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Code Issues Releases Activity

OP-932: Syncronize start of transmissions using the same coordinated clock as used by FHSS.

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This commit is contained in:
Brian Webb 2013-05-01 03:46:46 +01:00
parent 2201d9d2bb
commit a7d606dfe9
2 changed files with 20 additions and 29 deletions
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45
flight/pios/common/pios_rfm22b.c
View File

@ -188,6 +188,7 @@ static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev);
static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev);
static bool rfm22_isConnected(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev);
static bool rfm22_timeToSend(struct pios_rfm22b_dev *rfm22b_dev);
static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, portTickType ticks);
static bool rfm22_inChannelBuffer(struct pios_rfm22b_dev *rfm22b_dev);
static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev);
@ -1221,9 +1222,9 @@ static void pios_rfm22_task(void *parameters)
}
// Send a packet if it's our time slice
rfm22b_dev->time_to_send = (((curTicks - rfm22b_dev->time_to_send_offset) & 0x6) == 0);
bool time_to_send = rfm22_timeToSend(rfm22b_dev);
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
if (rfm22b_dev->time_to_send) {
if (time_to_send) {
D4_LED_ON;
} else {
D4_LED_OFF;
@ -1234,7 +1235,7 @@ static void pios_rfm22_task(void *parameters)
D3_LED_OFF;
}
#endif
if (rfm22b_dev->time_to_send && PIOS_RFM22B_InRxWait((uint32_t)rfm22b_dev)) {
if (time_to_send && PIOS_RFM22B_InRxWait((uint32_t)rfm22b_dev)) {
rfm22_process_event(rfm22b_dev, RADIO_EVENT_TX_START);
}
}
@ -1370,8 +1371,6 @@ static enum pios_radio_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
// Initialize the state
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
rfm22b_dev->destination_id = 0xffffffff;
rfm22b_dev->time_to_send = false;
rfm22b_dev->time_to_send_offset = 0;
rfm22b_dev->send_status = false;
rfm22b_dev->send_connection_request = false;
@ -1795,7 +1794,7 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
PHPacketHandle p = NULL;
// Don't send if it's not our turn.
if (!radio_dev->time_to_send || (rfm22_inChannelBuffer(radio_dev) && rfm22_isConnected(radio_dev)) || !PIOS_RFM22B_InRxWait((uint32_t)radio_dev)) {
if (!rfm22_timeToSend(radio_dev) || (rfm22_inChannelBuffer(radio_dev) && rfm22_isConnected(radio_dev)) || !PIOS_RFM22B_InRxWait((uint32_t)radio_dev)) {
return RADIO_EVENT_RX_MODE;
}
@ -1929,12 +1928,6 @@ static enum pios_radio_event radio_txData(struct pios_rfm22b_dev *radio_dev)
radio_dev->prev_tx_packet = radio_dev->tx_packet;
radio_dev->tx_complete_ticks = xTaskGetTickCount();
}
// Set the Tx period
if (radio_dev->tx_packet->header.type == PACKET_TYPE_ACK) {
radio_dev->time_to_send_offset = curTicks + 0x4;
} else if (radio_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS) {
radio_dev->time_to_send_offset = curTicks;
}
radio_dev->tx_packet = 0;
radio_dev->tx_data_wr = radio_dev->tx_data_rd = 0;
// Start a new transaction
@ -2219,7 +2212,6 @@ static enum pios_radio_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev)
aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
aph->packet_recv_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->rx_complete_ticks);
rfm22b_dev->tx_packet = (PHPacketHandle)aph;
rfm22b_dev->time_to_send = true;
return RADIO_EVENT_TX_START;
}
@ -2237,7 +2229,6 @@ static enum pios_radio_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev)
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
rfm22b_dev->tx_packet = (PHPacketHandle)aph;
rfm22b_dev->time_to_send = true;
return RADIO_EVENT_TX_START;
}
@ -2264,7 +2255,6 @@ static enum pios_radio_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm
cph->flexi_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].flexi_port;
cph->vcp_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].vcp_port;
cph->com_speed = rfm22b_dev->bindings[rfm22b_dev->cur_binding].com_speed;
rfm22b_dev->time_to_send = true;
rfm22b_dev->send_connection_request = true;
rfm22b_dev->prev_tx_packet = NULL;
@ -2285,7 +2275,6 @@ static enum pios_radio_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm
static enum pios_radio_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_dev)
{
PHPacketHandle prev = rfm22b_dev->prev_tx_packet;
portTickType curTicks = xTaskGetTickCount();
// Clear the previous TX packet.
rfm22b_dev->prev_tx_packet = NULL;
@ -2313,14 +2302,7 @@ static enum pios_radio_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_dev
}
// Should we try to start another TX?
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_ACK) {
rfm22b_dev->time_to_send_offset = curTicks;
rfm22b_dev->time_to_send = true;
return RADIO_EVENT_TX_START;
} else {
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
return RADIO_EVENT_RX_MODE;
}
return RADIO_EVENT_TX_START;
}
/**
@ -2340,7 +2322,6 @@ static enum pios_radio_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_de
if (rfm22_isConnected(rfm22b_dev)) {
rfm22b_add_rx_status(rfm22b_dev, RADIO_RESENT_TX_PACKET);
}
rfm22b_dev->time_to_send = true;
return RADIO_EVENT_TX_START;
}
@ -2574,6 +2555,20 @@ static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, po
return ticks + rfm22b_dev->time_delta;
}
/**
* Return true if this modem is in the send interval, which allows the modem to initiate a transmit.
*
* @param[in] rfm22b_dev The device structure
*/
static bool rfm22_timeToSend(struct pios_rfm22b_dev *rfm22b_dev)
{
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
if (rfm22b_dev->coordinator)
return (time & 0x06) == 0;
else
return ((time + 4) & 0x06) == 0;
}
/**
* Calculate what the current channel shold be.
*

4
flight/pios/inc/pios_rfm22b_priv.h
View File

@ -796,10 +796,6 @@ struct pios_rfm22b_dev {
bool send_status;
bool send_ppm;
bool send_connection_request;
bool time_to_send;
// The offset between our clock and the global send clock
uint8_t time_to_send_offset;
// The initial frequency
uint32_t init_frequency;