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OP-932 Changes the radio task loop to loop every 1ms, and reduces the tx transmit period back down to 8ms. Also reduces the Tx windows to 1ms for each modem, and reserves the latter half of the Tx window for channel changing.

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This commit is contained in:
Brian Webb 2013-05-21 17:40:05 -07:00
parent daeb6aad07
commit dbce08a151
1 changed files with 18 additions and 15 deletions
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33
flight/pios/common/pios_rfm22b.c
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@ -62,7 +62,7 @@
/* Local Defines */
#define STACK_SIZE_BYTES 200
#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
#define ISR_TIMEOUT 2 // ms
#define ISR_TIMEOUT 1 // ms
#define EVENT_QUEUE_SIZE 5
#define RFM22B_DEFAULT_RX_DATARATE RFM22_datarate_9600
#define RFM22B_DEFAULT_TX_POWER RFM22_tx_pwr_txpow_0
@ -1375,13 +1375,13 @@ static enum pios_radio_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->destination_id = 0xffffffff;
rfm22b_dev->send_status = false;
rfm22b_dev->send_connection_request = false;
rfm22b_dev->send_ack_nack = false;
rfm22b_dev->resend_packet = false;
rfm22b_dev->send_ack_nack = false;
rfm22b_dev->resend_packet = false;
// Initialize the packets.
rfm22b_dev->rx_packet_len = 0;
rfm22b_dev->tx_packet = NULL;
rfm22b_dev->prev_tx_packet = NULL;
rfm22b_dev->rx_packet_len = 0;
rfm22b_dev->tx_packet = NULL;
rfm22b_dev->prev_tx_packet = NULL;
rfm22b_dev->data_packet.header.data_size = 0;
// Initialize the devide state
@ -2068,9 +2068,9 @@ static enum pios_radio_event radio_receivePacket(struct pios_rfm22b_dev *radio_d
// which should match the time that the last packet was received.
uint16_t prev_seq_num = radio_dev->stats.rx_seq;
if (seq_num == (prev_seq_num + 1)) {
portTickType local_rx_time = radio_dev->rx_complete_ticks;
portTickType remote_tx_time = radio_dev->rx_packet.header.prev_tx_time;
portTickType time_delta = remote_tx_time - local_rx_time;
portTickType local_rx_time = radio_dev->rx_complete_ticks;
portTickType remote_tx_time = radio_dev->rx_packet.header.prev_tx_time;
portTickType time_delta = remote_tx_time - local_rx_time;
portTickType time_delta_delta = (time_delta > radio_dev->time_delta) ? (time_delta - radio_dev->time_delta) : (radio_dev->time_delta - time_delta);
if (time_delta_delta <= 2) {
radio_dev->time_delta = remote_tx_time - local_rx_time;
@ -2221,7 +2221,7 @@ static enum pios_radio_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev)
aph->header.destination_id = rfm22b_dev->destination_id;
aph->header.type = PACKET_TYPE_ACK;
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
rfm22b_dev->send_ack_nack = true;
rfm22b_dev->send_ack_nack = true;
}
return RADIO_EVENT_TX_START;
}
@ -2241,7 +2241,7 @@ static enum pios_radio_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev)
aph->header.destination_id = rfm22b_dev->destination_id;
aph->header.type = PACKET_TYPE_NACK;
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
rfm22b_dev->send_ack_nack = true;
rfm22b_dev->send_ack_nack = true;
}
return RADIO_EVENT_TX_START;
}
@ -2484,6 +2484,7 @@ static enum pios_radio_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm2
// Copy the connection packet
PHConnectionPacketHandle cph = (PHConnectionPacketHandle)(&(rfm22b_dev->rx_packet));
PHConnectionPacketHandle lcph = (PHConnectionPacketHandle)(&(rfm22b_dev->con_packet));
memcpy((uint8_t *)lcph, (uint8_t *)cph, PH_PACKET_SIZE((PHPacketHandle)cph));
// Set the destination ID to the source of the connection request message.
@ -2525,9 +2526,10 @@ static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, po
static bool rfm22_timeToSend(struct pios_rfm22b_dev *rfm22b_dev)
{
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
// Divide time into 8ms blocks. Coordinator sends in first 2 ms, and remote send in 5th and 6th ms.
// Channel changes occur in the last 2 ms.
return (rfm22b_dev->coordinator) ? ((time & 0x0C) == 0) : (((time + 8) & 0x0C) == 0);
// Divide time into 8ms blocks. Coordinator sends in first 1 ms, and remote send in 4th.
// Channel changes occurs in the 7th.
return (rfm22b_dev->coordinator) ? ((time & 0x7) == 0) : ((time & 0x7) == 3);
}
/**
@ -2540,7 +2542,8 @@ static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev)
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
// Divide time into 8ms blocks. Coordinator sends in first 2 ms, and remote send in 5th and 6th ms.
// Channel changes occur in the last 2 ms.
uint8_t n = (((time + 0x0C) >> 4) & 0xff);
uint8_t n = (((time + 2) >> 3) & 0xff);
return PIOS_CRC_updateByte(0, n) % rfm22b_dev->num_channels;
}