
{
PHPacketDataHandle data = (PHPacketDataHandle)h;
// Get a packet from the packet handler.
PHPacketHandle p = PHGetTXPacket(pios_packet_handler);
if (!p)
return 0;
// Initialize the packet.
p->header.destination_id = data->cfg.default_destination_id;
p->header.source_id = data->cfg.source_id;
p->header.type = PACKET_TYPE_DATA;
p->header.data_size = len;
// Copy the data into the packet.
memcpy(p->data, buf, len);
// Send the packet.
return PHLTransmitPacket(data, p);
}
/**
* Verify that a buffer contains a valid packet.
* \param[in] h The packet handler instance data pointer.
@ -380,11 +405,11 @@ uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p, bool rx_error)
{
// Find the packet ID in the TX buffer, and free it.
unsigned int i = 0;
for (unsigned int i = 0; i < data->cfg.winSize; ++i)
for (unsigned int i = 0; i < data->cfg.win_size; ++i)
if (data->tx_packets[i].header.tx_seq == p->header.rx_seq)
PHReleaseTXPacket(h, data->tx_packets + i);
#ifdef DEBUG_LEVEL
if (i == data->cfg.winSize)
if (i == data->cfg.win_size)
DEBUG_PRINTF(1, "Error finding acked packet to release\n\r");
#endif
}
@ -394,11 +419,11 @@ uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p, bool rx_error)
{
// Resend the packet.
unsigned int i = 0;
for ( ; i < data->cfg.winSize; ++i)
for ( ; i < data->cfg.win_size; ++i)
if (data->tx_packets[i].header.tx_seq == p->header.rx_seq)
PHLTransmitPacket(data, data->tx_packets + i);
#ifdef DEBUG_LEVEL
if (i == data->cfg.winSize)
if (i == data->cfg.win_size)
DEBUG_PRINTF(1, "Error finding acked packet to NACK\n\r");
DEBUG_PRINTF(1, "Resending after NACK\n\r");
#endif
@ -455,6 +480,7 @@ static uint8_t PHLTransmitPacket(PHPacketDataHandle data, PHPacketHandle p)
encode_data((unsigned char*)p, PHPacketSize(p), (unsigned char*)p);
// Transmit the packet using the output stream.
p->header.source_id = data->cfg.source_id;
if(data->output_stream(p) == -1)
return 0;

2
flight/Libraries/rscode/rs.c
View File

@ -159,7 +159,7 @@ debug_check_syndrome (void)
static void
compute_genpoly (int nbytes, int genpoly[])
{
int i, tp[256], tp1[256];
int i, tp[MAXDEG], tp1[MAXDEG];
/* multiply (x + a^n) for n = 1 to nbytes */

39
flight/Modules/Radio/inc/radio.h Normal file
View File

@ -0,0 +1,39 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup Radio Input / Output Module
* @brief Read and Write packets from/to a radio device.
* @{
*
* @file radio.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Include file of the radio module.
* @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 RADIOMODULE_H
#define RADIOMODULE_H
#endif // RADIOMODULE_H
/**
* @}
* @}
*/

539
flight/Modules/Radio/radio.c Normal file
View File

@ -0,0 +1,539 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup Radio Input / Output Module
* @brief Read and Write packets from/to a radio device.
* @{
*
* @file radio.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Bridges selected Com Port to the COM VCP emulated serial port
* @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
*/
#include <openpilot.h>
#include <gcsreceiver.h>
#include <hwsettings.h>
#include <pipxsettings.h>
#include <pipxstatus.h>
#include <packet_handler.h>
#include <pios_com_priv.h>
#include <pios_rfm22b_priv.h>
#include <radio.h>
// ****************
// Private constants
#define STACK_SIZE_BYTES 150
#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
#define PACKET_QUEUE_SIZE PIOS_PH_WIN_SIZE
#define MAX_PORT_DELAY 200
#define STATS_UPDATE_PERIOD_MS 500
#define RADIOSTATS_UPDATE_PERIOD_MS 250
#define MAX_LOST_CONTACT_TIME 4
#ifndef LINK_LED_ON
#define LINK_LED_ON
#define LINK_LED_OFF
#endif
// ****************
// Private types
typedef struct {
uint32_t pairID;
uint16_t retries;
uint16_t errors;
uint16_t uavtalk_errors;
uint16_t resets;
uint16_t dropped;
int8_t rssi;
uint8_t lastContact;
} PairStats;
typedef struct {
// The task handles.
xTaskHandle radioReceiveTaskHandle;
xTaskHandle radioStatusTaskHandle;
xTaskHandle sendPacketTaskHandle;
// Queue handles.
xQueueHandle radioPacketQueue;
// Error statistics.
uint32_t radioTxErrors;
uint32_t radioRxErrors;
uint32_t packetErrors;
uint16_t txBytes;
uint16_t rxBytes;
// External error statistics
uint32_t droppedPackets;
uint32_t comTxRetries;
uint32_t UAVTalkErrors;
// The destination ID
uint32_t destination_id;
// Track other radios that are in range.
PairStats pairStats[PIPXSTATUS_PAIRIDS_NUMELEM];
// The RSSI of the last packet received.
int8_t RSSI;
} RadioData;
// ****************
// Private functions
static void radioReceiveTask(void *parameters);
static void radioStatusTask(void *parameters);
static void sendPacketTask(void *parameters);
static void StatusHandler(PHStatusPacketHandle p, int8_t rssi, int8_t afc);
static int32_t transmitPacket(PHPacketHandle packet);
static void PPMHandler(uint16_t *channels);
// ****************
// Private variables
static RadioData *data = 0;
// ****************
// Global variables
uint32_t pios_rfm22b_id = 0;
uint32_t pios_com_rfm22b_id = 0;
uint32_t pios_packet_handler = 0;
extern struct pios_rfm22b_cfg pios_rfm22b_cfg;
/**
* Start the module
* \return -1 if initialisation failed
* \return 0 on success
*/
static int32_t RadioStart(void)
{
if (!data)
return -1;
// Start the tasks.
xTaskCreate(radioReceiveTask, (signed char *)"RadioReceive", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioReceiveTaskHandle));
xTaskCreate(radioStatusTask, (signed char *)"RadioStatus", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioStatusTaskHandle));
xTaskCreate(sendPacketTask, (signed char *)"SendPacket", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->sendPacketTaskHandle));
// Register the watchdog timers.
#ifdef PIOS_WDG_RADIORECEIVE
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORECEIVE);
#endif /* PIOS_WDG_RADIORECEIVE */
return 0;
}
/**
* Initialise the module
* \return -1 if initialisation failed
* \return 0 on success
*/
static int32_t RadioInitialize(void)
{
// See if this module is enabled.
#ifndef RADIO_BUILTIN
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_RADIO] != HWSETTINGS_OPTIONALMODULES_ENABLED)
return -1;
#endif
// Initalize out UAVOs
PipXSettingsInitialize();
PipXStatusInitialize();
PipXSettingsData pipxSettings;
PipXSettingsGet(&pipxSettings);
/* Retrieve hardware settings. */
pios_rfm22b_cfg.frequencyHz = pipxSettings.Frequency;
pios_rfm22b_cfg.RFXtalCap = pipxSettings.FrequencyCalibration;
switch (pipxSettings.RFSpeed)
{
case PIPXSETTINGS_RFSPEED_2400:
pios_rfm22b_cfg.maxRFBandwidth = 2000;
break;
case PIPXSETTINGS_RFSPEED_4800:
pios_rfm22b_cfg.maxRFBandwidth = 4000;
break;
case PIPXSETTINGS_RFSPEED_9600:
pios_rfm22b_cfg.maxRFBandwidth = 9600;
break;
case PIPXSETTINGS_RFSPEED_19200:
pios_rfm22b_cfg.maxRFBandwidth = 19200;
break;
case PIPXSETTINGS_RFSPEED_38400:
pios_rfm22b_cfg.maxRFBandwidth = 32000;
break;
case PIPXSETTINGS_RFSPEED_57600:
pios_rfm22b_cfg.maxRFBandwidth = 64000;
break;
case PIPXSETTINGS_RFSPEED_115200:
pios_rfm22b_cfg.maxRFBandwidth = 128000;
break;
}
switch (pipxSettings.MaxRFPower)
{
case PIPXSETTINGS_MAXRFPOWER_125:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_0;
break;
case PIPXSETTINGS_MAXRFPOWER_16:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_1;
break;
case PIPXSETTINGS_MAXRFPOWER_316:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_2;
break;
case PIPXSETTINGS_MAXRFPOWER_63:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_3;
break;
case PIPXSETTINGS_MAXRFPOWER_126:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_4;
break;
case PIPXSETTINGS_MAXRFPOWER_25:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_5;
break;
case PIPXSETTINGS_MAXRFPOWER_50:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_6;
break;
case PIPXSETTINGS_MAXRFPOWER_100:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_7;
break;
}
/* Initalize the RFM22B radio COM device. */
{
if (PIOS_RFM22B_Init(&pios_rfm22b_id, &pios_rfm22b_cfg)) {
PIOS_Assert(0);
}
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_rfm22b_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);
}
}
// Initialize the packet handler
PacketHandlerConfig pios_ph_cfg = {
.default_destination_id = 0xffffffff, // Broadcast
.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id),
.win_size = PIOS_PH_WIN_SIZE,
.max_connections = PIOS_PH_MAX_CONNECTIONS,
};
pios_packet_handler = PHInitialize(&pios_ph_cfg);
// allocate and initialize the static data storage only if module is enabled
data = (RadioData *)pvPortMalloc(sizeof(RadioData));
if (!data)
return -1;
// Initialize the statistics.
data->radioTxErrors = 0;
data->radioRxErrors = 0;
data->packetErrors = 0;
data->droppedPackets = 0;
data->comTxRetries = 0;
data->UAVTalkErrors = 0;
data->RSSI = -127;
// Initialize the detected device statistics.
for (uint8_t i = 0; i < PIPXSTATUS_PAIRIDS_NUMELEM; ++i)
{
data->pairStats[i].pairID = 0;
data->pairStats[i].rssi = -127;
data->pairStats[i].retries = 0;
data->pairStats[i].errors = 0;
data->pairStats[i].uavtalk_errors = 0;
data->pairStats[i].resets = 0;
data->pairStats[i].dropped = 0;
data->pairStats[i].lastContact = 0;
}
// The first slot is reserved for our current pairID
PipXSettingsPairIDGet(&(data->pairStats[0].pairID));
data->destination_id = data->pairStats[0].pairID ? data->pairStats[0].pairID : 0xffffffff;
// Create the packet queue.
data->radioPacketQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(PHPacketHandle));
// Register the callbacks with the packet handler
PHRegisterStatusHandler(pios_packet_handler, StatusHandler);
PHRegisterOutputStream(pios_packet_handler, transmitPacket);
PHRegisterPPMHandler(pios_packet_handler, PPMHandler);
return 0;
}
MODULE_INITCALL(RadioInitialize, RadioStart)
/**
* The task that receives packets from the radio.
*/
static void radioReceiveTask(void *parameters)
{
PHPacketHandle p = NULL;
/* Handle radio -> usart/usb direction */
while (1) {
uint32_t rx_bytes;
#ifdef PIOS_WDG_RADIORECEIVE
// Update the watchdog timer.
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIORECEIVE);
#endif /* PIOS_INCLUDE_WDG */
// Get a RX packet from the packet handler if required.
if (p == NULL)
p = PHGetRXPacket(pios_packet_handler);
if(p == NULL) {
// Wait a bit for a packet to come available.
vTaskDelay(5);
continue;
}
// Receive data from the radio port
rx_bytes = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, (uint8_t*)p, PIOS_PH_MAX_PACKET, MAX_PORT_DELAY);
if(rx_bytes == 0)
continue;
data->rxBytes += rx_bytes;
// Verify that the packet is valid and pass it on.
bool rx_error = PHVerifyPacket(pios_packet_handler, p, rx_bytes) < 0;
if(rx_error)
data->packetErrors++;
PHReceivePacket(pios_packet_handler, p, rx_error);
p = NULL;
}
}
/**
* Send packets to the radio.
*/
static void sendPacketTask(void *parameters)
{
PHPacketHandle p;
// Loop forever
while (1) {
#ifdef PIOS_INCLUDE_WDG
// Update the watchdog timer.
//PIOS_WDG_UpdateFlag(PIOS_WDG_SENDPACKET);
#endif /* PIOS_INCLUDE_WDG */
// Wait for a packet on the queue.
if (xQueueReceive(data->radioPacketQueue, &p, MAX_PORT_DELAY) == pdTRUE) {
PIOS_COM_SendBuffer(PIOS_COM_RADIO, (uint8_t*)p, PH_PACKET_SIZE(p));
PHReleaseTXPacket(pios_packet_handler, p);
}
}
}
/**
* Transmit a packet to the radio port.
* \param[in] buf Data buffer to send
* \param[in] length Length of buffer
* \return -1 on failure
* \return number of bytes transmitted on success
*/
static int32_t transmitPacket(PHPacketHandle p)
{
uint16_t len = PH_PACKET_SIZE(p);
data->txBytes += len;
if (xQueueSend(data->radioPacketQueue, &p, portMAX_DELAY) != pdTRUE)
return -1;
return len;
}
/**
* Receive a status packet
* \param[in] status The status structure
*/
static void StatusHandler(PHStatusPacketHandle status, int8_t rssi, int8_t afc)
{
uint32_t id = status->header.source_id;
bool found = false;
// Have we seen this device recently?
uint8_t id_idx = 0;
for ( ; id_idx < PIPXSTATUS_PAIRIDS_NUMELEM; ++id_idx)
if(data->pairStats[id_idx].pairID == id)
{
found = true;
break;
}
// If we have seen it, update the RSSI and reset the last contact couter
if(found)
{
data->pairStats[id_idx].rssi = rssi;
data->pairStats[id_idx].retries = status->retries;
data->pairStats[id_idx].errors = status->errors;
data->pairStats[id_idx].uavtalk_errors = status->uavtalk_errors;
data->pairStats[id_idx].resets = status->resets;
data->pairStats[id_idx].dropped = status->dropped;
data->pairStats[id_idx].lastContact = 0;
}
// If we haven't seen it, find a slot to put it in.
if (!found)
{
uint32_t pairID;
PipXSettingsPairIDGet(&pairID);
uint8_t min_idx = 0;
if(id != pairID)
{
int8_t min_rssi = data->pairStats[0].rssi;
for (id_idx = 1; id_idx < PIPXSTATUS_PAIRIDS_NUMELEM; ++id_idx)
{
if(data->pairStats[id_idx].rssi < min_rssi)
{
min_rssi = data->pairStats[id_idx].rssi;
min_idx = id_idx;
}
}
}
data->pairStats[min_idx].pairID = id;
data->pairStats[min_idx].rssi = rssi;
data->pairStats[min_idx].retries = status->retries;
data->pairStats[min_idx].errors = status->errors;
data->pairStats[min_idx].uavtalk_errors = status->uavtalk_errors;
data->pairStats[min_idx].resets = status->resets;
data->pairStats[min_idx].dropped = status->dropped;
data->pairStats[min_idx].lastContact = 0;
}
}
/**
* The stats update task.
*/
static void radioStatusTask(void *parameters)
{
PHStatusPacket status_packet;
while (1) {
PipXStatusData pipxStatus;
uint32_t pairID;
// Get object data
PipXStatusGet(&pipxStatus);
PipXSettingsPairIDGet(&pairID);
// Update the status
pipxStatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
pipxStatus.Retries = data->comTxRetries;
pipxStatus.Errors = data->packetErrors;
pipxStatus.UAVTalkErrors = data->UAVTalkErrors;
pipxStatus.Dropped = data->droppedPackets;
pipxStatus.Resets = PIOS_RFM22B_Resets(pios_rfm22b_id);
pipxStatus.TXRate = (uint16_t)((float)(data->txBytes * 1000) / STATS_UPDATE_PERIOD_MS);
data->txBytes = 0;
pipxStatus.RXRate = (uint16_t)((float)(data->rxBytes * 1000) / STATS_UPDATE_PERIOD_MS);
data->rxBytes = 0;
pipxStatus.LinkState = PIPXSTATUS_LINKSTATE_DISCONNECTED;
pipxStatus.RSSI = data->RSSI;
LINK_LED_OFF;
// Update the potential pairing contacts
for (uint8_t i = 0; i < PIPXSTATUS_PAIRIDS_NUMELEM; ++i)
{
pipxStatus.PairIDs[i] = data->pairStats[i].pairID;
pipxStatus.PairSignalStrengths[i] = data->pairStats[i].rssi;
data->pairStats[i].lastContact++;
// Remove this device if it's stale.
if(data->pairStats[i].lastContact > MAX_LOST_CONTACT_TIME)
{
data->pairStats[i].pairID = 0;
data->pairStats[i].rssi = -127;
data->pairStats[i].retries = 0;
data->pairStats[i].errors = 0;
data->pairStats[i].uavtalk_errors = 0;
data->pairStats[i].resets = 0;
data->pairStats[i].dropped = 0;
data->pairStats[i].lastContact = 0;
}
// Add the paired devices statistics to ours.
if(pairID && (data->pairStats[i].pairID == pairID) && (data->pairStats[i].rssi > -127))
{
pipxStatus.Retries += data->pairStats[i].retries;
pipxStatus.Errors += data->pairStats[i].errors;
pipxStatus.UAVTalkErrors += data->pairStats[i].uavtalk_errors;
pipxStatus.Dropped += data->pairStats[i].dropped;
pipxStatus.Resets += data->pairStats[i].resets;
pipxStatus.Dropped += data->pairStats[i].dropped;
pipxStatus.LinkState = PIPXSTATUS_LINKSTATE_CONNECTED;
LINK_LED_ON;
}
}
// Update the object
PipXStatusSet(&pipxStatus);
// Broadcast the status.
{
static uint16_t cntr = 0;
if(cntr++ == RADIOSTATS_UPDATE_PERIOD_MS / STATS_UPDATE_PERIOD_MS)
{
// Queue the status message
status_packet.header.destination_id = 0xffffffff;
status_packet.header.type = PACKET_TYPE_STATUS;
status_packet.header.data_size = PH_STATUS_DATA_SIZE(&status_packet);
status_packet.header.source_id = pipxStatus.DeviceID;
status_packet.retries = data->comTxRetries;
status_packet.errors = data->packetErrors;
status_packet.uavtalk_errors = data->UAVTalkErrors;
status_packet.dropped = data->droppedPackets;
status_packet.resets = PIOS_RFM22B_Resets(pios_rfm22b_id);
PHPacketHandle sph = (PHPacketHandle)&status_packet;
PHTransmitPacket(PIOS_PACKET_HANDLER, sph);
cntr = 0;
}
}
// Delay until the next update period.
vTaskDelay(STATS_UPDATE_PERIOD_MS / portTICK_RATE_MS);
}
}
/**
* Receive a ppm packet
* \param[in] channels The ppm channels
*/
static void PPMHandler(uint16_t *channels)
{
GCSReceiverData rcvr;
// Copy the receiver channels into the GCSReceiver object.
for (uint8_t i = 0; i < GCSRECEIVER_CHANNEL_NUMELEM; ++i)
rcvr.Channel[i] = channels[i];
// Set the GCSReceiverData object.
GCSReceiverSet(&rcvr);
}

440
flight/Modules/RadioComBridge/RadioComBridge.c
View File

@ -55,8 +55,8 @@
#define BRIDGE_BUF_LEN 512
#define MAX_RETRIES 2
#define RETRY_TIMEOUT_MS 20
#define STATS_UPDATE_PERIOD_MS 500
#define RADIOSTATS_UPDATE_PERIOD_MS 250
#define STATS_UPDATE_PERIOD_MS 1000
#define RADIOSTATS_UPDATE_PERIOD_MS 500
#define MAX_LOST_CONTACT_TIME 4
#define PACKET_QUEUE_SIZE 10
#define MAX_PORT_DELAY 200
@ -68,25 +68,13 @@
// ****************
// Private types
typedef struct {
uint32_t pairID;
uint16_t retries;
uint16_t errors;
uint16_t uavtalk_errors;
uint16_t resets;
uint16_t dropped;
int8_t rssi;
uint8_t lastContact;
} PairStats;
typedef struct {
uint32_t comPort;
UAVTalkConnection UAVTalkCon;
xQueueHandle sendQueue;
xQueueHandle recvQueue;
xQueueHandle gcsQueue;
uint16_t wdg;
bool checkHID;
bool isGCS;
} UAVTalkComTaskParams;
typedef struct {
@ -94,10 +82,7 @@ typedef struct {
// The task handles.
xTaskHandle GCSUAVTalkRecvTaskHandle;
xTaskHandle UAVTalkRecvTaskHandle;
xTaskHandle radioReceiveTaskHandle;
xTaskHandle sendPacketTaskHandle;
xTaskHandle UAVTalkSendTaskHandle;
xTaskHandle radioStatusTaskHandle;
xTaskHandle transparentCommTaskHandle;
xTaskHandle ppmInputTaskHandle;
@ -106,23 +91,14 @@ typedef struct {
UAVTalkConnection GCSUAVTalkCon;
// Queue handles.
xQueueHandle radioPacketQueue;
xQueueHandle gcsEventQueue;
xQueueHandle uavtalkEventQueue;
xQueueHandle ppmOutQueue;
// Error statistics.
uint32_t comTxErrors;
uint32_t comTxRetries;
uint32_t comRxErrors;
uint32_t radioTxErrors;
uint32_t radioTxRetries;
uint32_t radioRxErrors;
uint32_t UAVTalkErrors;
uint32_t packetErrors;
uint32_t droppedPackets;
uint16_t txBytes;
uint16_t rxBytes;
// The destination ID
uint32_t destination_id;
@ -131,9 +107,6 @@ typedef struct {
portTickType send_timeout;
uint16_t min_packet_size;
// Track other radios that are in range.
PairStats pairStats[PIPXSTATUS_PAIRIDS_NUMELEM];
// The RSSI of the last packet received.
int8_t RSSI;
@ -155,19 +128,13 @@ typedef struct {
// Private functions
static void UAVTalkRecvTask(void *parameters);
static void radioReceiveTask(void *parameters);
static void sendPacketTask(void *parameters);
static void UAVTalkSendTask(void *parameters);
static void transparentCommTask(void * parameters);
static void radioStatusTask(void *parameters);
static void ppmInputTask(void *parameters);
static int32_t UAVTalkSendHandler(uint8_t * data, int32_t length);
static int32_t GCSUAVTalkSendHandler(uint8_t * data, int32_t length);
static int32_t transmitPacket(PHPacketHandle packet);
static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc);
static void transmitData(uint32_t outputPort, uint8_t *buf, uint8_t len, bool checkHid);
static void StatusHandler(PHStatusPacketHandle p, int8_t rssi, int8_t afc);
static void PPMHandler(uint16_t *channels);
static BufferedReadHandle BufferedReadInit(uint32_t com_port, uint16_t buffer_length);
static bool BufferedRead(BufferedReadHandle h, uint8_t *value, uint32_t timeout_ms);
static void BufferedReadSetCom(BufferedReadHandle h, uint32_t com_port);
@ -187,6 +154,11 @@ static RadioComBridgeData *data;
static int32_t RadioComBridgeStart(void)
{
if(data) {
// Register the callbacks with the packet handler
// This has to happen after the Radio module is initialized.
PHRegisterDataHandler(pios_packet_handler, receiveData);
// Start the primary tasks for receiving/sending UAVTalk packets from the GCS.
xTaskCreate(UAVTalkRecvTask, (signed char *)"GCSUAVTalkRecvTask", STACK_SIZE_BYTES, (void*)&(data->gcs_uavtalk_params), TASK_PRIORITY + 2, &(data->GCSUAVTalkRecvTaskHandle));
xTaskCreate(UAVTalkSendTask, (signed char *)"GCSUAVTalkSendTask", STACK_SIZE_BYTES, (void*)&(data->gcs_uavtalk_params), TASK_PRIORITY+ 2, &(data->UAVTalkSendTaskHandle));
@ -202,19 +174,15 @@ static int32_t RadioComBridgeStart(void)
// Start the tasks
if(PIOS_COM_TRANS_COM)
xTaskCreate(transparentCommTask, (signed char *)"transparentComm", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->transparentCommTaskHandle));
xTaskCreate(radioReceiveTask, (signed char *)"RadioReceive", STACK_SIZE_BYTES, NULL, TASK_PRIORITY+ 2, &(data->radioReceiveTaskHandle));
xTaskCreate(sendPacketTask, (signed char *)"SendPacketTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->sendPacketTaskHandle));
xTaskCreate(radioStatusTask, (signed char *)"RadioStatus", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioStatusTaskHandle));
if(PIOS_PPM_RECEIVER)
xTaskCreate(ppmInputTask, (signed char *)"PPMInputTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->ppmInputTaskHandle));
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_COMGCS);
if(PIOS_COM_UAVTALK)
PIOS_WDG_RegisterFlag(PIOS_WDG_COMUAVTALK);
if(PIOS_COM_TRANS_COM)
PIOS_WDG_RegisterFlag(PIOS_WDG_TRANSCOMM);
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORECEIVE);
//PIOS_WDG_RegisterFlag(PIOS_WDG_SENDPACKET);
if(PIOS_PPM_RECEIVER)
PIOS_WDG_RegisterFlag(PIOS_WDG_PPMINPUT);
#endif
@ -247,76 +215,47 @@ static int32_t RadioComBridgeInitialize(void)
data->GCSUAVTalkCon = UAVTalkInitialize(&GCSUAVTalkSendHandler);
if (PIOS_COM_UAVTALK)
data->UAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
else
data->UAVTalkCon = 0;
// Initialize the queues.
data->ppmOutQueue = 0;
data->radioPacketQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
data->gcsEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
if (PIOS_COM_UAVTALK)
data->uavtalkEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
else
{
data->uavtalkEventQueue = 0;
data->ppmOutQueue = data->radioPacketQueue;
}
// Initialize the statistics.
data->radioTxErrors = 0;
data->radioTxRetries = 0;
data->radioRxErrors = 0;
data->comTxErrors = 0;
data->comTxRetries = 0;
data->comRxErrors = 0;
data->UAVTalkErrors = 0;
data->packetErrors = 0;
data->RSSI = -127;
// Register the callbacks with the packet handler
PHRegisterOutputStream(pios_packet_handler, transmitPacket);
PHRegisterDataHandler(pios_packet_handler, receiveData);
PHRegisterPPMHandler(pios_packet_handler, PPMHandler);
PHRegisterStatusHandler(pios_packet_handler, StatusHandler);
// Initialize the packet send timeout
data->send_timeout = 25; // ms
data->min_packet_size = 50;
// Initialize the detected device statistics.
for (uint8_t i = 0; i < PIPXSTATUS_PAIRIDS_NUMELEM; ++i)
{
data->pairStats[i].pairID = 0;
data->pairStats[i].rssi = -127;
data->pairStats[i].retries = 0;
data->pairStats[i].errors = 0;
data->pairStats[i].uavtalk_errors = 0;
data->pairStats[i].resets = 0;
data->pairStats[i].dropped = 0;
data->pairStats[i].lastContact = 0;
}
// The first slot is reserved for our current pairID
PipXSettingsPairIDGet(&(data->pairStats[0].pairID));
// Configure our UAVObjects for updates.
UAVObjConnectQueue(UAVObjGetByID(PIPXSTATUS_OBJID), data->gcsEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->uavtalkEventQueue ? data->uavtalkEventQueue : data->gcsEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->gcsEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
// Initialize the UAVTalk comm parameters.
data->gcs_uavtalk_params.isGCS = true;
data->gcs_uavtalk_params.UAVTalkCon = data->GCSUAVTalkCon;
data->gcs_uavtalk_params.sendQueue = data->radioPacketQueue;
data->gcs_uavtalk_params.sendQueue = data->UAVTalkCon;
data->gcs_uavtalk_params.recvQueue = data->gcsEventQueue;
data->gcs_uavtalk_params.wdg = PIOS_WDG_COMGCS;
data->gcs_uavtalk_params.checkHID = true;
data->gcs_uavtalk_params.comPort = PIOS_COM_GCS;
if (PIOS_COM_UAVTALK)
{
data->gcs_uavtalk_params.sendQueue = data->uavtalkEventQueue;
data->uavtalk_params.isGCS = false;
data->uavtalk_params.UAVTalkCon = data->UAVTalkCon;
data->uavtalk_params.sendQueue = data->radioPacketQueue;
data->uavtalk_params.sendQueue = data->GCSUAVTalkCon;
data->uavtalk_params.recvQueue = data->uavtalkEventQueue;
data->uavtalk_params.gcsQueue = data->gcsEventQueue;
data->uavtalk_params.wdg = PIOS_WDG_COMUAVTALK;
data->uavtalk_params.checkHID = false;
data->uavtalk_params.comPort = PIOS_COM_UAVTALK;
}
@ -336,6 +275,8 @@ static void UAVTalkRecvTask(void *parameters)
BufferedReadHandle f = BufferedReadInit(params->comPort, TEMP_BUFFER_SIZE);
while (1) {
bool HID_available = false;
xQueueHandle sendQueue = 0;
#ifdef PIOS_INCLUDE_WDG
// Update the watchdog timer.
@ -343,13 +284,16 @@ static void UAVTalkRecvTask(void *parameters)
PIOS_WDG_UpdateFlag(params->wdg);
#endif /* PIOS_INCLUDE_WDG */
// Receive from USB HID if available, otherwise UAVTalk com if it's available.
#if defined(PIOS_INCLUDE_USB)
// Determine input port (USB takes priority over telemetry port)
if (params->checkHID && PIOS_USB_CheckAvailable(0))
// Is USB plugged in?
if (PIOS_USB_CheckAvailable(0))
HID_available = true;
#endif /* PIOS_INCLUDE_USB */
// Receive from USB HID if available, otherwise UAVTalk com if it's available.
if (params->isGCS && HID_available)
BufferedReadSetCom(f, PIOS_COM_USB_HID);
else
#endif /* PIOS_INCLUDE_USB */
{
if (params->comPort)
BufferedReadSetCom(f, params->comPort);
@ -360,9 +304,14 @@ static void UAVTalkRecvTask(void *parameters)
}
}
// Send packets to the UAVTalk port if this is a GCS connction and UAVTalk port is configured
// or to the GCS port if this is a UAVTalk connection and USB is plugged in.
if ((params->isGCS && data->UAVTalkCon) || (!params->isGCS && HID_available))
sendQueue = params->sendQueue;
// Read the next byte
uint8_t rx_byte;
if(!BufferedRead(f, &rx_byte, MAX_PORT_DELAY))
if (!BufferedRead(f, &rx_byte, MAX_PORT_DELAY))
continue;
// Get a TX packet from the packet handler if required.
@ -386,7 +335,6 @@ static void UAVTalkRecvTask(void *parameters)
// Initialize the packet.
p->header.destination_id = data->destination_id;
p->header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
p->header.type = PACKET_TYPE_DATA;
p->data[0] = rx_byte;
p->header.data_size = 1;
@ -403,13 +351,6 @@ static void UAVTalkRecvTask(void *parameters)
if (state == UAVTALK_STATE_COMPLETE)
{
xQueueHandle sendQueue = params->sendQueue;
#if defined(PIOS_INCLUDE_USB)
if (params->gcsQueue)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
sendQueue = params->gcsQueue;
#endif /* PIOS_INCLUDE_USB */
// Is this a local UAVObject?
// We only generate GcsReceiver ojects, we don't consume them.
if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID))
@ -486,7 +427,10 @@ static void UAVTalkRecvTask(void *parameters)
else
{
// Otherwise, queue the packet for transmission.
if (sendQueue)
queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
else
PHTransmitPacket(PIOS_PACKET_HANDLER, p);
}
}
else
@ -515,17 +459,14 @@ static void UAVTalkRecvTask(void *parameters)
else
{
// Queue the packet for transmission.
if (sendQueue)
queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
else
PHTransmitPacket(PIOS_PACKET_HANDLER, p);
}
p = NULL;
} else if(state == UAVTALK_STATE_ERROR) {
xQueueHandle sendQueue = params->sendQueue;
#if defined(PIOS_INCLUDE_USB)
if (params->gcsQueue)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
sendQueue = params->gcsQueue;
#endif /* PIOS_INCLUDE_USB */
data->UAVTalkErrors++;
// Send a NACK if required.
@ -540,84 +481,16 @@ static void UAVTalkRecvTask(void *parameters)
else
{
// Transmit the packet anyway...
if (sendQueue)
queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
else
PHTransmitPacket(PIOS_PACKET_HANDLER, p);
}
p = NULL;
}
}
}
/**
* The radio to com bridge task.
*/
static void radioReceiveTask(void *parameters)
{
PHPacketHandle p = NULL;
/* Handle radio -> usart/usb direction */
while (1) {
uint32_t rx_bytes;
#ifdef PIOS_INCLUDE_WDG
// Update the watchdog timer.
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIORECEIVE);
#endif /* PIOS_INCLUDE_WDG */
// Get a RX packet from the packet handler if required.
if (p == NULL)
p = PHGetRXPacket(pios_packet_handler);
if(p == NULL) {
DEBUG_PRINTF(2, "RX Packet Unavailable.!\n\r");
// Wait a bit for a packet to come available.
vTaskDelay(5);
continue;
}
// Receive data from the radio port
rx_bytes = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, (uint8_t*)p, PIOS_PH_MAX_PACKET, MAX_PORT_DELAY);
if(rx_bytes == 0)
continue;
data->rxBytes += rx_bytes;
// Verify that the packet is valid and pass it on.
if(PHVerifyPacket(pios_packet_handler, p, rx_bytes) > 0) {
UAVObjEvent ev;
ev.obj = (UAVObjHandle)p;
ev.event = EV_PACKET_RECEIVED;
xQueueSend(data->gcsEventQueue, &ev, portMAX_DELAY);
} else
{
data->packetErrors++;
PHReceivePacket(pios_packet_handler, p, true);
}
p = NULL;
}
}
/**
* Send packets to the radio.
*/
static void sendPacketTask(void *parameters)
{
UAVObjEvent ev;
// Loop forever
while (1) {
#ifdef PIOS_INCLUDE_WDG
// Update the watchdog timer.
//PIOS_WDG_UpdateFlag(PIOS_WDG_SENDPACKET);
#endif /* PIOS_INCLUDE_WDG */
// Wait for a packet on the queue.
if (xQueueReceive(data->radioPacketQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
PHPacketHandle p = (PHPacketHandle)ev.obj;
// Send the packet.
if(!PHTransmitPacket(pios_packet_handler, p))
PHReleaseRXPacket(pios_packet_handler, p);
}
}
}
/**
* Send packets to the com port.
*/
@ -681,7 +554,7 @@ static void UAVTalkSendTask(void *parameters)
{
// Transmit the packet.
PHPacketHandle p = (PHPacketHandle)ev.obj;
transmitData(params->comPort, p->data, p->header.data_size, params->checkHID);
UAVTalkSendBuf(params->UAVTalkCon, p->data, p->header.data_size);
PHReleaseTXPacket(pios_packet_handler, p);
}
}
@ -721,7 +594,6 @@ static void transparentCommTask(void * parameters)
// Initialize the packet.
p->header.destination_id = data->destination_id;
p->header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
//p->header.type = PACKET_TYPE_ACKED_DATA;
p->header.type = PACKET_TYPE_DATA;
p->header.data_size = 0;
@ -760,7 +632,7 @@ static void transparentCommTask(void * parameters)
if (send_packet)
{
// Queue the packet for transmission.
queueEvent(data->radioPacketQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
PHTransmitPacket(PIOS_PACKET_HANDLER, p);
// Reset the timeout
timeout = MAX_PORT_DELAY;
@ -771,97 +643,6 @@ static void transparentCommTask(void * parameters)
}
}
/**
* The stats update task.
*/
static void radioStatusTask(void *parameters)
{
PHStatusPacket status_packet;
while (1) {
PipXStatusData pipxStatus;
uint32_t pairID;
// Get object data
PipXStatusGet(&pipxStatus);
PipXSettingsPairIDGet(&pairID);
// Update the status
pipxStatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
pipxStatus.Retries = data->comTxRetries;
pipxStatus.Errors = data->packetErrors;
pipxStatus.UAVTalkErrors = data->UAVTalkErrors;
pipxStatus.Dropped = data->droppedPackets;
pipxStatus.Resets = PIOS_RFM22B_Resets(pios_rfm22b_id);
pipxStatus.TXRate = (uint16_t)((float)(data->txBytes * 1000) / STATS_UPDATE_PERIOD_MS);
data->txBytes = 0;
pipxStatus.RXRate = (uint16_t)((float)(data->rxBytes * 1000) / STATS_UPDATE_PERIOD_MS);
data->rxBytes = 0;
pipxStatus.LinkState = PIPXSTATUS_LINKSTATE_DISCONNECTED;
pipxStatus.RSSI = data->RSSI;
LINK_LED_OFF;
// Update the potential pairing contacts
for (uint8_t i = 0; i < PIPXSTATUS_PAIRIDS_NUMELEM; ++i)
{
pipxStatus.PairIDs[i] = data->pairStats[i].pairID;
pipxStatus.PairSignalStrengths[i] = data->pairStats[i].rssi;
data->pairStats[i].lastContact++;
// Remove this device if it's stale.
if(data->pairStats[i].lastContact > MAX_LOST_CONTACT_TIME)
{
data->pairStats[i].pairID = 0;
data->pairStats[i].rssi = -127;
data->pairStats[i].retries = 0;
data->pairStats[i].errors = 0;
data->pairStats[i].uavtalk_errors = 0;
data->pairStats[i].resets = 0;
data->pairStats[i].dropped = 0;
data->pairStats[i].lastContact = 0;
}
// Add the paired devices statistics to ours.
if(pairID && (data->pairStats[i].pairID == pairID) && (data->pairStats[i].rssi > -127))
{
pipxStatus.Retries += data->pairStats[i].retries;
pipxStatus.Errors += data->pairStats[i].errors;
pipxStatus.UAVTalkErrors += data->pairStats[i].uavtalk_errors;
pipxStatus.Dropped += data->pairStats[i].dropped;
pipxStatus.Resets += data->pairStats[i].resets;
pipxStatus.Dropped += data->pairStats[i].dropped;
pipxStatus.LinkState = PIPXSTATUS_LINKSTATE_CONNECTED;
LINK_LED_ON;
}
}
// Update the object
PipXStatusSet(&pipxStatus);
// Broadcast the status.
{
static uint16_t cntr = 0;
if(cntr++ == RADIOSTATS_UPDATE_PERIOD_MS / STATS_UPDATE_PERIOD_MS)
{
// Queue the status message
status_packet.header.destination_id = 0xffffffff;
status_packet.header.type = PACKET_TYPE_STATUS;
status_packet.header.data_size = PH_STATUS_DATA_SIZE(&status_packet);
status_packet.header.source_id = pipxStatus.DeviceID;
status_packet.retries = data->comTxRetries;
status_packet.errors = data->packetErrors;
status_packet.uavtalk_errors = data->UAVTalkErrors;
status_packet.dropped = data->droppedPackets;
status_packet.resets = PIOS_RFM22B_Resets(pios_rfm22b_id);
PHPacketHandle sph = (PHPacketHandle)&status_packet;
queueEvent(data->radioPacketQueue, (void*)sph, 0, EV_TRANSMIT_PACKET);
cntr = 0;
}
}
// Delay until the next update period.
vTaskDelay(STATS_UPDATE_PERIOD_MS / portTICK_RATE_MS);
}
}
/**
* The PPM input task.
*/
@ -878,20 +659,38 @@ static void ppmInputTask(void *parameters)
#endif /* PIOS_INCLUDE_WDG */
// Read the receiver.
bool valid_input_detected = false;
for (uint8_t i = 1; i <= PIOS_PPM_NUM_INPUTS; ++i)
ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i);
// Send the PPM packet
if (data->ppmOutQueue)
{
ppm_packet.header.destination_id = data->destination_id;
ppm_packet.header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
ppm_packet.header.type = PACKET_TYPE_PPM;
ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&ppm_packet);
queueEvent(data->ppmOutQueue, (void*)pph, 0, EV_TRANSMIT_PACKET);
ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i);
if(ppm_packet.channels[i - 1] != PIOS_RCVR_TIMEOUT)
valid_input_detected = true;
}
// Send the PPM packet if it's valid
if (valid_input_detected)
{
// Set the GCSReceiver UAVO if we're connected to the FC.
if (data->UAVTalkCon)
{
GCSReceiverData rcvr;
// Copy the receiver channels into the GCSReceiver object.
for (uint8_t i = 0; i < GCSRECEIVER_CHANNEL_NUMELEM; ++i)
rcvr.Channel[i] = ppm_packet.channels[i];
// Set the GCSReceiverData object.
GCSReceiverSet(&rcvr);
}
else
PPMHandler(ppm_packet.channels);
{
// Otherwise, send a PPM packet over the radio link.
ppm_packet.header.destination_id = data->destination_id;
ppm_packet.header.type = PACKET_TYPE_PPM;
ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&ppm_packet);
PHTransmitPacket(PIOS_PACKET_HANDLER, pph);
}
}
// Delay until the next update period.
vTaskDelay(PIOS_PPM_PACKET_UPDATE_PERIOD_MS / portTICK_RATE_MS);
@ -910,7 +709,7 @@ static int32_t UAVTalkSend(UAVTalkComTaskParams *params, uint8_t *buf, int32_t l
{
uint32_t outputPort = params->comPort;
#if defined(PIOS_INCLUDE_USB)
if (params->checkHID)
if (params->isGCS)
{
// Determine output port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
@ -947,19 +746,6 @@ static int32_t GCSUAVTalkSendHandler(uint8_t *buf, int32_t length)
return UAVTalkSend(&(data->gcs_uavtalk_params), buf, length);
}
/**
* Transmit a packet to the radio port.
* \param[in] buf Data buffer to send
* \param[in] length Length of buffer
* \return -1 on failure
* \return number of bytes transmitted on success
*/
static int32_t transmitPacket(PHPacketHandle p)
{
data->txBytes += PH_PACKET_SIZE(p);
return PIOS_COM_SendBuffer(PIOS_COM_RADIO, (uint8_t*)p, PH_PACKET_SIZE(p));
}
/**
* Receive a packet
* \param[in] buf The received data buffer
@ -993,85 +779,13 @@ static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc)
data->RSSI = rssi;
// Packet data should go to transparent com if it's configured,
// USB HID if it's connected, otherwise, UAVTalk com if it's configured.
uint32_t outputPort = PIOS_COM_TRANS_COM ? PIOS_COM_TRANS_COM : PIOS_COM_UAVTALK;
bool checkHid = (PIOS_COM_TRANS_COM == 0);
transmitData(outputPort, buf, len, checkHid);
}
/**
* Receive a status packet
* \param[in] status The status structure
*/
static void StatusHandler(PHStatusPacketHandle status, int8_t rssi, int8_t afc)
{
uint32_t id = status->header.source_id;
bool found = false;
// Have we seen this device recently?
uint8_t id_idx = 0;
for ( ; id_idx < PIPXSTATUS_PAIRIDS_NUMELEM; ++id_idx)
if(data->pairStats[id_idx].pairID == id)
{
found = true;
break;
}
// If we have seen it, update the RSSI and reset the last contact couter
if(found)
{
data->pairStats[id_idx].rssi = rssi;
data->pairStats[id_idx].retries = status->retries;
data->pairStats[id_idx].errors = status->errors;
data->pairStats[id_idx].uavtalk_errors = status->uavtalk_errors;
data->pairStats[id_idx].resets = status->resets;
data->pairStats[id_idx].dropped = status->dropped;
data->pairStats[id_idx].lastContact = 0;
}
// If we haven't seen it, find a slot to put it in.
if (!found)
{
uint32_t pairID;
PipXSettingsPairIDGet(&pairID);
uint8_t min_idx = 0;
if(id != pairID)
{
int8_t min_rssi = data->pairStats[0].rssi;
for (id_idx = 1; id_idx < PIPXSTATUS_PAIRIDS_NUMELEM; ++id_idx)
{
if(data->pairStats[id_idx].rssi < min_rssi)
{
min_rssi = data->pairStats[id_idx].rssi;
min_idx = id_idx;
}
}
}
data->pairStats[min_idx].pairID = id;
data->pairStats[min_idx].rssi = rssi;
data->pairStats[min_idx].retries = status->retries;
data->pairStats[min_idx].errors = status->errors;
data->pairStats[min_idx].uavtalk_errors = status->uavtalk_errors;
data->pairStats[min_idx].resets = status->resets;
data->pairStats[min_idx].dropped = status->dropped;
data->pairStats[min_idx].lastContact = 0;
}
}
/**
* Receive a ppm packet
* \param[in] channels The ppm channels
*/
static void PPMHandler(uint16_t *channels)
{
GCSReceiverData rcvr;
// Copy the receiver channels into the GCSReceiver object.
for (uint8_t i = 0; i < GCSRECEIVER_CHANNEL_NUMELEM; ++i)
rcvr.Channel[i] = channels[i];
// Set the GCSReceiverData object.
GCSReceiverSet(&rcvr);
// or just send it through the UAVTalk link.
if (PIOS_COM_TRANS_COM)
transmitData(PIOS_COM_TRANS_COM, buf, len, false);
else if (data->UAVTalkCon)
UAVTalkSendBuf(data->UAVTalkCon, buf, len);
else
UAVTalkSendBuf(data->GCSUAVTalkCon, buf, len);
}
static BufferedReadHandle BufferedReadInit(uint32_t com_port, uint16_t buffer_length)

76
flight/Modules/Telemetry/telemetry.c
View File

@ -35,6 +35,10 @@
#include "flighttelemetrystats.h"
#include "gcstelemetrystats.h"
#include "hwsettings.h"
#if defined(PIOS_PACKET_HANDLER)
#include "pipxstatus.h"
#include "packet_handler.h"
#endif
// Private constants
#define MAX_QUEUE_SIZE TELEM_QUEUE_SIZE
@ -80,6 +84,10 @@ static void processObjEvent(UAVObjEvent * ev);
static void updateTelemetryStats();
static void gcsTelemetryStatsUpdated();
static void updateSettings();
static uint32_t getComPort();
#ifdef PIOS_PACKET_HANDLER
static void receivePacketData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc);
#endif
/**
* Initialise the telemetry module
@ -94,6 +102,13 @@ int32_t TelemetryStart(void)
// Listen to objects of interest
GCSTelemetryStatsConnectQueue(priorityQueue);
// Register to receive data from the radio packet handler.
// This must be after the radio module is initialized.
#ifdef PIOS_PACKET_HANDLER
if (PIOS_PACKET_HANDLER)
PHRegisterDataHandler(PIOS_PACKET_HANDLER, receivePacketData);
#endif
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
@ -247,6 +262,11 @@ static void processObjEvent(UAVObjEvent * ev)
retries = 0;
success = -1;
if (ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL || ((ev->event == EV_UPDATED_PERIODIC) && (updateMode != UPDATEMODE_THROTTLED))) {
#ifdef PIOS_PACKET_HANDLER
// Don't send PipXStatus objects over the radio link.
if ((ev->obj == PipXStatusHandle()) && (getComPort() == 0) && PIOS_PACKET_HANDLER)
return;
#endif
// Send update to GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(uavTalkCon, ev->obj, ev->instId, UAVObjGetTelemetryAcked(&metadata), REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
@ -322,19 +342,10 @@ static void telemetryTxPriTask(void *parameters)
*/
static void telemetryRxTask(void *parameters)
{
uint32_t inputPort;
// Task loop
while (1) {
#if defined(PIOS_INCLUDE_USB)
// Determine input port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB) {
inputPort = PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB */
{
inputPort = telemetryPort;
}
uint32_t inputPort = getComPort();
if (inputPort) {
// Block until data are available
@ -362,23 +373,17 @@ static void telemetryRxTask(void *parameters)
*/
static int32_t transmitData(uint8_t * data, int32_t length)
{
uint32_t outputPort;
// Determine input port (USB takes priority over telemetry port)
#if defined(PIOS_INCLUDE_USB)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB) {
outputPort = PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB */
{
outputPort = telemetryPort;
}
uint32_t outputPort = getComPort();
if (outputPort) {
return PIOS_COM_SendBuffer(outputPort, data, length);
} else {
return -1;
}
#ifdef PIOS_PACKET_HANDLER
if (PIOS_PACKET_HANDLER)
if (PHTransmitData(PIOS_PACKET_HANDLER, data, length))
return 0;
#endif
return -1;
}
/**
@ -564,6 +569,31 @@ static void updateSettings()
}
}
/**
* Determine input/output com port (USB takes priority over telemetry port)
*/
static uint32_t getComPort() {
#if defined(PIOS_INCLUDE_USB)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB)
return PIOS_COM_TELEM_USB;
else
#endif /* PIOS_INCLUDE_USB */
return telemetryPort;
}
#ifdef PIOS_PACKET_HANDLER
/**
* Receive a packet
* \param[in] buf The received data buffer
* \param[in] length Length of buffer
*/
static void receivePacketData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc)
{
for (uint8_t i = 0; i < len; ++i)
UAVTalkProcessInputStream(uavTalkCon, buf[i]);
}
#endif
/**
* @}
* @}

38
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
View File

@ -138,8 +138,6 @@ extern uint32_t pios_i2c_flexi_adapter_id;
// See also pios_board.c
//------------------------
#define PIOS_SPI_MAX_DEVS 1
extern uint32_t pios_spi_port_id;
#define PIOS_SPI_PORT (pios_spi_port_id)
//-------------------------
// PIOS_USART
@ -270,30 +268,40 @@ extern uint32_t pios_ppm_rcvr_id;
// RFM22
//-------------------------
extern uint32_t pios_rfm22b_id;
#if defined(PIOS_INCLUDE_RFM22B)
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 256
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 256
extern uint32_t pios_com_rfm22b_id;
#define PIOS_COM_RADIO (pios_com_rfm22b_id)
extern uint32_t pios_spi_rfm22b_id;
#define PIOS_RFM22_SPI_PORT (pios_spi_rfm22b_id)
#define RFM22_EXT_INT_USE
#define RFM22_PIOS_SPI PIOS_SPI_PORT // SPIx
extern uint32_t pios_rfm22b_id;
#endif /* PIOS_INCLUDE_RFM22B */
#if defined(RFM22_EXT_INT_USE)
#define PIOS_RFM22_EXTI_GPIO_PORT GPIOA
#define PIOS_RFM22_EXTI_GPIO_PIN GPIO_Pin_2
#define PIOS_RFM22_EXTI_PORT_SOURCE GPIO_PortSourceGPIOA
#define PIOS_RFM22_EXTI_PIN_SOURCE GPIO_PinSource2
#define PIOS_RFM22_EXTI_CLK RCC_APB2Periph_GPIOA
#define PIOS_RFM22_EXTI_LINE EXTI_Line2
#define PIOS_RFM22_EXTI_IRQn EXTI2_IRQn
#define PIOS_RFM22_EXTI_PRIO PIOS_IRQ_PRIO_LOW
#endif
//-------------------------
// Packet Handler
//-------------------------
#if defined(PIOS_INCLUDE_PACKET_HANDLER)
extern uint32_t pios_packet_handler;
#define PIOS_PACKET_HANDLER (pios_packet_handler)
#define PIOS_PH_MAX_PACKET 255
#define PIOS_PH_WIN_SIZE 3
#define PIOS_PH_MAX_CONNECTIONS 1
#define RS_ECC_NPARITY 4
#endif /* PIOS_INCLUDE_PACKET_HANDLER */
//-------------------------
// Packet Handler
//-------------------------
#if defined(PIOS_INCLUDE_PACKET_HANDLER)
uint32_t pios_packet_handler;
#define PIOS_INCLUDE_PACKET_HANDLER
#define PIOS_PACKET_HANDLER (pios_packet_handler)
#define PIOS_PH_MAX_PACKET 255
#define PIOS_PH_WIN_SIZE 3
#define PIOS_PH_MAX_CONNECTIONS 1
#endif /* PIOS_INCLUDE_PACKET_HANDLER */
//-------------------------
// Reed-Solomon ECC

33
flight/PiOS/Boards/STM32F4xx_Revolution.h
View File

@ -32,6 +32,9 @@
#include <stdbool.h>
#define DEBUG_LEVEL 2
#define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && pios_com_aux_id > 0) { PIOS_COM_SendFormattedStringNonBlocking(pios_com_aux_id, __VA_ARGS__); }}
//------------------------
// Timers and Channels Used
//------------------------
@ -133,6 +136,26 @@ extern uint32_t pios_com_vcp_id;
#define PIOS_COM_BRIDGE (pios_com_bridge_id)
#define PIOS_COM_VCP (pios_com_vcp_id)
#define PIOS_COM_DEBUG PIOS_COM_AUX
#if defined(PIOS_INCLUDE_RFM22B)
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 512
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 512
extern uint32_t pios_com_rfm22b_id;
#define PIOS_COM_RADIO (pios_com_rfm22b_id)
extern uint32_t pios_spi_rfm22b_id;
#define PIOS_RFM22_SPI_PORT (pios_spi_rfm22b_id)
#endif /* PIOS_INCLUDE_RFM22B */
//-------------------------
// Packet Handler
//-------------------------
#if defined(PIOS_INCLUDE_PACKET_HANDLER)
extern uint32_t pios_packet_handler;
#define PIOS_PACKET_HANDLER (pios_packet_handler)
#define PIOS_PH_MAX_PACKET 255
#define PIOS_PH_WIN_SIZE 3
#define PIOS_PH_MAX_CONNECTIONS 1
#define RS_ECC_NPARITY 4
#endif /* PIOS_INCLUDE_PACKET_HANDLER */
//------------------------
// TELEMETRY
@ -263,6 +286,16 @@ extern uint32_t pios_com_vcp_id;
#define PIOS_USB_ENABLED 1 /* Should remove all references to this */
#define PIOS_USB_HID_MAX_DEVS 1
//-------------------------
// RFM22
//-------------------------
#if defined(PIOS_INCLUDE_RFM22B)
extern uint32_t pios_rfm22b_id;
#define RFM22_EXT_INT_USE
#endif /* PIOS_INCLUDE_RFM22B */
#endif /* STM3210E_INS_H_ */
/**
* @}

437
flight/PiOS/Common/pios_rfm22b.c
View File

@ -51,13 +51,8 @@
#if defined(PIOS_INCLUDE_RFM22B)
#include <string.h> // memmove
#include <stm32f10x.h>
#include <stopwatch.h>
#include <pios_spi_priv.h>
#include <packet_handler.h>
#include <pios_rfm22b_priv.h>
/* Local Defines */
@ -135,6 +130,17 @@
#define RFM22_DEFAULT_SS_RF_DATARATE 125 // 128bps
#ifndef RX_LED_ON
#define RX_LED_ON
#define RX_LED_OFF
#define TX_LED_ON
#define TX_LED_OFF
#define LINK_LED_ON
#define LINK_LED_OFF
#define USB_LED_ON
#define USB_LED_OFF
#endif
// ************************************
// Normal data streaming
// GFSK modulation
@ -172,21 +178,20 @@ uint32_t random32 = 0x459ab8d8;
/* Local function forwared declarations */
static void PIOS_RFM22B_Supervisor(uint32_t ppm_id);
static void rfm22_processInt(void);
static void PIOS_RFM22_EXT_Int(void);
static void rfm22_setTxMode(uint8_t mode);
// SPI read/write functions
void rfm22_startBurstWrite(uint8_t addr);
inline void rfm22_burstWrite(uint8_t data)
{
PIOS_SPI_TransferByte(RFM22_PIOS_SPI, data);
PIOS_SPI_TransferByte(PIOS_RFM22_SPI_PORT, data);
}
void rfm22_endBurstWrite(void);
void rfm22_write(uint8_t addr, uint8_t data);
void rfm22_startBurstRead(uint8_t addr);
inline uint8_t rfm22_burstRead(void)
{
return PIOS_SPI_TransferByte(RFM22_PIOS_SPI, 0xff);
return PIOS_SPI_TransferByte(PIOS_RFM22_SPI_PORT, 0xff);
}
void rfm22_endBurstRead(void);
uint8_t rfm22_read(uint8_t addr);
@ -208,35 +213,6 @@ const struct pios_com_driver pios_rfm22b_com_driver = {
.bind_rx_cb = PIOS_RFM22B_RegisterRxCallback,
};
// External interrupt configuration
static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = {
.vector = PIOS_RFM22_EXT_Int,
.line = PIOS_RFM22_EXTI_LINE,
.pin = {
.gpio = PIOS_RFM22_EXTI_GPIO_PORT,
.init = {
.GPIO_Pin = PIOS_RFM22_EXTI_GPIO_PIN,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = PIOS_RFM22_EXTI_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_RFM22_EXTI_PRIO,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = PIOS_RFM22_EXTI_LINE,
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Falling,
.EXTI_LineCmd = ENABLE,
},
},
};
// xtal 10 ppm, 434MHz
#define LOOKUP_SIZE 14
const uint32_t data_rate[] = { 500, 1000, 2000, 4000, 8000, 9600, 16000, 19200, 24000, 32000, 64000, 128000, 192000, 256000};
@ -337,17 +313,6 @@ volatile int32_t afc_correction_Hz; // afc correction reading (in Hz)
volatile int16_t temperature_reg; // the temperature sensor reading
#if defined(RFM22_DEBUG)
volatile uint8_t prev_device_status; // just for debugging
volatile uint8_t prev_int_status1; // " "
volatile uint8_t prev_int_status2; // " "
volatile uint8_t prev_ezmac_status; // " "
const char *debug_msg = "";
const char *error_msg = "";
static uint32_t debug_val = 0;
#endif
volatile uint8_t osc_load_cap; // xtal frequency calibration value
volatile uint8_t rssi; // the current RSSI (register value)
@ -469,6 +434,14 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, const struct pios_rfm22b_cfg *cfg)
rfm22b_dev->supv_timer = PIOS_RFM22B_SUPERVISOR_TIMEOUT;
rfm22b_dev->resets = 0;
// Initialize our SPI interface
if (PIOS_SPI_Init(&PIOS_RFM22_SPI_PORT, cfg->spi_cfg)) {
PIOS_Assert(0);
}
// Initialize the external interrupt.
PIOS_EXTI_Init(cfg->exti_cfg);
// Initialize the radio device.
int initval = rfm22_init_normal(rfm22b_dev->deviceID, cfg->minFrequencyHz, cfg->maxFrequencyHz, 50000);
@ -504,7 +477,7 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, const struct pios_rfm22b_cfg *cfg)
rfm22_setFreqCalibration(cfg->RFXtalCap);
rfm22_setNominalCarrierFrequency(cfg->frequencyHz);
rfm22_setDatarate(cfg->maxRFBandwidth, TRUE);
rfm22_setDatarate(cfg->maxRFBandwidth, true);
rfm22_setTxPower(cfg->maxTxPower);
DEBUG_PRINTF(2, "\n\r");
@ -666,16 +639,6 @@ static void PIOS_RFM22B_Supervisor(uint32_t rfm22b_id)
}
}
static void rfm22_setDebug(const char* msg)
{
debug_msg = msg;
}
static void rfm22_setError(const char* msg)
{
error_msg = msg;
}
// ************************************
// SPI read/write
@ -685,15 +648,15 @@ void rfm22_startBurstWrite(uint8_t addr)
PIOS_DELAY_WaituS(1);
// chip select line LOW
PIOS_SPI_RC_PinSet(RFM22_PIOS_SPI, 0, 0);
PIOS_SPI_RC_PinSet(PIOS_RFM22_SPI_PORT, 0, 0);
PIOS_SPI_TransferByte(RFM22_PIOS_SPI, 0x80 | addr);
PIOS_SPI_TransferByte(PIOS_RFM22_SPI_PORT, 0x80 | addr);
}
void rfm22_endBurstWrite(void)
{
// chip select line HIGH
PIOS_SPI_RC_PinSet(RFM22_PIOS_SPI, 0, 1);
PIOS_SPI_RC_PinSet(PIOS_RFM22_SPI_PORT, 0, 1);
}
void rfm22_write(uint8_t addr, uint8_t data)
@ -702,13 +665,13 @@ void rfm22_write(uint8_t addr, uint8_t data)
PIOS_DELAY_WaituS(1);
// chip select line LOW
PIOS_SPI_RC_PinSet(RFM22_PIOS_SPI, 0, 0);
PIOS_SPI_RC_PinSet(PIOS_RFM22_SPI_PORT, 0, 0);
PIOS_SPI_TransferByte(RFM22_PIOS_SPI, 0x80 | addr);
PIOS_SPI_TransferByte(RFM22_PIOS_SPI, data);
PIOS_SPI_TransferByte(PIOS_RFM22_SPI_PORT, 0x80 | addr);
PIOS_SPI_TransferByte(PIOS_RFM22_SPI_PORT, data);
// chip select line HIGH
PIOS_SPI_RC_PinSet(RFM22_PIOS_SPI, 0, 1);
PIOS_SPI_RC_PinSet(PIOS_RFM22_SPI_PORT, 0, 1);
}
void rfm22_startBurstRead(uint8_t addr)
@ -717,15 +680,15 @@ void rfm22_startBurstRead(uint8_t addr)
PIOS_DELAY_WaituS(1);
// chip select line LOW
PIOS_SPI_RC_PinSet(RFM22_PIOS_SPI, 0, 0);
PIOS_SPI_RC_PinSet(PIOS_RFM22_SPI_PORT, 0, 0);
PIOS_SPI_TransferByte(RFM22_PIOS_SPI, addr & 0x7f);
PIOS_SPI_TransferByte(PIOS_RFM22_SPI_PORT, addr & 0x7f);
}
void rfm22_endBurstRead(void)
{
// chip select line HIGH
PIOS_SPI_RC_PinSet(RFM22_PIOS_SPI, 0, 1);
PIOS_SPI_RC_PinSet(PIOS_RFM22_SPI_PORT, 0, 1);
}
uint8_t rfm22_read(uint8_t addr)
@ -736,13 +699,13 @@ uint8_t rfm22_read(uint8_t addr)
PIOS_DELAY_WaituS(1);
// chip select line LOW
PIOS_SPI_RC_PinSet(RFM22_PIOS_SPI, 0, 0);
PIOS_SPI_RC_PinSet(PIOS_RFM22_SPI_PORT, 0, 0);
PIOS_SPI_TransferByte(RFM22_PIOS_SPI, addr & 0x7f);
rdata = PIOS_SPI_TransferByte(RFM22_PIOS_SPI, 0xff);
PIOS_SPI_TransferByte(PIOS_RFM22_SPI_PORT, addr & 0x7f);
rdata = PIOS_SPI_TransferByte(PIOS_RFM22_SPI_PORT, 0xff);
// chip select line HIGH
PIOS_SPI_RC_PinSet(RFM22_PIOS_SPI, 0, 1);
PIOS_SPI_RC_PinSet(PIOS_RFM22_SPI_PORT, 0, 1);
return rdata;
}
@ -751,37 +714,10 @@ uint8_t rfm22_read(uint8_t addr)
// external interrupt
static void PIOS_RFM22_EXT_Int(void)
void PIOS_RFM22_EXT_Int(void)
{
rfm22_setDebug("Ext Int");
if (!exec_using_spi)
rfm22_processInt();
rfm22_setDebug("Ext Done");
}
void rfm22_disableExtInt(void)
{
#if defined(RFM22_EXT_INT_USE)
rfm22_setDebug("Disable Int");
// Configure the external interrupt
GPIO_EXTILineConfig(PIOS_RFM22_EXTI_PORT_SOURCE, PIOS_RFM22_EXTI_PIN_SOURCE);
EXTI_InitTypeDef EXTI_InitStructure = pios_exti_rfm22b_cfg.exti.init;
EXTI_InitStructure.EXTI_LineCmd = DISABLE;
EXTI_Init(&EXTI_InitStructure);
EXTI_ClearFlag(PIOS_RFM22_EXTI_LINE);
rfm22_setDebug("Disable Int done");
#endif
}
void rfm22_enableExtInt(void)
{
#if defined(RFM22_EXT_INT_USE)
rfm22_setDebug("Ensable Int");
if (PIOS_EXTI_Init(&pios_exti_rfm22b_cfg))
PIOS_Assert(0);
rfm22_setDebug("Ensable Int done");
#endif
}
@ -823,7 +759,7 @@ uint32_t rfm22_maxFrequency(void)
void rfm22_setNominalCarrierFrequency(uint32_t frequency_hz)
{
exec_using_spi = TRUE;
exec_using_spi = true;
// *******
@ -869,7 +805,7 @@ void rfm22_setNominalCarrierFrequency(uint32_t frequency_hz)
// DEBUG_PRINTF(2, "rf setFreq frequency_step_size: %0.2f\n\r", frequency_step_size);
#endif
exec_using_spi = FALSE;
exec_using_spi = false;
}
uint32_t rfm22_getNominalCarrierFrequency(void)
@ -914,7 +850,7 @@ uint32_t rfm22_freqHopSize(void)
void rfm22_setDatarate(uint32_t datarate_bps, bool data_whitening)
{
exec_using_spi = TRUE;
exec_using_spi = true;
lookup_index = 0;
while (lookup_index < (LOOKUP_SIZE - 1) && data_rate[lookup_index] < datarate_bps)
@ -1046,7 +982,7 @@ void rfm22_setDatarate(uint32_t datarate_bps, bool data_whitening)
// *******
exec_using_spi = FALSE;
exec_using_spi = false;
}
uint32_t rfm22_getDatarate(void)
@ -1059,7 +995,7 @@ uint32_t rfm22_getDatarate(void)
void rfm22_setSSBandwidth(uint32_t bandwidth_index)
{
exec_using_spi = TRUE;
exec_using_spi = true;
ss_lookup_index = bandwidth_index;
@ -1095,14 +1031,14 @@ void rfm22_setSSBandwidth(uint32_t bandwidth_index)
// *******
exec_using_spi = FALSE;
exec_using_spi = false;
}
// ************************************
void rfm22_setRxMode(uint8_t mode, bool multi_packet_mode)
{
exec_using_spi = TRUE;
exec_using_spi = true;
// disable interrupts
rfm22_write(RFM22_interrupt_enable1, 0x00);
@ -1151,7 +1087,7 @@ void rfm22_setRxMode(uint8_t mode, bool multi_packet_mode)
// enable the receiver
rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_rxon);
exec_using_spi = FALSE;
exec_using_spi = false;
}
// ************************************
@ -1175,14 +1111,14 @@ uint16_t rfm22_addHeader()
uint8_t rfm22_txStart()
{
if((tx_pre_buffer_size == 0) || (exec_using_spi == TRUE))
if((tx_pre_buffer_size == 0) || (exec_using_spi == true))
{
// Clear the TX buffer.
tx_data_rd = tx_data_wr = 0;
return 0;
}
exec_using_spi = TRUE;
exec_using_spi = true;
// Disable interrrupts.
PIOS_IRQ_Disable();
@ -1255,18 +1191,17 @@ uint8_t rfm22_txStart()
TX_LED_ON;
exec_using_spi = FALSE;
exec_using_spi = false;
return 1;
}
static void rfm22_setTxMode(uint8_t mode)
{
rfm22_setDebug("setTxMode");
if (mode != TX_DATA_MODE && mode != TX_STREAM_MODE && mode != TX_CARRIER_MODE && mode != TX_PN_MODE)
return; // invalid mode
exec_using_spi = TRUE;
exec_using_spi = true;
// disable interrupts
rfm22_write(RFM22_interrupt_enable1, 0x00);
@ -1356,9 +1291,8 @@ static void rfm22_setTxMode(uint8_t mode)
// *******************
exec_using_spi = FALSE;
exec_using_spi = false;
rfm22_setDebug("setTxMode end");
}
// ************************************
@ -1368,12 +1302,10 @@ void rfm22_processRxInt(void)
{
register uint8_t int_stat1 = int_status1;
register uint8_t int_stat2 = int_status2;
rfm22_setDebug("processRxInt");
// FIFO under/over flow error. Restart RX mode.
if (device_status & (RFM22_ds_ffunfl | RFM22_ds_ffovfl))
{
rfm22_setError("R_UNDER/OVERRUN");
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
return;
}
@ -1383,7 +1315,6 @@ void rfm22_processRxInt(void)
{
rf_mode = RX_WAIT_SYNC_MODE;
RX_LED_ON;
rfm22_setDebug("pream_det");
}
// Sync word detected
@ -1391,7 +1322,6 @@ void rfm22_processRxInt(void)
{
rf_mode = RX_DATA_MODE;
RX_LED_ON;
rfm22_setDebug("sync_det");
// read the 10-bit signed afc correction value
// bits 9 to 2
@ -1420,7 +1350,6 @@ void rfm22_processRxInt(void)
// The received packet is going to be larger than the specified length
if ((rx_buffer_wr + RX_FIFO_HI_WATERMARK) > len)
{
rfm22_setError("r_size_error1");
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
return;
}
@ -1428,7 +1357,6 @@ void rfm22_processRxInt(void)
// Another packet length error.
if (((rx_buffer_wr + RX_FIFO_HI_WATERMARK) >= len) && !(int_stat1 & RFM22_is1_ipkvalid))
{
rfm22_setError("r_size_error2");
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
return;
}
@ -1452,7 +1380,6 @@ void rfm22_processRxInt(void)
if (int_stat1 & RFM22_is1_icrerror)
{
rfm22_int_timer = 0; // reset the timer
rfm22_setError("CRC_ERR");
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
return;
}
@ -1477,14 +1404,11 @@ void rfm22_processRxInt(void)
if (rx_buffer_wr != len)
{
// we have a packet length error .. discard the packet
rfm22_setError("r_pack_len_error");
debug_val = len;
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
return;
}
// we have a valid received packet
rfm22_setDebug("VALID_R_PACKET");
if (rx_buffer_wr > 0)
{
@ -1507,12 +1431,10 @@ void rfm22_processRxInt(void)
if(!rfm22_txStart())
{
// Switch to RX mode
rfm22_setDebug(" Set RX");
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
}
}
rfm22_setDebug("processRxInt end");
}
void rfm22_processTxInt(void)
@ -1525,7 +1447,6 @@ void rfm22_processTxInt(void)
// FIFO under/over flow error. Back to RX mode.
if (device_status & (RFM22_ds_ffunfl | RFM22_ds_ffovfl))
{
rfm22_setError("T_UNDER/OVERRUN");
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
return;
}
@ -1544,7 +1465,6 @@ void rfm22_processTxInt(void)
if (rfm22_int_timer >= 100)
{
rfm22_int_time_outs++;
rfm22_setError("T_TIMEOUT");
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); // back to rx mode
return;
}
@ -1564,31 +1484,27 @@ void rfm22_processTxInt(void)
// Packet has been sent
if (int_stat1 & RFM22_is1_ipksent)
{
rfm22_setDebug(" T_Sent");
// Send another packet if it's available.
if(!rfm22_txStart())
{
// Switch to RX mode
rfm22_setDebug(" Set RX");
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
return;
}
}
rfm22_setDebug("ProcessTxInt done");
}
static void rfm22_processInt(void)
{
rfm22_setDebug("ProcessInt");
// this is called from the external interrupt handler
if (!initialized || power_on_reset)
// we haven't yet been initialized
return;
exec_using_spi = TRUE;
exec_using_spi = true;
// Reset the supervisor timer.
rfm22b_dev_g->supv_timer = PIOS_RFM22B_SUPERVISOR_TIMEOUT;
@ -1619,9 +1535,8 @@ static void rfm22_processInt(void)
// the RF module has gone and done a reset - we need to re-initialize the rf module
if (int_status2 & RFM22_is2_ipor)
{
initialized = FALSE;
power_on_reset = TRUE;
rfm22_setError("Reset");
initialized = false;
power_on_reset = true;
// Need to do something here!
return;
}
@ -1661,21 +1576,19 @@ static void rfm22_processInt(void)
break;
}
exec_using_spi = FALSE;
rfm22_setDebug("ProcessInt done");
exec_using_spi = false;
}
// ************************************
int8_t rfm22_getRSSI(void)
{
exec_using_spi = TRUE;
exec_using_spi = true;
rssi = rfm22_read(RFM22_rssi); // read rx signal strength .. 45 = -100dBm, 205 = -20dBm
rssi_dBm = (int8_t)(rssi >> 1) - 122; // convert to dBm
exec_using_spi = FALSE;
exec_using_spi = false;
return rssi_dBm;
}
@ -1757,32 +1670,32 @@ int8_t rfm22_currentMode(void)
return rf_mode;
}
// return TRUE if we are transmitting
// return true if we are transmitting
bool rfm22_transmitting(void)
{
return (rf_mode == TX_DATA_MODE || rf_mode == TX_STREAM_MODE || rf_mode == TX_CARRIER_MODE || rf_mode == TX_PN_MODE);
}
// return TRUE if the channel is clear to transmit on
// return true if the channel is clear to transmit on
bool rfm22_channelIsClear(void)
{
if (!initialized)
// we haven't yet been initialized
return FALSE;
return false;
if (rf_mode != RX_WAIT_PREAMBLE_MODE && rf_mode != RX_WAIT_SYNC_MODE)
// we are receiving something or we are transmitting or we are scanning the spectrum
return FALSE;
return false;
return TRUE;
return true;
}
// return TRUE if the transmiter is ready for use
// return true if the transmiter is ready for use
bool rfm22_txReady(void)
{
if (!initialized)
// we haven't yet been initialized
return FALSE;
return false;
return (tx_data_rd == 0 && tx_data_wr == 0 && rf_mode != TX_DATA_MODE &&
rf_mode != TX_STREAM_MODE && rf_mode != TX_CARRIER_MODE && rf_mode != TX_PN_MODE &&
@ -1807,11 +1720,11 @@ void rfm22_setFreqCalibration(uint8_t value)
tx_data_rd = tx_data_wr = 0;
}
exec_using_spi = TRUE;
exec_using_spi = true;
rfm22_write(RFM22_xtal_osc_load_cap, osc_load_cap);
exec_using_spi = FALSE;
exec_using_spi = false;
if (prev_rf_mode == TX_CARRIER_MODE || prev_rf_mode == TX_PN_MODE)
rfm22_setTxMode(prev_rf_mode);
@ -1842,40 +1755,38 @@ int rfm22_resetModule(uint8_t mode, uint32_t min_frequency_hz, uint32_t max_freq
{
initialized = false;
#if defined(RFM22_EXT_INT_USE)
rfm22_disableExtInt();
#endif
power_on_reset = false;
// ****************
exec_using_spi = TRUE;
exec_using_spi = true;
// ****************
// setup the SPI port
// chip select line HIGH
PIOS_SPI_RC_PinSet(RFM22_PIOS_SPI, 0, 1);
PIOS_SPI_RC_PinSet(PIOS_RFM22_SPI_PORT, 0, 1);
// set SPI port SCLK frequency .. 4.5MHz
PIOS_SPI_SetClockSpeed(RFM22_PIOS_SPI, PIOS_SPI_PRESCALER_16);
PIOS_SPI_SetClockSpeed(PIOS_RFM22_SPI_PORT, PIOS_SPI_PRESCALER_16);
// set SPI port SCLK frequency .. 2.25MHz
// PIOS_SPI_SetClockSpeed(RFM22_PIOS_SPI, PIOS_SPI_PRESCALER_32);
// PIOS_SPI_SetClockSpeed(PIOS_RFM22_SPI_PORT, PIOS_SPI_PRESCALER_32);
// set SPI port SCLK frequency .. 285kHz .. purely for hardware fault finding
// PIOS_SPI_SetClockSpeed(RFM22_PIOS_SPI, PIOS_SPI_PRESCALER_256);
// PIOS_SPI_SetClockSpeed(PIOS_RFM22_SPI_PORT, PIOS_SPI_PRESCALER_256);
// ****************
// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_swres); // software reset the radio
PIOS_DELAY_WaitmS(26); // wait 26ms
// wait 26ms
PIOS_DELAY_WaitmS(26);
for (int i = 50; i > 0; i--)
{
PIOS_DELAY_WaitmS(1); // wait 1ms
// wait 1ms
PIOS_DELAY_WaitmS(1);
// read the status registers
int_status1 = rfm22_read(RFM22_interrupt_status1);
@ -1897,7 +1808,7 @@ int rfm22_resetModule(uint8_t mode, uint32_t min_frequency_hz, uint32_t max_freq
// ****************
exec_using_spi = FALSE;
exec_using_spi = false;
// ****************
@ -2019,197 +1930,6 @@ int rfm22_resetModule(uint8_t mode, uint32_t min_frequency_hz, uint32_t max_freq
return 0; // OK
}
// ************************************
int rfm22_init_scan_spectrum(uint32_t min_frequency_hz, uint32_t max_frequency_hz)
{
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "\n\rRF init scan spectrum\n\r");
#endif
int res = rfm22_resetModule(RX_SCAN_SPECTRUM, min_frequency_hz, max_frequency_hz);
if (res < 0)
return res;
// rfm22_setSSBandwidth(0);
rfm22_setSSBandwidth(1);
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(RFM22_modulation_mode_control2, RFM22_mmc2_trclk_clk_none | RFM22_mmc2_dtmod_fifo | fd_bit | RFM22_mmc2_modtyp_gfsk);
rfm22_write(RFM22_cpu_output_clk, RFM22_coc_1MHz); // 1MHz clock output
rfm22_write(RFM22_rssi_threshold_clear_chan_indicator, 0);
rfm22_write(RFM22_preamble_detection_ctrl1, 31 << 3); // 31-nibbles rx preamble detection
// avoid packet detection
rfm22_write(RFM22_data_access_control, RFM22_dac_enpacrx | RFM22_dac_encrc);
rfm22_write(RFM22_header_control1, 0x0f);
rfm22_write(RFM22_header_control2, 0x77);
rfm22_write(RFM22_sync_word3, SYNC_BYTE_1);
rfm22_write(RFM22_sync_word2, SYNC_BYTE_2);
rfm22_write(RFM22_sync_word1, SYNC_BYTE_3 ^ 0xff);
rfm22_write(RFM22_sync_word0, SYNC_BYTE_4 ^ 0xff);
// all the bits to be checked
rfm22_write(RFM22_header_enable3, 0xff);
rfm22_write(RFM22_header_enable2, 0xff);
rfm22_write(RFM22_header_enable1, 0xff);
rfm22_write(RFM22_header_enable0, 0xff);
// set frequency hopping channel step size (multiples of 10kHz)
// rfm22_write(RFM22_frequency_hopping_step_size, 0);
// set our nominal carrier frequency
rfm22_setNominalCarrierFrequency(min_frequency_hz);
// set minimum tx power
rfm22_write(RFM22_tx_power, RFM22_tx_pwr_lna_sw | 0);
rfm22_write(RFM22_agc_override1, RFM22_agc_ovr1_sgi | RFM22_agc_ovr1_agcen);
// rfm22_write(RFM22_vco_current_trimming, 0x7f);
// rfm22_write(RFM22_vco_calibration_override, 0x40);
// rfm22_write(RFM22_chargepump_current_trimming_override, 0x80);
// Enable RF module external interrupt
rfm22_enableExtInt();
rfm22_setRxMode(RX_SCAN_SPECTRUM, true);
initialized = true;
return 0; // OK
}
// ************************************
int rfm22_init_tx_stream(uint32_t min_frequency_hz, uint32_t max_frequency_hz)
{
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "\n\rRF init TX stream\n\r");
#endif
int res = rfm22_resetModule(TX_STREAM_MODE, min_frequency_hz, max_frequency_hz);
if (res < 0)
return res;
frequency_hop_step_size_reg = 0;
// set the RF datarate
rfm22_setDatarate(RFM22_DEFAULT_RF_DATARATE, FALSE);
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(RFM22_modulation_mode_control2, RFM22_mmc2_trclk_clk_none | RFM22_mmc2_dtmod_fifo | fd_bit | RFM22_mmc2_modtyp_gfsk);
// disable the internal Tx & Rx packet handlers (without CRC)
rfm22_write(RFM22_data_access_control, 0);
rfm22_write(RFM22_preamble_length, TX_PREAMBLE_NIBBLES); // x-nibbles tx preamble
rfm22_write(RFM22_preamble_detection_ctrl1, RX_PREAMBLE_NIBBLES << 3); // x-nibbles rx preamble detection
rfm22_write(RFM22_header_control1, RFM22_header_cntl1_bcen_none | RFM22_header_cntl1_hdch_none); // header control - we are not using the header
rfm22_write(RFM22_header_control2, RFM22_header_cntl2_fixpklen | RFM22_header_cntl2_hdlen_none | RFM22_header_cntl2_synclen_32 | ((TX_PREAMBLE_NIBBLES >> 8) & 0x01)); // no header bytes, synchronization word length 3, 2 used, packet length not included in header (fixed packet length).
rfm22_write(RFM22_sync_word3, SYNC_BYTE_1); // sync word
rfm22_write(RFM22_sync_word2, SYNC_BYTE_2); //
// rfm22_write(RFM22_modem_test, 0x01);
rfm22_write(RFM22_agc_override1, RFM22_agc_ovr1_agcen);
// rfm22_write(RFM22_agc_override1, RFM22_agc_ovr1_sgi | RFM22_agc_ovr1_agcen);
rfm22_write(RFM22_frequency_hopping_step_size, frequency_hop_step_size_reg); // set frequency hopping channel step size (multiples of 10kHz)
rfm22_setNominalCarrierFrequency((min_frequency_hz + max_frequency_hz) / 2); // set our nominal carrier frequency
rfm22_write(RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | tx_power); // set the tx power
// rfm22_write(RFM22_tx_power, RFM22_tx_pwr_lna_sw | tx_power); // set the tx power
// rfm22_write(RFM22_vco_current_trimming, 0x7f);
// rfm22_write(RFM22_vco_calibration_override, 0x40);
// rfm22_write(RFM22_chargepump_current_trimming_override, 0x80);
rfm22_write(RFM22_tx_fifo_control1, TX_FIFO_HI_WATERMARK); // TX FIFO Almost Full Threshold (0 - 63)
rfm22_write(RFM22_tx_fifo_control2, TX_FIFO_LO_WATERMARK); // TX FIFO Almost Empty Threshold (0 - 63)
// Enable RF module external interrupt
rfm22_enableExtInt();
initialized = true;
return 0; // OK
}
// ************************************
int rfm22_init_rx_stream(uint32_t min_frequency_hz, uint32_t max_frequency_hz)
{
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "\n\rRF init RX stream\n\r");
#endif
int res = rfm22_resetModule(RX_WAIT_PREAMBLE_MODE, min_frequency_hz, max_frequency_hz);
if (res < 0)
return res;
frequency_hop_step_size_reg = 0;
// set the RF datarate
rfm22_setDatarate(RFM22_DEFAULT_RF_DATARATE, FALSE);
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(RFM22_modulation_mode_control2, RFM22_mmc2_trclk_clk_none | RFM22_mmc2_dtmod_fifo | fd_bit | RFM22_mmc2_modtyp_gfsk);
// disable the internal Tx & Rx packet handlers (without CRC)
rfm22_write(RFM22_data_access_control, 0);
rfm22_write(RFM22_preamble_length, TX_PREAMBLE_NIBBLES); // x-nibbles tx preamble
rfm22_write(RFM22_preamble_detection_ctrl1, RX_PREAMBLE_NIBBLES << 3); // x-nibbles rx preamble detection
rfm22_write(RFM22_header_control1, RFM22_header_cntl1_bcen_none | RFM22_header_cntl1_hdch_none); // header control - we are not using the header
rfm22_write(RFM22_header_control2, RFM22_header_cntl2_fixpklen | RFM22_header_cntl2_hdlen_none | RFM22_header_cntl2_synclen_32 | ((TX_PREAMBLE_NIBBLES >> 8) & 0x01)); // no header bytes, synchronization word length 3, 2 used, packet length not included in header (fixed packet length).
rfm22_write(RFM22_sync_word3, SYNC_BYTE_1); // sync word
rfm22_write(RFM22_sync_word2, SYNC_BYTE_2); //
// no header bits to be checked
rfm22_write(RFM22_header_enable3, 0x00);
rfm22_write(RFM22_header_enable2, 0x00);
rfm22_write(RFM22_header_enable1, 0x00);
rfm22_write(RFM22_header_enable0, 0x00);
// rfm22_write(RFM22_modem_test, 0x01);
rfm22_write(RFM22_agc_override1, RFM22_agc_ovr1_agcen);
// rfm22_write(RFM22_agc_override1, RFM22_agc_ovr1_sgi | RFM22_agc_ovr1_agcen);
rfm22_write(RFM22_frequency_hopping_step_size, frequency_hop_step_size_reg); // set frequency hopping channel step size (multiples of 10kHz)
rfm22_setNominalCarrierFrequency((min_frequency_hz + max_frequency_hz) / 2); // set our nominal carrier frequency
// rfm22_write(RFM22_vco_current_trimming, 0x7f);
// rfm22_write(RFM22_vco_calibration_override, 0x40);
// rfm22_write(RFM22_chargepump_current_trimming_override, 0x80);
// RX FIFO Almost Full Threshold (0 - 63)
rfm22_write(RFM22_rx_fifo_control, RX_FIFO_HI_WATERMARK);
// Enable RF module external interrupt
rfm22_enableExtInt();
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
initialized = true;
return 0; // OK
}
// ************************************
// Initialise this hardware layer module and the rf module
@ -2225,7 +1945,7 @@ int rfm22_init_normal(uint32_t id, uint32_t min_frequency_hz, uint32_t max_frequ
frequency_hop_step_size_reg = freq_hop_step_size;
// set the RF datarate
rfm22_setDatarate(RFM22_DEFAULT_RF_DATARATE, TRUE);
rfm22_setDatarate(RFM22_DEFAULT_RF_DATARATE, true);
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
@ -2322,9 +2042,6 @@ int rfm22_init_normal(uint32_t id, uint32_t min_frequency_hz, uint32_t max_frequ
// RX FIFO Almost Full Threshold (0 - 63)
rfm22_write(RFM22_rx_fifo_control, RX_FIFO_HI_WATERMARK);
// Enable RF module external interrupt
rfm22_enableExtInt();
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
initialized = true;

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

@ -33,6 +33,8 @@
/* Global Types */
struct pios_rfm22b_cfg {
const struct pios_spi_cfg * spi_cfg; /* Pointer to SPI interface configuration */
const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
uint32_t frequencyHz;
uint32_t minFrequencyHz;
uint32_t maxFrequencyHz;

2
flight/PiOS/inc/pios_rfm22b_priv.h
View File

@ -591,6 +591,8 @@ typedef bool ( *t_rfm22_RxDataCallback ) (void *data, uint8_t len);
// ************************************
void PIOS_RFM22_EXT_Int(void);
uint32_t rfm22_minFrequency(void);
uint32_t rfm22_maxFrequency(void);

2
flight/PipXtreme/Makefile
View File

@ -66,7 +66,7 @@ FLASH_TOOL = OPENOCD
# List of modules to include
OPTMODULES =
MODULES = RadioComBridge
MODULES = Radio RadioComBridge
# Paths
OPSYSTEM = ./System

5
flight/PipXtreme/System/inc/pios_config.h
View File

@ -61,6 +61,8 @@
#define PIOS_INCLUDE_WDG
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_FLASH_EEPROM
#define PIOS_INCLUDE_RFM22B
#define PIOS_INCLUDE_PACKET_HANDLER
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"
@ -96,6 +98,9 @@
/* PIOS Initcall infrastructure */
#define PIOS_INCLUDE_INITCALL
/* Always include the radio module */
#define RADIO_BUILTIN
#endif /* PIOS_CONFIG_H */
/**
* @}

114
flight/PipXtreme/System/pios_board.c
View File

@ -33,20 +33,17 @@
#include <pipxsettings.h>
#include <board_hw_defs.c>
#define PIOS_COM_SERIAL_RX_BUF_LEN 128
#define PIOS_COM_SERIAL_TX_BUF_LEN 128
#define PIOS_COM_SERIAL_RX_BUF_LEN 256
#define PIOS_COM_SERIAL_TX_BUF_LEN 256
#define PIOS_COM_FLEXI_RX_BUF_LEN 128
#define PIOS_COM_FLEXI_RX_BUF_LEN 256
#define PIOS_COM_FLEXI_TX_BUF_LEN 128
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 128
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 128
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 256
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 256
#define PIOS_COM_VCP_USB_RX_BUF_LEN 128
#define PIOS_COM_VCP_USB_TX_BUF_LEN 128
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 128
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 128
#define PIOS_COM_VCP_USB_RX_BUF_LEN 256
#define PIOS_COM_VCP_USB_TX_BUF_LEN 256
uint32_t pios_com_telem_usb_id = 0;
uint32_t pios_com_telemetry_id;
@ -56,8 +53,6 @@ uint32_t pios_com_uavtalk_com_id = 0;
uint32_t pios_com_gcs_com_id = 0;
uint32_t pios_com_trans_com_id = 0;
uint32_t pios_com_debug_id = 0;
uint32_t pios_com_rfm22b_id = 0;
uint32_t pios_rfm22b_id = 0;
uint32_t pios_ppm_rcvr_id = 0;
/**
@ -70,11 +65,6 @@ void PIOS_Board_Init(void) {
/* Delay system */
PIOS_DELAY_Init();
/* Set up the SPI interface to the serial flash */
if (PIOS_SPI_Init(&pios_spi_port_id, &pios_spi_port_cfg)) {
PIOS_Assert(0);
}
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
@ -120,10 +110,6 @@ void PIOS_Board_Init(void) {
PIOS_TIM_InitClock(&tim_4_cfg);
#endif /* PIOS_INCLUDE_TIM */
#if defined(PIOS_INCLUDE_PACKET_HANDLER)
pios_packet_handler = PHInitialize(&pios_ph_cfg);
#endif /* PIOS_INCLUDE_PACKET_HANDLER */
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
@ -188,10 +174,6 @@ void PIOS_Board_Init(void) {
#if defined(PIOS_INCLUDE_USB_HID)
if (!usb_hid_present) {
PIOS_Assert(0);
}
/* Configure the usb HID port */
#if defined(PIOS_INCLUDE_COM)
{
@ -313,88 +295,6 @@ void PIOS_Board_Init(void) {
break;
}
#if defined(PIOS_INCLUDE_RFM22B)
struct pios_rfm22b_cfg pios_rfm22b_cfg = {
.frequencyHz = 434000000,
.minFrequencyHz = 434000000 - 2000000,
.maxFrequencyHz = 434000000 + 2000000,
.RFXtalCap = 0x7f,
.maxRFBandwidth = 128000,
.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
};
/* Retrieve hardware settings. */
pios_rfm22b_cfg.frequencyHz = pipxSettings.Frequency;
pios_rfm22b_cfg.RFXtalCap = pipxSettings.FrequencyCalibration;
switch (pipxSettings.RFSpeed)
{
case PIPXSETTINGS_RFSPEED_2400:
pios_rfm22b_cfg.maxRFBandwidth = 2000;
break;
case PIPXSETTINGS_RFSPEED_4800:
pios_rfm22b_cfg.maxRFBandwidth = 4000;
break;
case PIPXSETTINGS_RFSPEED_9600:
pios_rfm22b_cfg.maxRFBandwidth = 9600;
break;
case PIPXSETTINGS_RFSPEED_19200:
pios_rfm22b_cfg.maxRFBandwidth = 19200;
break;
case PIPXSETTINGS_RFSPEED_38400:
pios_rfm22b_cfg.maxRFBandwidth = 32000;
break;
case PIPXSETTINGS_RFSPEED_57600:
pios_rfm22b_cfg.maxRFBandwidth = 64000;
break;
case PIPXSETTINGS_RFSPEED_115200:
pios_rfm22b_cfg.maxRFBandwidth = 128000;
break;
}
switch (pipxSettings.RFSpeed)
{
case PIPXSETTINGS_MAXRFPOWER_125:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_0;
break;
case PIPXSETTINGS_MAXRFPOWER_16:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_1;
break;
case PIPXSETTINGS_MAXRFPOWER_316:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_2;
break;
case PIPXSETTINGS_MAXRFPOWER_63:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_3;
break;
case PIPXSETTINGS_MAXRFPOWER_126:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_4;
break;
case PIPXSETTINGS_MAXRFPOWER_25:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_5;
break;
case PIPXSETTINGS_MAXRFPOWER_50:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_6;
break;
case PIPXSETTINGS_MAXRFPOWER_100:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_7;
break;
}
/* Initalize the RFM22B radio COM device. */
{
if (PIOS_RFM22B_Init(&pios_rfm22b_id, &pios_rfm22b_cfg)) {
PIOS_Assert(0);
}
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_rfm22b_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 /* PIOS_INCLUDE_RFM22B */
/* Remap AFIO pin */
GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);

9
flight/Revolution/Makefile
View File

@ -57,6 +57,7 @@ MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
MODULES += CameraStab
MODULES += OveroSync
MODULES += Telemetry
MODULES += Radio
PYMODULES =
#FlightPlan
@ -72,6 +73,7 @@ PIOSINC = $(PIOS)/inc
OPMODULEDIR = ../Modules
FLIGHTLIB = ../Libraries
FLIGHTLIBINC = ../Libraries/inc
RSCODEINC = $(FLIGHTLIB)/rscode
PIOSSTM32F4XX = $(PIOS)/STM32F4xx
PIOSCOMMON = $(PIOS)/Common
PIOSBOARDS = $(PIOS)/Boards
@ -141,6 +143,11 @@ SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/WorldMagModel.c
SRC += $(FLIGHTLIB)/insgps13state.c
SRC += $(FLIGHTLIB)/taskmonitor.c
SRC += $(FLIGHTLIB)/packet_handler.c
## The Reed-Solomon FEC library
SRC += $(FLIGHTLIB)/rscode/rs.c
SRC += $(FLIGHTLIB)/rscode/berlekamp.c
SRC += $(FLIGHTLIB)/rscode/galois.c
## PIOS Hardware (STM32F4xx)
include $(PIOS)/STM32F4xx/library.mk
@ -162,6 +169,7 @@ SRC += $(PIOSCOMMON)/printf-stdarg.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
SRC += $(PIOSCOMMON)/pios_usb_util.c
SRC += $(PIOSCOMMON)/pios_rfm22b.c
include ./UAVObjects.inc
SRC += $(UAVOBJSRC)
@ -203,6 +211,7 @@ EXTRAINCDIRS += $(OPUAVOBJ)
EXTRAINCDIRS += $(OPUAVOBJINC)
EXTRAINCDIRS += $(UAVOBJSYNTHDIR)
EXTRAINCDIRS += $(FLIGHTLIBINC)
EXTRAINCDIRS += $(RSCODEINC)
EXTRAINCDIRS += $(PIOSSTM32F4XX)
EXTRAINCDIRS += $(PIOSCOMMON)
EXTRAINCDIRS += $(PIOSBOARDS)

2
flight/Revolution/System/inc/pios_config.h
View File

@ -73,6 +73,8 @@
#define PIOS_INCLUDE_COM_AUX
#define PIOS_INCLUDE_COM_AUXSBUS
#define PIOS_INCLUDE_COM_FLEXI
#define PIOS_INCLUDE_RFM22B
#define PIOS_INCLUDE_PACKET_HANDLER
#define PIOS_INCLUDE_GPS
#define PIOS_INCLUDE_GPS_NMEA_PARSER

2
flight/Revolution/UAVObjects.inc
View File

@ -91,6 +91,8 @@ UAVOBJSRCFILENAMES += altitudeholdsettings
UAVOBJSRCFILENAMES += altitudeholddesired
UAVOBJSRCFILENAMES += waypoint
UAVOBJSRCFILENAMES += waypointactive
UAVOBJSRCFILENAMES += pipxsettings
UAVOBJSRCFILENAMES += pipxstatus
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

1
flight/UAVTalk/inc/uavtalk.h
View File

@ -56,6 +56,7 @@ int32_t UAVTalkSendObjectTimestamped(UAVTalkConnection connectionHandle, UAVObjH
int32_t UAVTalkSendObjectRequest(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, int32_t timeoutMs);
int32_t UAVTalkSendAck(UAVTalkConnection connectionHandle, UAVObjHandle obj, uint16_t instId);
int32_t UAVTalkSendNack(UAVTalkConnection connectionHandle, uint32_t objId);
int32_t UAVTalkSendBuf(UAVTalkConnection connectionHandle, uint8_t *buf, uint16_t len);
UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connection, uint8_t rxbyte);
UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connection, uint8_t rxbyte);
void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats);

52
flight/UAVTalk/uavtalk.c
View File

@ -570,7 +570,15 @@ int32_t UAVTalkSendAck(UAVTalkConnection connectionHandle, UAVObjHandle obj, uin
UAVTalkConnectionData *connection;
CHECKCONHANDLE(connectionHandle,connection,return -1);
return sendObject(connection, obj, instId, UAVTALK_TYPE_ACK);
// Lock
xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
int32_t ret = sendObject(connection, obj, instId, UAVTALK_TYPE_ACK);
// Release lock
xSemaphoreGiveRecursive(connection->lock);
return ret;
}
/**
@ -585,7 +593,47 @@ int32_t UAVTalkSendNack(UAVTalkConnection connectionHandle, uint32_t objId)
UAVTalkConnectionData *connection;
CHECKCONHANDLE(connectionHandle,connection,return -1);
return sendNack(connection, objId);
// Lock
xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
int32_t ret = sendNack(connection, objId);
// Release lock
xSemaphoreGiveRecursive(connection->lock);
return ret;
}
/**
* Send a buffer containing a UAVTalk message through the telemetry link.
* This function locks the connection prior to sending.
* \param[in] connection UAVTalkConnection to be used
* \param[in] buf The data buffer containing the UAVTalk message
* \param[in] len The number of bytes to send from the data buffer
* \return 0 Success
* \return -1 Failure
*/
int32_t UAVTalkSendBuf(UAVTalkConnection connectionHandle, uint8_t *buf, uint16_t len)
{
UAVTalkConnectionData *connection;
CHECKCONHANDLE(connectionHandle,connection, return -1);
// Lock
xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
// Output the buffer
int32_t rc = (*connection->outStream)(buf, len);
// Update stats
connection->stats.txBytes += len;
// Release lock
xSemaphoreGiveRecursive(connection->lock);
// Done
if (rc != len)
return -1;
return 0;
}
/**

64
flight/board_hw_defs/pipxtreme/board_hw_defs.c
View File

@ -72,7 +72,7 @@ void PIOS_SPI_port_irq_handler(void);
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_port_irq_handler")));
static const struct pios_spi_cfg pios_spi_port_cfg =
static const struct pios_spi_cfg pios_spi_rfm22b_cfg =
{
.regs = SPI1,
@ -176,15 +176,62 @@ static const struct pios_spi_cfg pios_spi_port_cfg =
},
};
uint32_t pios_spi_port_id;
uint32_t pios_spi_rfm22b_id;
void PIOS_SPI_port_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_port_id);
PIOS_SPI_IRQ_Handler(pios_spi_rfm22b_id);
}
#endif /* PIOS_INCLUDE_SPI */
#if defined(PIOS_INCLUDE_RFM22B)
#include <pios_rfm22b_priv.h>
static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = {
.vector = PIOS_RFM22_EXT_Int,
.line = EXTI_Line2,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_2,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = EXTI2_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = EXTI_Line2,
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Falling,
.EXTI_LineCmd = ENABLE,
},
},
};
#include <pios_rfm22b_priv.h>
struct pios_rfm22b_cfg pios_rfm22b_cfg = {
.spi_cfg = &pios_spi_rfm22b_cfg,
.exti_cfg = &pios_exti_rfm22b_cfg,
.frequencyHz = 434000000,
.minFrequencyHz = 434000000 - 2000000,
.maxFrequencyHz = 434000000 + 2000000,
.RFXtalCap = 0x7f,
.maxRFBandwidth = 128000,
.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
};
#endif /* PIOS_INCLUDE_RFM22B */
#if defined(PIOS_INCLUDE_ADC)
/*
@ -537,14 +584,3 @@ const struct pios_eeprom_cfg pios_eeprom_cfg = {
#include <pios_rfm22b_priv.h>
#endif /* PIOS_INCLUDE_RFM22B */
#if defined(PIOS_INCLUDE_PACKET_HANDLER)
#include <packet_handler.h>
// Initialize the packet handler
PacketHandlerConfig pios_ph_cfg = {
.winSize = PIOS_PH_WIN_SIZE,
.maxConnections = PIOS_PH_MAX_CONNECTIONS,
};
#endif /* PIOS_INCLUDE_PACKET_HANDLER */

175
flight/board_hw_defs/revolution/board_hw_defs.c
View File

@ -447,6 +447,181 @@ void PIOS_SPI_flash_irq_handler(void)
}
#endif /* PIOS_FLASH_ON_ACCEL */
#if defined(PIOS_INCLUDE_RFM22B)
#include <pios_rfm22b_priv.h>
/* SPI3 Interface
* - Used for RFM22B radio
*/
void PIOS_SPI_rfm22b_irq_handler(void);
void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_rfm22b_irq_handler")));
void DMA1_Stream5_IRQHandler(void) __attribute__((alias("PIOS_SPI_rfm22b_irq_handler")));
static const struct pios_spi_cfg pios_spi_rfm22b_cfg = {
.regs = SPI3,
.remap = GPIO_AF_SPI3,
.init = {
//.SPI_Mode = SPI_Mode_Slave,
.SPI_Mode = SPI_Mode_Master,
.SPI_Direction = SPI_Direction_2Lines_FullDuplex,
.SPI_DataSize = SPI_DataSize_8b,
//.SPI_NSS = SPI_NSS_Hard,
.SPI_NSS = SPI_NSS_Soft,
.SPI_FirstBit = SPI_FirstBit_MSB,
//.SPI_CRCPolynomial = 7,
.SPI_CRCPolynomial = 0,
//.SPI_CPOL = SPI_CPOL_High,
.SPI_CPOL = SPI_CPOL_Low,
//.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_CPHA = SPI_CPHA_1Edge,
//.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256,
},
.use_crc = false,
.dma = {
.irq = {
// Note this is the stream ID that triggers interrupts (in this case TX)
.flags = (DMA_IT_TCIF7),
//.flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
.init = {
.NVIC_IRQChannel = DMA1_Stream7_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.channel = DMA1_Stream0,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
.DMA_DIR = DMA_DIR_PeripheralToMemory,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
//.DMA_Mode = DMA_Mode_Circular,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
//TODO: Enable FIFO
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
.tx = {
.channel = DMA1_Stream7,
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & (SPI3->DR),
.DMA_DIR = DMA_DIR_MemoryToPeripheral,
.DMA_PeripheralInc = DMA_PeripheralInc_Disable,
.DMA_MemoryInc = DMA_MemoryInc_Enable,
.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,
//.DMA_Mode = DMA_Mode_Circular,
.DMA_Mode = DMA_Mode_Normal,
.DMA_Priority = DMA_Priority_Medium,
.DMA_FIFOMode = DMA_FIFOMode_Disable,
.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,
.DMA_MemoryBurst = DMA_MemoryBurst_Single,
.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,
},
},
},
.sclk = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.miso = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.mosi = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
},
},
.slave_count = 1,
.ssel = { {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
} },
};
uint32_t pios_spi_rfm22b_id;
void PIOS_SPI_rfm22b_irq_handler(void)
{
/* Call into the generic code to handle the IRQ for this specific device */
PIOS_SPI_IRQ_Handler(pios_spi_rfm22b_id);
}
static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = {
.vector = PIOS_RFM22_EXT_Int,
.line = EXTI_Line0,
.pin = {
.gpio = GPIOD,
.init = {
.GPIO_Pin = GPIO_Pin_0,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = EXTI0_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = EXTI_Line0, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Falling,
.EXTI_LineCmd = ENABLE,
},
},
};
struct pios_rfm22b_cfg pios_rfm22b_cfg = {
.spi_cfg = &pios_spi_rfm22b_cfg,
.exti_cfg = &pios_exti_rfm22b_cfg,
.frequencyHz = 434000000,
.minFrequencyHz = 434000000 - 2000000,
.maxFrequencyHz = 434000000 + 2000000,
.RFXtalCap = 0x7f,
.maxRFBandwidth = 128000,
.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
};
#endif /* PIOS_INCLUDE_RFM22B */
#endif /* PIOS_INCLUDE_SPI */
#if defined(PIOS_OVERO_SPI)

2
shared/uavobjectdefinition/hwsettings.xml
View File

@ -18,7 +18,7 @@
<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,RCTransmitter,Disabled" defaultvalue="USBTelemetry"/>
<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,Disabled" defaultvalue="Disabled"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,Airspeed,TxPID,VtolPathFollower,FixedWingPathFollower,Battery,Overo" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,Airspeed,TxPID,VtolPathFollower,FixedWingPathFollower,Battery,Overo,Radio" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/>

2
shared/uavobjectdefinition/pipxstatus.xml
View File

@ -25,7 +25,7 @@
<access gcs="readonly" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="periodic" period="1000"/>
</object>
</xml>