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Code Issues Releases Activity

OP-932 Fixes the failsafe that detects when the Rx modem loses sync with the Tx modem. This was not working on one-way mode.

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This commit is contained in:
Brian Webb 2013-06-30 16:08:50 -07:00
parent 491e5fe685
commit c76ee7de9d
1 changed files with 23 additions and 15 deletions
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38
flight/pios/common/pios_rfm22b.c
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@ -1189,20 +1189,7 @@ static void pios_rfm22_task(void *parameters)
D4_LED_OFF; D4_LED_OFF;
} }
#endif #endif
if (time_to_send && PIOS_RFM22B_InRxWait((uint32_t)rfm22b_dev)) { if (time_to_send && PIOS_RFM22B_InRxWait((uint32_t)rfm22b_dev)) {
// If the on_sync_channel flag is set, it means that we were on the sync channel, but no packet was received, so transition to a non-connected state.
if (!rfm22_isCoordinator(rfm22b_dev) && rfm22b_dev->on_sync_channel) {
rfm22b_dev->on_sync_channel = false;
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) {
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
// Set the PPM outputs to INVALID
for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) {
rfm22b_dev->ppm[i] = PIOS_RCVR_INVALID;
}
}
}
rfm22_process_event(rfm22b_dev, RADIO_EVENT_TX_START); rfm22_process_event(rfm22b_dev, RADIO_EVENT_TX_START);
} }
} }
@ -2225,12 +2212,33 @@ static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t ind
uint8_t num_chan = num_channels[rfm22b_dev->datarate]; uint8_t num_chan = num_channels[rfm22b_dev->datarate];
uint8_t idx = index % num_chan; uint8_t idx = index % num_chan;
// Are we switching to a new channel?
if (idx != rfm22b_dev->channel_index) { if (idx != rfm22b_dev->channel_index) {
rfm22b_dev->channel_index = idx;
if (idx == 0) { // If the on_sync_channel flag is set, it means that we were on the sync channel, but no packet was received, so transition to a non-connected state.
if (!rfm22_isCoordinator(rfm22b_dev) && (rfm22b_dev->channel_index == 0) && rfm22b_dev->on_sync_channel) {
rfm22b_dev->on_sync_channel = false;
// Set the link state to disconnected.
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) {
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
// Set the PPM outputs to INVALID
for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) {
rfm22b_dev->ppm[i] = PIOS_RCVR_INVALID;
}
}
// Stay on the sync channel.
idx = 0;
} else if (idx == 0) {
// If we're switching to the sync channel, set a flag that can be used to detect if a packet was received.
rfm22b_dev->on_sync_channel = true; rfm22b_dev->on_sync_channel = true;
} }
rfm22b_dev->channel_index = idx;
} }
return rfm22b_dev->channels[idx]; return rfm22b_dev->channels[idx];
} }