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Code Issues Releases Activity

Merge remote-tracking branch 'origin/Brian-PipXtreme-V2' into revo

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This commit is contained in:
James Cotton 2012-06-07 09:49:18 -05:00
commit c689bcfb80
10 changed files with 259 additions and 206 deletions
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7
flight/Libraries/inc/packet_handler.h
View File

@ -59,8 +59,6 @@ typedef struct {
uint8_t data_size;
uint8_t tx_seq;
uint8_t rx_seq;
int8_t rssi;
int8_t afc;
} PHPacketHeader;
#define PH_MAX_DATA (PIOS_PH_MAX_PACKET - sizeof(PHPacketHeader) - RS_ECC_NPARITY)
@ -83,6 +81,7 @@ typedef struct {
uint16_t retries;
uint16_t errors;
uint16_t uavtalk_errors;
uint16_t dropped;
uint16_t resets;
uint8_t ecc[RS_ECC_NPARITY];
} PHStatusPacket, *PHStatusPacketHandle;
@ -93,8 +92,8 @@ typedef struct {
} PacketHandlerConfig;
typedef int32_t (*PHOutputStream)(PHPacketHandle packet);
typedef void (*PHDataHandler)(uint8_t *data, uint8_t len);
typedef void (*PHStatusHandler)(PHStatusPacketHandle s);
typedef void (*PHDataHandler)(uint8_t *data, uint8_t len, int8_t rssi, int8_t afc);
typedef void (*PHStatusHandler)(PHStatusPacketHandle s, int8_t rssi, int8_t afc);
typedef void (*PHPPMHandler)(uint16_t *channels);
typedef uint32_t PHInstHandle;

12
flight/Libraries/packet_handler.c
View File

@ -343,9 +343,9 @@ uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p, bool rx_error)
PHPacketDataHandle data = (PHPacketDataHandle)h;
uint16_t len = PHPacketSizeECC(p);
// Add the RSSI and AFC to the packet.
p->header.rssi = *(((int8_t*)p) + len);
p->header.afc = *(((int8_t*)p) + len + 1);
// Extract the RSSI and AFC.
int8_t rssi = *(((int8_t*)p) + len);
int8_t afc = *(((int8_t*)p) + len + 1);
switch (p->header.type) {
@ -355,7 +355,7 @@ uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p, bool rx_error)
// Pass on the channels to the status handler.
if(data->status_handler)
data->status_handler((PHStatusPacketHandle)p);
data->status_handler((PHStatusPacketHandle)p, rssi, afc);
break;
@ -374,7 +374,7 @@ uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p, bool rx_error)
// Pass on the data.
if(data->data_handler)
data->data_handler(p->data, p->header.data_size);
data->data_handler(p->data, p->header.data_size, rssi, afc);
}
break;
@ -424,7 +424,7 @@ uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p, bool rx_error)
// Pass on the data to the data handler.
if(data->data_handler)
data->data_handler(p->data, p->header.data_size);
data->data_handler(p->data, p->header.data_size, rssi, afc);
break;

63
flight/Modules/RadioComBridge/RadioComBridge.c
View File

@ -73,6 +73,7 @@ typedef struct {
uint16_t errors;
uint16_t uavtalk_errors;
uint16_t resets;
uint16_t dropped;
int8_t rssi;
uint8_t lastContact;
} PairStats;
@ -104,6 +105,7 @@ typedef struct {
uint32_t radioRxErrors;
uint32_t UAVTalkErrors;
uint32_t packetErrors;
uint32_t droppedPackets;
uint16_t txBytes;
uint16_t rxBytes;
@ -142,8 +144,8 @@ static void radioStatusTask(void *parameters);
static void ppmInputTask(void *parameters);
static int32_t transmitData(uint8_t * data, int32_t length);
static int32_t transmitPacket(PHPacketHandle packet);
static void receiveData(uint8_t *buf, uint8_t len);
static void StatusHandler(PHStatusPacketHandle p);
static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc);
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);
@ -225,6 +227,7 @@ static int32_t RadioComBridgeInitialize(void)
data->comRxErrors = 0;
data->UAVTalkErrors = 0;
data->packetErrors = 0;
data->RSSI = -127;
// Register the callbacks with the packet handler
PHRegisterOutputStream(pios_packet_handler, transmitPacket);
@ -245,6 +248,7 @@ static int32_t RadioComBridgeInitialize(void)
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
@ -313,7 +317,7 @@ static void comUAVTalkTask(void *parameters)
// No packets available?
if (p == NULL)
{
DEBUG_PRINTF(2, "Packet dropped!\n\r");
data->droppedPackets++;
continue;
}
@ -505,7 +509,6 @@ static void radioReceiveTask(void *parameters)
// Verify that the packet is valid and pass it on.
if(PHVerifyPacket(pios_packet_handler, p, rx_bytes) > 0) {
data->RSSI = p->header.rssi;
UAVObjEvent ev;
ev.obj = (UAVObjHandle)p;
ev.event = EV_PACKET_RECEIVED;
@ -625,6 +628,7 @@ static void transparentCommTask(void * parameters)
// No packets available?
if (p == NULL)
{
data->droppedPackets++;
// Wait a bit for a packet to come available.
vTaskDelay(5);
continue;
@ -702,12 +706,15 @@ static void radioStatusTask(void *parameters)
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)
@ -715,14 +722,29 @@ static void radioStatusTask(void *parameters)
pipxStatus.PairIDs[i] = data->pairStats[i].pairID;
pipxStatus.PairSignalStrengths[i] = data->pairStats[i].rssi;
data->pairStats[i].lastContact++;
// Add the paired devices stats to ours.
if(data->pairStats[i].pairID == pairID)
// 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;
}
}
@ -739,10 +761,10 @@ static void radioStatusTask(void *parameters)
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.header.rssi = data->RSSI;
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;
xQueueSend(data->sendPacketQueue, &sph, MAX_PORT_DELAY);
@ -825,8 +847,10 @@ static int32_t transmitPacket(PHPacketHandle p)
* \param[in] buf The received data buffer
* \param[in] length Length of buffer
*/
static void receiveData(uint8_t *buf, uint8_t len)
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;
@ -852,7 +876,7 @@ static void receiveData(uint8_t *buf, uint8_t len)
* Receive a status packet
* \param[in] status The status structure
*/
static void StatusHandler(PHStatusPacketHandle status)
static void StatusHandler(PHStatusPacketHandle status, int8_t rssi, int8_t afc)
{
uint32_t id = status->header.source_id;
bool found = false;
@ -868,29 +892,15 @@ static void StatusHandler(PHStatusPacketHandle status)
// If we have seen it, update the RSSI and reset the last contact couter
if(found)
{
data->pairStats[id_idx].rssi = status->header.rssi;
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;
}
// Remove any contacts that we haven't seen for a while.
for (id_idx = 0; id_idx < PIPXSTATUS_PAIRIDS_NUMELEM; ++id_idx)
{
if(data->pairStats[id_idx].lastContact > MAX_LOST_CONTACT_TIME)
{
data->pairStats[id_idx].pairID = 0;
data->pairStats[id_idx].rssi = -127;
data->pairStats[id_idx].retries = 0;
data->pairStats[id_idx].errors = 0;
data->pairStats[id_idx].uavtalk_errors = 0;
data->pairStats[id_idx].resets = 0;
data->pairStats[id_idx].lastContact = 0;
}
}
// If we haven't seen it, find a slot to put it in.
if (!found)
{
@ -911,11 +921,12 @@ static void StatusHandler(PHStatusPacketHandle status)
}
}
data->pairStats[min_idx].pairID = id;
data->pairStats[min_idx].rssi = status->header.rssi;
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;
}
}

191
flight/PiOS/Common/pios_rfm22b.c
View File

@ -300,8 +300,6 @@ const uint8_t ss_reg_71[] = { 0x2B, 0x23}; // rfm22_modulation_mode_control2
volatile bool initialized = false;
struct pios_rfm22b_dev * rfm22b_dev;
#if defined(RFM22_EXT_INT_USE)
volatile bool exec_using_spi; // set this if you want to access the SPI bus outside of the interrupt
#endif
@ -345,8 +343,8 @@ volatile uint8_t prev_int_status1; // " "
volatile uint8_t prev_int_status2; // " "
volatile uint8_t prev_ezmac_status; // " "
const char *debug_msg = NULL;
const char *error_msg = NULL;
const char *debug_msg = "";
const char *error_msg = "";
static uint32_t debug_val = 0;
#endif
@ -443,7 +441,7 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, const struct pios_rfm22b_cfg *cfg)
PIOS_DEBUG_Assert(cfg);
// Allocate the device structure.
rfm22b_dev = (struct pios_rfm22b_dev *) PIOS_RFM22B_alloc();
struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *) PIOS_RFM22B_alloc();
if (!rfm22b_dev)
return(-1);
@ -559,20 +557,19 @@ static void PIOS_RFM22B_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail)
// Get some data to send
bool need_yield = false;
if(tx_pre_buffer_size== 0)
if(tx_pre_buffer_size == 0)
tx_pre_buffer_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, tx_pre_buffer,
TX_BUFFER_SIZE, NULL, &need_yield);
TX_BUFFER_SIZE, NULL, &need_yield);
if(tx_pre_buffer_size > 0)
{
// already have data to be sent
if (tx_data_wr > 0)
return;
// we are currently transmitting or scanning the spectrum
if (rf_mode == TX_DATA_MODE || rf_mode == TX_STREAM_MODE || rf_mode == TX_CARRIER_MODE ||
rf_mode == TX_PN_MODE || rf_mode == RX_SCAN_SPECTRUM)
rf_mode == TX_PN_MODE || rf_mode == RX_SCAN_SPECTRUM)
return;
// is the channel clear to transmit on?
@ -638,19 +635,33 @@ static void PIOS_RFM22B_Supervisor(uint32_t rfm22b_id)
return;
}
/* Not a problem if we're waiting for a packet. */
if(rf_mode == RX_WAIT_SYNC_MODE)
/* If we're waiting for a receive, we just need to make sure that there are no packets waiting to be transmitted. */
if(rf_mode == RX_WAIT_PREAMBLE_MODE)
{
/* Start a packet transfer if one is available. */
PIOS_RFM22B_TxStart(rfm22b_id, 0);
return;
}
/* The radio must be locked up if the timer reaches 0 */
if(--(rfm22b_dev->supv_timer) != 0)
return;
++(rfm22b_dev->resets);
TX_LED_OFF;
TX_LED_OFF;
/* Clear the TX buffer in case we locked up in a transmit */
tx_data_wr = 0;
rfm22_init_normal(rfm22b_dev->deviceID, rfm22b_dev->cfg.minFrequencyHz, rfm22b_dev->cfg.maxFrequencyHz, 50000);
/* Start a packet transfer if one is available. */
if(!rfm22_txStart())
rf_mode = RX_WAIT_PREAMBLE_MODE;
PIOS_RFM22B_TxStart(rfm22b_id, 0);
if(rf_mode == RX_WAIT_PREAMBLE_MODE)
{
/* Otherwise, switch to RX mode */
/* Switch to RX mode */
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
}
}
@ -816,9 +827,10 @@ void rfm22_setNominalCarrierFrequency(uint32_t frequency_hz)
// *******
if (frequency_hz < lower_carrier_frequency_limit_Hz) frequency_hz = lower_carrier_frequency_limit_Hz;
else
if (frequency_hz > upper_carrier_frequency_limit_Hz) frequency_hz = upper_carrier_frequency_limit_Hz;
if (frequency_hz < lower_carrier_frequency_limit_Hz)
frequency_hz = lower_carrier_frequency_limit_Hz;
else if (frequency_hz > upper_carrier_frequency_limit_Hz)
frequency_hz = upper_carrier_frequency_limit_Hz;
if (frequency_hz < 480000000)
hbsel = 1;
@ -1107,7 +1119,7 @@ void rfm22_setRxMode(uint8_t mode, bool multi_packet_mode)
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo |
RFM22_mmc2_modtyp_gfsk);
RFM22_mmc2_modtyp_gfsk);
}
// empty the rx buffer
@ -1132,12 +1144,11 @@ void rfm22_setRxMode(uint8_t mode, bool multi_packet_mode)
// enable RX interrupts
rfm22_write(RFM22_interrupt_enable1, RFM22_ie1_encrcerror | RFM22_ie1_enpkvalid |
RFM22_ie1_enrxffafull | RFM22_ie1_enfferr);
RFM22_ie1_enrxffafull | RFM22_ie1_enfferr);
rfm22_write(RFM22_interrupt_enable2, RFM22_ie2_enpreainval | RFM22_ie2_enpreaval |
RFM22_ie2_enswdet);
RFM22_ie2_enswdet);
// enable the receiver
// rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_xton | RFM22_opfc1_rxon);
rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_rxon);
exec_using_spi = FALSE;
@ -1177,7 +1188,7 @@ uint8_t rfm22_txStart()
PIOS_IRQ_Disable();
// Initialize the supervisor timer.
rfm22b_dev->supv_timer = PIOS_RFM22B_SUPERVISOR_TIMEOUT;
rfm22b_dev_g->supv_timer = PIOS_RFM22B_SUPERVISOR_TIMEOUT;
// disable interrupts
rfm22_write(RFM22_interrupt_enable1, 0x00);
@ -1204,11 +1215,11 @@ uint8_t rfm22_txStart()
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo |
RFM22_mmc2_modtyp_gfsk);
RFM22_mmc2_modtyp_gfsk);
// set the tx power
rfm22_write(RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_1 |
RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | tx_power);
RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | tx_power);
// clear FIFOs
rfm22_write(RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
@ -1234,15 +1245,9 @@ uint8_t rfm22_txStart()
rf_mode = TX_DATA_MODE;
// enable TX interrupts
// rfm22_write(RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem | RFM22_ie1_enfferr);
rfm22_write(RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem);
// read interrupt status - clear interrupts
//rfm22_read(RFM22_interrupt_status1);
//rfm22_read(RFM22_interrupt_status2);
// enable the transmitter
// rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_xton | RFM22_opfc1_txon);
rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_txon);
// Re-ensable interrrupts.
@ -1263,20 +1268,18 @@ static void rfm22_setTxMode(uint8_t mode)
exec_using_spi = TRUE;
// *******************
// disable interrupts
rfm22_write(RFM22_interrupt_enable1, 0x00);
rfm22_write(RFM22_interrupt_enable2, 0x00);
// rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_xton); // READY mode
rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon); // TUNE mode
// TUNE mode
rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
RX_LED_OFF;
// set the tx power
rfm22_write(RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_1 |
RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | tx_power);
RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | tx_power);
uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
if (mode == TX_CARRIER_MODE)
@ -1293,13 +1296,10 @@ static void rfm22_setTxMode(uint8_t mode)
rfm22_write(RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo |
RFM22_mmc2_modtyp_gfsk);
// rfm22_write(0x72, reg_72[lookup_index]); // rfm22_frequency_deviation
// clear FIFOs
rfm22_write(RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
rfm22_write(RFM22_op_and_func_ctrl2, 0x00);
// *******************
// add some data to the chips TX FIFO before enabling the transmitter
{
uint16_t rd = 0;
@ -1335,8 +1335,6 @@ static void rfm22_setTxMode(uint8_t mode)
tx_data_rd = rd;
}
// *******************
// reset the timer
rfm22_int_timer = 0;
@ -1380,73 +1378,34 @@ void rfm22_processRxInt(void)
return;
}
// Sync timeout. Restart RX mode.
if (rf_mode == RX_WAIT_SYNC_MODE && rfm22_int_timer >= timeout_sync_ms)
{
rfm22_int_time_outs++;
rfm22_setError("R_SYNC_TIMEOUT");
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
return;
}
// RX timeout. Restart RX mode.
if (rf_mode == RX_DATA_MODE && rfm22_int_timer >= timeout_data_ms)
{
rfm22_setError("MISSING_INTERRUPTS");
rfm22_int_time_outs++;
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
return;
}
// The module is not in RX mode. Restart RX mode.
if ((device_status & RFM22_ds_cps_mask) != RFM22_ds_cps_rx)
{
// the rf module is not in rx mode
if (rfm22_int_timer >= 100)
{
rfm22_int_time_outs++;
// reset the receiver
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
return;
}
}
// Valid preamble detected
if (int_stat2 & RFM22_is2_ipreaval)
if (int_stat2 & RFM22_is2_ipreaval && (rf_mode == RX_WAIT_PREAMBLE_MODE))
{
if (rf_mode == RX_WAIT_PREAMBLE_MODE)
{
rfm22_int_timer = 0; // reset the timer
rf_mode = RX_WAIT_SYNC_MODE;
RX_LED_ON;
rfm22_setDebug("pream_det");
}
rf_mode = RX_WAIT_SYNC_MODE;
RX_LED_ON;
rfm22_setDebug("pream_det");
}
// Sync word detected
if (int_stat2 & RFM22_is2_iswdet)
if (int_stat2 & RFM22_is2_iswdet && ((rf_mode == RX_WAIT_PREAMBLE_MODE || rf_mode == RX_WAIT_SYNC_MODE)))
{
if (rf_mode == RX_WAIT_PREAMBLE_MODE || rf_mode == RX_WAIT_SYNC_MODE)
{
rfm22_int_timer = 0; // reset the timer
rf_mode = RX_DATA_MODE;
RX_LED_ON;
rfm22_setDebug("sync_det");
rf_mode = RX_DATA_MODE;
RX_LED_ON;
rfm22_setDebug("sync_det");
// read the 10-bit signed afc correction value
// bits 9 to 2
afc_correction = (uint16_t)rfm22_read(RFM22_afc_correction_read) << 8;
// bits 1 & 0
afc_correction |= (uint16_t)rfm22_read(RFM22_ook_counter_value1) & 0x00c0;
afc_correction >>= 6;
// convert the afc value to Hz
afc_correction_Hz = (int32_t)(frequency_step_size * afc_correction + 0.5f);
// read the 10-bit signed afc correction value
// bits 9 to 2
afc_correction = (uint16_t)rfm22_read(RFM22_afc_correction_read) << 8;
// bits 1 & 0
afc_correction |= (uint16_t)rfm22_read(RFM22_ook_counter_value1) & 0x00c0;
afc_correction >>= 6;
// convert the afc value to Hz
afc_correction_Hz = (int32_t)(frequency_step_size * afc_correction + 0.5f);
// remember the rssi for this packet
rx_packet_start_rssi_dBm = rssi_dBm;
// remember the afc value for this packet
rx_packet_start_afc_Hz = afc_correction_Hz;
}
// remember the rssi for this packet
rx_packet_start_rssi_dBm = rssi_dBm;
// remember the afc value for this packet
rx_packet_start_afc_Hz = afc_correction_Hz;
}
// RX FIFO almost full, it needs emptying
@ -1455,8 +1414,6 @@ void rfm22_processRxInt(void)
if (rf_mode == RX_DATA_MODE)
{
// read data from the rf chips FIFO buffer
rfm22_int_timer = 0; // reset the timer
// read the total length of the packet data
uint16_t len = rfm22_read(RFM22_received_packet_length);
@ -1500,23 +1457,9 @@ void rfm22_processRxInt(void)
return;
}
// if (int_stat2 & RFM22_is2_irssi)
// { // RSSI level is >= the set threshold
// }
// if (device_status & RFM22_ds_rxffem)
// { // RX FIFO empty
// }
// if (device_status & RFM22_ds_headerr)
// { // Header check error
// }
// Valid packet received
if (int_stat1 & RFM22_is1_ipkvalid)
{
// reset the timer
rfm22_int_timer = 0;
// read the total length of the packet data
register uint16_t len = rfm22_read(RFM22_received_packet_length);
@ -1536,6 +1479,7 @@ void rfm22_processRxInt(void)
// 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;
}
@ -1555,7 +1499,7 @@ void rfm22_processRxInt(void)
bool need_yield = false;
if (rfm22b_dev_g->rx_in_cb)
(rfm22b_dev_g->rx_in_cb)(rfm22b_dev_g->rx_in_context, (uint8_t*)rx_buffer,
rx_buffer_wr, NULL, &need_yield);
rx_buffer_wr, NULL, &need_yield);
rx_buffer_wr = 0;
}
@ -1647,10 +1591,7 @@ static void rfm22_processInt(void)
exec_using_spi = TRUE;
// Reset the supervisor timer.
rfm22b_dev->supv_timer = PIOS_RFM22B_SUPERVISOR_TIMEOUT;
// ********************************
// read the RF modules current status registers
rfm22b_dev_g->supv_timer = PIOS_RFM22B_SUPERVISOR_TIMEOUT;
// read interrupt status registers - clears the interrupt line
int_status1 = rfm22_read(RFM22_interrupt_status1);
@ -1664,22 +1605,16 @@ static void rfm22_processInt(void)
// Read the RSSI if we're in RX mode
if (rf_mode != TX_DATA_MODE && rf_mode != TX_STREAM_MODE &&
rf_mode != TX_CARRIER_MODE && rf_mode != TX_PN_MODE)
rf_mode != TX_CARRIER_MODE && rf_mode != TX_PN_MODE)
{
// read rx signal strength .. 45 = -100dBm, 205 = -20dBm
rssi = rfm22_read(RFM22_rssi);
// convert to dBm
rssi_dBm = (int8_t)(rssi >> 1) - 122;
// calibrate the RSSI value (rf bandwidth appears to affect it)
// if (rf_bandwidth_used > 0)
// rssi_dBm -= 10000 / rf_bandwidth_used;
}
else
{
// read the tx power register
tx_pwr = rfm22_read(RFM22_tx_power);
}
// the RF module has gone and done a reset - we need to re-initialize the rf module
if (int_status2 & RFM22_is2_ipor)
@ -1850,8 +1785,8 @@ bool rfm22_txReady(void)
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 &&
rf_mode != RX_SCAN_SPECTRUM);
rf_mode != TX_STREAM_MODE && rf_mode != TX_CARRIER_MODE && rf_mode != TX_PN_MODE &&
rf_mode != RX_SCAN_SPECTRUM);
}
// ************************************

38
ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
View File

@ -90,9 +90,6 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
qwd = new ConfigTxPIDWidget(this);
ftw->insertTab(ConfigGadgetWidget::txpid, qwd, QIcon(":/configgadget/images/txpid.png"), QString("TxPID"));
qwd = new ConfigPipXtremeWidget(this);
ftw->insertTab(ConfigGadgetWidget::pipxtreme, qwd, QIcon(":/configgadget/images/PipXtreme.png"), QString("PipXtreme"));
// *********************
// Listen to autopilot connection events
@ -108,6 +105,19 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
help = 0;
connect(ftw,SIGNAL(currentAboutToShow(int,bool*)),this,SLOT(tabAboutToChange(int,bool*)));//,Qt::BlockingQueuedConnection);
// Connect to the PipXStatus object updates
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
pipxStatusObj = dynamic_cast<UAVDataObject*>(objManager->getObject("PipXStatus"));
if (pipxStatusObj != NULL ) {
connect(pipxStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updatePipXStatus(UAVObject*)));
} else {
qDebug() << "Error: Object is unknown (PipXStatus).";
}
// Create the timer that is used to timeout the connection to the PipX.
pipxTimeout = new QTimer(this);
connect(pipxTimeout, SIGNAL(timeout()),this,SLOT(onPipxtremeDisconnect()));
pipxConnected = false;
}
ConfigGadgetWidget::~ConfigGadgetWidget()
@ -203,5 +213,27 @@ void ConfigGadgetWidget::tabAboutToChange(int i,bool * proceed)
}
}
/*!
\brief Called by updates to @PipXStatus
*/
void ConfigGadgetWidget::updatePipXStatus(UAVObject *object)
{
// Restart the disconnection timer.
pipxTimeout->start(5000);
if (!pipxConnected)
{
qDebug()<<"ConfigGadgetWidget onPipxtremeConnect";
QWidget *qwd = new ConfigPipXtremeWidget(this);
ftw->insertTab(ConfigGadgetWidget::pipxtreme, qwd, QIcon(":/configgadget/images/PipXtreme.png"), QString("PipXtreme"));
ftw->setCurrentIndex(ConfigGadgetWidget::pipxtreme);
pipxConnected = true;
}
}
void ConfigGadgetWidget::onPipxtremeDisconnect() {
qDebug()<<"ConfigGadgetWidget onPipxtremeDisconnect";
pipxTimeout->stop();
ftw->removeTab(ConfigGadgetWidget::pipxtreme);
pipxConnected = false;
}

11
ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
View File

@ -56,14 +56,25 @@ public slots:
void onAutopilotConnect();
void onAutopilotDisconnect();
void tabAboutToChange(int i,bool *);
void updatePipXStatus(UAVObject *object);
void onPipxtremeDisconnect();
signals:
void autopilotConnected();
void autopilotDisconnected();
void pipxtremeConnect();
void pipxtremeDisconnect();
protected:
void resizeEvent(QResizeEvent * event);
MyTabbedStackWidget *ftw;
private:
UAVDataObject* pipxStatusObj;
// A timer that timesout the connction to the PipX.
QTimer *pipxTimeout;
bool pipxConnected;
};
#endif // CONFIGGADGETWIDGET_H

49
ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
View File

@ -76,6 +76,7 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
addUAVObjectToWidgetRelation("PipXStatus", "Errors", m_pipx->Errors);
addUAVObjectToWidgetRelation("PipXStatus", "UAVTalkErrors", m_pipx->UAVTalkErrors);
addUAVObjectToWidgetRelation("PipXStatus", "Resets", m_pipx->Resets);
addUAVObjectToWidgetRelation("PipXStatus", "Dropped", m_pipx->Dropped);
addUAVObjectToWidgetRelation("PipXStatus", "RXRate", m_pipx->RXRate);
addUAVObjectToWidgetRelation("PipXStatus", "TXRate", m_pipx->TXRate);
@ -85,21 +86,16 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
connect(m_pipx->PairSelect3, SIGNAL(toggled(bool)), this, SLOT(pair3Toggled(bool)));
connect(m_pipx->PairSelect4, SIGNAL(toggled(bool)), this, SLOT(pair4Toggled(bool)));
// Create the timer that is used to timeout the connection to the PipX.
timeOut = new QTimer(this);
connect(timeOut, SIGNAL(timeout()),this,SLOT(disconnected()));
//Add scroll bar when necessary
QScrollArea *scroll = new QScrollArea;
scroll->setWidget(m_pipx->frame_3);
m_pipx->verticalLayout_3->addWidget(scroll);
//Add scroll bar when necessary
QScrollArea *scroll = new QScrollArea;
scroll->setWidget(m_pipx->frame_3);
m_pipx->verticalLayout_3->addWidget(scroll);
// Request and update of the setting object.
settingsUpdated = false;
pipxSettingsObj->requestUpdate();
disableMouseWheelEvents();
//pipxSettingsObj->requestUpdate();
disableMouseWheelEvents();
}
ConfigPipXtremeWidget::~ConfigPipXtremeWidget()
@ -144,9 +140,6 @@ void ConfigPipXtremeWidget::saveSettings()
void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
{
// Restart the disconnection timer.
timeOut->start(10000);
// Request and update of the setting object if we haven't received it yet.
if (!settingsUpdated)
pipxSettingsObj->requestUpdate();
@ -185,11 +178,15 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
}
UAVObjectField* pairRssiField = object->getField("PairSignalStrengths");
if (pairRssiField) {
m_pipx->PairSignalStrength1->setValue(pairRssiField->getValue(0).toInt());
m_pipx->PairSignalStrength2->setValue(pairRssiField->getValue(1).toInt());
m_pipx->PairSignalStrength3->setValue(pairRssiField->getValue(2).toInt());
m_pipx->PairSignalStrength4->setValue(pairRssiField->getValue(3).toInt());
} else {
m_pipx->PairSignalStrengthBar1->setValue(pairRssiField->getValue(0).toInt());
m_pipx->PairSignalStrengthBar2->setValue(pairRssiField->getValue(1).toInt());
m_pipx->PairSignalStrengthBar3->setValue(pairRssiField->getValue(2).toInt());
m_pipx->PairSignalStrengthBar4->setValue(pairRssiField->getValue(3).toInt());
m_pipx->PairSignalStrengthLabel1->setText(QString("%1dB").arg(pairRssiField->getValue(0).toInt()));
m_pipx->PairSignalStrengthLabel2->setText(QString("%1dB").arg(pairRssiField->getValue(1).toInt()));
m_pipx->PairSignalStrengthLabel3->setText(QString("%1dB").arg(pairRssiField->getValue(2).toInt()));
m_pipx->PairSignalStrengthLabel4->setText(QString("%1dB").arg(pairRssiField->getValue(3).toInt()));
} else {
qDebug() << "PipXtremeGadgetWidget: Count not read PairID field.";
}
@ -262,14 +259,20 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
*/
void ConfigPipXtremeWidget::updateSettings(UAVObject *object)
{
settingsUpdated = true;
enableControls(true);
if (!settingsUpdated)
{
settingsUpdated = true;
enableControls(true);
}
}
void ConfigPipXtremeWidget::disconnected()
{
settingsUpdated = false;
enableControls(false);
if (settingsUpdated)
{
settingsUpdated = false;
enableControls(false);
}
}
void ConfigPipXtremeWidget::pairIDToggled(bool checked, quint8 idx)

3
ground/openpilotgcs/src/plugins/config/configpipxtremewidget.h
View File

@ -53,9 +53,6 @@ private:
bool settingsUpdated;
// A timer that timesout the connction to the PipX.
QTimer *timeOut;
private slots:
void refreshValues();
void applySettings();

90
ground/openpilotgcs/src/plugins/config/pipxtreme.ui
View File

@ -145,7 +145,7 @@
<widget class="QLineEdit" name="PairID1"/>
</item>
<item row="0" column="3">
<widget class="QProgressBar" name="PairSignalStrength1">
<widget class="QProgressBar" name="PairSignalStrengthBar1">
<property name="minimum">
<number>-127</number>
</property>
@ -156,7 +156,7 @@
<number>-127</number>
</property>
<property name="textVisible">
<bool>true</bool>
<bool>false</bool>
</property>
<property name="format">
<string>%v dBm</string>
@ -174,7 +174,7 @@
<widget class="QLineEdit" name="PairID2"/>
</item>
<item row="1" column="3">
<widget class="QProgressBar" name="PairSignalStrength2">
<widget class="QProgressBar" name="PairSignalStrengthBar2">
<property name="minimum">
<number>-127</number>
</property>
@ -185,7 +185,7 @@
<number>0</number>
</property>
<property name="textVisible">
<bool>true</bool>
<bool>false</bool>
</property>
<property name="format">
<string>%v dBm</string>
@ -203,7 +203,7 @@
<widget class="QLineEdit" name="PairID3"/>
</item>
<item row="2" column="3">
<widget class="QProgressBar" name="PairSignalStrength3">
<widget class="QProgressBar" name="PairSignalStrengthBar3">
<property name="minimum">
<number>-127</number>
</property>
@ -214,7 +214,7 @@
<number>0</number>
</property>
<property name="textVisible">
<bool>true</bool>
<bool>false</bool>
</property>
<property name="format">
<string>%v dBm</string>
@ -232,7 +232,7 @@
<widget class="QLineEdit" name="PairID4"/>
</item>
<item row="3" column="3">
<widget class="QProgressBar" name="PairSignalStrength4">
<widget class="QProgressBar" name="PairSignalStrengthBar4">
<property name="minimum">
<number>-127</number>
</property>
@ -243,13 +243,41 @@
<number>0</number>
</property>
<property name="textVisible">
<bool>true</bool>
<bool>false</bool>
</property>
<property name="format">
<string>%v dBm</string>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="PairSignalStrengthLabel1">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QLabel" name="PairSignalStrengthLabel2">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QLabel" name="PairSignalStrengthLabel3">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QLabel" name="PairSignalStrengthLabel4">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@ -603,7 +631,7 @@
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="label_18">
<widget class="QLabel" name="RetriesLabel">
<property name="text">
<string>Retries</string>
</property>
@ -747,9 +775,9 @@
</widget>
</item>
<item row="13" column="0">
<widget class="QLabel" name="TXRateLabel">
<widget class="QLabel" name="DroppedLabel">
<property name="text">
<string>TX Rate (B/s)</string>
<string>Dropped</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@ -757,7 +785,7 @@
</widget>
</item>
<item row="13" column="1">
<widget class="QLineEdit" name="TXRate">
<widget class="QLineEdit" name="Dropped">
<property name="font">
<font>
<weight>75</weight>
@ -783,6 +811,42 @@
</widget>
</item>
<item row="14" column="0">
<widget class="QLabel" name="TXRateLabel">
<property name="text">
<string>TX Rate (B/s)</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="14" column="1">
<widget class="QLineEdit" name="TXRate">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="15" column="0">
<widget class="QLabel" name="RXRateLabel">
<property name="text">
<string>RX Rate (B/s)</string>
@ -792,7 +856,7 @@
</property>
</widget>
</item>
<item row="14" column="1">
<item row="15" column="1">
<widget class="QLineEdit" name="RXRate">
<property name="font">
<font>

1
shared/uavobjectdefinition/pipxstatus.xml
View File

@ -14,6 +14,7 @@
<field name="Retries" units="" type="uint16" elements="1" defaultvalue="0"/>
<field name="Errors" units="" type="uint16" elements="1" defaultvalue="0"/>
<field name="UAVTalkErrors" units="" type="uint16" elements="1" defaultvalue="0"/>
<field name="Dropped" units="" type="uint16" elements="1" defaultvalue="0"/>
<field name="Resets" units="" type="uint16" elements="1" defaultvalue="0"/>
<field name="TXRate" units="Bps" type="uint16" elements="1" defaultvalue="0"/>
<field name="RXRate" units="Bps" type="uint16" elements="1" defaultvalue="0"/>