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Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into next

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This commit is contained in:
David Ankers 2013-04-27 12:41:20 +10:00
commit ddada83498
28 changed files with 3282 additions and 2768 deletions
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527
flight/modules/RadioComBridge/RadioComBridge.c
View File

@ -1,17 +1,17 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup RadioComBridgeModule Com Port to Radio Bridge Module
* @brief Bridge Com and Radio ports
* @{
*
* @file RadioComBridge.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
*
*****************************************************************************/
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup RadioComBridgeModule Com Port to Radio Bridge Module
* @brief Bridge Com and Radio ports
* @{
*
* @file RadioComBridge.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
@ -69,30 +69,30 @@ void PIOS_InitPPMFlexiPort(bool input);
typedef struct {
// The task handles.
xTaskHandle telemetryTxTaskHandle;
xTaskHandle radioRxTaskHandle;
xTaskHandle radioTxTaskHandle;
// The task handles.
xTaskHandle telemetryTxTaskHandle;
xTaskHandle radioRxTaskHandle;
xTaskHandle radioTxTaskHandle;
// The UAVTalk connection on the com side.
UAVTalkConnection outUAVTalkCon;
UAVTalkConnection inUAVTalkCon;
// The UAVTalk connection on the com side.
UAVTalkConnection outUAVTalkCon;
UAVTalkConnection inUAVTalkCon;
// Queue handles.
xQueueHandle gcsEventQueue;
xQueueHandle uavtalkEventQueue;
// Queue handles.
xQueueHandle gcsEventQueue;
xQueueHandle uavtalkEventQueue;
// Error statistics.
uint32_t comTxErrors;
uint32_t comTxRetries;
uint32_t UAVTalkErrors;
uint32_t droppedPackets;
// Error statistics.
uint32_t comTxErrors;
uint32_t comTxRetries;
uint32_t UAVTalkErrors;
uint32_t droppedPackets;
// Should we parse UAVTalk?
bool parseUAVTalk;
// Should we parse UAVTalk?
bool parseUAVTalk;
// The current configured uart speed
OPLinkSettingsComSpeedOptions comSpeed;
// The current configured uart speed
OPLinkSettingsComSpeedOptions comSpeed;
} RadioComBridgeData;
@ -118,8 +118,8 @@ static RadioComBridgeData *data;
/**
* Start the module
* \return -1 if initialisation failed
* \return 0 on success
*
* @return -1 if initialisation failed, 0 on success
*/
static int32_t RadioComBridgeStart(void)
{
@ -137,8 +137,7 @@ static int32_t RadioComBridgeStart(void)
if (is_coordinator) {
// Set the maximum radio RF power.
switch (oplinkSettings.MaxRFPower)
{
switch (oplinkSettings.MaxRFPower) {
case OPLINKSETTINGS_MAXRFPOWER_125:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
break;
@ -198,175 +197,186 @@ static int32_t RadioComBridgeStart(void)
/**
* Initialise the module
* \return -1 if initialisation failed
* \return 0 on success
*
* @return -1 if initialisation failed on success
*/
static int32_t RadioComBridgeInitialize(void)
{
// allocate and initialize the static data storage only if module is enabled
data = (RadioComBridgeData *)pvPortMalloc(sizeof(RadioComBridgeData));
if (!data)
return -1;
// allocate and initialize the static data storage only if module is enabled
data = (RadioComBridgeData *)pvPortMalloc(sizeof(RadioComBridgeData));
if (!data) {
return -1;
}
// Initialize the UAVObjects that we use
OPLinkStatusInitialize();
ObjectPersistenceInitialize();
// Initialize the UAVObjects that we use
OPLinkStatusInitialize();
ObjectPersistenceInitialize();
// Initialise UAVTalk
data->outUAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
data->inUAVTalkCon = UAVTalkInitialize(&RadioSendHandler);
// Initialise UAVTalk
data->outUAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
data->inUAVTalkCon = UAVTalkInitialize(&RadioSendHandler);
// Initialize the queues.
data->uavtalkEventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(UAVObjEvent));
// Initialize the queues.
data->uavtalkEventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(UAVObjEvent));
// Configure our UAVObjects for updates.
UAVObjConnectQueue(UAVObjGetByID(OPLINKSTATUS_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
// Configure our UAVObjects for updates.
UAVObjConnectQueue(UAVObjGetByID(OPLINKSTATUS_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
#if defined(PIOS_INCLUDE_RFM22B_GCSRECEIVER)
UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
#endif
// Initialize the statistics.
data->comTxErrors = 0;
data->comTxRetries = 0;
data->UAVTalkErrors = 0;
data->parseUAVTalk = false;
data->comSpeed = OPLINKSETTINGS_COMSPEED_9600;
PIOS_COM_RADIO = PIOS_COM_RFM22B;
// Initialize the statistics.
data->comTxErrors = 0;
data->comTxRetries = 0;
data->UAVTalkErrors = 0;
data->parseUAVTalk = false;
data->comSpeed = OPLINKSETTINGS_COMSPEED_9600;
PIOS_COM_RADIO = PIOS_COM_RFM22B;
return 0;
return 0;
}
MODULE_INITCALL(RadioComBridgeInitialize, RadioComBridgeStart)
/**
* Telemetry transmit task, regular priority
*
* @param[in] parameters The task parameters
*/
static void telemetryTxTask(void *parameters)
{
UAVObjEvent ev;
UAVObjEvent ev;
// Loop forever
while (1) {
// Loop forever
while (1) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_TELEMETRY);
PIOS_WDG_UpdateFlag(PIOS_WDG_TELEMETRY);
#endif
// Wait for queue message
if (xQueueReceive(data->uavtalkEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ))
{
// Send update (with retries)
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(data->outUAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS) == 0;
if (!success)
++retries;
}
data->comTxRetries += retries;
}
else if(ev.event == EV_SEND_ACK)
{
// Send the ACK
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendAck(data->outUAVTalkCon, ev.obj, ev.instId) == 0;
if (!success)
++retries;
}
data->comTxRetries += retries;
}
else if(ev.event == EV_SEND_NACK)
{
// Send the NACK
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendNack(data->outUAVTalkCon, UAVObjGetID(ev.obj)) == 0;
if (!success)
++retries;
}
data->comTxRetries += retries;
}
}
}
// Wait for queue message
if (xQueueReceive(data->uavtalkEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ)) {
// Send update (with retries)
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(data->outUAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS) == 0;
if (!success)
++retries;
}
data->comTxRetries += retries;
} else if(ev.event == EV_SEND_ACK) {
// Send the ACK
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendAck(data->outUAVTalkCon, ev.obj, ev.instId) == 0;
if (!success)
++retries;
}
data->comTxRetries += retries;
} else if(ev.event == EV_SEND_NACK) {
// Send the NACK
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendNack(data->outUAVTalkCon, UAVObjGetID(ev.obj)) == 0;
if (!success)
++retries;
}
data->comTxRetries += retries;
}
}
}
}
/**
* Radio rx task. Receive data packets from the radio and pass them on.
*
* @param[in] parameters The task parameters
*/
static void radioRxTask(void *parameters)
{
// Task loop
while (1) {
// Task loop
while (1) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIORX);
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIORX);
#endif
uint8_t serial_data[1];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0)
for (uint8_t i = 0; i < bytes_to_process; i++)
if (UAVTalkRelayInputStream(data->outUAVTalkCon, serial_data[i]) == UAVTALK_STATE_ERROR)
data->UAVTalkErrors++;
}
uint8_t serial_data[1];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++) {
if (UAVTalkRelayInputStream(data->outUAVTalkCon, serial_data[i]) == UAVTALK_STATE_ERROR) {
data->UAVTalkErrors++;
}
}
}
}
}
/**
* Radio rx task. Receive data from a com port and pass it on to the radio.
*
* @param[in] parameters The task parameters
*/
static void radioTxTask(void *parameters)
{
// Task loop
while (1) {
uint32_t inputPort = PIOS_COM_TELEMETRY;
// Task loop
while (1) {
uint32_t inputPort = PIOS_COM_TELEMETRY;
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIOTX);
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIOTX);
#endif
#if defined(PIOS_INCLUDE_USB)
// Determine output port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB_HID)
inputPort = PIOS_COM_TELEM_USB_HID;
// Determine output port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB_HID) {
inputPort = PIOS_COM_TELEM_USB_HID;
}
#endif /* PIOS_INCLUDE_USB */
if(inputPort) {
uint8_t serial_data[1];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++)
ProcessInputStream(data->inUAVTalkCon, serial_data[i]);
}
} else
vTaskDelay(5);
}
if(inputPort) {
uint8_t serial_data[1];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++)
ProcessInputStream(data->inUAVTalkCon, serial_data[i]);
}
} else {
vTaskDelay(5);
}
}
}
/**
* Transmit data buffer to the com 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
*
* @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 UAVTalkSendHandler(uint8_t *buf, int32_t length)
{
uint32_t outputPort = PIOS_COM_TELEMETRY;
uint32_t outputPort = PIOS_COM_TELEMETRY;
#if defined(PIOS_INCLUDE_USB)
// Determine output port (USB takes priority over telemetry port)
if (PIOS_COM_TELEM_USB_HID && PIOS_COM_Available(PIOS_COM_TELEM_USB_HID))
outputPort = PIOS_COM_TELEM_USB_HID;
// Determine output port (USB takes priority over telemetry port)
if (PIOS_COM_TELEM_USB_HID && PIOS_COM_Available(PIOS_COM_TELEM_USB_HID)) {
outputPort = PIOS_COM_TELEM_USB_HID;
}
#endif /* PIOS_INCLUDE_USB */
if(outputPort)
return PIOS_COM_SendBufferNonBlocking(outputPort, buf, length);
else
return -1;
if(outputPort) {
return PIOS_COM_SendBufferNonBlocking(outputPort, buf, length);
} else {
return -1;
}
}
/**
* Transmit data buffer to the com 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
*
* @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 RadioSendHandler(uint8_t *buf, int32_t length)
{
@ -380,136 +390,136 @@ static int32_t RadioSendHandler(uint8_t *buf, int32_t length)
}
}
/**
* Process a byte of data received
*
* @param[in] connectionHandle The UAVTalk connection handle
* @param[in] rxbyte The received byte.
*/
static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte)
{
// Keep reading until we receive a completed packet.
UAVTalkRxState state = UAVTalkRelayInputStream(connectionHandle, rxbyte);
UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(connectionHandle);
UAVTalkInputProcessor *iproc = &(connection->iproc);
// Keep reading until we receive a completed packet.
UAVTalkRxState state = UAVTalkRelayInputStream(connectionHandle, rxbyte);
UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(connectionHandle);
UAVTalkInputProcessor *iproc = &(connection->iproc);
if (state == UAVTALK_STATE_COMPLETE)
{
// Is this a local UAVObject?
// We only generate GcsReceiver ojects, we don't consume them.
if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID))
{
// We treat the ObjectPersistence object differently
if(iproc->objId == OBJECTPERSISTENCE_OBJID)
{
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
if (state == UAVTALK_STATE_COMPLETE) {
// Is this a local UAVObject?
// We only generate GcsReceiver ojects, we don't consume them.
if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID)) {
// We treat the ObjectPersistence object differently
if(iproc->objId == OBJECTPERSISTENCE_OBJID) {
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
// Get the ObjectPersistence object.
ObjectPersistenceData obj_per;
ObjectPersistenceGet(&obj_per);
// Get the ObjectPersistence object.
ObjectPersistenceData obj_per;
ObjectPersistenceGet(&obj_per);
// Is this concerning or setting object?
if (obj_per.ObjectID == OPLINKSETTINGS_OBJID)
{
// Queue up the ACK.
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
// Is this concerning or setting object?
if (obj_per.ObjectID == OPLINKSETTINGS_OBJID) {
// Queue up the ACK.
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
// Is this a save, load, or delete?
bool success = true;
switch (obj_per.Operation)
{
case OBJECTPERSISTENCE_OPERATION_LOAD:
{
// Is this a save, load, or delete?
bool success = true;
switch (obj_per.Operation) {
case OBJECTPERSISTENCE_OPERATION_LOAD:
{
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
// Load the settings.
OPLinkSettingsData oplinkSettings;
if (PIOS_EEPROM_Load((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData)) == 0)
OPLinkSettingsSet(&oplinkSettings);
else
success = false;
// Load the settings.
OPLinkSettingsData oplinkSettings;
if (PIOS_EEPROM_Load((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData)) == 0)
OPLinkSettingsSet(&oplinkSettings);
else
success = false;
#endif
break;
}
case OBJECTPERSISTENCE_OPERATION_SAVE:
{
break;
}
case OBJECTPERSISTENCE_OPERATION_SAVE:
{
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
// Save the settings.
OPLinkSettingsData oplinkSettings;
OPLinkSettingsGet(&oplinkSettings);
int32_t ret = PIOS_EEPROM_Save((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData));
if (ret != 0)
success = false;
// Save the settings.
OPLinkSettingsData oplinkSettings;
OPLinkSettingsGet(&oplinkSettings);
int32_t ret = PIOS_EEPROM_Save((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData));
if (ret != 0)
success = false;
#endif
break;
}
case OBJECTPERSISTENCE_OPERATION_DELETE:
{
break;
}
case OBJECTPERSISTENCE_OPERATION_DELETE:
{
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
// Erase the settings.
OPLinkSettingsData oplinkSettings;
uint8_t *ptr = (uint8_t*)&oplinkSettings;
memset(ptr, 0, sizeof(OPLinkSettingsData));
int32_t ret = PIOS_EEPROM_Save(ptr, sizeof(OPLinkSettingsData));
if (ret != 0)
success = false;
// Erase the settings.
OPLinkSettingsData oplinkSettings;
uint8_t *ptr = (uint8_t*)&oplinkSettings;
memset(ptr, 0, sizeof(OPLinkSettingsData));
int32_t ret = PIOS_EEPROM_Save(ptr, sizeof(OPLinkSettingsData));
if (ret != 0)
success = false;
#endif
break;
}
default:
break;
}
if (success == true)
{
obj_per.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
ObjectPersistenceSet(&obj_per);
}
}
}
else
{
switch (iproc->type)
{
case UAVTALK_TYPE_OBJ:
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
break;
case UAVTALK_TYPE_OBJ_REQ:
// Queue up an object send request.
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_UPDATE_REQ);
break;
case UAVTALK_TYPE_OBJ_ACK:
if (UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer) == 0)
// Queue up an ACK
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
break;
}
}
}
break;
}
default:
break;
}
if (success == true) {
obj_per.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
ObjectPersistenceSet(&obj_per);
}
}
} else {
switch (iproc->type) {
case UAVTALK_TYPE_OBJ:
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
break;
case UAVTALK_TYPE_OBJ_REQ:
// Queue up an object send request.
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_UPDATE_REQ);
break;
case UAVTALK_TYPE_OBJ_ACK:
if (UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer) == 0)
// Queue up an ACK
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
break;
}
}
}
} else if(state == UAVTALK_STATE_ERROR) {
data->UAVTalkErrors++;
} else if(state == UAVTALK_STATE_ERROR) {
data->UAVTalkErrors++;
// Send a NACK if required.
if((iproc->obj) && (iproc->type == UAVTALK_TYPE_OBJ_ACK))
// Queue up a NACK
queueEvent(data->uavtalkEventQueue, iproc->obj, iproc->instId, EV_SEND_NACK);
}
// Send a NACK if required.
if((iproc->obj) && (iproc->type == UAVTALK_TYPE_OBJ_ACK)) {
// Queue up a NACK
queueEvent(data->uavtalkEventQueue, iproc->obj, iproc->instId, EV_SEND_NACK);
}
}
}
/**
* Queue and event into an event queue.
* \param[in] queue The event queue
* \param[in] obj The data pointer
* \param[in] type The event type
*
* @param[in] queue The event queue
* @param[in] obj The data pointer
* @param[in] type The event type
*/
static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type)
{
UAVObjEvent ev;
ev.obj = (UAVObjHandle)obj;
ev.instId = instId;
ev.event = type;
xQueueSend(queue, &ev, portMAX_DELAY);
UAVObjEvent ev;
ev.obj = (UAVObjHandle)obj;
ev.instId = instId;
ev.event = type;
xQueueSend(queue, &ev, portMAX_DELAY);
}
/**
* Configure the output port based on a configuration event from the remote coordinator.
* \param[in] com_port The com port to configure
* \param[in] com_speed The com port speed
*
* @param[in] com_port The com port to configure
* @param[in] com_speed The com port speed
*/
static void configureComCallback(OPLinkSettingsRemoteMainPortOptions main_port, OPLinkSettingsRemoteFlexiPortOptions flexi_port,
OPLinkSettingsRemoteVCPPortOptions vcp_port, OPLinkSettingsComSpeedOptions com_speed,
@ -582,8 +592,7 @@ static void updateSettings()
// Configure the main port
bool is_coordinator = PIOS_RFM22B_IsCoordinator(pios_rfm22b_id);
switch (oplinkSettings.MainPort)
{
switch (oplinkSettings.MainPort) {
case OPLINKSETTINGS_MAINPORT_TELEMETRY:
data->parseUAVTalk = true;
case OPLINKSETTINGS_MAINPORT_SERIAL:
@ -599,8 +608,7 @@ static void updateSettings()
}
// Configure the flexi port
switch (oplinkSettings.FlexiPort)
{
switch (oplinkSettings.FlexiPort) {
case OPLINKSETTINGS_FLEXIPORT_TELEMETRY:
data->parseUAVTalk = true;
case OPLINKSETTINGS_FLEXIPORT_SERIAL:
@ -616,8 +624,7 @@ static void updateSettings()
}
// Configure the USB VCP port
switch (oplinkSettings.VCPPort)
{
switch (oplinkSettings.VCPPort) {
case OPLINKSETTINGS_VCPPORT_SERIAL:
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_USB_VCP;
break;

4221
flight/pios/common/pios_rfm22b.c
View File

@ -79,9 +79,6 @@
// The maximum amount of time without activity before initiating a reset.
#define PIOS_RFM22B_SUPERVISOR_TIMEOUT 100 // ms
// The time between connection attempts when not connected
#define CONNECT_ATTEMPT_PERIOD_MS 250 // ms
// The time between updates for sending stats the radio link.
#define RADIOSTATS_UPDATE_PERIOD_MS 250
@ -92,31 +89,27 @@
#define PPM_UPDATE_PERIOD_MS 20
// this is too adjust the RF module so that it is on frequency
#define OSC_LOAD_CAP 0x7F // cap = 12.5pf .. default
#define OSC_LOAD_CAP_1 0x7D // board 1
#define OSC_LOAD_CAP_2 0x7B // board 2
#define OSC_LOAD_CAP_3 0x7E // board 3
#define OSC_LOAD_CAP_4 0x7F // board 4
#define OSC_LOAD_CAP 0x7F // cap = 12.5pf .. default
// ************************************
#define TX_PREAMBLE_NIBBLES 12 // 7 to 511 (number of nibbles)
#define RX_PREAMBLE_NIBBLES 6 // 5 to 31 (number of nibbles)
#define TX_PREAMBLE_NIBBLES 12 // 7 to 511 (number of nibbles)
#define RX_PREAMBLE_NIBBLES 6 // 5 to 31 (number of nibbles)
// the size of the rf modules internal FIFO buffers
#define FIFO_SIZE 64
#define FIFO_SIZE 64
#define TX_FIFO_HI_WATERMARK 62 // 0-63
#define TX_FIFO_LO_WATERMARK 32 // 0-63
#define TX_FIFO_HI_WATERMARK 62 // 0-63
#define TX_FIFO_LO_WATERMARK 32 // 0-63
#define RX_FIFO_HI_WATERMARK 32 // 0-63
#define RX_FIFO_HI_WATERMARK 32 // 0-63
#define PREAMBLE_BYTE 0x55 // preamble byte (preceeds SYNC_BYTE's)
// preamble byte (preceeds SYNC_BYTE's)
#define PREAMBLE_BYTE 0x55
#define SYNC_BYTE_1 0x2D // RF sync bytes (32-bit in all)
#define SYNC_BYTE_2 0xD4 //
#define SYNC_BYTE_3 0x4B //
#define SYNC_BYTE_4 0x59 //
// RF sync bytes (32-bit in all)
#define SYNC_BYTE_1 0x2D
#define SYNC_BYTE_2 0xD4
#define SYNC_BYTE_3 0x4B
#define SYNC_BYTE_4 0x59
#ifndef RX_LED_ON
#define RX_LED_ON
@ -129,53 +122,44 @@
#define USB_LED_OFF
#endif
// ************************************
// Normal data streaming
// GFSK modulation
// no manchester encoding
// data whitening
// FIFO mode
// 5-nibble rx preamble length detection
// 10-nibble tx preamble length
// AFC enabled
/* Local type definitions */
struct pios_rfm22b_transition {
enum pios_rfm22b_event (*entry_fn) (struct pios_rfm22b_dev *rfm22b_dev);
enum pios_rfm22b_state next_state[RFM22B_EVENT_NUM_EVENTS];
enum pios_rfm22b_event (*entry_fn) (struct pios_rfm22b_dev *rfm22b_dev);
enum pios_rfm22b_state next_state[RFM22B_EVENT_NUM_EVENTS];
};
// Must ensure these prefilled arrays match the define sizes
static const uint8_t FULL_PREAMBLE[FIFO_SIZE] = {
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE}; // 64 bytes
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE}; // 64 bytes
static const uint8_t HEADER[(TX_PREAMBLE_NIBBLES + 1)/2 + 2] = {PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE,PREAMBLE_BYTE, PREAMBLE_BYTE, SYNC_BYTE_1, SYNC_BYTE_2};
static const uint8_t OUT_FF[64] = {
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
/* Local function forwared declarations */
static void PIOS_RFM22B_Task(void *parameters);
static void pios_rfm22_task(void *parameters);
static bool rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening);
static void pios_rfm22_inject_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR);
static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_detectPreamble(struct pios_rfm22b_dev *rfm22b_dev);
@ -213,6 +197,10 @@ static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev);
static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_clearLEDs();
// Utility functions.
static uint32_t pios_rfm22_time_difference_ms(portTickType start_time, portTickType end_time);
static struct pios_rfm22b_dev *pios_rfm22_alloc(void);
// SPI read/write functions
static void rfm22_assertCs(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_deassertCs(struct pios_rfm22b_dev *rfm22b_dev);
@ -222,223 +210,223 @@ static void rfm22_write(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_
static uint8_t rfm22_read(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr);
static uint8_t rfm22_read_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr);
/* Te state transition table */
/* The state transition table */
const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_STATES] = {
// Initialization thread
[RFM22B_STATE_UNINITIALIZED] = {
.entry_fn = 0,
.next_state = {
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
},
},
[RFM22B_STATE_INITIALIZING] = {
.entry_fn = rfm22_init,
.next_state = {
[RFM22B_EVENT_INITIALIZED] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_REQUESTING_CONNECTION] = {
.entry_fn = rfm22_requestConnection,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR
},
},
[RFM22B_STATE_ACCEPTING_CONNECTION] = {
.entry_fn = rfm22_acceptConnection,
.next_state = {
[RFM22B_EVENT_DEFAULT] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
// Initialization thread
[RFM22B_STATE_UNINITIALIZED] = {
.entry_fn = 0,
.next_state = {
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
},
},
[RFM22B_STATE_INITIALIZING] = {
.entry_fn = rfm22_init,
.next_state = {
[RFM22B_EVENT_INITIALIZED] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_REQUESTING_CONNECTION] = {
.entry_fn = rfm22_requestConnection,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR
},
},
[RFM22B_STATE_ACCEPTING_CONNECTION] = {
.entry_fn = rfm22_acceptConnection,
.next_state = {
[RFM22B_EVENT_DEFAULT] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RX_MODE] = {
.entry_fn = rfm22_setRxMode,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_WAIT_PREAMBLE] = {
.entry_fn = rfm22_detectPreamble,
.next_state = {
[RFM22B_EVENT_PREAMBLE_DETECTED] = RFM22B_STATE_WAIT_SYNC,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_WAIT_SYNC] = {
.entry_fn = rfm22_detectSync,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_SYNC,
[RFM22B_EVENT_SYNC_DETECTED] = RFM22B_STATE_RX_DATA,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RX_DATA] = {
.entry_fn = rfm22_rxData,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_RX_DATA,
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_RX_ERROR] = RFM22B_STATE_SENDING_NACK,
[RFM22B_EVENT_STATUS_RECEIVED] = RFM22B_STATE_RECEIVING_STATUS,
[RFM22B_EVENT_CONNECTION_REQUESTED] = RFM22B_STATE_ACCEPTING_CONNECTION,
[RFM22B_EVENT_PACKET_ACKED] = RFM22B_STATE_RECEIVING_ACK,
[RFM22B_EVENT_PACKET_NACKED] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RX_FAILURE] = {
.entry_fn = rfm22_rxFailure,
.next_state = {
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_ACK] = {
.entry_fn = rfm22_receiveAck,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_NACK] = {
.entry_fn = rfm22_receiveNack,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_STATUS] = {
.entry_fn = rfm22_receiveStatus,
.next_state = {
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_START] = {
.entry_fn = rfm22_txStart,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_DATA] = {
.entry_fn = rfm22_txData,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
[RFM22B_EVENT_REQUEST_CONNECTION] = RFM22B_STATE_REQUESTING_CONNECTION,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_TX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_FAILURE] = {
.entry_fn = rfm22_txFailure,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_SENDING_ACK] = {
.entry_fn = rfm22_sendAck,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_SENDING_NACK] = {
.entry_fn = rfm22_sendNack,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TIMEOUT] = {
.entry_fn = rfm22_timeout,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_ERROR] = {
.entry_fn = rfm22_error,
.next_state = {
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_FATAL_ERROR] = {
.entry_fn = rfm22_fatal_error,
.next_state = {
},
},
[RFM22B_STATE_RX_MODE] = {
.entry_fn = rfm22_setRxMode,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_WAIT_PREAMBLE] = {
.entry_fn = rfm22_detectPreamble,
.next_state = {
[RFM22B_EVENT_PREAMBLE_DETECTED] = RFM22B_STATE_WAIT_SYNC,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_WAIT_SYNC] = {
.entry_fn = rfm22_detectSync,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_SYNC,
[RFM22B_EVENT_SYNC_DETECTED] = RFM22B_STATE_RX_DATA,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RX_DATA] = {
.entry_fn = rfm22_rxData,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_RX_DATA,
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_RX_ERROR] = RFM22B_STATE_SENDING_NACK,
[RFM22B_EVENT_STATUS_RECEIVED] = RFM22B_STATE_RECEIVING_STATUS,
[RFM22B_EVENT_CONNECTION_REQUESTED] = RFM22B_STATE_ACCEPTING_CONNECTION,
[RFM22B_EVENT_PACKET_ACKED] = RFM22B_STATE_RECEIVING_ACK,
[RFM22B_EVENT_PACKET_NACKED] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RX_FAILURE] = {
.entry_fn = rfm22_rxFailure,
.next_state = {
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_ACK] = {
.entry_fn = rfm22_receiveAck,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_NACK] = {
.entry_fn = rfm22_receiveNack,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_STATUS] = {
.entry_fn = rfm22_receiveStatus,
.next_state = {
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_START] = {
.entry_fn = rfm22_txStart,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_DATA] = {
.entry_fn = rfm22_txData,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
[RFM22B_EVENT_REQUEST_CONNECTION] = RFM22B_STATE_REQUESTING_CONNECTION,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_TX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_FAILURE] = {
.entry_fn = rfm22_txFailure,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_SENDING_ACK] = {
.entry_fn = rfm22_sendAck,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_SENDING_NACK] = {
.entry_fn = rfm22_sendNack,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TIMEOUT] = {
.entry_fn = rfm22_timeout,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_ERROR] = {
.entry_fn = rfm22_error,
.next_state = {
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_FATAL_ERROR] = {
.entry_fn = rfm22_fatal_error,
.next_state = {
},
},
};
// xtal 10 ppm, 434MHz
#define LOOKUP_SIZE 15
static const uint32_t data_rate[] = { 500, 1000, 2000, 4000, 8000, 9600, 16000, 19200, 24000, 32000, 57600, 64000, 128000, 192000, 256000};
static const uint8_t modulation_index[] = { 16, 8, 4, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
@ -467,162 +455,133 @@ static const uint8_t reg_71[] = { 0x23, 0x23, 0x23, 0x23, 0x
static const uint8_t reg_72[] = { 0x06, 0x06, 0x06, 0x06, 0x06, 0x08, 0x0D, 0x0F, 0x13, 0x1A, 0x2E, 0x33, 0x66, 0x9A, 0xCD}; // rfm22_frequency_deviation
static inline uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time)
{
if(end_time >= start_time)
return (end_time - start_time) * portTICK_RATE_MS;
// Rollover
return ((portMAX_DELAY - start_time) + end_time) * portTICK_RATE_MS;
}
bool PIOS_RFM22B_validate(struct pios_rfm22b_dev * rfm22b_dev)
{
return (rfm22b_dev != NULL && rfm22b_dev->magic == PIOS_RFM22B_DEV_MAGIC);
}
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_rfm22b_dev * PIOS_RFM22B_alloc(void)
{
struct pios_rfm22b_dev * rfm22b_dev;
rfm22b_dev = (struct pios_rfm22b_dev *)pvPortMalloc(sizeof(*rfm22b_dev));
rfm22b_dev->spi_id = 0;
if (!rfm22b_dev) return(NULL);
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
return(rfm22b_dev);
}
#else
static struct pios_rfm22b_dev pios_rfm22b_devs[PIOS_RFM22B_MAX_DEVS];
static uint8_t pios_rfm22b_num_devs;
static struct pios_rfm22b_dev * PIOS_RFM22B_alloc(void)
{
struct pios_rfm22b_dev * rfm22b_dev;
if (pios_rfm22b_num_devs >= PIOS_RFM22B_MAX_DEVS)
return NULL;
rfm22b_dev = &pios_rfm22b_devs[pios_rfm22b_num_devs++];
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
return (rfm22b_dev);
}
#endif
static struct pios_rfm22b_dev * g_rfm22b_dev = NULL;
/*****************************************************************************
* External Interface Functions
*****************************************************************************/
/**
* Initialise an RFM22B device
*
* @param[out] rfm22b_id A pointer to store the device ID in.
* @param[in] spi_id The SPI bus index.
* @param[in] slave_num The SPI bus slave number.
* @param[in] cfg The device configuration.
*/
int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_num, const struct pios_rfm22b_cfg *cfg)
{
PIOS_DEBUG_Assert(rfm22b_id);
PIOS_DEBUG_Assert(cfg);
PIOS_DEBUG_Assert(rfm22b_id);
PIOS_DEBUG_Assert(cfg);
// Allocate the device structure.
struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *) PIOS_RFM22B_alloc();
if (!rfm22b_dev)
return(-1);
*rfm22b_id = (uint32_t)rfm22b_dev;
g_rfm22b_dev = rfm22b_dev;
// Allocate the device structure.
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)pios_rfm22_alloc();
if (!rfm22b_dev) {
return(-1);
}
*rfm22b_id = (uint32_t)rfm22b_dev;
g_rfm22b_dev = rfm22b_dev;
// Store the SPI handle
rfm22b_dev->slave_num = slave_num;
rfm22b_dev->spi_id = spi_id;
// Store the SPI handle
rfm22b_dev->slave_num = slave_num;
rfm22b_dev->spi_id = spi_id;
// Initialize our configuration parameters
rfm22b_dev->send_ppm = false;
rfm22b_dev->datarate = RFM22B_DEFAULT_RX_DATARATE;
rfm22b_dev->tx_power = RFM22B_DEFAULT_TX_POWER;
// Initialize our configuration parameters
rfm22b_dev->send_ppm = false;
rfm22b_dev->datarate = RFM22B_DEFAULT_RX_DATARATE;
rfm22b_dev->tx_power = RFM22B_DEFAULT_TX_POWER;
// Initialize the com callbacks.
rfm22b_dev->com_config_cb = NULL;
rfm22b_dev->rx_in_cb = NULL;
rfm22b_dev->tx_out_cb = NULL;
// Initialize the com callbacks.
rfm22b_dev->com_config_cb = NULL;
rfm22b_dev->rx_in_cb = NULL;
rfm22b_dev->tx_out_cb = NULL;
// Initialize the stats.
rfm22b_dev->stats.packets_per_sec = 0;
rfm22b_dev->stats.rx_good = 0;
rfm22b_dev->stats.rx_corrected = 0;
rfm22b_dev->stats.rx_error = 0;
rfm22b_dev->stats.rx_missed = 0;
rfm22b_dev->stats.tx_dropped = 0;
rfm22b_dev->stats.tx_resent = 0;
rfm22b_dev->stats.resets = 0;
rfm22b_dev->stats.timeouts = 0;
rfm22b_dev->stats.link_quality = 0;
rfm22b_dev->stats.rssi = 0;
rfm22b_dev->stats.tx_seq = 0;
rfm22b_dev->stats.rx_seq = 0;
// Initialize the stats.
rfm22b_dev->stats.packets_per_sec = 0;
rfm22b_dev->stats.rx_good = 0;
rfm22b_dev->stats.rx_corrected = 0;
rfm22b_dev->stats.rx_error = 0;
rfm22b_dev->stats.rx_missed = 0;
rfm22b_dev->stats.tx_dropped = 0;
rfm22b_dev->stats.tx_resent = 0;
rfm22b_dev->stats.resets = 0;
rfm22b_dev->stats.timeouts = 0;
rfm22b_dev->stats.link_quality = 0;
rfm22b_dev->stats.rssi = 0;
rfm22b_dev->stats.tx_seq = 0;
rfm22b_dev->stats.rx_seq = 0;
// Initialize the frequencies.
PIOS_RFM22B_SetInitialFrequency(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY);
PIOS_RFM22B_SetFrequencyRange(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY, RFM22B_DEFAULT_FREQUENCY, RFM22B_FREQUENCY_HOP_STEP_SIZE);
// Initialize the frequencies.
PIOS_RFM22B_SetInitialFrequency(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY);
PIOS_RFM22B_SetFrequencyRange(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY, RFM22B_DEFAULT_FREQUENCY, RFM22B_FREQUENCY_HOP_STEP_SIZE);
// Initialize the bindings.
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
rfm22b_dev->bindings[i].pairID = 0;
}
rfm22b_dev->coordinator = false;
// Initialize the bindings.
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
rfm22b_dev->bindings[i].pairID = 0;
}
rfm22b_dev->coordinator = false;
// Create the event queue
rfm22b_dev->eventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(enum pios_rfm22b_event));
// Create the event queue
rfm22b_dev->eventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(enum pios_rfm22b_event));
// Bind the configuration to the device instance
rfm22b_dev->cfg = *cfg;
// Bind the configuration to the device instance
rfm22b_dev->cfg = *cfg;
// Create a semaphore to know if an ISR needs responding to
vSemaphoreCreateBinary( rfm22b_dev->isrPending );
// Create a semaphore to know if an ISR needs responding to
vSemaphoreCreateBinary( rfm22b_dev->isrPending );
// Create our (hopefully) unique 32 bit id from the processor serial number.
uint8_t crcs[] = { 0, 0, 0, 0 };
{
char serial_no_str[33];
PIOS_SYS_SerialNumberGet(serial_no_str);
// Create a 32 bit value using 4 8 bit CRC values.
for (uint8_t i = 0; serial_no_str[i] != 0; ++i)
crcs[i % 4] = PIOS_CRC_updateByte(crcs[i % 4], serial_no_str[i]);
}
rfm22b_dev->deviceID = crcs[0] | crcs[1] << 8 | crcs[2] << 16 | crcs[3] << 24;
DEBUG_PRINTF(2, "RF device ID: %x\n\r", rfm22b_dev->deviceID);
// Create our (hopefully) unique 32 bit id from the processor serial number.
uint8_t crcs[] = { 0, 0, 0, 0 };
{
char serial_no_str[33];
PIOS_SYS_SerialNumberGet(serial_no_str);
// Create a 32 bit value using 4 8 bit CRC values.
for (uint8_t i = 0; serial_no_str[i] != 0; ++i)
crcs[i % 4] = PIOS_CRC_updateByte(crcs[i % 4], serial_no_str[i]);
}
rfm22b_dev->deviceID = crcs[0] | crcs[1] << 8 | crcs[2] << 16 | crcs[3] << 24;
DEBUG_PRINTF(2, "RF device ID: %x\n\r", rfm22b_dev->deviceID);
#if defined(PIOS_INCLUDE_GCSRCVR)
// Initialize the GCSReceive object
GCSReceiverInitialize();
// Initialize the GCSReceive object
GCSReceiverInitialize();
#endif
// Initialize the external interrupt.
PIOS_EXTI_Init(cfg->exti_cfg);
// Initialize the external interrupt.
PIOS_EXTI_Init(cfg->exti_cfg);
// Register the watchdog timer for the radio driver task
// Register the watchdog timer for the radio driver task
#ifdef PIOS_WDG_RFM22B
PIOS_WDG_RegisterFlag(PIOS_WDG_RFM22B);
PIOS_WDG_RegisterFlag(PIOS_WDG_RFM22B);
#endif /* PIOS_WDG_RFM22B */
// Initialize the ECC library.
initialize_ecc();
// Initialize the ECC library.
initialize_ecc();
// Set the state to initializing.
rfm22b_dev->state = RFM22B_STATE_UNINITIALIZED;
// Set the state to initializing.
rfm22b_dev->state = RFM22B_STATE_UNINITIALIZED;
// Initialize the radio device.
PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
// Initialize the radio device.
pios_rfm22_inject_event(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
// Start the driver task. This task controls the radio state machine and removed all of the IO from the IRQ handler.
xTaskCreate(PIOS_RFM22B_Task, (signed char *)"PIOS_RFM22B_Task", STACK_SIZE_BYTES, (void*)rfm22b_dev, TASK_PRIORITY, &(rfm22b_dev->taskHandle));
// Start the driver task. This task controls the radio state machine and removed all of the IO from the IRQ handler.
xTaskCreate(pios_rfm22_task, (signed char *)"PIOS_RFM22B_Task", STACK_SIZE_BYTES, (void*)rfm22b_dev, TASK_PRIORITY, &(rfm22b_dev->taskHandle));
return(0);
return(0);
}
/**
* Re-initialize the modem after a configuration change.
*
* @param[in] rbm22b_id The RFM22B device ID.
*/
void PIOS_RFM22B_Reinit(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_validate(rfm22b_dev))
PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_Validate(rfm22b_dev)) {
pios_rfm22_inject_event(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
}
}
/**
@ -630,1924 +589,2190 @@ void PIOS_RFM22B_Reinit(uint32_t rfm22b_id)
*/
bool PIOS_RFM22_EXT_Int(void)
{
if (!PIOS_RFM22B_validate(g_rfm22b_dev))
return false;
// Inject an interrupt event into the state machine.
PIOS_RFM22B_InjectEvent(g_rfm22b_dev, RFM22B_EVENT_INT_RECEIVED, true);
if (!PIOS_RFM22B_Validate(g_rfm22b_dev)) {
return false;
}
}
/**
* Inject an event into the RFM22B state machine.
* \param[in] rfm22b_dev The device structure
* \param[in] event The event to inject
* \param[in] inISR Is this being called from an interrrup service routine?
*/
void PIOS_RFM22B_InjectEvent(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR)
{
// Store the event.
if (xQueueSend(rfm22b_dev->eventQueue, &event, portMAX_DELAY) != pdTRUE)
return;
// Signal the semaphore to wake up the handler thread.
if (inISR) {
portBASE_TYPE pxHigherPriorityTaskWoken;
if (xSemaphoreGiveFromISR(rfm22b_dev->isrPending, &pxHigherPriorityTaskWoken) != pdTRUE) {
// Something went fairly seriously wrong
rfm22b_dev->errors++;
}
portEND_SWITCHING_ISR(pxHigherPriorityTaskWoken);
}
else
{
if (xSemaphoreGive(rfm22b_dev->isrPending) != pdTRUE) {
// Something went fairly seriously wrong
rfm22b_dev->errors++;
}
}
// Inject an interrupt event into the state machine.
pios_rfm22_inject_event(g_rfm22b_dev, RFM22B_EVENT_INT_RECEIVED, true);
return false;
}
/**
* Returns the unique device ID for the RFM22B device.
* \param[in] rfm22b_id The RFM22B device index.
* \return The unique device ID
*
* @param[in] rfm22b_id The RFM22B device index.
* @return The unique device ID
*/
uint32_t PIOS_RFM22B_DeviceID(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_validate(rfm22b_dev)) {
return rfm22b_dev->deviceID;
} else {
return 0;
}
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_Validate(rfm22b_dev)) {
return rfm22b_dev->deviceID;
}
return 0;
}
/**
* Returns true if the modem is configured as a coordinator.
* \param[in] rfm22b_id The RFM22B device index.
* \return True if the modem is configured as a coordinator.
*
* @param[in] rfm22b_id The RFM22B device index.
* @return True if the modem is configured as a coordinator.
*/
bool PIOS_RFM22B_IsCoordinator(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_validate(rfm22b_dev)) {
return rfm22b_dev->coordinator;
} else {
return false;
}
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_Validate(rfm22b_dev)) {
return rfm22b_dev->coordinator;
}
return false;
}
/**
* Sets the radio device transmit power.
* \param[in] rfm22b_id The RFM22B device index.
* \param[in] tx_pwr The transmit power.
*
* @param[in] rfm22b_id The RFM22B device index.
* @param[in] tx_pwr The transmit power.
*/
void PIOS_RFM22B_SetTxPower(uint32_t rfm22b_id, enum rfm22b_tx_power tx_pwr)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev)) {
return;
}
rfm22b_dev->tx_power = tx_pwr;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
rfm22b_dev->tx_power = tx_pwr;
}
/**
* Sets the radio frequency range and initial frequency
* \param[in] rfm22b_id The RFM22B device index.
* \param[in] min_freq The minimum frequency
* \param[in] max_freq The maximum frequency
* \param[in] step_size The channel step size
*
* @param[in] rfm22b_id The RFM22B device index.
* @param[in] min_freq The minimum frequency
* @param[in] max_freq The maximum frequency
* @param[in] step_size The channel step size
*/
void PIOS_RFM22B_SetFrequencyRange(uint32_t rfm22b_id, uint32_t min_freq, uint32_t max_freq, uint32_t step_size)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev)) {
return;
}
rfm22b_dev->con_packet.min_frequency = min_freq;
rfm22b_dev->con_packet.max_frequency = max_freq;
rfm22b_dev->con_packet.channel_spacing = step_size;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
rfm22b_dev->con_packet.min_frequency = min_freq;
rfm22b_dev->con_packet.max_frequency = max_freq;
rfm22b_dev->con_packet.channel_spacing = step_size;
}
/**
* Sets the initial radio frequency range
* \param[in] rfm22b_id The RFM22B device index.
* \param[in] init_freq The initial frequency
*
* @param[in] rfm22b_id The RFM22B device index.
* @param[in] init_freq The initial frequency
*/
void PIOS_RFM22B_SetInitialFrequency(uint32_t rfm22b_id, uint32_t init_freq)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev)) {
return;
}
rfm22b_dev->init_frequency = init_freq;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
rfm22b_dev->init_frequency = init_freq;
}
/**
* Set the com port configuration callback (to receive com configuration over the air)
* \param[in] rfm22b_id The rfm22b device.
* \param[in] cb A pointer to the callback function
*
* @param[in] rfm22b_id The rfm22b device.
* @param[in] cb A pointer to the callback function
*/
void PIOS_RFM22B_SetComConfigCallback(uint32_t rfm22b_id, PIOS_RFM22B_ComConfigCallback cb)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev)) {
return;
}
rfm22b_dev->com_config_cb = cb;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
rfm22b_dev->com_config_cb = cb;
}
/**
* Set the list of modems that this modem will bind with.
* \param[in] rfm22b_id The rfm22b device.
* \param[in] bindings The array of bindings.
*
* @param[in] rfm22b_id The rfm22b device.
* @param[in] bindingPairIDs The array of binding IDs.
* @param[in] mainPortSettings The array of main com port configurations.
* @param[in] flexiPortSettings The array of flexi com port configurations.
* @param[in] vcpPortSettings The array of VCP com port configurations.
* @param[in] comSpeeds The array of com port speeds.
*/
void PIOS_RFM22B_SetBindings(uint32_t rfm22b_id, const uint32_t bindingPairIDs[], const uint8_t mainPortSettings[],
const uint8_t flexiPortSettings[], const uint8_t vcpPortSettings[], const uint8_t comSpeeds[])
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return;
// This modem will be considered a coordinator if any bindings have been set.
rfm22b_dev->coordinator = false;
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
rfm22b_dev->bindings[i].pairID = bindingPairIDs[i];
rfm22b_dev->bindings[i].main_port = mainPortSettings[i];
rfm22b_dev->bindings[i].flexi_port = flexiPortSettings[i];
rfm22b_dev->bindings[i].vcp_port = vcpPortSettings[i];
rfm22b_dev->bindings[i].com_speed = comSpeeds[i];
rfm22b_dev->coordinator |= (rfm22b_dev->bindings[i].pairID != 0);
}
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
// This modem will be considered a coordinator if any bindings have been set.
rfm22b_dev->coordinator = false;
for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
rfm22b_dev->bindings[i].pairID = bindingPairIDs[i];
rfm22b_dev->bindings[i].main_port = mainPortSettings[i];
rfm22b_dev->bindings[i].flexi_port = flexiPortSettings[i];
rfm22b_dev->bindings[i].vcp_port = vcpPortSettings[i];
rfm22b_dev->bindings[i].com_speed = comSpeeds[i];
rfm22b_dev->coordinator |= (rfm22b_dev->bindings[i].pairID != 0);
}
}
/**
* Returns the device statistics RFM22B device.
* \param[in] rfm22b_id The RFM22B device index.
* \param[out] stats The stats are returned in this structure
*
* @param[in] rfm22b_id The RFM22B device index.
* @param[out] stats The stats are returned in this structure
*/
void PIOS_RFM22B_GetStats(uint32_t rfm22b_id, struct rfm22b_stats *stats) {
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
// Calculate the current link quality
rfm22_calculateLinkQuality(rfm22b_dev);
// Calculate the current link quality
rfm22_calculateLinkQuality(rfm22b_dev);
// We are connected if our destination ID is in the pair stats.
if (rfm22b_dev->destination_id != 0xffffffff)
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i)
{
if ((rfm22b_dev->pair_stats[i].pairID == rfm22b_dev->destination_id) &&
(rfm22b_dev->pair_stats[i].rssi > -127))
{
rfm22b_dev->stats.rssi = rfm22b_dev->pair_stats[i].rssi;
rfm22b_dev->stats.afc_correction = rfm22b_dev->pair_stats[i].afc_correction;
break;
}
}
*stats = rfm22b_dev->stats;
// We are connected if our destination ID is in the pair stats.
if (rfm22b_dev->destination_id != 0xffffffff) {
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i) {
if ((rfm22b_dev->pair_stats[i].pairID == rfm22b_dev->destination_id) &&
(rfm22b_dev->pair_stats[i].rssi > -127)) {
rfm22b_dev->stats.rssi = rfm22b_dev->pair_stats[i].rssi;
rfm22b_dev->stats.afc_correction = rfm22b_dev->pair_stats[i].afc_correction;
break;
}
}
}
*stats = rfm22b_dev->stats;
}
/**
* Get the stats of the oter radio devices that are in range.
* \param[out] device_ids A pointer to the array to store the device IDs.
* \param[out] RSSIs A pointer to the array to store the RSSI values in.
* \param[in] mx_pairs The length of the pdevice_ids and RSSIs arrays.
* \return The number of pair stats returned.
*
* @param[out] device_ids A pointer to the array to store the device IDs.
* @param[out] RSSIs A pointer to the array to store the RSSI values in.
* @param[in] mx_pairs The length of the pdevice_ids and RSSIs arrays.
* @return The number of pair stats returned.
*/
uint8_t PIOS_RFM2B_GetPairStats(uint32_t rfm22b_id, uint32_t *device_ids, int8_t *RSSIs, uint8_t max_pairs)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return 0;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return 0;
}
uint8_t mp = (max_pairs >= OPLINKSTATUS_PAIRIDS_NUMELEM) ? max_pairs : OPLINKSTATUS_PAIRIDS_NUMELEM;
for (uint8_t i = 0; i < mp; ++i)
{
device_ids[i] = rfm22b_dev->pair_stats[i].pairID;
RSSIs[i] = rfm22b_dev->pair_stats[i].rssi;
}
uint8_t mp = (max_pairs >= OPLINKSTATUS_PAIRIDS_NUMELEM) ? max_pairs : OPLINKSTATUS_PAIRIDS_NUMELEM;
for (uint8_t i = 0; i < mp; ++i) {
device_ids[i] = rfm22b_dev->pair_stats[i].pairID;
RSSIs[i] = rfm22b_dev->pair_stats[i].rssi;
}
return mp;
return mp;
}
/**
* Check the radio device for a valid connection
* \param[in] rfm22b_id The rfm22b device.
* Returns true if there is a valid connection to paired radio, false otherwise.
*
* @param[in] rfm22b_id The rfm22b device.
* @return true if there is a valid connection to paired radio, false otherwise.
*/
bool PIOS_RFM22B_LinkStatus(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return false;
return (rfm22_isConnected(rfm22b_dev) && (rfm22b_dev->stats.link_quality > RFM22B_LINK_QUALITY_THRESHOLD));
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_Validate(rfm22b_dev)) {
return false;
}
return (rfm22_isConnected(rfm22b_dev) && (rfm22b_dev->stats.link_quality > RFM22B_LINK_QUALITY_THRESHOLD));
}
/**
* Send a PPM packet with the given channel values.
* \param[in] rfm22b_id The rfm22b device.
* \param[in] channels The channel values.
* \param[in] nchannels The number of channels.
* Returns true if there is a valid connection to paired radio, false otherwise.
* Validate that the device structure is valid.
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
*/
void PIOS_RFM22B_SendPPM(uint32_t rfm22b_id, const uint16_t *channels, uint8_t nchannels)
inline bool PIOS_RFM22B_Validate(struct pios_rfm22b_dev *rfm22b_dev)
{
#ifdef PIOS_PPM_RECEIVER
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev)) {
return;
}
// Only send PPM if we're connected
if (!rfm22_isConnected(rfm22b_dev)) {
return;
}
// See if we have any valid channels.
uint8_t nchan = (nchannels <= PIOS_PPM_NUM_INPUTS) ? nchannels : PIOS_PPM_NUM_INPUTS;
for (uint8_t i = 0; i < nchan; ++i) {
rfm22b_dev->ppm_packet.channels[i] = channels[i];
}
// Send the PPM packet.
rfm22b_dev->ppm_packet.header.destination_id = rfm22b_dev->destination_id;
rfm22b_dev->ppm_packet.header.type = PACKET_TYPE_PPM;
rfm22b_dev->ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&(rfm22b_dev->ppm_packet));
rfm22b_dev->send_ppm = true;
#endif
return (rfm22b_dev != NULL && rfm22b_dev->magic == PIOS_RFM22B_DEV_MAGIC);
}
/*****************************************************************************
* The Device Control Thread
*****************************************************************************/
/**
* The task that controls the radio state machine.
*
* @param[in] paramters The task parameters.
*/
static void PIOS_RFM22B_Task(void *parameters)
static void pios_rfm22_task(void *parameters)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)parameters;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
portTickType lastEventTicks = xTaskGetTickCount();
portTickType lastStatusTicks = lastEventTicks;
portTickType lastPPMTicks = lastEventTicks;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)parameters;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
portTickType lastEventTicks = xTaskGetTickCount();
portTickType lastStatusTicks = lastEventTicks;
portTickType lastPPMTicks = lastEventTicks;
while(1)
{
while(1) {
#ifdef PIOS_WDG_RFM22B
// Update the watchdog timer
PIOS_WDG_UpdateFlag(PIOS_WDG_RFM22B);
// Update the watchdog timer
PIOS_WDG_UpdateFlag(PIOS_WDG_RFM22B);
#endif /* PIOS_WDG_RFM22B */
// Wait for a signal indicating an external interrupt or a pending send/receive request.
if (xSemaphoreTake(rfm22b_dev->isrPending, ISR_TIMEOUT / portTICK_RATE_MS) == pdTRUE) {
lastEventTicks = xTaskGetTickCount();
// Wait for a signal indicating an external interrupt or a pending send/receive request.
if (xSemaphoreTake(rfm22b_dev->isrPending, ISR_TIMEOUT / portTICK_RATE_MS) == pdTRUE) {
lastEventTicks = xTaskGetTickCount();
// Process events through the state machine.
enum pios_rfm22b_event event;
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE)
{
if ((event == RFM22B_EVENT_INT_RECEIVED) &&
((rfm22b_dev->state == RFM22B_STATE_UNINITIALIZED) || (rfm22b_dev->state == RFM22B_STATE_INITIALIZING)))
continue;
rfm22_process_event(rfm22b_dev, event);
}
}
else
{
// Has it been too long since the last event?
portTickType curTicks = xTaskGetTickCount();
if (timeDifferenceMs(lastEventTicks, curTicks) > PIOS_RFM22B_SUPERVISOR_TIMEOUT)
{
// Transsition through an error event.
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
// Process events through the state machine.
enum pios_rfm22b_event event;
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE) {
if ((event == RFM22B_EVENT_INT_RECEIVED) &&
((rfm22b_dev->state == RFM22B_STATE_UNINITIALIZED) || (rfm22b_dev->state == RFM22B_STATE_INITIALIZING)))
continue;
rfm22_process_event(rfm22b_dev, event);
}
} else {
// Has it been too long since the last event?
portTickType curTicks = xTaskGetTickCount();
if (pios_rfm22_time_difference_ms(lastEventTicks, curTicks) > PIOS_RFM22B_SUPERVISOR_TIMEOUT) {
// Transsition through an error event.
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
// Clear the event queue.
enum pios_rfm22b_event event;
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE)
;
lastEventTicks = xTaskGetTickCount();
}
}
// Clear the event queue.
enum pios_rfm22b_event event;
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE) {
// Do nothing;
}
lastEventTicks = xTaskGetTickCount();
}
}
// Change channels if necessary.
if ((rfm22b_dev->state == RFM22B_STATE_RX_MODE) || (rfm22b_dev->state == RFM22B_STATE_WAIT_PREAMBLE)) {
rfm22_changeChannel(rfm22b_dev);
}
// Change channels if necessary.
if ((rfm22b_dev->state == RFM22B_STATE_RX_MODE) || (rfm22b_dev->state == RFM22B_STATE_WAIT_PREAMBLE)) {
rfm22_changeChannel(rfm22b_dev);
}
portTickType curTicks = xTaskGetTickCount();
uint32_t last_rec_ms = (rfm22b_dev->rx_complete_ticks == 0) ? 0 : timeDifferenceMs(rfm22b_dev->rx_complete_ticks, curTicks);
// Have we been sending this packet too long?
if ((rfm22b_dev->packet_start_ticks > 0) && (timeDifferenceMs(rfm22b_dev->packet_start_ticks, curTicks) > (rfm22b_dev->max_packet_time * 3))) {
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TIMEOUT);
portTickType curTicks = xTaskGetTickCount();
uint32_t last_rec_ms = (rfm22b_dev->rx_complete_ticks == 0) ? 0 : pios_rfm22_time_difference_ms(rfm22b_dev->rx_complete_ticks, curTicks);
// Have we been sending this packet too long?
if ((rfm22b_dev->packet_start_ticks > 0) && (pios_rfm22_time_difference_ms(rfm22b_dev->packet_start_ticks, curTicks) > (rfm22b_dev->max_packet_time * 3))) {
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TIMEOUT);
// Has it been too long since we received a packet
} else if (last_rec_ms > DISCONNECT_TIMEOUT_MS) {
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
} else {
// Has it been too long since we received a packet
} else if (last_rec_ms > DISCONNECT_TIMEOUT_MS) {
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
} else {
// Are we waiting for an ACK?
if (rfm22b_dev->prev_tx_packet)
{
// Are we waiting for an ACK?
if (rfm22b_dev->prev_tx_packet) {
// Should we resend the packet?
if (timeDifferenceMs(rfm22b_dev->tx_complete_ticks, curTicks) > rfm22b_dev->max_ack_delay)
{
rfm22b_dev->tx_complete_ticks = curTicks;
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ACK_TIMEOUT);
}
}
else
{
// Should we resend the packet?
if (pios_rfm22_time_difference_ms(rfm22b_dev->tx_complete_ticks, curTicks) > rfm22b_dev->max_ack_delay) {
rfm22b_dev->tx_complete_ticks = curTicks;
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ACK_TIMEOUT);
}
// Queue up a PPM packet if it's time.
if (timeDifferenceMs(lastPPMTicks, curTicks) > PPM_UPDATE_PERIOD_MS)
{
rfm22_sendPPM(rfm22b_dev);
lastPPMTicks = curTicks;
}
} else {
// Queue up a status packet if it's time.
if ((timeDifferenceMs(lastStatusTicks, curTicks) > RADIOSTATS_UPDATE_PERIOD_MS) || (last_rec_ms > rfm22b_dev->max_packet_time * 4))
{
rfm22_sendStatus(rfm22b_dev);
lastStatusTicks = curTicks;
}
}
// Queue up a PPM packet if it's time.
if (pios_rfm22_time_difference_ms(lastPPMTicks, curTicks) > PPM_UPDATE_PERIOD_MS) {
rfm22_sendPPM(rfm22b_dev);
lastPPMTicks = curTicks;
}
}
// Queue up a status packet if it's time.
if ((pios_rfm22_time_difference_ms(lastStatusTicks, curTicks) > RADIOSTATS_UPDATE_PERIOD_MS) || (last_rec_ms > rfm22b_dev->max_packet_time * 4)) {
rfm22_sendStatus(rfm22b_dev);
lastStatusTicks = curTicks;
}
}
// Send a packet if it's our time slice
rfm22b_dev->time_to_send = (((curTicks - rfm22b_dev->time_to_send_offset) & 0x6) == 0);
}
// Send a packet if it's our time slice
rfm22b_dev->time_to_send = (((curTicks - rfm22b_dev->time_to_send_offset) & 0x6) == 0);
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
if (rfm22b_dev->time_to_send) {
D4_LED_ON;
} else {
D4_LED_OFF;
}
if (rfm22_inChannelBuffer(rfm22b_dev)) {
D3_LED_ON;
} else {
D3_LED_OFF;
}
if (rfm22b_dev->time_to_send) {
D4_LED_ON;
} else {
D4_LED_OFF;
}
if (rfm22_inChannelBuffer(rfm22b_dev)) {
D3_LED_ON;
} else {
D3_LED_OFF;
}
#endif
if (rfm22b_dev->time_to_send)
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TX_START);
}
if (rfm22b_dev->time_to_send) {
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TX_START);
}
}
}
// ************************************
// radio datarate about 19200 Baud
// radio frequency deviation 45kHz
// radio receiver bandwidth 67kHz.
//
// Carson's rule:
// The signal bandwidth is about 2(Delta-f + fm) ..
//
// Delta-f = frequency deviation
// fm = maximum frequency of the signal
//
// This gives 2(45 + 9.6) = 109.2kHz.
static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening)
{
uint32_t datarate_bps = data_rate[datarate];
rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(datarate_bps) + 0.5f);
if (rfm22_isConnected(rfm22b_dev))
{
// Generate a pseudo-random number from 0-8 to add to the delay
uint8_t random = PIOS_CRC_updateByte(0, (uint8_t)(xTaskGetTickCount() & 0xff)) & 0x03;
rfm22b_dev->max_ack_delay = (uint16_t)((float)((sizeof(PHAckNackPacket) * 8 + TX_PREAMBLE_NIBBLES * 4) * 1000) / (float)(datarate_bps) + 0.5f) * 4 + 4 + random;
}
else
rfm22b_dev->max_ack_delay = CONNECT_ATTEMPT_PERIOD_MS;
// rfm22_if_filter_bandwidth
rfm22_write(rfm22b_dev, 0x1C, reg_1C[datarate]);
// rfm22_afc_loop_gearshift_override
rfm22_write(rfm22b_dev, 0x1D, reg_1D[datarate]);
// RFM22_afc_timing_control
rfm22_write(rfm22b_dev, 0x1E, reg_1E[datarate]);
// RFM22_clk_recovery_gearshift_override
rfm22_write(rfm22b_dev, 0x1F, reg_1F[datarate]);
// rfm22_clk_recovery_oversampling_ratio
rfm22_write(rfm22b_dev, 0x20, reg_20[datarate]);
// rfm22_clk_recovery_offset2
rfm22_write(rfm22b_dev, 0x21, reg_21[datarate]);
// rfm22_clk_recovery_offset1
rfm22_write(rfm22b_dev, 0x22, reg_22[datarate]);
// rfm22_clk_recovery_offset0
rfm22_write(rfm22b_dev, 0x23, reg_23[datarate]);
// rfm22_clk_recovery_timing_loop_gain1
rfm22_write(rfm22b_dev, 0x24, reg_24[datarate]);
// rfm22_clk_recovery_timing_loop_gain0
rfm22_write(rfm22b_dev, 0x25, reg_25[datarate]);
// rfm22_agc_override1
rfm22_write(rfm22b_dev, RFM22_agc_override1, reg_69[datarate]);
// rfm22_afc_limiter
rfm22_write(rfm22b_dev, 0x2A, reg_2A[datarate]);
// rfm22_tx_data_rate1
rfm22_write(rfm22b_dev, 0x6E, reg_6E[datarate]);
// rfm22_tx_data_rate0
rfm22_write(rfm22b_dev, 0x6F, reg_6F[datarate]);
if (!data_whitening)
// rfm22_modulation_mode_control1
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] & ~RFM22_mmc1_enwhite);
else
// rfm22_modulation_mode_control1
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] | RFM22_mmc1_enwhite);
// rfm22_modulation_mode_control2
rfm22_write(rfm22b_dev, 0x71, reg_71[datarate]);
// rfm22_frequency_deviation
rfm22_write(rfm22b_dev, 0x72, reg_72[datarate]);
// rfm22_cpcuu
rfm22_write(rfm22b_dev, 0x58, reg_58[datarate]);
rfm22_write(rfm22b_dev, RFM22_ook_counter_value1, 0x00);
rfm22_write(rfm22b_dev, RFM22_ook_counter_value2, 0x00);
}
// ************************************
// SPI read/write
//! Assert the CS line
static void rfm22_assertCs(struct pios_rfm22b_dev *rfm22b_dev)
{
PIOS_DELAY_WaituS(1);
if(rfm22b_dev->spi_id != 0)
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 0);
}
//! Deassert the CS line
static void rfm22_deassertCs(struct pios_rfm22b_dev *rfm22b_dev)
{
if(rfm22b_dev->spi_id != 0)
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 1);
}
//! Claim the SPI bus semaphore
static void rfm22_claimBus(struct pios_rfm22b_dev *rfm22b_dev)
{
if(rfm22b_dev->spi_id != 0)
PIOS_SPI_ClaimBus(rfm22b_dev->spi_id);
}
//! Release the SPI bus semaphore
static void rfm22_releaseBus(struct pios_rfm22b_dev *rfm22b_dev)
{
if(rfm22b_dev->spi_id != 0)
PIOS_SPI_ReleaseBus(rfm22b_dev->spi_id);
}
/*****************************************************************************
* The State Machine Functions
*****************************************************************************/
/**
* Claim the semaphore and write a byte to a register
* @param[in] addr The address to write to
* @param[in] data The datat to write to that address
* Inject an event into the RFM22B state machine.
*
* @param[in] rfm22b_dev The device structure
* @param[in] event The event to inject
* @param[in] inISR Is this being called from an interrrup service routine?
*/
static void rfm22_write(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data)
static void pios_rfm22_inject_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR)
{
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
uint8_t buf[2] = {addr | 0x80, data};
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
// Store the event.
if (xQueueSend(rfm22b_dev->eventQueue, &event, portMAX_DELAY) != pdTRUE)
return;
// Signal the semaphore to wake up the handler thread.
if (inISR) {
portBASE_TYPE pxHigherPriorityTaskWoken;
if (xSemaphoreGiveFromISR(rfm22b_dev->isrPending, &pxHigherPriorityTaskWoken) != pdTRUE) {
// Something went fairly seriously wrong
rfm22b_dev->errors++;
}
portEND_SWITCHING_ISR(pxHigherPriorityTaskWoken);
} else {
if (xSemaphoreGive(rfm22b_dev->isrPending) != pdTRUE) {
// Something went fairly seriously wrong
rfm22b_dev->errors++;
}
}
}
/**
* Write a byte to a register without claiming the bus. Also
* toggle the NSS line
* @param[in] addr The address of the RFM22b register to write
* @param[in] data The data to write to that register
static void rfm22_write_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data)
{
uint8_t buf[2] = {addr | 0x80, data};
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
rfm22_deassertCs(rfm22b_dev);
}
*/
/**
* Read a byte from an RFM22b register
* @param[in] addr The address to read from
* @return Returns the result of the register read
* Process the next state transition from the given event.
*
* @param[in] rfm22b_dev The device structure
* @param[in] event The event to process
* @return enum pios_rfm22b_event The next event to inject
*/
static uint8_t rfm22_read(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
{
uint8_t in[2];
uint8_t out[2] = {addr & 0x7f, 0xFF};
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
return in[1];
}
/**
* Read a byte from an RFM22b register without claiming the bus
* @param[in] addr The address to read from
* @return Returns the result of the register read
*/
static uint8_t rfm22_read_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
{
uint8_t out[2] = {addr & 0x7F, 0xFF};
uint8_t in[2];
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
rfm22_deassertCs(rfm22b_dev);
return in[1];
}
// ************************************
static enum pios_rfm22b_event rfm22_process_state_transition(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event)
{
// No event
if (event == RFM22B_EVENT_NUM_EVENTS)
return RFM22B_EVENT_NUM_EVENTS;
// Don't transition if there is no transition defined
enum pios_rfm22b_state next_state = rfm22b_transitions[rfm22b_dev->state].next_state[event];
if (!next_state)
return RFM22B_EVENT_NUM_EVENTS;
/*
* Move to the next state
*
* This is done prior to calling the new state's entry function to
* guarantee that the entry function never depends on the previous
* state. This way, it cannot ever know what the previous state was.
*/
enum pios_rfm22b_state prev_state = rfm22b_dev->state;
if (prev_state) ;
rfm22b_dev->state = next_state;
/* Call the entry function (if any) for the next state. */
if (rfm22b_transitions[rfm22b_dev->state].entry_fn)
return rfm22b_transitions[rfm22b_dev->state].entry_fn(rfm22b_dev);
return RFM22B_EVENT_NUM_EVENTS;
}
static void rfm22_process_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event)
{
// Process all state transitions.
while(event != RFM22B_EVENT_NUM_EVENTS)
event = rfm22_process_state_transition(rfm22b_dev, event);
}
// ************************************
static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t min_frequency, uint32_t max_frequency, uint32_t step_size)
{
uint32_t frequency_hz = min_frequency;
// holds the hbsel (1 or 2)
uint8_t hbsel;
if (frequency_hz < 480000000)
hbsel = 0;
else
hbsel = 1;
float freq_mhz = (float)(frequency_hz) / 1000000.0;
float xtal_freq_khz = 30000;
float sfreq = freq_mhz / (10.0 * (xtal_freq_khz / 30000.0) * (1 + hbsel));
uint32_t fb = (uint32_t)sfreq - 24 + (64 + 32 * hbsel);
uint32_t fc = (uint32_t)((sfreq - (uint32_t)sfreq) * 64000.0);
uint8_t fch = (fc >> 8) & 0xff;
uint8_t fcl = fc & 0xff;
// Calculate the number of frequency hopping channels.
rfm22b_dev->num_channels = (step_size == 0) ? 1 : (uint16_t)((max_frequency - min_frequency) / step_size);
// initialize the frequency hopping step size (specified in 10khz increments).
uint32_t freq_hop_step_size = step_size / 10000;
if (freq_hop_step_size > 255) {
freq_hop_step_size = 255;
}
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_step_size, (uint8_t)freq_hop_step_size);
// frequency hopping channel (0-255)
rfm22b_dev->frequency_step_size = 156.25f * hbsel;
// frequency hopping channel (0-255)
rfm22b_dev->frequency_hop_channel = 0;
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, 0);
// no frequency offset
rfm22_write(rfm22b_dev, RFM22_frequency_offset1, 0);
rfm22_write(rfm22b_dev, RFM22_frequency_offset2, 0);
// set the carrier frequency
rfm22_write(rfm22b_dev, RFM22_frequency_band_select, fb & 0xff);
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency1, fch);
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency0, fcl);
}
static bool rfm22_setFreqHopChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t channel)
{
// set the frequency hopping channel
if (rfm22b_dev->frequency_hop_channel == channel)
return false;
rfm22b_dev->frequency_hop_channel = channel;
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, channel);
return true;
}
static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev)
{
// Add the RX packet statistics
rfm22b_dev->stats.rx_good = 0;
rfm22b_dev->stats.rx_corrected = 0;
rfm22b_dev->stats.rx_error = 0;
rfm22b_dev->stats.tx_resent = 0;
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i)
{
uint32_t val = rfm22b_dev->rx_packet_stats[i];
for (uint8_t j = 0; j < 16; ++j)
{
switch ((val >> (j * 2)) & 0x3)
{
case RFM22B_GOOD_RX_PACKET:
rfm22b_dev->stats.rx_good++;
break;
case RFM22B_CORRECTED_RX_PACKET:
rfm22b_dev->stats.rx_corrected++;
break;
case RFM22B_ERROR_RX_PACKET:
rfm22b_dev->stats.rx_error++;
break;
case RFM22B_RESENT_TX_PACKET:
rfm22b_dev->stats.tx_resent++;
break;
}
}
}
// Calculate the link quality metric, which is related to the number of good packets in relation to the number of bad packets.
// Note: This assumes that the number of packets sampled for the stats is 64.
// Using this equation, error and resent packets are counted as -2, and corrected packets are counted as -1.
// The range is 0 (all error or resent packets) to 128 (all good packets).
rfm22b_dev->stats.link_quality = 64 + rfm22b_dev->stats.rx_good - rfm22b_dev->stats.rx_error - rfm22b_dev->stats.tx_resent;
}
// ************************************
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev)
{
// Are we already in Rx mode?
if (rfm22b_dev->in_rx_mode)
return RFM22B_EVENT_NUM_EVENTS;
rfm22b_dev->packet_start_ticks = 0;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D2_LED_ON;
#endif // PIOS_RFM22B_DEBUG_ON_TELEM
// disable interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// Switch to TUNE mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
RX_LED_OFF;
TX_LED_OFF;
// empty the rx buffer
rfm22b_dev->rx_buffer_wr = 0;
// Clear the TX buffer.
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
// clear FIFOs
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
// enable RX interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_encrcerror | RFM22_ie1_enpkvalid |
RFM22_ie1_enrxffafull | RFM22_ie1_enfferr);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, RFM22_ie2_enpreainval | RFM22_ie2_enpreaval |
RFM22_ie2_enswdet);
// enable the receiver
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_rxon);
// Indicate that we're in RX mode.
rfm22b_dev->in_rx_mode = true;
// No event generated
return RFM22B_EVENT_NUM_EVENTS;
}
// ************************************
static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev)
{
// Is there a status of PPM packet ready to send?
if (rfm22b_dev->prev_tx_packet || rfm22b_dev->send_ppm || rfm22b_dev->send_status)
return true;
// Are we not connected yet?
if (!rfm22_isConnected(rfm22b_dev))
return true;
// Is there some data ready to sent?
PHPacketHandle dp = &rfm22b_dev->data_packet;
if (dp->header.data_size > 0)
return true;
bool need_yield = false;
if (rfm22b_dev->tx_out_cb)
dp->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, dp->data, PH_MAX_DATA, NULL, &need_yield);
if (dp->header.data_size > 0)
return true;
return false;
}
static bool rfm22_isConnected(struct pios_rfm22b_dev *rfm22b_dev)
{
return (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED);
}
static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
{
PHPacketHandle p = NULL;
// Don't send if it's not our turn.
if (!rfm22b_dev->time_to_send || (rfm22_inChannelBuffer(rfm22b_dev) && rfm22_isConnected(rfm22b_dev)))
return RFM22B_EVENT_RX_MODE;
// See if there's a packet ready to send.
if (rfm22b_dev->tx_packet)
p = rfm22b_dev->tx_packet;
else {
// Don't send a packet if we're waiting for an ACK
if (rfm22b_dev->prev_tx_packet)
return RFM22B_EVENT_RX_MODE;
// Send a connection request?
if (!p && rfm22b_dev->send_connection_request) {
p = (PHPacketHandle)&(rfm22b_dev->con_packet);
rfm22b_dev->send_connection_request = false;
}
#ifdef PIOS_PPM_RECEIVER
// Send a PPM packet?
if (!p && rfm22b_dev->send_ppm) {
p = (PHPacketHandle)&(rfm22b_dev->ppm_packet);
rfm22b_dev->send_ppm = false;
}
#endif
// Send status?
if (!p && rfm22b_dev->send_status) {
p = (PHPacketHandle)&(rfm22b_dev->status_packet);
rfm22b_dev->send_status = false;
}
// Try to get some data to send
if (!p) {
bool need_yield = false;
p = &rfm22b_dev->data_packet;
p->header.type = PACKET_TYPE_DATA;
p->header.destination_id = rfm22b_dev->destination_id;
if (rfm22b_dev->tx_out_cb && (p->header.data_size == 0))
p->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, p->data, PH_MAX_DATA, NULL, &need_yield);
// Don't send any data until we're connected.
if (!rfm22_isConnected(rfm22b_dev))
p->header.data_size = 0;
if (p->header.data_size == 0)
p = NULL;
}
if (p)
p->header.seq_num = rfm22b_dev->stats.tx_seq++;
}
if (!p)
return RFM22B_EVENT_RX_MODE;
// We're transitioning out of Rx mode.
rfm22b_dev->in_rx_mode = false;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D1_LED_ON;
D2_LED_OFF;
#endif
// Change the channel if necessary.
if (((p->header.type != PACKET_TYPE_ACK) && (p->header.type != PACKET_TYPE_ACK_RTS)) ||
(rfm22b_dev->rx_packet.header.type != PACKET_TYPE_CON_REQUEST))
rfm22_changeChannel(rfm22b_dev);
// Add the error correcting code.
encode_data((unsigned char*)p, PHPacketSize(p), (unsigned char*)p);
rfm22b_dev->tx_packet = p;
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_ticks == 0)
rfm22b_dev->packet_start_ticks = 1;
// disable interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// TUNE mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
// Queue the data up for sending
rfm22b_dev->tx_data_wr = PH_PACKET_SIZE(rfm22b_dev->tx_packet);
RX_LED_OFF;
// Set the destination address in the transmit header.
// The destination address is the first 4 bytes of the message.
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
rfm22_write(rfm22b_dev, RFM22_transmit_header0, tx_buffer[0]);
rfm22_write(rfm22b_dev, RFM22_transmit_header1, tx_buffer[1]);
rfm22_write(rfm22b_dev, RFM22_transmit_header2, tx_buffer[2]);
rfm22_write(rfm22b_dev, RFM22_transmit_header3, tx_buffer[3]);
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(rfm22b_dev, RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo |
RFM22_mmc2_modtyp_gfsk);
// clear FIFOs
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
// *******************
// add some data to the chips TX FIFO before enabling the transmitter
// set the total number of data bytes we are going to transmit
rfm22_write(rfm22b_dev, RFM22_transmit_packet_length, rfm22b_dev->tx_data_wr);
// add some data
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
bytes_to_write = (bytes_to_write > FIFO_SIZE) ? FIFO_SIZE: bytes_to_write;
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
rfm22b_dev->tx_data_rd += bytes_to_write;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
// enable TX interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem);
// enable the transmitter
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_txon);
TX_LED_ON;
return RFM22B_EVENT_NUM_EVENTS;
}
static void rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
{
// The coordinator doesn't send status.
if (rfm22b_dev->coordinator)
return;
// Update the link quality metric.
rfm22_calculateLinkQuality(rfm22b_dev);
// Queue the status message
if (rfm22_isConnected(rfm22b_dev))
rfm22b_dev->status_packet.header.destination_id = rfm22b_dev->destination_id;
else if (rfm22b_dev->coordinator)
return;
else
rfm22b_dev->status_packet.header.destination_id = 0xffffffff; // Broadcast
rfm22b_dev->status_packet.header.type = PACKET_TYPE_STATUS;
rfm22b_dev->status_packet.header.data_size = PH_STATUS_DATA_SIZE(&(rfm22b_dev->status_packet));
rfm22b_dev->status_packet.source_id = rfm22b_dev->deviceID;
rfm22b_dev->status_packet.link_quality = rfm22b_dev->stats.link_quality;
rfm22b_dev->status_packet.received_rssi = rfm22b_dev->rssi_dBm;
rfm22b_dev->send_status = true;
return;
}
static void rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev)
{
#ifdef PIOS_PPM_RECEIVER
// Only send PPM if we're connected
if (!rfm22_isConnected(rfm22b_dev)) {
return;
}
// Just return if the PPM receiver is not configured.
if (PIOS_PPM_RECEIVER == 0) {
return;
}
// See if we have any valid channels.
bool valid_input_detected = false;
for (uint8_t i = 1; i <= PIOS_PPM_NUM_INPUTS; ++i)
{
rfm22b_dev->ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i);
if(rfm22b_dev->ppm_packet.channels[i - 1] != PIOS_RCVR_TIMEOUT)
valid_input_detected = true;
}
// Send the PPM packet if it's valid
if (valid_input_detected)
{
rfm22b_dev->ppm_packet.header.destination_id = rfm22b_dev->destination_id;
rfm22b_dev->ppm_packet.header.type = PACKET_TYPE_PPM;
rfm22b_dev->ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&(rfm22b_dev->ppm_packet));
rfm22b_dev->send_ppm = true;
}
#endif
// No event
if (event == RFM22B_EVENT_NUM_EVENTS) {
return RFM22B_EVENT_NUM_EVENTS;
}
// Don't transition if there is no transition defined
enum pios_rfm22b_state next_state = rfm22b_transitions[rfm22b_dev->state].next_state[event];
if (!next_state) {
return RFM22B_EVENT_NUM_EVENTS;
}
/*
* Move to the next state
*
* This is done prior to calling the new state's entry function to
* guarantee that the entry function never depends on the previous
* state. This way, it cannot ever know what the previous state was.
*/
rfm22b_dev->state = next_state;
/* Call the entry function (if any) for the next state. */
if (rfm22b_transitions[rfm22b_dev->state].entry_fn) {
return rfm22b_transitions[rfm22b_dev->state].entry_fn(rfm22b_dev);
}
return RFM22B_EVENT_NUM_EVENTS;
}
/**
* Process the given event through the state transition table.
* This could cause a series of events and transitions to take place.
*
* @param[in] rfm22b_dev The device structure
* @param[in] event The event to process
*/
static void rfm22_process_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event)
{
// Process all state transitions.
while(event != RFM22B_EVENT_NUM_EVENTS) {
event = rfm22_process_state_transition(rfm22b_dev, event);
}
}
/*****************************************************************************
* The Device Initialization / Configuration Functions
*****************************************************************************/
/**
* Initialize (or re-initialize) the RFM22B radio device.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
{
// Initialize the register values.
rfm22b_dev->device_status = 0;
rfm22b_dev->int_status1 = 0;
rfm22b_dev->int_status2 = 0;
rfm22b_dev->ezmac_status = 0;
// Clean the LEDs
rfm22_clearLEDs();
// Initialize the detected device statistics.
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i) {
rfm22b_dev->pair_stats[i].pairID = 0;
rfm22b_dev->pair_stats[i].rssi = -127;
rfm22b_dev->pair_stats[i].afc_correction = 0;
rfm22b_dev->pair_stats[i].lastContact = 0;
}
// Initlize the link stats.
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i) {
rfm22b_dev->rx_packet_stats[i] = 0;
}
// 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;
// Initialize the packets.
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;
rfm22b_dev->in_rx_mode = false;
// Initialize the devide state
rfm22b_dev->device_status = rfm22b_dev->int_status1 = rfm22b_dev->int_status2 = rfm22b_dev->ezmac_status = 0;
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
rfm22b_dev->frequency_hop_channel = 0;
rfm22b_dev->afc_correction_Hz = 0;
rfm22b_dev->packet_start_ticks = 0;
rfm22b_dev->tx_complete_ticks = 0;
rfm22b_dev->rx_complete_ticks = 0;
// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
for (int i = 50; i > 0; i--) {
// read the status registers
rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
if (rfm22b_dev->int_status2 & RFM22_is2_ichiprdy) break;
// wait 1ms
PIOS_DELAY_WaitmS(1);
}
// ****************
// read status - clears interrupt
rfm22b_dev->device_status = rfm22_read(rfm22b_dev, RFM22_device_status);
rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
rfm22b_dev->ezmac_status = rfm22_read(rfm22b_dev, RFM22_ezmac_status);
// disable all interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// read the RF chip ID bytes
// read the device type
uint8_t device_type = rfm22_read(rfm22b_dev, RFM22_DEVICE_TYPE) & RFM22_DT_MASK;
// read the device version
uint8_t device_version = rfm22_read(rfm22b_dev, RFM22_DEVICE_VERSION) & RFM22_DV_MASK;
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "rf device type: %d\n\r", device_type);
DEBUG_PRINTF(2, "rf device version: %d\n\r", device_version);
#endif
if (device_type != 0x08) {
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "rf device type: INCORRECT - should be 0x08\n\r");
#endif
// incorrect RF module type
return RFM22B_EVENT_FATAL_ERROR;
}
if (device_version != RFM22_DEVICE_VERSION_B1) {
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "rf device version: INCORRECT\n\r");
#endif
// incorrect RF module version
return RFM22B_EVENT_FATAL_ERROR;
}
// calibrate our RF module to be exactly on frequency .. different for every module
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, OSC_LOAD_CAP);
// disable Low Duty Cycle Mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
// 1MHz clock output
rfm22_write(rfm22b_dev, RFM22_cpu_output_clk, RFM22_coc_1MHz);
// READY mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_xton);
// choose the 3 GPIO pin functions
// GPIO port use default value
rfm22_write(rfm22b_dev, RFM22_io_port_config, RFM22_io_port_default);
if (rfm22b_dev->cfg.gpio_direction == GPIO0_TX_GPIO1_RX) {
// GPIO0 = TX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_txstate);
// GPIO1 = RX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_rxstate);
} else {
// GPIO0 = TX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_rxstate);
// GPIO1 = RX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_txstate);
}
// GPIO2 = Clear Channel Assessment
rfm22_write(rfm22b_dev, RFM22_gpio2_config, RFM22_gpio2_config_drv3 | RFM22_gpio2_config_cca);
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(rfm22b_dev, RFM22_modulation_mode_control2, RFM22_mmc2_trclk_clk_none | RFM22_mmc2_dtmod_fifo | fd_bit | RFM22_mmc2_modtyp_gfsk);
// setup to read the internal temperature sensor
// ADC used to sample the temperature sensor
uint8_t adc_config = RFM22_ac_adcsel_temp_sensor | RFM22_ac_adcref_bg;
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config);
// adc offset
rfm22_write(rfm22b_dev, RFM22_adc_sensor_amp_offset, 0);
// temp sensor calibration .. <20>40C to +64C 0.5C resolution
rfm22_write(rfm22b_dev, RFM22_temp_sensor_calib, RFM22_tsc_tsrange0 | RFM22_tsc_entsoffs);
// temp sensor offset
rfm22_write(rfm22b_dev, RFM22_temp_value_offset, 0);
// start an ADC conversion
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config | RFM22_ac_adcstartbusy);
// set the RSSI threshold interrupt to about -90dBm
rfm22_write(rfm22b_dev, RFM22_rssi_threshold_clear_chan_indicator, (-90 + 122) * 2);
// enable the internal Tx & Rx packet handlers (without CRC)
rfm22_write(rfm22b_dev, RFM22_data_access_control, RFM22_dac_enpacrx | RFM22_dac_enpactx);
// x-nibbles tx preamble
rfm22_write(rfm22b_dev, RFM22_preamble_length, TX_PREAMBLE_NIBBLES);
// x-nibbles rx preamble detection
rfm22_write(rfm22b_dev, RFM22_preamble_detection_ctrl1, RX_PREAMBLE_NIBBLES << 3);
// header control - using a 4 by header with broadcast of 0xffffffff
rfm22_write(rfm22b_dev, RFM22_header_control1,
RFM22_header_cntl1_bcen_0 |
RFM22_header_cntl1_bcen_1 |
RFM22_header_cntl1_bcen_2 |
RFM22_header_cntl1_bcen_3 |
RFM22_header_cntl1_hdch_0 |
RFM22_header_cntl1_hdch_1 |
RFM22_header_cntl1_hdch_2 |
RFM22_header_cntl1_hdch_3);
// Check all bit of all bytes of the header
rfm22_write(rfm22b_dev, RFM22_header_enable0, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable1, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable2, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable3, 0xff);
// Set the ID to be checked
uint32_t id = rfm22b_dev->deviceID;
rfm22_write(rfm22b_dev, RFM22_check_header0, id & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header1, (id >> 8) & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header2, (id >> 16) & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header3, (id >> 24) & 0xff);
// 4 header bytes, synchronization word length 3, 2, 1 & 0 used, packet length included in header.
rfm22_write(rfm22b_dev, RFM22_header_control2,
RFM22_header_cntl2_hdlen_3210 |
RFM22_header_cntl2_synclen_3210 |
((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
// sync word
rfm22_write(rfm22b_dev, RFM22_sync_word3, SYNC_BYTE_1);
rfm22_write(rfm22b_dev, RFM22_sync_word2, SYNC_BYTE_2);
rfm22_write(rfm22b_dev, RFM22_sync_word1, SYNC_BYTE_3);
rfm22_write(rfm22b_dev, RFM22_sync_word0, SYNC_BYTE_4);
// set the tx power
rfm22_write(rfm22b_dev, RFM22_tx_power, RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power);
// TX FIFO Almost Full Threshold (0 - 63)
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control1, TX_FIFO_HI_WATERMARK);
// TX FIFO Almost Empty Threshold (0 - 63)
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control2, TX_FIFO_LO_WATERMARK);
// RX FIFO Almost Full Threshold (0 - 63)
rfm22_write(rfm22b_dev, RFM22_rx_fifo_control, RX_FIFO_HI_WATERMARK);
// Set the frequency calibration
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, rfm22b_dev->cfg.RFXtalCap);
// Initialize the frequency and datarate to te default.
rfm22_setNominalCarrierFrequency(rfm22b_dev, rfm22b_dev->init_frequency, rfm22b_dev->init_frequency, RFM22B_FREQUENCY_HOP_STEP_SIZE);
rfm22_setDatarate(rfm22b_dev, RFM22B_DEFAULT_RX_DATARATE, true);
return RFM22B_EVENT_INITIALIZED;
}
/**
* Set the air datarate for the RFM22B device.
*
* Carson's rule:
* The signal bandwidth is about 2(Delta-f + fm) ..
*
* Delta-f = frequency deviation
* fm = maximum frequency of the signal
*
* @param[in] rfm33b_dev The device structure pointer.
* @param[in] datarate The air datarate.
* @param[in] data_whitening Is data whitening desired?
*/
static void rfm22_setDatarate(struct pios_rfm22b_dev *rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening)
{
uint32_t datarate_bps = data_rate[datarate];
rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(datarate_bps) + 0.5);
// Generate a pseudo-random number from 0-8 to add to the delay
uint8_t random = PIOS_CRC_updateByte(0, (uint8_t)(xTaskGetTickCount() & 0xff)) & 0x03;
rfm22b_dev->max_ack_delay = (uint16_t)((float)((sizeof(PHAckNackPacket) * 8 + TX_PREAMBLE_NIBBLES * 4) * 1000) / (float)(datarate_bps) + 0.5) * 4 + 4 + random;
// rfm22_if_filter_bandwidth
rfm22_write(rfm22b_dev, 0x1C, reg_1C[datarate]);
// rfm22_afc_loop_gearshift_override
rfm22_write(rfm22b_dev, 0x1D, reg_1D[datarate]);
// RFM22_afc_timing_control
rfm22_write(rfm22b_dev, 0x1E, reg_1E[datarate]);
// RFM22_clk_recovery_gearshift_override
rfm22_write(rfm22b_dev, 0x1F, reg_1F[datarate]);
// rfm22_clk_recovery_oversampling_ratio
rfm22_write(rfm22b_dev, 0x20, reg_20[datarate]);
// rfm22_clk_recovery_offset2
rfm22_write(rfm22b_dev, 0x21, reg_21[datarate]);
// rfm22_clk_recovery_offset1
rfm22_write(rfm22b_dev, 0x22, reg_22[datarate]);
// rfm22_clk_recovery_offset0
rfm22_write(rfm22b_dev, 0x23, reg_23[datarate]);
// rfm22_clk_recovery_timing_loop_gain1
rfm22_write(rfm22b_dev, 0x24, reg_24[datarate]);
// rfm22_clk_recovery_timing_loop_gain0
rfm22_write(rfm22b_dev, 0x25, reg_25[datarate]);
// rfm22_agc_override1
rfm22_write(rfm22b_dev, RFM22_agc_override1, reg_69[datarate]);
// rfm22_afc_limiter
rfm22_write(rfm22b_dev, 0x2A, reg_2A[datarate]);
// rfm22_tx_data_rate1
rfm22_write(rfm22b_dev, 0x6E, reg_6E[datarate]);
// rfm22_tx_data_rate0
rfm22_write(rfm22b_dev, 0x6F, reg_6F[datarate]);
if (!data_whitening) {
// rfm22_modulation_mode_control1
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] & ~RFM22_mmc1_enwhite);
} else {
// rfm22_modulation_mode_control1
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] | RFM22_mmc1_enwhite);
}
// rfm22_modulation_mode_control2
rfm22_write(rfm22b_dev, 0x71, reg_71[datarate]);
// rfm22_frequency_deviation
rfm22_write(rfm22b_dev, 0x72, reg_72[datarate]);
// rfm22_cpcuu
rfm22_write(rfm22b_dev, 0x58, reg_58[datarate]);
rfm22_write(rfm22b_dev, RFM22_ook_counter_value1, 0x00);
rfm22_write(rfm22b_dev, RFM22_ook_counter_value2, 0x00);
}
/**
* Set the nominal carrier frequency and channel step size.
*
* @param[in] rfm33b_dev The device structure pointer.
* @param[in] min_frequency The minimum frequenc to transmit on (in Hz).
* @param[in] max_frequency The maximum frequenc to transmit on (in Hz).
* @param[in] step_size The channel spacing (in Hz).
*/
static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t min_frequency, uint32_t max_frequency, uint32_t step_size)
{
uint32_t frequency_hz = min_frequency;
// holds the hbsel (1 or 2)
uint8_t hbsel;
if (frequency_hz < 480000000) {
hbsel = 0;
} else {
hbsel = 1;
}
float freq_mhz = (float)(frequency_hz) / 1000000.0;
float xtal_freq_khz = 30000;
float sfreq = freq_mhz / (10.0 * (xtal_freq_khz / 30000.0) * (1 + hbsel));
uint32_t fb = (uint32_t)sfreq - 24 + (64 + 32 * hbsel);
uint32_t fc = (uint32_t)((sfreq - (uint32_t)sfreq) * 64000.0);
uint8_t fch = (fc >> 8) & 0xff;
uint8_t fcl = fc & 0xff;
// Calculate the number of frequency hopping channels.
rfm22b_dev->num_channels = (step_size == 0) ? 1 : (uint16_t)((max_frequency - min_frequency) / step_size);
// initialize the frequency hopping step size (specified in 10khz increments).
uint32_t freq_hop_step_size = step_size / 10000;
if (freq_hop_step_size > 255) {
freq_hop_step_size = 255;
}
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_step_size, (uint8_t)freq_hop_step_size);
// frequency hopping channel (0-255)
rfm22b_dev->frequency_step_size = 156.25f * hbsel;
// frequency hopping channel (0-255)
rfm22b_dev->frequency_hop_channel = 0;
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, 0);
// no frequency offset
rfm22_write(rfm22b_dev, RFM22_frequency_offset1, 0);
rfm22_write(rfm22b_dev, RFM22_frequency_offset2, 0);
// set the carrier frequency
rfm22_write(rfm22b_dev, RFM22_frequency_band_select, fb & 0xff);
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency1, fch);
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency0, fcl);
}
/**
* Set the frequency hopping channel.
*
* @param[in] rfm33b_dev The device structure pointer.
*/
static bool rfm22_setFreqHopChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t channel)
{
// set the frequency hopping channel
if (rfm22b_dev->frequency_hop_channel == channel) {
return false;
}
rfm22b_dev->frequency_hop_channel = channel;
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, channel);
return true;
}
/*****************************************************************************
* Radio Transmit and Receive functions.
*****************************************************************************/
/**
* Read the RFM22B interrupt and device status registers
* \param[in] rfm22b_dev The device structure
*
* @param[in] rfm22b_dev The device structure
*/
static bool rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev)
{
// 1. Read the interrupt statuses with burst read
rfm22_claimBus(rfm22b_dev); // Set RC and the semaphore
uint8_t write_buf[3] = {RFM22_interrupt_status1 & 0x7f, 0xFF, 0xFF};
uint8_t read_buf[3];
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, write_buf, read_buf, sizeof(write_buf), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22b_dev->int_status1 = read_buf[1];
rfm22b_dev->int_status2 = read_buf[2];
// 1. Read the interrupt statuses with burst read
rfm22_claimBus(rfm22b_dev); // Set RC and the semaphore
uint8_t write_buf[3] = {RFM22_interrupt_status1 & 0x7f, 0xFF, 0xFF};
uint8_t read_buf[3];
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, write_buf, read_buf, sizeof(write_buf), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22b_dev->int_status1 = read_buf[1];
rfm22b_dev->int_status2 = read_buf[2];
// Device status
rfm22b_dev->device_status = rfm22_read_noclaim(rfm22b_dev, RFM22_device_status);
// Device status
rfm22b_dev->device_status = rfm22_read_noclaim(rfm22b_dev, RFM22_device_status);
// EzMAC status
rfm22b_dev->ezmac_status = rfm22_read_noclaim(rfm22b_dev, RFM22_ezmac_status);
// EzMAC status
rfm22b_dev->ezmac_status = rfm22_read_noclaim(rfm22b_dev, RFM22_ezmac_status);
// Release the bus
rfm22_releaseBus(rfm22b_dev);
// Release the bus
rfm22_releaseBus(rfm22b_dev);
// the RF module has gone and done a reset - we need to re-initialize the rf module
if (rfm22b_dev->int_status2 & RFM22_is2_ipor)
return false;
// the RF module has gone and done a reset - we need to re-initialize the rf module
if (rfm22b_dev->int_status2 & RFM22_is2_ipor) {
return false;
}
return true;
return true;
}
/**
* Add a status value to the RX packet status array.
* \param[in] rfm22b_dev The device structure
* \param[in] status The packet status value
* Switch the radio into receive mode.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static void rfm22b_add_rx_status(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_rx_packet_status status)
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev)
{
// Shift the status registers
for (uint8_t i = RFM22B_RX_PACKET_STATS_LEN - 1; i > 0; --i)
{
rfm22b_dev->rx_packet_stats[i] = (rfm22b_dev->rx_packet_stats[i] << 2) | (rfm22b_dev->rx_packet_stats[i - 1] >> 30);
}
rfm22b_dev->rx_packet_stats[0] = (rfm22b_dev->rx_packet_stats[0] << 2) | status;
// Are we already in Rx mode?
if (rfm22b_dev->in_rx_mode) {
return RFM22B_EVENT_NUM_EVENTS;
}
rfm22b_dev->packet_start_ticks = 0;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D2_LED_ON;
#endif // PIOS_RFM22B_DEBUG_ON_TELEM
// disable interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// Switch to TUNE mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
RX_LED_OFF;
TX_LED_OFF;
// empty the rx buffer
rfm22b_dev->rx_buffer_wr = 0;
// Clear the TX buffer.
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
// clear FIFOs
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
// enable RX interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_encrcerror | RFM22_ie1_enpkvalid |
RFM22_ie1_enrxffafull | RFM22_ie1_enfferr);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, RFM22_ie2_enpreainval | RFM22_ie2_enpreaval |
RFM22_ie2_enswdet);
// enable the receiver
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_rxon);
// Indicate that we're in RX mode.
rfm22b_dev->in_rx_mode = true;
// No event generated
return RFM22B_EVENT_NUM_EVENTS;
}
/**
* Detect the preamble
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_detectPreamble(struct pios_rfm22b_dev *rfm22b_dev)
{
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_FAILURE;
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_FAILURE;
// Valid preamble detected
if (rfm22b_dev->int_status2 & RFM22_is2_ipreaval)
{
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_ticks == 0)
rfm22b_dev->packet_start_ticks = 1;
RX_LED_ON;
return RFM22B_EVENT_PREAMBLE_DETECTED;
}
// Valid preamble detected
if (rfm22b_dev->int_status2 & RFM22_is2_ipreaval) {
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_ticks == 0)
rfm22b_dev->packet_start_ticks = 1;
RX_LED_ON;
return RFM22B_EVENT_PREAMBLE_DETECTED;
}
return RFM22B_EVENT_NUM_EVENTS;
return RFM22B_EVENT_NUM_EVENTS;
}
/**
* Detect the sync
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_detectSync(struct pios_rfm22b_dev *rfm22b_dev)
{
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_FAILURE;
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_FAILURE;
// Sync word detected
if (rfm22b_dev->int_status2 & RFM22_is2_iswdet)
{
RX_LED_ON;
// Sync word detected
if (rfm22b_dev->int_status2 & RFM22_is2_iswdet) {
RX_LED_ON;
// read the 10-bit signed afc correction value
// bits 9 to 2
uint16_t afc_correction = (uint16_t)rfm22_read(rfm22b_dev, RFM22_afc_correction_read) << 8;
// bits 1 & 0
afc_correction |= (uint16_t)rfm22_read(rfm22b_dev, RFM22_ook_counter_value1) & 0x00c0;
afc_correction >>= 6;
// convert the afc value to Hz
int32_t afc_corr = (int32_t)(rfm22b_dev->frequency_step_size * afc_correction + 0.5f);
rfm22b_dev->afc_correction_Hz = (afc_corr < -127) ? -127 : ((afc_corr > 127) ? 127 : afc_corr);
// read the 10-bit signed afc correction value
// bits 9 to 2
uint16_t afc_correction = (uint16_t)rfm22_read(rfm22b_dev, RFM22_afc_correction_read) << 8;
// bits 1 & 0
afc_correction |= (uint16_t)rfm22_read(rfm22b_dev, RFM22_ook_counter_value1) & 0x00c0;
afc_correction >>= 6;
// convert the afc value to Hz
int32_t afc_corr = (int32_t)(rfm22b_dev->frequency_step_size * afc_correction + 0.5f);
rfm22b_dev->afc_correction_Hz = (afc_corr < -127) ? -127 : ((afc_corr > 127) ? 127 : afc_corr);
// read rx signal strength .. 45 = -100dBm, 205 = -20dBm
uint8_t rssi = rfm22_read(rfm22b_dev, RFM22_rssi);
// convert to dBm
rfm22b_dev->rssi_dBm = (int8_t)(rssi >> 1) - 122;
// read rx signal strength .. 45 = -100dBm, 205 = -20dBm
uint8_t rssi = rfm22_read(rfm22b_dev, RFM22_rssi);
// convert to dBm
rfm22b_dev->rssi_dBm = (int8_t)(rssi >> 1) - 122;
return RFM22B_EVENT_SYNC_DETECTED;
}
else if (rfm22b_dev->int_status2 & !RFM22_is2_ipreaval)
// Waiting for sync timed out.
return RFM22B_EVENT_FAILURE;
return RFM22B_EVENT_SYNC_DETECTED;
} else if (rfm22b_dev->int_status2 & !RFM22_is2_ipreaval) {
// Waiting for sync timed out.
return RFM22B_EVENT_FAILURE;
}
return RFM22B_EVENT_NUM_EVENTS;
}
static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHandle p, uint16_t rx_len)
{
// Attempt to correct any errors in the packet.
decode_data((unsigned char*)p, rx_len);
bool good_packet = check_syndrome() == 0;
bool corrected_packet = false;
// We have an error. Try to correct it.
if(!good_packet && (correct_errors_erasures((unsigned char*)p, rx_len, 0, 0) != 0))
// We corrected it
corrected_packet = true;
// Add any missed packets into the stats.
bool ack_nack_packet = ((p->header.type == PACKET_TYPE_ACK) || (p->header.type == PACKET_TYPE_ACK_RTS) || (p->header.type == PACKET_TYPE_NACK));
if (!ack_nack_packet && (good_packet || corrected_packet))
{
uint16_t seq_num = p->header.seq_num;
if (rfm22_isConnected(rfm22b_dev)) {
static bool first_time = true;
uint16_t missed_packets = 0;
if (first_time)
first_time = false;
else
{
uint16_t prev_seq_num = rfm22b_dev->stats.rx_seq;
if (seq_num > prev_seq_num)
missed_packets = seq_num - prev_seq_num - 1;
else if((seq_num == prev_seq_num) && (p->header.type == PACKET_TYPE_DATA))
p->header.type = PACKET_TYPE_DUPLICATE_DATA;
}
rfm22b_dev->stats.rx_missed += missed_packets;
}
rfm22b_dev->stats.rx_seq = seq_num;
}
// Set the packet status
if (good_packet)
rfm22b_add_rx_status(rfm22b_dev, RFM22B_GOOD_RX_PACKET);
else if(corrected_packet)
// We corrected the error.
rfm22b_add_rx_status(rfm22b_dev, RFM22B_CORRECTED_RX_PACKET);
else
// We couldn't correct the error, so drop the packet.
rfm22b_add_rx_status(rfm22b_dev, RFM22B_ERROR_RX_PACKET);
return (good_packet || corrected_packet);
return RFM22B_EVENT_NUM_EVENTS;
}
/**
* Receive the packet data.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
{
// Swap in the next packet buffer if required.
uint8_t *rx_buffer = (uint8_t*)&(rfm22b_dev->rx_packet);
// Swap in the next packet buffer if required.
uint8_t *rx_buffer = (uint8_t*)&(rfm22b_dev->rx_packet);
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_FAILURE;
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev)) {
return RFM22B_EVENT_FAILURE;
}
// FIFO under/over flow error. Restart RX mode.
if (rfm22b_dev->int_status1 & RFM22_is1_ifferr)
return RFM22B_EVENT_FAILURE;
// FIFO under/over flow error. Restart RX mode.
if (rfm22b_dev->int_status1 & RFM22_is1_ifferr) {
return RFM22B_EVENT_FAILURE;
}
// RX FIFO almost full, it needs emptying
if (rfm22b_dev->int_status1 & RFM22_is1_irxffafull)
{
// read data from the rf chips FIFO buffer
// read the total length of the packet data
uint16_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
// RX FIFO almost full, it needs emptying
if (rfm22b_dev->int_status1 & RFM22_is1_irxffafull) {
// read data from the rf chips FIFO buffer
// read the total length of the packet data
uint16_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
// The received packet is going to be larger than the specified length
if ((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) > len)
return RFM22B_EVENT_FAILURE;
// The received packet is going to be larger than the specified length
if ((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) > len) {
return RFM22B_EVENT_FAILURE;
}
// Another packet length error.
if (((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) >= len) && !(rfm22b_dev->int_status1 & RFM22_is1_ipkvalid))
return RFM22B_EVENT_FAILURE;
// Another packet length error.
if (((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) >= len) && !(rfm22b_dev->int_status1 & RFM22_is1_ipkvalid)) {
return RFM22B_EVENT_FAILURE;
}
// Fetch the data from the RX FIFO
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id ,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], RX_FIFO_HI_WATERMARK, NULL) == 0) ? RX_FIFO_HI_WATERMARK : 0;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
// Fetch the data from the RX FIFO
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id ,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], RX_FIFO_HI_WATERMARK, NULL) == 0) ? RX_FIFO_HI_WATERMARK : 0;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
// CRC error .. discard the received data
if (rfm22b_dev->int_status1 & RFM22_is1_icrerror)
return RFM22B_EVENT_FAILURE;
// CRC error .. discard the received data
if (rfm22b_dev->int_status1 & RFM22_is1_icrerror) {
return RFM22B_EVENT_FAILURE;
}
// Valid packet received
if (rfm22b_dev->int_status1 & RFM22_is1_ipkvalid)
{
// Valid packet received
if (rfm22b_dev->int_status1 & RFM22_is1_ipkvalid) {
// read the total length of the packet data
uint32_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
// read the total length of the packet data
uint32_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
// their must still be data in the RX FIFO we need to get
if (rfm22b_dev->rx_buffer_wr < len)
{
int32_t bytes_to_read = len - rfm22b_dev->rx_buffer_wr;
// Fetch the data from the RX FIFO
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], bytes_to_read, NULL) == 0) ? bytes_to_read : 0;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
// their must still be data in the RX FIFO we need to get
if (rfm22b_dev->rx_buffer_wr < len) {
int32_t bytes_to_read = len - rfm22b_dev->rx_buffer_wr;
// Fetch the data from the RX FIFO
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], bytes_to_read, NULL) == 0) ? bytes_to_read : 0;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
if (rfm22b_dev->rx_buffer_wr != len)
return RFM22B_EVENT_FAILURE;
if (rfm22b_dev->rx_buffer_wr != len) {
return RFM22B_EVENT_FAILURE;
}
// we have a valid received packet
enum pios_rfm22b_event ret_event = RFM22B_EVENT_RX_COMPLETE;
if (rfm22b_dev->rx_buffer_wr > 0)
{
rfm22b_dev->stats.rx_byte_count += rfm22b_dev->rx_buffer_wr;
// Check the packet for errors.
if (rfm22_receivePacket(rfm22b_dev, &(rfm22b_dev->rx_packet), rfm22b_dev->rx_buffer_wr))
{
switch (rfm22b_dev->rx_packet.header.type)
{
case PACKET_TYPE_STATUS:
ret_event = RFM22B_EVENT_STATUS_RECEIVED;
break;
case PACKET_TYPE_CON_REQUEST:
ret_event = RFM22B_EVENT_CONNECTION_REQUESTED;
break;
case PACKET_TYPE_DATA:
{
// Send the data to the com port
bool rx_need_yield;
if (rfm22b_dev->rx_in_cb)
(rfm22b_dev->rx_in_cb)(rfm22b_dev->rx_in_context, rfm22b_dev->rx_packet.data, rfm22b_dev->rx_packet.header.data_size, NULL, &rx_need_yield);
// we have a valid received packet
enum pios_rfm22b_event ret_event = RFM22B_EVENT_RX_COMPLETE;
if (rfm22b_dev->rx_buffer_wr > 0) {
rfm22b_dev->stats.rx_byte_count += rfm22b_dev->rx_buffer_wr;
// Check the packet for errors.
if (rfm22_receivePacket(rfm22b_dev, &(rfm22b_dev->rx_packet), rfm22b_dev->rx_buffer_wr)) {
switch (rfm22b_dev->rx_packet.header.type) {
case PACKET_TYPE_STATUS:
ret_event = RFM22B_EVENT_STATUS_RECEIVED;
break;
case PACKET_TYPE_CON_REQUEST:
ret_event = RFM22B_EVENT_CONNECTION_REQUESTED;
break;
case PACKET_TYPE_DATA:
{
// Send the data to the com port
bool rx_need_yield;
if (rfm22b_dev->rx_in_cb)
(rfm22b_dev->rx_in_cb)(rfm22b_dev->rx_in_context, rfm22b_dev->rx_packet.data, rfm22b_dev->rx_packet.header.data_size, NULL, &rx_need_yield);
#ifdef RFM22B_TEST_DROPPED_PACKETS
// Inject radnom missed ACKs
{
static uint8_t crc = 0;
static uint8_t cntr = 0;
crc = PIOS_CRC_updateByte(crc, cntr++);
if ((crc & 0x7) == 0)
ret_event = RFM22B_EVENT_RX_MODE;
}
// Inject radnom missed ACKs
{
static uint8_t crc = 0;
static uint8_t cntr = 0;
crc = PIOS_CRC_updateByte(crc, cntr++);
if ((crc & 0x7) == 0)
ret_event = RFM22B_EVENT_RX_MODE;
}
#endif
break;
}
case PACKET_TYPE_DUPLICATE_DATA:
break;
case PACKET_TYPE_ACK:
case PACKET_TYPE_ACK_RTS:
ret_event = RFM22B_EVENT_PACKET_ACKED;
break;
case PACKET_TYPE_NACK:
ret_event = RFM22B_EVENT_PACKET_NACKED;
break;
case PACKET_TYPE_PPM:
{
break;
}
case PACKET_TYPE_DUPLICATE_DATA:
break;
case PACKET_TYPE_ACK:
case PACKET_TYPE_ACK_RTS:
ret_event = RFM22B_EVENT_PACKET_ACKED;
break;
case PACKET_TYPE_NACK:
ret_event = RFM22B_EVENT_PACKET_NACKED;
break;
case PACKET_TYPE_PPM:
{
#if defined(PIOS_INCLUDE_GCSRCVR) || (defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT)) || defined(PIOS_INCLUDE_RFM22B_RCVR)
PHPpmPacketHandle ppmp = (PHPpmPacketHandle)&(rfm22b_dev->rx_packet);
PHPpmPacketHandle ppmp = (PHPpmPacketHandle)&(rfm22b_dev->rx_packet);
#if defined(PIOS_INCLUDE_GCSRCVR) || (defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT))
bool ppm_output = false;
bool ppm_output = false;
#endif
#endif
#if defined(PIOS_INCLUDE_RFM22B_RCVR)
ppm_output = true;
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
rfm22b_dev->ppm_channel[i] = ppmp->channels[i];
}
ppm_output = true;
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
rfm22b_dev->ppm_channel[i] = ppmp->channels[i];
}
#endif
#if defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT)
if (PIOS_PPM_OUTPUT) {
ppm_output = true;
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, ppmp->channels[i]);
}
}
if (PIOS_PPM_OUTPUT) {
ppm_output = true;
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, ppmp->channels[i]);
}
}
#endif
#if defined(PIOS_INCLUDE_GCSRCVR)
if (!ppm_output) {
GCSReceiverData gcsRcvr;
for (uint8_t i = 0; (i < PIOS_RFM22B_RCVR_MAX_CHANNELS) && (i < GCSRECEIVER_CHANNEL_NUMELEM); ++i) {
gcsRcvr.Channel[i] = ppmp->channels[i];
}
GCSReceiverSet(&gcsRcvr);
}
if (!ppm_output) {
GCSReceiverData gcsRcvr;
for (uint8_t i = 0; (i < PIOS_RFM22B_RCVR_MAX_CHANNELS) && (i < GCSRECEIVER_CHANNEL_NUMELEM); ++i) {
gcsRcvr.Channel[i] = ppmp->channels[i];
}
GCSReceiverSet(&gcsRcvr);
}
#endif
break;
}
default:
break;
}
break;
}
default:
break;
}
}
else
ret_event = RFM22B_EVENT_RX_ERROR;
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
if (rfm22b_dev->rx_complete_ticks == 0)
rfm22b_dev->rx_complete_ticks = 1;
}
else {
ret_event = RFM22B_EVENT_RX_ERROR;
}
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
if (rfm22b_dev->rx_complete_ticks == 0)
rfm22b_dev->rx_complete_ticks = 1;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D2_LED_OFF;
D2_LED_OFF;
#endif
}
}
// We're finished with Rx mode
rfm22b_dev->in_rx_mode = false;
// We're finished with Rx mode
rfm22b_dev->in_rx_mode = false;
// Start a new transaction
rfm22b_dev->packet_start_ticks = 0;
return ret_event;
}
// Start a new transaction
rfm22b_dev->packet_start_ticks = 0;
return ret_event;
}
return RFM22B_EVENT_NUM_EVENTS;
return RFM22B_EVENT_NUM_EVENTS;
}
static enum pios_rfm22b_event rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev)
/**
* Complete the receipt of a packet.
*
* @param[in] rfm22b_dev The device structure
* @param[in] p The packet handle of the received packet.
* @param[in] rc_len The number of bytes received.
*/
static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHandle p, uint16_t rx_len)
{
rfm22b_dev->stats.rx_failure++;
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
rfm22b_dev->in_rx_mode = false;
if (rfm22b_dev->rx_complete_ticks == 0)
rfm22b_dev->rx_complete_ticks = 1;
return RFM22B_EVENT_RX_MODE;
// Attempt to correct any errors in the packet.
decode_data((unsigned char*)p, rx_len);
bool good_packet = check_syndrome() == 0;
bool corrected_packet = false;
// We have an error. Try to correct it.
if(!good_packet && (correct_errors_erasures((unsigned char*)p, rx_len, 0, 0) != 0)) {
// We corrected it
corrected_packet = true;
}
// Add any missed packets into the stats.
bool ack_nack_packet = ((p->header.type == PACKET_TYPE_ACK) || (p->header.type == PACKET_TYPE_ACK_RTS) || (p->header.type == PACKET_TYPE_NACK));
if (!ack_nack_packet && (good_packet || corrected_packet)) {
uint16_t seq_num = p->header.seq_num;
if (rfm22_isConnected(rfm22b_dev)) {
static bool first_time = true;
uint16_t missed_packets = 0;
if (first_time) {
first_time = false;
} else {
uint16_t prev_seq_num = rfm22b_dev->stats.rx_seq;
if (seq_num > prev_seq_num)
missed_packets = seq_num - prev_seq_num - 1;
else if((seq_num == prev_seq_num) && (p->header.type == PACKET_TYPE_DATA))
p->header.type = PACKET_TYPE_DUPLICATE_DATA;
}
rfm22b_dev->stats.rx_missed += missed_packets;
}
rfm22b_dev->stats.rx_seq = seq_num;
}
// Set the packet status
if (good_packet) {
rfm22b_add_rx_status(rfm22b_dev, RFM22B_GOOD_RX_PACKET);
} else if(corrected_packet) {
// We corrected the error.
rfm22b_add_rx_status(rfm22b_dev, RFM22B_CORRECTED_RX_PACKET);
} else {
// We couldn't correct the error, so drop the packet.
rfm22b_add_rx_status(rfm22b_dev, RFM22B_ERROR_RX_PACKET);
}
return (good_packet || corrected_packet);
}
/**
* Start a transmit if possible
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
{
PHPacketHandle p = NULL;
// Don't send if it's not our turn.
if (!rfm22b_dev->time_to_send || (rfm22_inChannelBuffer(rfm22b_dev) && rfm22_isConnected(rfm22b_dev))) {
return RFM22B_EVENT_RX_MODE;
}
// See if there's a packet ready to send.
if (rfm22b_dev->tx_packet) {
p = rfm22b_dev->tx_packet;
} else {
// Don't send a packet if we're waiting for an ACK
if (rfm22b_dev->prev_tx_packet) {
return RFM22B_EVENT_RX_MODE;
}
// Send a connection request?
if (!p && rfm22b_dev->send_connection_request) {
p = (PHPacketHandle)&(rfm22b_dev->con_packet);
rfm22b_dev->send_connection_request = false;
}
#ifdef PIOS_PPM_RECEIVER
// Send a PPM packet?
if (!p && rfm22b_dev->send_ppm) {
p = (PHPacketHandle)&(rfm22b_dev->ppm_packet);
rfm22b_dev->send_ppm = false;
}
#endif
// Send status?
if (!p && rfm22b_dev->send_status) {
p = (PHPacketHandle)&(rfm22b_dev->status_packet);
rfm22b_dev->send_status = false;
}
// Try to get some data to send
if (!p) {
bool need_yield = false;
p = &rfm22b_dev->data_packet;
p->header.type = PACKET_TYPE_DATA;
p->header.destination_id = rfm22b_dev->destination_id;
if (rfm22b_dev->tx_out_cb && (p->header.data_size == 0)) {
p->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, p->data, PH_MAX_DATA, NULL, &need_yield);
}
// Don't send any data until we're connected.
if (!rfm22_isConnected(rfm22b_dev)) {
p->header.data_size = 0;
}
if (p->header.data_size == 0) {
p = NULL;
}
}
if (p) {
p->header.seq_num = rfm22b_dev->stats.tx_seq++;
}
}
if (!p) {
return RFM22B_EVENT_RX_MODE;
}
// We're transitioning out of Rx mode.
rfm22b_dev->in_rx_mode = false;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D1_LED_ON;
D2_LED_OFF;
#endif
// Change the channel if necessary.
if (((p->header.type != PACKET_TYPE_ACK) && (p->header.type != PACKET_TYPE_ACK_RTS)) ||
(rfm22b_dev->rx_packet.header.type != PACKET_TYPE_CON_REQUEST)) {
rfm22_changeChannel(rfm22b_dev);
}
// Add the error correcting code.
encode_data((unsigned char*)p, PHPacketSize(p), (unsigned char*)p);
rfm22b_dev->tx_packet = p;
rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
if (rfm22b_dev->packet_start_ticks == 0) {
rfm22b_dev->packet_start_ticks = 1;
}
// disable interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// TUNE mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
// Queue the data up for sending
rfm22b_dev->tx_data_wr = PH_PACKET_SIZE(rfm22b_dev->tx_packet);
RX_LED_OFF;
// Set the destination address in the transmit header.
// The destination address is the first 4 bytes of the message.
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
rfm22_write(rfm22b_dev, RFM22_transmit_header0, tx_buffer[0]);
rfm22_write(rfm22b_dev, RFM22_transmit_header1, tx_buffer[1]);
rfm22_write(rfm22b_dev, RFM22_transmit_header2, tx_buffer[2]);
rfm22_write(rfm22b_dev, RFM22_transmit_header3, tx_buffer[3]);
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(rfm22b_dev, RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo |
RFM22_mmc2_modtyp_gfsk);
// clear FIFOs
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
// *******************
// add some data to the chips TX FIFO before enabling the transmitter
// set the total number of data bytes we are going to transmit
rfm22_write(rfm22b_dev, RFM22_transmit_packet_length, rfm22b_dev->tx_data_wr);
// add some data
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
bytes_to_write = (bytes_to_write > FIFO_SIZE) ? FIFO_SIZE: bytes_to_write;
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
rfm22b_dev->tx_data_rd += bytes_to_write;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
// enable TX interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem);
// enable the transmitter
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_txon);
TX_LED_ON;
return RFM22B_EVENT_NUM_EVENTS;
}
/**
* Receive packet data.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
{
enum pios_rfm22b_event ret_event = RFM22B_EVENT_NUM_EVENTS;
enum pios_rfm22b_event ret_event = RFM22B_EVENT_NUM_EVENTS;
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_FAILURE;
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev)) {
return RFM22B_EVENT_FAILURE;
}
// TX FIFO almost empty, it needs filling up
if (rfm22b_dev->int_status1 & RFM22_is1_ixtffaem)
{
// top-up the rf chips TX FIFO buffer
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
uint16_t max_bytes = FIFO_SIZE - TX_FIFO_LO_WATERMARK - 1;
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
bytes_to_write = (bytes_to_write > max_bytes) ? max_bytes: bytes_to_write;
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
rfm22b_dev->tx_data_rd += bytes_to_write;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
// TX FIFO almost empty, it needs filling up
if (rfm22b_dev->int_status1 & RFM22_is1_ixtffaem) {
// top-up the rf chips TX FIFO buffer
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
uint16_t max_bytes = FIFO_SIZE - TX_FIFO_LO_WATERMARK - 1;
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
bytes_to_write = (bytes_to_write > max_bytes) ? max_bytes: bytes_to_write;
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
rfm22b_dev->tx_data_rd += bytes_to_write;
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
// Packet has been sent
else if (rfm22b_dev->int_status1 & RFM22_is1_ipksent)
{
portTickType curTicks = xTaskGetTickCount();
rfm22b_dev->stats.tx_byte_count += PH_PACKET_SIZE(rfm22b_dev->tx_packet);
// Packet has been sent
} else if (rfm22b_dev->int_status1 & RFM22_is1_ipksent) {
portTickType curTicks = xTaskGetTickCount();
rfm22b_dev->stats.tx_byte_count += PH_PACKET_SIZE(rfm22b_dev->tx_packet);
// Is this an ACK?
bool is_ack = ((rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK) || (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS));
ret_event = RFM22B_EVENT_RX_MODE;
if (is_ack) {
// Is this an ACK?
bool is_ack = ((rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK) || (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS));
ret_event = RFM22B_EVENT_RX_MODE;
if (is_ack) {
// If this is an ACK for a connection request message we need to
// configure this modem from the connection request message.
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
// If this is an ACK for a connection request message we need to
// configure this modem from the connection request message.
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
rfm22_setConnectionParameters(rfm22b_dev);
rfm22_setConnectionParameters(rfm22b_dev);
} else if (rfm22b_dev->coordinator && !rfm22_isConnected(rfm22b_dev) && (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_STATUS)) {
} else if (rfm22b_dev->coordinator && !rfm22_isConnected(rfm22b_dev) && (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_STATUS)) {
// Send a connection request message if we're not connected, and this is a status message from a modem that we're bound to.
PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
uint32_t source_id = status->source_id;
for (uint8_t i = 0; OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
if (rfm22b_dev->bindings[i].pairID == source_id) {
rfm22b_dev->cur_binding = i;
ret_event = RFM22B_EVENT_REQUEST_CONNECTION;
break;
}
}
}
// Send a connection request message if we're not connected, and this is a status message from a modem that we're bound to.
PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
uint32_t source_id = status->source_id;
for (uint8_t i = 0; OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
if (rfm22b_dev->bindings[i].pairID == source_id) {
rfm22b_dev->cur_binding = i;
ret_event = RFM22B_EVENT_REQUEST_CONNECTION;
break;
}
}
}
// Change the channel
// On the remote side, we initialize the time delta when we finish sending the ACK for the connection request message.
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
rfm22b_dev->time_delta = portMAX_DELAY - curTicks;
}
// Change the channel
// On the remote side, we initialize the time delta when we finish sending the ACK for the connection request message.
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
rfm22b_dev->time_delta = portMAX_DELAY - curTicks;
}
} else if (rfm22b_dev->tx_packet->header.type != PACKET_TYPE_NACK) {
} else if (rfm22b_dev->tx_packet->header.type != PACKET_TYPE_NACK) {
// We need to wait for an ACK if this packet it not an ACK or NACK.
rfm22b_dev->prev_tx_packet = rfm22b_dev->tx_packet;
rfm22b_dev->tx_complete_ticks = xTaskGetTickCount();
}
// Set the Tx period
if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK)
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
else if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS)
rfm22b_dev->time_to_send_offset = curTicks;
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
// Start a new transaction
rfm22b_dev->packet_start_ticks = 0;
// We need to wait for an ACK if this packet it not an ACK or NACK.
rfm22b_dev->prev_tx_packet = rfm22b_dev->tx_packet;
rfm22b_dev->tx_complete_ticks = xTaskGetTickCount();
}
// Set the Tx period
if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK) {
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
} else if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS) {
rfm22b_dev->time_to_send_offset = curTicks;
}
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
// Start a new transaction
rfm22b_dev->packet_start_ticks = 0;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D1_LED_OFF;
D1_LED_OFF;
#endif
}
}
return ret_event;
return ret_event;
}
static enum pios_rfm22b_event rfm22_txFailure(struct pios_rfm22b_dev *rfm22b_dev)
/*****************************************************************************
* Packet Transmition Functions
*****************************************************************************/
/**
* Send a radio status message.
*
* @param[in] rfm22b_dev The device structure
*/
static void rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->stats.tx_failure++;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
return RFM22B_EVENT_TX_START;
// The coordinator doesn't send status.
if (rfm22b_dev->coordinator) {
return;
}
// Update the link quality metric.
rfm22_calculateLinkQuality(rfm22b_dev);
// Queue the status message
if (rfm22_isConnected(rfm22b_dev)) {
rfm22b_dev->status_packet.header.destination_id = rfm22b_dev->destination_id;
} else if (rfm22b_dev->coordinator) {
return;
} else {
rfm22b_dev->status_packet.header.destination_id = 0xffffffff; // Broadcast
}
rfm22b_dev->status_packet.header.type = PACKET_TYPE_STATUS;
rfm22b_dev->status_packet.header.data_size = PH_STATUS_DATA_SIZE(&(rfm22b_dev->status_packet));
rfm22b_dev->status_packet.source_id = rfm22b_dev->deviceID;
rfm22b_dev->status_packet.link_quality = rfm22b_dev->stats.link_quality;
rfm22b_dev->status_packet.received_rssi = rfm22b_dev->rssi_dBm;
rfm22b_dev->send_status = true;
return;
}
/**
* Send a PPM packet.
*
* @param[in] rfm22b_dev The device structure
*/
static void rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev)
{
#ifdef PIOS_PPM_RECEIVER
// Only send PPM if we're connected
if (!rfm22_isConnected(rfm22b_dev)) {
return;
}
// Just return if the PPM receiver is not configured.
if (PIOS_PPM_RECEIVER == 0) {
return;
}
// See if we have any valid channels.
bool valid_input_detected = false;
for (uint8_t i = 1; i <= PIOS_PPM_NUM_INPUTS; ++i) {
rfm22b_dev->ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i);
if(rfm22b_dev->ppm_packet.channels[i - 1] != PIOS_RCVR_TIMEOUT)
valid_input_detected = true;
}
// Send the PPM packet if it's valid
if (valid_input_detected) {
rfm22b_dev->ppm_packet.header.destination_id = rfm22b_dev->destination_id;
rfm22b_dev->ppm_packet.header.type = PACKET_TYPE_PPM;
rfm22b_dev->ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&(rfm22b_dev->ppm_packet));
rfm22b_dev->send_ppm = true;
}
#endif
}
/**
* Send an ACK to a received packet.
* \param[in] rfm22b_dev The device structure
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev)
{
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
aph->header.destination_id = rfm22b_dev->destination_id;
aph->header.type = rfm22_ready_to_send(rfm22b_dev) ? PACKET_TYPE_ACK_RTS : PACKET_TYPE_ACK;
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
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 RFM22B_EVENT_TX_START;
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
aph->header.destination_id = rfm22b_dev->destination_id;
aph->header.type = rfm22_ready_to_send(rfm22b_dev) ? PACKET_TYPE_ACK_RTS : PACKET_TYPE_ACK;
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
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 RFM22B_EVENT_TX_START;
}
/**
* Send an NACK to a received packet.
* \param[in] rfm22b_dev The device structure
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev)
{
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
aph->header.destination_id = rfm22b_dev->destination_id;
aph->header.type = PACKET_TYPE_NACK;
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 RFM22B_EVENT_TX_START;
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
aph->header.destination_id = rfm22b_dev->destination_id;
aph->header.type = PACKET_TYPE_NACK;
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 RFM22B_EVENT_TX_START;
}
/**
* Send a connection request message.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev)
{
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
// Set our connection state to requesting connection.
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTING;
// Fill in the connection request
rfm22b_dev->destination_id = rfm22b_dev->bindings[rfm22b_dev->cur_binding].pairID;
cph->header.destination_id = rfm22b_dev->destination_id;
cph->header.type = PACKET_TYPE_CON_REQUEST;
cph->header.data_size = PH_CONNECTION_DATA_SIZE(&(rfm22b_dev->con_packet));
cph->source_id = rfm22b_dev->deviceID;
cph->main_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].main_port;
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;
return RFM22B_EVENT_TX_START;
}
/*****************************************************************************
* Packet Receipt Functions
*****************************************************************************/
/**
* Receive an ACK.
* \param[in] rfm22b_dev The device structure
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_dev)
{
PHPacketHandle prev = rfm22b_dev->prev_tx_packet;
portTickType curTicks = xTaskGetTickCount();
PHPacketHandle prev = rfm22b_dev->prev_tx_packet;
portTickType curTicks = xTaskGetTickCount();
// Clear the previous TX packet.
rfm22b_dev->prev_tx_packet = NULL;
// Clear the previous TX packet.
rfm22b_dev->prev_tx_packet = NULL;
// Was this a connection request?
switch (prev->header.type) {
case PACKET_TYPE_CON_REQUEST:
rfm22_setConnectionParameters(rfm22b_dev);
break;
case PACKET_TYPE_DATA:
rfm22b_dev->data_packet.header.data_size = 0;
break;
}
// Was this a connection request?
switch (prev->header.type) {
case PACKET_TYPE_CON_REQUEST:
rfm22_setConnectionParameters(rfm22b_dev);
break;
case PACKET_TYPE_DATA:
rfm22b_dev->data_packet.header.data_size = 0;
break;
}
// On the coordinator side, we initialize the time delta when we receive the ACK for the connection request message.
if (prev->header.type == PACKET_TYPE_CON_REQUEST) {
rfm22b_dev->time_delta = portMAX_DELAY - rfm22b_dev->rx_complete_ticks;
} else if (!rfm22b_dev->coordinator) {
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->rx_packet));
portTickType local_tx_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->tx_complete_ticks);
portTickType remote_rx_time = aph->packet_recv_time;
// Adjust the time delta based on the difference between our estimated time offset and the coordinator offset.
// This is not working yet
rfm22b_dev->time_delta += remote_rx_time - local_tx_time;
}
// On the coordinator side, we initialize the time delta when we receive the ACK for the connection request message.
if (prev->header.type == PACKET_TYPE_CON_REQUEST) {
rfm22b_dev->time_delta = portMAX_DELAY - rfm22b_dev->rx_complete_ticks;
} else if (!rfm22b_dev->coordinator) {
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->rx_packet));
portTickType local_tx_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->tx_complete_ticks);
portTickType remote_rx_time = aph->packet_recv_time;
// Adjust the time delta based on the difference between our estimated time offset and the coordinator offset.
// This is not working yet
rfm22b_dev->time_delta += remote_rx_time - local_tx_time;
}
// Reset the resend count
rfm22b_dev->cur_resent_count = 0;
// 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 RFM22B_EVENT_TX_START;
} else {
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
return RFM22B_EVENT_RX_MODE;
}
// 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 RFM22B_EVENT_TX_START;
} else {
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
return RFM22B_EVENT_RX_MODE;
}
}
/**
* Receive an MACK.
* \param[in] rfm22b_dev The device structure
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_dev)
{
// Resend the previous TX packet.
rfm22b_dev->tx_packet = rfm22b_dev->prev_tx_packet;
rfm22b_dev->prev_tx_packet = NULL;
// Resend the previous TX packet.
rfm22b_dev->tx_packet = rfm22b_dev->prev_tx_packet;
rfm22b_dev->prev_tx_packet = NULL;
// Increment the reset packet counter if we're connected.
if (rfm22_isConnected(rfm22b_dev)) {
rfm22b_add_rx_status(rfm22b_dev, RFM22B_RESENT_TX_PACKET);
}
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
// Increment the reset packet counter if we're connected.
if (rfm22_isConnected(rfm22b_dev)) {
rfm22b_add_rx_status(rfm22b_dev, RFM22B_RESENT_TX_PACKET);
}
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
}
/**
* Receive a status packet
* \param[in] rfm22b_dev The device structure
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_receiveStatus(struct pios_rfm22b_dev *rfm22b_dev)
{
PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
int8_t rssi = rfm22b_dev->rssi_dBm;
int8_t afc = rfm22b_dev->afc_correction_Hz;
uint32_t id = status->source_id;
PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
int8_t rssi = rfm22b_dev->rssi_dBm;
int8_t afc = rfm22b_dev->afc_correction_Hz;
uint32_t id = status->source_id;
// Have we seen this device recently?
bool found = false;
uint8_t id_idx = 0;
for ( ; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx)
if(rfm22b_dev->pair_stats[id_idx].pairID == id)
{
found = true;
break;
}
// Have we seen this device recently?
bool found = false;
uint8_t id_idx = 0;
for ( ; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx) {
if(rfm22b_dev->pair_stats[id_idx].pairID == id) {
found = true;
break;
}
}
// If we have seen it, update the RSSI and reset the last contact couter
if(found)
{
rfm22b_dev->pair_stats[id_idx].rssi = rssi;
rfm22b_dev->pair_stats[id_idx].afc_correction = afc;
rfm22b_dev->pair_stats[id_idx].lastContact = 0;
}
// If we have seen it, update the RSSI and reset the last contact couter
if(found) {
rfm22b_dev->pair_stats[id_idx].rssi = rssi;
rfm22b_dev->pair_stats[id_idx].afc_correction = afc;
rfm22b_dev->pair_stats[id_idx].lastContact = 0;
// If we haven't seen it, find a slot to put it in.
else
{
uint8_t min_idx = 0;
int8_t min_rssi = rfm22b_dev->pair_stats[0].rssi;
for (id_idx = 1; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx)
{
if(rfm22b_dev->pair_stats[id_idx].rssi < min_rssi)
{
min_rssi = rfm22b_dev->pair_stats[id_idx].rssi;
min_idx = id_idx;
}
}
rfm22b_dev->pair_stats[min_idx].pairID = id;
rfm22b_dev->pair_stats[min_idx].rssi = rssi;
rfm22b_dev->pair_stats[min_idx].afc_correction = afc;
rfm22b_dev->pair_stats[min_idx].lastContact = 0;
}
// If we haven't seen it, find a slot to put it in.
} else {
uint8_t min_idx = 0;
int8_t min_rssi = rfm22b_dev->pair_stats[0].rssi;
for (id_idx = 1; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx) {
if(rfm22b_dev->pair_stats[id_idx].rssi < min_rssi) {
min_rssi = rfm22b_dev->pair_stats[id_idx].rssi;
min_idx = id_idx;
}
}
rfm22b_dev->pair_stats[min_idx].pairID = id;
rfm22b_dev->pair_stats[min_idx].rssi = rssi;
rfm22b_dev->pair_stats[min_idx].afc_correction = afc;
rfm22b_dev->pair_stats[min_idx].lastContact = 0;
}
return RFM22B_EVENT_RX_COMPLETE;
return RFM22B_EVENT_RX_COMPLETE;
}
static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev)
/*****************************************************************************
* Link Statistics Functions
*****************************************************************************/
/**
* Calculate the link quality from the packet receipt, tranmittion statistics.
*
* @param[in] rfm22b_dev The device structure
*/
static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev)
{
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
// Add the RX packet statistics
rfm22b_dev->stats.rx_good = 0;
rfm22b_dev->stats.rx_corrected = 0;
rfm22b_dev->stats.rx_error = 0;
rfm22b_dev->stats.tx_resent = 0;
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i) {
uint32_t val = rfm22b_dev->rx_packet_stats[i];
for (uint8_t j = 0; j < 16; ++j) {
switch ((val >> (j * 2)) & 0x3) {
case RFM22B_GOOD_RX_PACKET:
rfm22b_dev->stats.rx_good++;
break;
case RFM22B_CORRECTED_RX_PACKET:
rfm22b_dev->stats.rx_corrected++;
break;
case RFM22B_ERROR_RX_PACKET:
rfm22b_dev->stats.rx_error++;
break;
case RFM22B_RESENT_TX_PACKET:
rfm22b_dev->stats.tx_resent++;
break;
}
}
}
// Set our connection state to requesting connection.
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTING;
// Fill in the connection request
rfm22b_dev->destination_id = rfm22b_dev->bindings[rfm22b_dev->cur_binding].pairID;
cph->header.destination_id = rfm22b_dev->destination_id;
cph->header.type = PACKET_TYPE_CON_REQUEST;
cph->header.data_size = PH_CONNECTION_DATA_SIZE(&(rfm22b_dev->con_packet));
cph->source_id = rfm22b_dev->deviceID;
cph->main_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].main_port;
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;
return RFM22B_EVENT_TX_START;
// Calculate the link quality metric, which is related to the number of good packets in relation to the number of bad packets.
// Note: This assumes that the number of packets sampled for the stats is 64.
// Using this equation, error and resent packets are counted as -2, and corrected packets are counted as -1.
// The range is 0 (all error or resent packets) to 128 (all good packets).
rfm22b_dev->stats.link_quality = 64 + rfm22b_dev->stats.rx_good - rfm22b_dev->stats.rx_error - rfm22b_dev->stats.tx_resent;
}
/**
* Add a status value to the RX packet status array.
*
* @param[in] rfm22b_dev The device structure
* @param[in] status The packet status value
*/
static void rfm22b_add_rx_status(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_rx_packet_status status)
{
// Shift the status registers
for (uint8_t i = RFM22B_RX_PACKET_STATS_LEN - 1; i > 0; --i) {
rfm22b_dev->rx_packet_stats[i] = (rfm22b_dev->rx_packet_stats[i] << 2) | (rfm22b_dev->rx_packet_stats[i - 1] >> 30);
}
rfm22b_dev->rx_packet_stats[0] = (rfm22b_dev->rx_packet_stats[0] << 2) | status;
}
/**
* Is it this modem's turn to send?
*
* @param[in] rfm22b_dev The device structure
*/
static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev)
{
// Is there a status of PPM packet ready to send?
if (rfm22b_dev->prev_tx_packet || rfm22b_dev->send_ppm || rfm22b_dev->send_status) {
return true;
}
// Are we not connected yet?
if (!rfm22_isConnected(rfm22b_dev)) {
return true;
}
// Is there some data ready to sent?
PHPacketHandle dp = &rfm22b_dev->data_packet;
if (dp->header.data_size > 0) {
return true;
}
bool need_yield = false;
if (rfm22b_dev->tx_out_cb) {
dp->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, dp->data, PH_MAX_DATA, NULL, &need_yield);
}
if (dp->header.data_size > 0) {
return true;
}
return false;
}
/*****************************************************************************
* Connection Handling Functions
*****************************************************************************/
/**
* Are we connected to the remote modem?
*
* @param[in] rfm22b_dev The device structure
*/
static bool rfm22_isConnected(struct pios_rfm22b_dev *rfm22b_dev)
{
return (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED);
}
/**
* Set the connection parameters from a connection request message.
*
* @param[in] rfm22b_dev The device structure
*/
static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev)
{
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
// Set our connection state to connected
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
// Set our connection state to connected
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
// Call the com port configuration function
if (rfm22b_dev->com_config_cb)
rfm22b_dev->com_config_cb(cph->main_port, cph->flexi_port, cph->vcp_port, cph->com_speed,
cph->min_frequency, cph->max_frequency, cph->channel_spacing);
// Configure this modem from the connection request message.
rfm22_setNominalCarrierFrequency(rfm22b_dev, cph->min_frequency, cph->max_frequency, cph->channel_spacing);
rfm22_setDatarate(rfm22b_dev, rfm22b_dev->datarate, true);
}
static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, portTickType ticks)
{
return ticks + rfm22b_dev->time_delta;
}
static bool rfm22_inChannelBuffer(struct pios_rfm22b_dev *rfm22b_dev)
{
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
uint8_t window = (uint8_t)(time & 0x7e);
return ((window == 0x7f) || (window == 0));
}
static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev)
{
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
// We change channels every 128 ms.
uint16_t n = (time >> 7) & 0xffff;
// The channel is calculated using the 16 bit CRC as the pseudo random number generator.
n = PIOS_CRC16_updateByte(n, 0);
float num_channels = rfm22b_dev->num_channels;
return (uint8_t)(num_channels * (float)n / (float)0xffff);
}
static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev)
{
if (rfm22_isConnected(rfm22b_dev)) {
return rfm22_setFreqHopChannel(rfm22b_dev, rfm22_calcChannel(rfm22b_dev));
}
return false;
// Call the com port configuration function
if (rfm22b_dev->com_config_cb) {
rfm22b_dev->com_config_cb(cph->main_port, cph->flexi_port, cph->vcp_port, cph->com_speed,
cph->min_frequency, cph->max_frequency, cph->channel_spacing);
}
// Configure this modem from the connection request message.
rfm22_setNominalCarrierFrequency(rfm22b_dev, cph->min_frequency, cph->max_frequency, cph->channel_spacing);
rfm22_setDatarate(rfm22b_dev, rfm22b_dev->datarate, true);
}
/**
* Accept a connection request.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev)
{
// Set our connection state to connected
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
// Set our connection state to connected
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
// 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));
// 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.
rfm22b_dev->destination_id = cph->source_id;
// Set the destination ID to the source of the connection request message.
rfm22b_dev->destination_id = cph->source_id;
return RFM22B_EVENT_DEFAULT;
return RFM22B_EVENT_DEFAULT;
}
// ************************************
// Initialise this hardware layer module and the rf module
static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
/*****************************************************************************
* Frequency Hopping Functions
*****************************************************************************/
/**
* There needs to be a buffer in time around a channel change in which we delay starting a new packet transmit.
* This function returns true of we are in that range of time.
*
* @param[in] rfm22b_dev The device structure
* @return True if we're near a channel change time.
*/
static bool rfm22_inChannelBuffer(struct pios_rfm22b_dev *rfm22b_dev)
{
// Initialize the register values.
rfm22b_dev->device_status = 0;
rfm22b_dev->int_status1 = 0;
rfm22b_dev->int_status2 = 0;
rfm22b_dev->ezmac_status = 0;
// Clean the LEDs
rfm22_clearLEDs();
// Initialize the detected device statistics.
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i) {
rfm22b_dev->pair_stats[i].pairID = 0;
rfm22b_dev->pair_stats[i].rssi = -127;
rfm22b_dev->pair_stats[i].afc_correction = 0;
rfm22b_dev->pair_stats[i].lastContact = 0;
}
// Initlize the link stats.
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i)
rfm22b_dev->rx_packet_stats[i] = 0;
// 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;
rfm22b_dev->cur_resent_count = 0;
// Initialize the packets.
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;
rfm22b_dev->in_rx_mode = false;
// Initialize the devide state
rfm22b_dev->device_status = rfm22b_dev->int_status1 = rfm22b_dev->int_status2 = rfm22b_dev->ezmac_status = 0;
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
rfm22b_dev->frequency_hop_channel = 0;
rfm22b_dev->afc_correction_Hz = 0;
rfm22b_dev->packet_start_ticks = 0;
rfm22b_dev->tx_complete_ticks = 0;
rfm22b_dev->rx_complete_ticks = 0;
// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
for (int i = 50; i > 0; i--) {
// read the status registers
rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
if (rfm22b_dev->int_status2 & RFM22_is2_ichiprdy) break;
// wait 1ms
PIOS_DELAY_WaitmS(1);
}
// ****************
// read status - clears interrupt
rfm22b_dev->device_status = rfm22_read(rfm22b_dev, RFM22_device_status);
rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
rfm22b_dev->ezmac_status = rfm22_read(rfm22b_dev, RFM22_ezmac_status);
// disable all interrupts
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// read the RF chip ID bytes
// read the device type
uint8_t device_type = rfm22_read(rfm22b_dev, RFM22_DEVICE_TYPE) & RFM22_DT_MASK;
// read the device version
uint8_t device_version = rfm22_read(rfm22b_dev, RFM22_DEVICE_VERSION) & RFM22_DV_MASK;
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "rf device type: %d\n\r", device_type);
DEBUG_PRINTF(2, "rf device version: %d\n\r", device_version);
#endif
if (device_type != 0x08)
{
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "rf device type: INCORRECT - should be 0x08\n\r");
#endif
// incorrect RF module type
return RFM22B_EVENT_FATAL_ERROR;
}
if (device_version != RFM22_DEVICE_VERSION_B1)
{
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "rf device version: INCORRECT\n\r");
#endif
// incorrect RF module version
return RFM22B_EVENT_FATAL_ERROR;
}
// calibrate our RF module to be exactly on frequency .. different for every module
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, OSC_LOAD_CAP);
// disable Low Duty Cycle Mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
// 1MHz clock output
rfm22_write(rfm22b_dev, RFM22_cpu_output_clk, RFM22_coc_1MHz);
// READY mode
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_xton);
// choose the 3 GPIO pin functions
// GPIO port use default value
rfm22_write(rfm22b_dev, RFM22_io_port_config, RFM22_io_port_default);
if (rfm22b_dev->cfg.gpio_direction == GPIO0_TX_GPIO1_RX) {
// GPIO0 = TX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_txstate);
// GPIO1 = RX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_rxstate);
} else {
// GPIO0 = TX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_rxstate);
// GPIO1 = RX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_txstate);
}
// GPIO2 = Clear Channel Assessment
rfm22_write(rfm22b_dev, RFM22_gpio2_config, RFM22_gpio2_config_drv3 | RFM22_gpio2_config_cca);
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(rfm22b_dev, RFM22_modulation_mode_control2, RFM22_mmc2_trclk_clk_none | RFM22_mmc2_dtmod_fifo | fd_bit | RFM22_mmc2_modtyp_gfsk);
// setup to read the internal temperature sensor
// ADC used to sample the temperature sensor
uint8_t adc_config = RFM22_ac_adcsel_temp_sensor | RFM22_ac_adcref_bg;
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config);
// adc offset
rfm22_write(rfm22b_dev, RFM22_adc_sensor_amp_offset, 0);
// temp sensor calibration .. <20>40C to +64C 0.5C resolution
rfm22_write(rfm22b_dev, RFM22_temp_sensor_calib, RFM22_tsc_tsrange0 | RFM22_tsc_entsoffs);
// temp sensor offset
rfm22_write(rfm22b_dev, RFM22_temp_value_offset, 0);
// start an ADC conversion
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config | RFM22_ac_adcstartbusy);
// set the RSSI threshold interrupt to about -90dBm
rfm22_write(rfm22b_dev, RFM22_rssi_threshold_clear_chan_indicator, (-90 + 122) * 2);
// enable the internal Tx & Rx packet handlers (without CRC)
rfm22_write(rfm22b_dev, RFM22_data_access_control, RFM22_dac_enpacrx | RFM22_dac_enpactx);
// x-nibbles tx preamble
rfm22_write(rfm22b_dev, RFM22_preamble_length, TX_PREAMBLE_NIBBLES);
// x-nibbles rx preamble detection
rfm22_write(rfm22b_dev, RFM22_preamble_detection_ctrl1, RX_PREAMBLE_NIBBLES << 3);
#ifdef PIOS_RFM22_NO_HEADER
// header control - we are not using the header
rfm22_write(rfm22b_dev, RFM22_header_control1, RFM22_header_cntl1_bcen_none | RFM22_header_cntl1_hdch_none);
// no header bytes, synchronization word length 3, 2, 1 & 0 used, packet length included in header.
rfm22_write(rfm22b_dev, RFM22_header_control2, RFM22_header_cntl2_hdlen_none |
RFM22_header_cntl2_synclen_3210 | ((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
#else
// header control - using a 4 by header with broadcast of 0xffffffff
rfm22_write(rfm22b_dev, RFM22_header_control1,
RFM22_header_cntl1_bcen_0 |
RFM22_header_cntl1_bcen_1 |
RFM22_header_cntl1_bcen_2 |
RFM22_header_cntl1_bcen_3 |
RFM22_header_cntl1_hdch_0 |
RFM22_header_cntl1_hdch_1 |
RFM22_header_cntl1_hdch_2 |
RFM22_header_cntl1_hdch_3);
// Check all bit of all bytes of the header
rfm22_write(rfm22b_dev, RFM22_header_enable0, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable1, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable2, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable3, 0xff);
// Set the ID to be checked
uint32_t id = rfm22b_dev->deviceID;
rfm22_write(rfm22b_dev, RFM22_check_header0, id & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header1, (id >> 8) & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header2, (id >> 16) & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header3, (id >> 24) & 0xff);
// 4 header bytes, synchronization word length 3, 2, 1 & 0 used, packet length included in header.
rfm22_write(rfm22b_dev, RFM22_header_control2,
RFM22_header_cntl2_hdlen_3210 |
RFM22_header_cntl2_synclen_3210 |
((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
#endif
// sync word
rfm22_write(rfm22b_dev, RFM22_sync_word3, SYNC_BYTE_1);
rfm22_write(rfm22b_dev, RFM22_sync_word2, SYNC_BYTE_2);
rfm22_write(rfm22b_dev, RFM22_sync_word1, SYNC_BYTE_3);
rfm22_write(rfm22b_dev, RFM22_sync_word0, SYNC_BYTE_4);
// set the tx power
rfm22_write(rfm22b_dev, RFM22_tx_power, RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power);
// TX FIFO Almost Full Threshold (0 - 63)
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control1, TX_FIFO_HI_WATERMARK);
// TX FIFO Almost Empty Threshold (0 - 63)
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control2, TX_FIFO_LO_WATERMARK);
// RX FIFO Almost Full Threshold (0 - 63)
rfm22_write(rfm22b_dev, RFM22_rx_fifo_control, RX_FIFO_HI_WATERMARK);
// Set the frequency calibration
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, rfm22b_dev->cfg.RFXtalCap);
// Initialize the frequency and datarate to te default.
rfm22_setNominalCarrierFrequency(rfm22b_dev, rfm22b_dev->init_frequency, rfm22b_dev->init_frequency, RFM22B_FREQUENCY_HOP_STEP_SIZE);
rfm22_setDatarate(rfm22b_dev, RFM22B_DEFAULT_RX_DATARATE, true);
return RFM22B_EVENT_INITIALIZED;
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
uint8_t window = (uint8_t)(time & 0x7e);
return ((window == 0x7f) || (window == 0));
}
static void rfm22_clearLEDs() {
LINK_LED_OFF;
RX_LED_OFF;
TX_LED_OFF;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D1_LED_OFF;
D2_LED_OFF;
D3_LED_OFF;
D4_LED_OFF;
#endif
/**
* Return the extimated current clock ticks count on the coordinator modem.
* This is the master clock used for all synchronization.
*
* @param[in] rfm22b_dev The device structure
*/
static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, portTickType ticks)
{
return ticks + rfm22b_dev->time_delta;
}
/**
* Calculate what the current channel shold be.
*
* @param[in] rfm22b_dev The device structure
*/
static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev)
{
portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
// We change channels every 128 ms.
uint16_t n = (time >> 7) & 0xffff;
// The channel is calculated using the 16 bit CRC as the pseudo random number generator.
n = PIOS_CRC16_updateByte(n, 0);
float num_channels = rfm22b_dev->num_channels;
return (uint8_t)(num_channels * (float)n / (float)0xffff);
}
/**
* Change channels to the calculated current channel.
*
* @param[in] rfm22b_dev The device structure
*/
static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev)
{
if (rfm22_isConnected(rfm22b_dev)) {
return rfm22_setFreqHopChannel(rfm22b_dev, rfm22_calcChannel(rfm22b_dev));
}
return false;
}
/*****************************************************************************
* Error Handling Functions
*****************************************************************************/
/**
* Recover from a failure in receiving a packet.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->stats.rx_failure++;
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
rfm22b_dev->in_rx_mode = false;
if (rfm22b_dev->rx_complete_ticks == 0) {
rfm22b_dev->rx_complete_ticks = 1;
}
return RFM22B_EVENT_RX_MODE;
}
/**
* Recover from a transmit failure.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_txFailure(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->stats.tx_failure++;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
return RFM22B_EVENT_TX_START;
}
/**
* Recover from a timeout event.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->stats.timeouts++;
rfm22b_dev->packet_start_ticks = 0;
// Release the Tx packet if it's set.
if (rfm22b_dev->tx_packet != 0)
{
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
}
rfm22b_dev->rx_buffer_wr = 0;
TX_LED_OFF;
RX_LED_OFF;
rfm22b_dev->stats.timeouts++;
rfm22b_dev->packet_start_ticks = 0;
// Release the Tx packet if it's set.
if (rfm22b_dev->tx_packet != 0) {
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
}
rfm22b_dev->rx_buffer_wr = 0;
TX_LED_OFF;
RX_LED_OFF;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D1_LED_OFF;
D2_LED_OFF;
D3_LED_OFF;
D4_LED_OFF;
D1_LED_OFF;
D2_LED_OFF;
D3_LED_OFF;
D4_LED_OFF;
#endif
return RFM22B_EVENT_TX_START;
return RFM22B_EVENT_TX_START;
}
/**
* Recover from a severe error.
*
* @param[in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->stats.resets++;
rfm22_clearLEDs();
return RFM22B_EVENT_INITIALIZE;
rfm22b_dev->stats.resets++;
rfm22_clearLEDs();
return RFM22B_EVENT_INITIALIZE;
}
/**
* A fatal error has occured in the state machine.
* this should not happen.
* \parem [in] rfm22b_dev The device structure
* \return enum pios_rfm22b_event The next event to inject
*
* @parem [in] rfm22b_dev The device structure
* @return enum pios_rfm22b_event The next event to inject
*/
static enum pios_rfm22b_event rfm22_fatal_error(struct pios_rfm22b_dev *rfm22b_dev)
{
// RF module error .. flash the LED's
rfm22_clearLEDs();
for(unsigned int j = 0; j < 16; j++)
{
USB_LED_ON;
LINK_LED_ON;
RX_LED_OFF;
TX_LED_OFF;
// RF module error .. flash the LED's
rfm22_clearLEDs();
for(unsigned int j = 0; j < 16; j++) {
USB_LED_ON;
LINK_LED_ON;
RX_LED_OFF;
TX_LED_OFF;
PIOS_DELAY_WaitmS(200);
PIOS_DELAY_WaitmS(200);
USB_LED_OFF;
LINK_LED_OFF;
RX_LED_ON;
TX_LED_ON;
USB_LED_OFF;
LINK_LED_OFF;
RX_LED_ON;
TX_LED_ON;
PIOS_DELAY_WaitmS(200);
}
PIOS_DELAY_WaitmS(200);
}
PIOS_DELAY_WaitmS(1000);
PIOS_DELAY_WaitmS(1000);
PIOS_Assert(0);
PIOS_Assert(0);
return RFM22B_EVENT_FATAL_ERROR;
return RFM22B_EVENT_FATAL_ERROR;
}
// ************************************
/*****************************************************************************
* Utility Functions
*****************************************************************************/
/**
* Calculate the time difference between the start time and end time.
* Times are in ticks. Also handles rollover.
*
* @param[in] start_time The start time in ticks.
* @param[in] end_time The end time in ticks.
*/
static uint32_t pios_rfm22_time_difference_ms(portTickType start_time, portTickType end_time)
{
if(end_time >= start_time) {
return (end_time - start_time) * portTICK_RATE_MS;
}
// Rollover
return ((portMAX_DELAY - start_time) + end_time) * portTICK_RATE_MS;
}
/**
* Allocate the device structure
*/
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_rfm22b_dev *pios_rfm22_alloc(void)
{
struct pios_rfm22b_dev * rfm22b_dev;
rfm22b_dev = (struct pios_rfm22b_dev *)pvPortMalloc(sizeof(*rfm22b_dev));
rfm22b_dev->spi_id = 0;
if (!rfm22b_dev) {
return NULL;
}
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
return(rfm22b_dev);
}
#else
static struct pios_rfm22b_dev pios_rfm22b_devs[PIOS_RFM22B_MAX_DEVS];
static uint8_t pios_rfm22b_num_devs;
static struct pios_rfm22b_dev *pios_rfm22_alloc(void)
{
struct pios_rfm22b_dev * rfm22b_dev;
if (pios_rfm22b_num_devs >= PIOS_RFM22B_MAX_DEVS) {
return NULL;
}
rfm22b_dev = &pios_rfm22b_devs[pios_rfm22b_num_devs++];
rfm22b_dev->magic = PIOS_RFM22B_DEV_MAGIC;
return (rfm22b_dev);
}
#endif
/**
* Turn off all of the LEDs
*/
static void rfm22_clearLEDs(void) {
LINK_LED_OFF;
RX_LED_OFF;
TX_LED_OFF;
#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
D1_LED_OFF;
D2_LED_OFF;
D3_LED_OFF;
D4_LED_OFF;
#endif
}
/*****************************************************************************
* SPI Read/Write Functions
*****************************************************************************/
/**
* Assert the chip select line.
*
* @param[in] rfm22b_dev The RFM22B device.
*/
static void rfm22_assertCs(struct pios_rfm22b_dev *rfm22b_dev)
{
PIOS_DELAY_WaituS(1);
if(rfm22b_dev->spi_id != 0) {
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 0);
}
}
/**
* Deassert the chip select line.
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
*/
static void rfm22_deassertCs(struct pios_rfm22b_dev *rfm22b_dev)
{
if(rfm22b_dev->spi_id != 0) {
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 1);
}
}
/**
* Claim the SPI bus.
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
*/
static void rfm22_claimBus(struct pios_rfm22b_dev *rfm22b_dev)
{
if(rfm22b_dev->spi_id != 0) {
PIOS_SPI_ClaimBus(rfm22b_dev->spi_id);
}
}
/**
* Release the SPI bus.
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
*/
static void rfm22_releaseBus(struct pios_rfm22b_dev *rfm22b_dev)
{
if(rfm22b_dev->spi_id != 0) {
PIOS_SPI_ReleaseBus(rfm22b_dev->spi_id);
}
}
/**
* Claim the semaphore and write a byte to a register
*
* @param[in] rfm22b_dev The RFM22B device.
* @param[in] addr The address to write to
* @param[in] data The datat to write to that address
*/
static void rfm22_write(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data)
{
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
uint8_t buf[2] = {addr | 0x80, data};
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
/**
* Read a byte from an RFM22b register
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
* @param[in] addr The address to read from
* @return Returns the result of the register read
*/
static uint8_t rfm22_read(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
{
uint8_t in[2];
uint8_t out[2] = {addr & 0x7f, 0xFF};
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
return in[1];
}
/**
* Read a byte from an RFM22b register without claiming the bus
*
* @param[in] rfm22b_dev The RFM22B device structure pointer.
* @param[in] addr The address to read from
* @return Returns the result of the register read
*/
static uint8_t rfm22_read_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
{
uint8_t out[2] = {addr & 0x7F, 0xFF};
uint8_t in[2];
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
rfm22_deassertCs(rfm22b_dev);
return in[1];
}
#endif /* PIOS_INCLUDE_RFM22B */

140
flight/pios/common/pios_rfm22b_com.c
View File

@ -44,87 +44,123 @@ static bool PIOS_RFM22B_COM_Available(uint32_t rfm22b_com_id);
/* Local variables */
const struct pios_com_driver pios_rfm22b_com_driver = {
.set_baud = PIOS_RFM22B_COM_ChangeBaud,
.tx_start = PIOS_RFM22B_COM_TxStart,
.rx_start = PIOS_RFM22B_COM_RxStart,
.bind_tx_cb = PIOS_RFM22B_COM_RegisterTxCallback,
.bind_rx_cb = PIOS_RFM22B_COM_RegisterRxCallback,
.available = PIOS_RFM22B_COM_Available
.set_baud = PIOS_RFM22B_COM_ChangeBaud,
.tx_start = PIOS_RFM22B_COM_TxStart,
.rx_start = PIOS_RFM22B_COM_RxStart,
.bind_tx_cb = PIOS_RFM22B_COM_RegisterTxCallback,
.bind_rx_cb = PIOS_RFM22B_COM_RegisterRxCallback,
.available = PIOS_RFM22B_COM_Available
};
/**
* Changes the baud rate of the RFM22B peripheral without re-initialising.
* \param[in] rfm22b_id RFM22B name (GPS, TELEM, AUX)
* \param[in] baud Requested baud rate
*
* @param[in] rfm22b_id RFM22B name (GPS, TELEM, AUX)
* @param[in] baud Requested baud rate
*/
static void PIOS_RFM22B_COM_ChangeBaud(uint32_t rfm22b_id, uint32_t baud)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
// Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
enum rfm22b_datarate datarate = RFM22_datarate_64000;
if (baud <= 1024)
datarate = RFM22_datarate_500;
else if (baud <= 2048)
datarate = RFM22_datarate_1000;
else if (baud <= 4096)
datarate = RFM22_datarate_8000;
else if (baud <= 9600)
datarate = RFM22_datarate_16000;
else if (baud <= 19200)
datarate = RFM22_datarate_32000;
else if (baud <= 38400)
datarate = RFM22_datarate_57600;
else if (baud <= 57600)
datarate = RFM22_datarate_128000;
else if (baud <= 115200)
datarate = RFM22_datarate_192000;
rfm22b_dev->datarate = datarate;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
// Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
enum rfm22b_datarate datarate = RFM22_datarate_64000;
if (baud <= 1024)
datarate = RFM22_datarate_500;
else if (baud <= 2048)
datarate = RFM22_datarate_1000;
else if (baud <= 4096)
datarate = RFM22_datarate_8000;
else if (baud <= 9600)
datarate = RFM22_datarate_16000;
else if (baud <= 19200)
datarate = RFM22_datarate_32000;
else if (baud <= 38400)
datarate = RFM22_datarate_57600;
else if (baud <= 57600)
datarate = RFM22_datarate_128000;
else if (baud <= 115200)
datarate = RFM22_datarate_192000;
rfm22b_dev->datarate = datarate;
}
/**
* Start a receive from the COM device
*
* @param[in] rfm22b_dev The device ID.
* @param[in] rx_bytes_available The number of bytes available to receive
*/
static void PIOS_RFM22B_COM_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail)
{
}
/**
* Start a transmit from the COM device
*
* @param[in] rfm22b_dev The device ID.
* @param[in] tx_bytes_available The number of bytes available to transmit
*/
static void PIOS_RFM22B_COM_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
}
/**
* Register the callback to pass received data to
*
* @param[in] rfm22b_dev The device ID.
* @param[in] rx_in_cb The Rx callback function.
* @param[in] context The callback context.
*/
static void PIOS_RFM22B_COM_RegisterRxCallback(uint32_t rfm22b_id, pios_com_callback rx_in_cb, uint32_t context)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev))
return;
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
rfm22b_dev->rx_in_context = context;
rfm22b_dev->rx_in_cb = rx_in_cb;
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
rfm22b_dev->rx_in_context = context;
rfm22b_dev->rx_in_cb = rx_in_cb;
}
/**
* Register the callback to get data from.
*
* @param[in] rfm22b_dev The device ID.
* @param[in] rx_in_cb The Tx callback function.
* @param[in] context The callback context.
*/
static void PIOS_RFM22B_COM_RegisterTxCallback(uint32_t rfm22b_id, pios_com_callback tx_out_cb, uint32_t context)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
rfm22b_dev->tx_out_context = context;
rfm22b_dev->tx_out_cb = tx_out_cb;
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
rfm22b_dev->tx_out_context = context;
rfm22b_dev->tx_out_cb = tx_out_cb;
}
/**
* See if the COM port is alive
*
* @param[in] rfm22b_dev The device ID.
* @return True of the device is available.
*/
static bool PIOS_RFM22B_COM_Available(uint32_t rfm22b_id)
{
return PIOS_RFM22B_LinkStatus(rfm22b_id);
return PIOS_RFM22B_LinkStatus(rfm22b_id);
}
#endif /* PIOS_INCLUDE_RFM22B_COM */

120
flight/pios/common/pios_rfm22b_rcvr.c
View File

@ -1,17 +1,17 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RFM22B_RCVR RFM22B Receiver Input Functions
* @brief Code to output the PPM signal from the RFM22B
* @{
*
* @file pios_rfm22b_rcvr.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Implements a receiver interface to the RFM22B device
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RFM22B_RCVR RFM22B Receiver Input Functions
* @brief Code to output the PPM signal from the RFM22B
* @{
*
* @file pios_rfm22b_rcvr.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Implements a receiver interface to the RFM22B device
* @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
@ -39,60 +39,86 @@ static int32_t PIOS_RFM22B_RCVR_Get(uint32_t rcvr_id, uint8_t channel);
static void PIOS_RFM22B_RCVR_Supervisor(uint32_t rcvr_id);
const struct pios_rcvr_driver pios_rfm22b_rcvr_driver = {
.read = PIOS_RFM22B_RCVR_Get,
.read = PIOS_RFM22B_RCVR_Get,
};
/**
* Initialize the receiver.
*
* @param[in] rfm22b_dev The receiver ID.
* @return < 0 on failure.
*/
int32_t PIOS_RFM22B_RCVR_Init(uint32_t rcvr_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return -1;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return -1;
}
// Initialize
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i)
rfm22b_dev->ppm_channel[i] = PIOS_RCVR_TIMEOUT;
rfm22b_dev->ppm_supv_timer = 0;
// Initialize
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
rfm22b_dev->ppm_channel[i] = PIOS_RCVR_TIMEOUT;
}
rfm22b_dev->ppm_supv_timer = 0;
// Register the failsafe timer callback.
if (!PIOS_RTC_RegisterTickCallback(PIOS_RFM22B_RCVR_Supervisor, rcvr_id))
PIOS_DEBUG_Assert(0);
// Register the failsafe timer callback.
if (!PIOS_RTC_RegisterTickCallback(PIOS_RFM22B_RCVR_Supervisor, rcvr_id)) {
PIOS_DEBUG_Assert(0);
}
return 0;
return 0;
}
/**
* Get a channel from the receiver.
*
* @param[in] rcvr_id The receiver ID.
* @return The channel value, or -1 on failure.
*/
static int32_t PIOS_RFM22B_RCVR_Get(uint32_t rcvr_id, uint8_t channel)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return -1;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return -1;
}
if (channel >= GCSRECEIVER_CHANNEL_NUMELEM)
/* channel is out of range */
return -1;
if (channel >= GCSRECEIVER_CHANNEL_NUMELEM) {
/* channel is out of range */
return -1;
}
return rfm22b_dev->ppm_channel[channel];
return rfm22b_dev->ppm_channel[channel];
}
/**
* The supervisor function that ensures that the data is current.
*
* @param[in] rcvr_id The receiver ID.
*/
static void PIOS_RFM22B_RCVR_Supervisor(uint32_t rcvr_id) {
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
// RTC runs at 625Hz.
if (++(rfm22b_dev->ppm_supv_timer) < (PIOS_RFM22B_RCVR_TIMEOUT_MS * 1000 / 625))
return;
rfm22b_dev->ppm_supv_timer = 0;
// RTC runs at 625Hz.
if (++(rfm22b_dev->ppm_supv_timer) < (PIOS_RFM22B_RCVR_TIMEOUT_MS * 1000 / 625)) {
return;
}
rfm22b_dev->ppm_supv_timer = 0;
// Have we received fresh values since the last update?
if (!rfm22b_dev->ppm_fresh)
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i)
rfm22b_dev->ppm_channel[i] = 0;
rfm22b_dev->ppm_fresh = false;
// Have we received fresh values since the last update?
if (!rfm22b_dev->ppm_fresh) {
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
rfm22b_dev->ppm_channel[i] = 0;
}
}
rfm22b_dev->ppm_fresh = false;
}
#endif /* PIOS_INCLUDE_RFM22B_RCVR */
/**
* @}
* @}
*/
* @}
* @}
*/

126
flight/pios/inc/pios_rfm22b.h
View File

@ -1,17 +1,17 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RFM22B Radio Functions
* @brief PIOS interface for RFM22B Radio
* @{
*
* @file pios_rfm22b.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief RFM22B functions header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RFM22B Radio Functions
* @brief PIOS interface for RFM22B Radio
* @{
*
* @file pios_rfm22b.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief RFM22B functions header.
* @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
@ -39,62 +39,62 @@ enum gpio_direction {GPIO0_TX_GPIO1_RX, GPIO0_RX_GPIO1_TX};
/* 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 */
uint8_t RFXtalCap;
uint8_t slave_num;
enum gpio_direction gpio_direction;
const struct pios_spi_cfg * spi_cfg; /* Pointer to SPI interface configuration */
const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
uint8_t RFXtalCap;
uint8_t slave_num;
enum gpio_direction gpio_direction;
};
enum rfm22b_tx_power {
RFM22_tx_pwr_txpow_0 = 0x00, // +1dBm .. 1.25mW
RFM22_tx_pwr_txpow_1 = 0x01, // +2dBm .. 1.6mW
RFM22_tx_pwr_txpow_2 = 0x02, // +5dBm .. 3.16mW
RFM22_tx_pwr_txpow_3 = 0x03, // +8dBm .. 6.3mW
RFM22_tx_pwr_txpow_4 = 0x04, // +11dBm .. 12.6mW
RFM22_tx_pwr_txpow_5 = 0x05, // +14dBm .. 25mW
RFM22_tx_pwr_txpow_6 = 0x06, // +17dBm .. 50mW
RFM22_tx_pwr_txpow_7 = 0x07 // +20dBm .. 100mW
RFM22_tx_pwr_txpow_0 = 0x00, // +1dBm .. 1.25mW
RFM22_tx_pwr_txpow_1 = 0x01, // +2dBm .. 1.6mW
RFM22_tx_pwr_txpow_2 = 0x02, // +5dBm .. 3.16mW
RFM22_tx_pwr_txpow_3 = 0x03, // +8dBm .. 6.3mW
RFM22_tx_pwr_txpow_4 = 0x04, // +11dBm .. 12.6mW
RFM22_tx_pwr_txpow_5 = 0x05, // +14dBm .. 25mW
RFM22_tx_pwr_txpow_6 = 0x06, // +17dBm .. 50mW
RFM22_tx_pwr_txpow_7 = 0x07 // +20dBm .. 100mW
};
enum rfm22b_datarate {
RFM22_datarate_500 = 0,
RFM22_datarate_1000 = 1,
RFM22_datarate_2000 = 2,
RFM22_datarate_4000 = 3,
RFM22_datarate_8000 = 4,
RFM22_datarate_9600 = 5,
RFM22_datarate_16000 = 6,
RFM22_datarate_19200 = 7,
RFM22_datarate_24000 = 8,
RFM22_datarate_32000 = 9,
RFM22_datarate_57600 = 10,
RFM22_datarate_64000 = 11,
RFM22_datarate_128000 = 12,
RFM22_datarate_192000 = 13,
RFM22_datarate_256000 = 14,
RFM22_datarate_500 = 0,
RFM22_datarate_1000 = 1,
RFM22_datarate_2000 = 2,
RFM22_datarate_4000 = 3,
RFM22_datarate_8000 = 4,
RFM22_datarate_9600 = 5,
RFM22_datarate_16000 = 6,
RFM22_datarate_19200 = 7,
RFM22_datarate_24000 = 8,
RFM22_datarate_32000 = 9,
RFM22_datarate_57600 = 10,
RFM22_datarate_64000 = 11,
RFM22_datarate_128000 = 12,
RFM22_datarate_192000 = 13,
RFM22_datarate_256000 = 14,
};
struct rfm22b_stats {
uint16_t packets_per_sec;
uint16_t tx_byte_count;
uint16_t rx_byte_count;
uint16_t tx_seq;
uint16_t rx_seq;
uint8_t rx_good;
uint8_t rx_corrected;
uint8_t rx_error;
uint8_t rx_missed;
uint8_t rx_failure;
uint8_t tx_dropped;
uint8_t tx_resent;
uint8_t tx_failure;
uint8_t resets;
uint8_t timeouts;
uint8_t link_quality;
int8_t rssi;
int8_t afc_correction;
uint8_t link_state;
uint16_t packets_per_sec;
uint16_t tx_byte_count;
uint16_t rx_byte_count;
uint16_t tx_seq;
uint16_t rx_seq;
uint8_t rx_good;
uint8_t rx_corrected;
uint8_t rx_error;
uint8_t rx_missed;
uint8_t rx_failure;
uint8_t tx_dropped;
uint8_t tx_resent;
uint8_t tx_failure;
uint8_t resets;
uint8_t timeouts;
uint8_t link_quality;
int8_t rssi;
int8_t afc_correction;
uint8_t link_state;
};
/* Callback function prototypes */
@ -124,6 +124,6 @@ extern const struct pios_com_driver pios_rfm22b_com_driver;
#endif /* PIOS_RFM22B_H */
/**
* @}
* @}
*/
* @}
* @}
*/

380
flight/pios/inc/pios_rfm22b_priv.h
View File

@ -443,37 +443,11 @@
#define RFM22_received_packet_length 0x4B // R
#define RFM22_adc8_control 0x4F // R/W
/*
#define RFM22_analog_test_bus 0x50 // R/W
#define RFM22_digital_test_bus 0x51 // R/W
#define RFM22_tx_ramp_control 0x52 // R/W
#define RFM22_pll_tune_time 0x53 // R/W
#define RFM22_calibration_control 0x55 // R/W
#define RFM22_modem_test 0x56 // R/W
#define RFM22_chargepump_test 0x57 // R/W
#define RFM22_chargepump_current_trimming_override 0x58 // R/W
#define RFM22_divider_current_trimming 0x59 // R/W
#define RFM22_vco_current_trimming 0x5A // R/W
#define RFM22_vco_calibration_override 0x5B // R/W
#define RFM22_synthersizer_test 0x5C // R/W
#define RFM22_block_enable_override1 0x5D // R/W
#define RFM22_block_enable_override2 0x5E // R/W
#define RFM22_block_enable_override3 0x5F // R/W
*/
#define RFM22_channel_filter_coeff_addr 0x60 // R/W
#define RFM22_ch_fil_coeff_ad_inv_pre_th_mask 0xF0 //
#define RFM22_ch_fil_coeff_ad_chfiladd_mask 0x0F // Channel Filter Coefficient Look-up Table Address. The address for channel filter coefficients used in the RX path.
//#define RFM22_channel_filter_coeff_value 0x61 // R/W
#define RFM22_xtal_osc_por_ctrl 0x62 // R/W
#define RFM22_xtal_osc_por_ctrl_pwst_mask 0xE0 // Internal Power States of the Chip.
#define RFM22_xtal_osc_por_ctrl_clkhyst 0x10 // Clock Hysteresis Setting.
@ -481,27 +455,13 @@
#define RFM22_xtal_osc_por_ctrl_enamp2x 0x04 // 2 Times Higher Amplification Enable.
#define RFM22_xtal_osc_por_ctrl_bufovr 0x02 // Output Buffer Enable Override.
#define RFM22_xtal_osc_por_ctrl_enbuf 0x01 // Output Buffer Enable.
/*
#define RFM22_rc_osc_coarse_calbration_override 0x63 // R/W
#define RFM22_rc_osc_fine_calbration_override 0x64 // R/W
#define RFM22_ldo_control_override 0x65 // R/W
#define RFM22_ldo_level_setting 0x66 // R/W
#define RFM22_deltasigma_adc_tuning1 0x67 // R/W
#define RFM22_deltasigma_adc_tuning2 0x68 // R/W
*/
#define RFM22_agc_override1 0x69 // R/W
#define RFM22_agc_ovr1_sgi 0x40 // AGC Loop, Set Gain Increase. If set to 0 then gain increasing will not be allowed. If set to 1 then gain increasing is allowed, default is 0.
#define RFM22_agc_ovr1_agcen 0x20 // Automatic Gain Control Enable. When this bit is set then the result of the control can be read out from bits [4:0], otherwise the gain can be controlled manually by writing into bits [4:0].
#define RFM22_agc_ovr1_lnagain 0x10 // LNA Gain Select. 0 = min gain = 5dB, 1 = max gain = 25 dB.
#define RFM22_agc_ovr1_pga_mask 0x0F // PGA Gain Override Value.
//#define RFM22_agc_override2 0x6A // R/W
//#define RFM22_gfsk_fir_coeff_addr 0x6B // R/W
//#define RFM22_gfsk_fir_coeff_value 0x6C // R/W
#define RFM22_tx_power 0x6D // R/W
#define RFM22_tx_pwr_lna_sw 0x08 // LNA Switch Controller. If set, lna_sw control from the digital will go high during TX modes, and low during other times. If reset, the digital control signal is low at all times.
@ -568,233 +528,229 @@
typedef int16_t (*t_rfm22_TxDataByteCallback) (void);
typedef bool (*t_rfm22_RxDataCallback) (void *data, uint8_t len);
enum pios_rfm22b_dev_magic {
PIOS_RFM22B_DEV_MAGIC = 0x68e971b6,
PIOS_RFM22B_DEV_MAGIC = 0x68e971b6,
};
enum pios_rfm22b_state {
RFM22B_STATE_UNINITIALIZED,
RFM22B_STATE_INITIALIZING,
RFM22B_STATE_REQUESTING_CONNECTION,
RFM22B_STATE_ACCEPTING_CONNECTION,
RFM22B_STATE_RX_MODE,
RFM22B_STATE_WAIT_PREAMBLE,
RFM22B_STATE_WAIT_SYNC,
RFM22B_STATE_RX_DATA,
RFM22B_STATE_RX_FAILURE,
RFM22B_STATE_RECEIVING_STATUS,
RFM22B_STATE_TX_START,
RFM22B_STATE_TX_DATA,
RFM22B_STATE_TX_FAILURE,
RFM22B_STATE_SENDING_ACK,
RFM22B_STATE_SENDING_NACK,
RFM22B_STATE_RECEIVING_ACK,
RFM22B_STATE_RECEIVING_NACK,
RFM22B_STATE_TIMEOUT,
RFM22B_STATE_ERROR,
RFM22B_STATE_FATAL_ERROR,
RFM22B_STATE_UNINITIALIZED,
RFM22B_STATE_INITIALIZING,
RFM22B_STATE_REQUESTING_CONNECTION,
RFM22B_STATE_ACCEPTING_CONNECTION,
RFM22B_STATE_RX_MODE,
RFM22B_STATE_WAIT_PREAMBLE,
RFM22B_STATE_WAIT_SYNC,
RFM22B_STATE_RX_DATA,
RFM22B_STATE_RX_FAILURE,
RFM22B_STATE_RECEIVING_STATUS,
RFM22B_STATE_TX_START,
RFM22B_STATE_TX_DATA,
RFM22B_STATE_TX_FAILURE,
RFM22B_STATE_SENDING_ACK,
RFM22B_STATE_SENDING_NACK,
RFM22B_STATE_RECEIVING_ACK,
RFM22B_STATE_RECEIVING_NACK,
RFM22B_STATE_TIMEOUT,
RFM22B_STATE_ERROR,
RFM22B_STATE_FATAL_ERROR,
RFM22B_STATE_NUM_STATES // Must be last
RFM22B_STATE_NUM_STATES // Must be last
};
enum pios_rfm22b_event {
RFM22B_EVENT_DEFAULT,
RFM22B_EVENT_INT_RECEIVED,
RFM22B_EVENT_INITIALIZE,
RFM22B_EVENT_INITIALIZED,
RFM22B_EVENT_REQUEST_CONNECTION,
RFM22B_EVENT_CONNECTION_REQUESTED,
RFM22B_EVENT_PACKET_ACKED,
RFM22B_EVENT_PACKET_NACKED,
RFM22B_EVENT_ACK_TIMEOUT,
RFM22B_EVENT_RX_MODE,
RFM22B_EVENT_PREAMBLE_DETECTED,
RFM22B_EVENT_SYNC_DETECTED,
RFM22B_EVENT_RX_COMPLETE,
RFM22B_EVENT_RX_ERROR,
RFM22B_EVENT_STATUS_RECEIVED,
RFM22B_EVENT_TX_START,
RFM22B_EVENT_FAILURE,
RFM22B_EVENT_TIMEOUT,
RFM22B_EVENT_ERROR,
RFM22B_EVENT_FATAL_ERROR,
RFM22B_EVENT_DEFAULT,
RFM22B_EVENT_INT_RECEIVED,
RFM22B_EVENT_INITIALIZE,
RFM22B_EVENT_INITIALIZED,
RFM22B_EVENT_REQUEST_CONNECTION,
RFM22B_EVENT_CONNECTION_REQUESTED,
RFM22B_EVENT_PACKET_ACKED,
RFM22B_EVENT_PACKET_NACKED,
RFM22B_EVENT_ACK_TIMEOUT,
RFM22B_EVENT_RX_MODE,
RFM22B_EVENT_PREAMBLE_DETECTED,
RFM22B_EVENT_SYNC_DETECTED,
RFM22B_EVENT_RX_COMPLETE,
RFM22B_EVENT_RX_ERROR,
RFM22B_EVENT_STATUS_RECEIVED,
RFM22B_EVENT_TX_START,
RFM22B_EVENT_FAILURE,
RFM22B_EVENT_TIMEOUT,
RFM22B_EVENT_ERROR,
RFM22B_EVENT_FATAL_ERROR,
RFM22B_EVENT_NUM_EVENTS // Must be last
RFM22B_EVENT_NUM_EVENTS // Must be last
};
#define RFM22B_RX_PACKET_STATS_LEN 4
enum pios_rfm22b_rx_packet_status {
RFM22B_GOOD_RX_PACKET = 0x00,
RFM22B_CORRECTED_RX_PACKET = 0x01,
RFM22B_ERROR_RX_PACKET = 0x2,
RFM22B_RESENT_TX_PACKET = 0x3
RFM22B_GOOD_RX_PACKET = 0x00,
RFM22B_CORRECTED_RX_PACKET = 0x01,
RFM22B_ERROR_RX_PACKET = 0x2,
RFM22B_RESENT_TX_PACKET = 0x3
};
typedef struct {
uint32_t pairID;
int8_t rssi;
int8_t afc_correction;
uint8_t lastContact;
uint32_t pairID;
int8_t rssi;
int8_t afc_correction;
uint8_t lastContact;
} rfm22b_pair_stats;
typedef struct {
uint32_t pairID;
OPLinkSettingsRemoteMainPortOptions main_port;
OPLinkSettingsRemoteFlexiPortOptions flexi_port;
OPLinkSettingsRemoteVCPPortOptions vcp_port;
OPLinkSettingsComSpeedOptions com_speed;
uint32_t pairID;
OPLinkSettingsRemoteMainPortOptions main_port;
OPLinkSettingsRemoteFlexiPortOptions flexi_port;
OPLinkSettingsRemoteVCPPortOptions vcp_port;
OPLinkSettingsComSpeedOptions com_speed;
} rfm22b_binding;
struct pios_rfm22b_dev {
enum pios_rfm22b_dev_magic magic;
struct pios_rfm22b_cfg cfg;
enum pios_rfm22b_dev_magic magic;
struct pios_rfm22b_cfg cfg;
// The SPI bus information
uint32_t spi_id;
uint32_t slave_num;
// The SPI bus information
uint32_t spi_id;
uint32_t slave_num;
// The device ID
uint32_t deviceID;
// The device ID
uint32_t deviceID;
// The destination ID
uint32_t destination_id;
// The destination ID
uint32_t destination_id;
// The list of bound radios.
rfm22b_binding bindings[OPLINKSETTINGS_BINDINGS_NUMELEM];
uint8_t cur_binding;
// The list of bound radios.
rfm22b_binding bindings[OPLINKSETTINGS_BINDINGS_NUMELEM];
uint8_t cur_binding;
// Is this device a coordinator?
bool coordinator;
// Is this device a coordinator?
bool coordinator;
// The task handle
xTaskHandle taskHandle;
// The task handle
xTaskHandle taskHandle;
// The potential paired statistics
rfm22b_pair_stats pair_stats[OPLINKSTATUS_PAIRIDS_NUMELEM];
// The potential paired statistics
rfm22b_pair_stats pair_stats[OPLINKSTATUS_PAIRIDS_NUMELEM];
// ISR pending semaphore
xSemaphoreHandle isrPending;
// ISR pending semaphore
xSemaphoreHandle isrPending;
// The com configuration callback
PIOS_RFM22B_ComConfigCallback com_config_cb;
// The com configuration callback
PIOS_RFM22B_ComConfigCallback com_config_cb;
// The COM callback functions.
pios_com_callback rx_in_cb;
uint32_t rx_in_context;
pios_com_callback tx_out_cb;
uint32_t tx_out_context;
// The COM callback functions.
pios_com_callback rx_in_cb;
uint32_t rx_in_context;
pios_com_callback tx_out_cb;
uint32_t tx_out_context;
// the transmit power to use for data transmissions
uint8_t tx_power;
// the transmit power to use for data transmissions
uint8_t tx_power;
// The RF datarate lookup index.
uint8_t datarate;
// The RF datarate lookup index.
uint8_t datarate;
// The state machine state and the current event
enum pios_rfm22b_state state;
// The state machine state and the current event
enum pios_rfm22b_state state;
// The event queue handle
xQueueHandle eventQueue;
// The event queue handle
xQueueHandle eventQueue;
// device status register
uint8_t device_status;
// interrupt status register 1
uint8_t int_status1;
// interrupt status register 2
uint8_t int_status2;
// ezmac status register
uint8_t ezmac_status;
// device status register
uint8_t device_status;
// interrupt status register 1
uint8_t int_status1;
// interrupt status register 2
uint8_t int_status2;
// ezmac status register
uint8_t ezmac_status;
// The error statistics counters
uint16_t prev_rx_seq_num;
uint32_t rx_packet_stats[RFM22B_RX_PACKET_STATS_LEN];
// The error statistics counters
uint16_t prev_rx_seq_num;
uint32_t rx_packet_stats[RFM22B_RX_PACKET_STATS_LEN];
// The packet statistics
struct rfm22b_stats stats;
// The packet statistics
struct rfm22b_stats stats;
// Stats
uint16_t errors;
// Stats
uint16_t errors;
// RSSI in dBm
int8_t rssi_dBm;
// RSSI in dBm
int8_t rssi_dBm;
// The tx data packet
PHPacket data_packet;
// The current tx packet
PHPacketHandle tx_packet;
// The previous tx packet (waiting for an ACK)
PHPacketHandle prev_tx_packet;
// The tx data read index
uint16_t tx_data_rd;
// The tx data write index
uint16_t tx_data_wr;
// The tx packet sequence number
uint16_t tx_seq;
// The tx data packet
PHPacket data_packet;
// The current tx packet
PHPacketHandle tx_packet;
// The previous tx packet (waiting for an ACK)
PHPacketHandle prev_tx_packet;
// The tx data read index
uint16_t tx_data_rd;
// The tx data write index
uint16_t tx_data_wr;
// The tx packet sequence number
uint16_t tx_seq;
// The rx data packet
PHPacket rx_packet;
// The receive buffer write index
uint16_t rx_buffer_wr;
// The receive buffer write index
uint16_t rx_packet_len;
// Is the modem currently in Rx mode?
bool in_rx_mode;
// The rx data packet
PHPacket rx_packet;
// The receive buffer write index
uint16_t rx_buffer_wr;
// The receive buffer write index
uint16_t rx_packet_len;
// Is the modem currently in Rx mode?
bool in_rx_mode;
// The status packet
PHStatusPacket status_packet;
// The status packet
PHStatusPacket status_packet;
// The ACK/NACK packet
PHAckNackPacket ack_nack_packet;
// The ACK/NACK packet
PHAckNackPacket ack_nack_packet;
#ifdef PIOS_PPM_RECEIVER
// The PPM packet
PHPpmPacket ppm_packet;
// The PPM packet
PHPpmPacket ppm_packet;
#endif
// The connection packet.
PHConnectionPacket con_packet;
// The connection packet.
PHConnectionPacket con_packet;
// Send flags
bool send_status;
bool send_ppm;
bool send_connection_request;
bool time_to_send;
// Send flags
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 number of times that the current packet has been resent.
uint8_t cur_resent_count;
// The offset between our clock and the global send clock
uint8_t time_to_send_offset;
// The initial frequency
uint32_t init_frequency;
// The number of frequency hopping channels.
uint16_t num_channels;
// The initial frequency
uint32_t init_frequency;
// The number of frequency hopping channels.
uint16_t num_channels;
// The frequency hopping step size
float frequency_step_size;
// current frequency hop channel
uint8_t frequency_hop_channel;
// the frequency hop step size
uint8_t frequency_hop_step_size_reg;
// afc correction reading (in Hz)
int8_t afc_correction_Hz;
// The frequency hopping step size
float frequency_step_size;
// current frequency hop channel
uint8_t frequency_hop_channel;
// afc correction reading (in Hz)
int8_t afc_correction_Hz;
// The packet timers.
portTickType packet_start_ticks;
portTickType tx_complete_ticks;
portTickType rx_complete_ticks;
portTickType time_delta;
// The packet timers.
portTickType packet_start_ticks;
portTickType tx_complete_ticks;
portTickType rx_complete_ticks;
portTickType time_delta;
// The maximum time (ms) that it should take to transmit / receive a packet.
uint32_t max_packet_time;
// The maximum time (ms) that it should take to transmit / receive a packet.
uint32_t max_packet_time;
// The maximum time to wait for an ACK.
uint8_t max_ack_delay;
// The maximum time to wait for an ACK.
uint8_t max_ack_delay;
#ifdef PIOS_INCLUDE_RFM22B_RCVR
// The PPM channel values
uint16_t ppm_channel[PIOS_RFM22B_RCVR_MAX_CHANNELS];
uint8_t ppm_supv_timer;
bool ppm_fresh;
// The PPM channel values
uint16_t ppm_channel[PIOS_RFM22B_RCVR_MAX_CHANNELS];
uint8_t ppm_supv_timer;
bool ppm_fresh;
#endif
};
@ -802,9 +758,7 @@ struct pios_rfm22b_dev {
// External function definitions
bool PIOS_RFM22_EXT_Int(void);
bool PIOS_RFM22B_validate(struct pios_rfm22b_dev * rfm22b_dev);
void PIOS_RFM22B_InjectEvent(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR);
bool PIOS_RFM22B_Validate(struct pios_rfm22b_dev *rfm22b_dev);
// Global variable definitions

25
flight/uavobjects/uavobjectmanager.c
View File

@ -34,6 +34,10 @@
#include "openpilot.h"
#include "pios_struct_helper.h"
#if (defined(__MACH__) && defined(__APPLE__))
#include <mach-o/getsect.h>
#endif
// Constants
// Private types
@ -41,9 +45,21 @@
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
/* Table of UAVO handles registered at compile time */
// Mach-o: dummy segment to calculate ASLR offset in sim_osx
#if (defined(__MACH__) && defined(__APPLE__))
static long _aslr_offset __attribute__((section("__DATA,_aslr")));
#endif
/* Table of UAVO handles */
#if (defined(__MACH__) && defined(__APPLE__))
/* Mach-o format */
static struct UAVOData ** __start__uavo_handles;
static struct UAVOData ** __stop__uavo_handles;
#else
/* ELF format: automagically defined at compile time */
extern struct UAVOData * __start__uavo_handles[] __attribute__((weak));
extern struct UAVOData * __stop__uavo_handles[] __attribute__((weak));
#endif
#define UAVO_LIST_ITERATE(_item) \
for (struct UAVOData ** _uavo_slot = __start__uavo_handles; \
@ -199,6 +215,13 @@ int32_t UAVObjInitialize()
// Initialize variables
memset(&stats, 0, sizeof(UAVObjStats));
/* Initialize _uavo_handles start/stop pointers */
#if (defined(__MACH__) && defined(__APPLE__))
uint64_t aslr_offset = (uint64_t) & _aslr_offset - getsectbyname("__DATA","_aslr")->addr;
__start__uavo_handles = (struct UAVOData **) (getsectbyname("__DATA","_uavo_handles")->addr + aslr_offset);
__stop__uavo_handles = (struct UAVOData **) ((uint64_t)__start__uavo_handles + getsectbyname("__DATA","_uavo_handles")->size);
#endif
// Initialize the uavo handle table
memset(__start__uavo_handles, 0,
(uintptr_t)__stop__uavo_handles - (uintptr_t)__start__uavo_handles);

4
flight/uavobjects/uavobjecttemplate.c
View File

@ -40,7 +40,11 @@
#include "$(NAMELC).h"
// Private variables
#if (defined(__MACH__) && defined(__APPLE__))
static UAVObjHandle handle __attribute__((section("__DATA,_uavo_handles")));
#else
static UAVObjHandle handle __attribute__((section("_uavo_handles")));
#endif
/**
* Initialize object.

28
ground/openpilotgcs/src/plugins/setupwizard/levellingutil.cpp → ground/openpilotgcs/src/plugins/setupwizard/cccalibrationutil.cpp
View File

@ -1,11 +1,11 @@
/**
******************************************************************************
*
* @file levellingutil.cpp
* @file cccalibrationutil.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup LevellingUtil
* @addtogroup CCCalibrationUtil
* @{
* @brief
*****************************************************************************/
@ -25,7 +25,7 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "levellingutil.h"
#include "cccalibrationutil.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "attitudesettings.h"
@ -33,20 +33,20 @@
#include "gyros.h"
LevellingUtil::LevellingUtil(long measurementCount, long measurementRate) : QObject(),
CCCalibrationUtil::CCCalibrationUtil(long measurementCount, long measurementRate) : QObject(),
m_isMeasuring(false), m_accelMeasurementCount(measurementCount), m_gyroMeasurementCount(measurementCount),
m_accelMeasurementRate(measurementRate), m_gyroMeasurementRate(measurementRate)
{
}
LevellingUtil::LevellingUtil(long accelMeasurementCount, long accelMeasurementRate,
CCCalibrationUtil::CCCalibrationUtil(long accelMeasurementCount, long accelMeasurementRate,
long gyroMeasurementCount, long gyroMeasurementRate) : QObject(),
m_isMeasuring(false), m_accelMeasurementCount(accelMeasurementCount), m_gyroMeasurementCount(gyroMeasurementCount),
m_accelMeasurementRate(accelMeasurementRate), m_gyroMeasurementRate(gyroMeasurementRate)
{
}
void LevellingUtil::start()
void CCCalibrationUtil::start()
{
if(!m_isMeasuring) {
startMeasurement();
@ -58,15 +58,16 @@ void LevellingUtil::start()
}
}
void LevellingUtil::abort()
void CCCalibrationUtil::abort()
{
if(m_isMeasuring) {
stopMeasurement();
}
}
void LevellingUtil::gyroMeasurementsUpdated(UAVObject *obj)
void CCCalibrationUtil::gyroMeasurementsUpdated(UAVObject *obj)
{
Q_UNUSED(obj);
QMutexLocker locker(&m_measurementMutex);
if(m_receivedGyroUpdates < m_gyroMeasurementCount) {
@ -91,8 +92,9 @@ void LevellingUtil::gyroMeasurementsUpdated(UAVObject *obj)
}
}
void LevellingUtil::accelMeasurementsUpdated(UAVObject *obj)
void CCCalibrationUtil::accelMeasurementsUpdated(UAVObject *obj)
{
Q_UNUSED(obj);
QMutexLocker locker(&m_measurementMutex);
if(m_receivedAccelUpdates < m_accelMeasurementCount) {
@ -117,7 +119,7 @@ void LevellingUtil::accelMeasurementsUpdated(UAVObject *obj)
}
}
void LevellingUtil::timeout()
void CCCalibrationUtil::timeout()
{
QMutexLocker locker(&m_measurementMutex);
@ -125,7 +127,7 @@ void LevellingUtil::timeout()
emit timeout(tr("Calibration timed out before receiving required updates."));
}
void LevellingUtil::startMeasurement()
void CCCalibrationUtil::startMeasurement()
{
QMutexLocker locker(&m_measurementMutex);
@ -174,7 +176,7 @@ void LevellingUtil::startMeasurement()
uavObject->setMetadata(newMetaData);
}
void LevellingUtil::stopMeasurement()
void CCCalibrationUtil::stopMeasurement()
{
m_isMeasuring = false;
@ -202,7 +204,7 @@ void LevellingUtil::stopMeasurement()
AttitudeSettings::GetInstance(uavObjectManager)->setData(attitudeSettingsData);
}
accelGyroBias LevellingUtil::calculateLevellingData()
accelGyroBias CCCalibrationUtil::calculateLevellingData()
{
accelGyroBias bias;
bias.m_accelerometerXBias = m_accelerometerX / (double)m_receivedAccelUpdates / ACCELERATION_SCALE;

16
ground/openpilotgcs/src/plugins/setupwizard/levellingutil.h → ground/openpilotgcs/src/plugins/setupwizard/cccalibrationutil.h
View File

@ -1,11 +1,11 @@
/**
******************************************************************************
*
* @file levellingutil.h
* @file cccalibrationutil.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup LevellingUtil
* @addtogroup CCCalibrationUtil
* @{
* @brief
*****************************************************************************/
@ -25,8 +25,8 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef LEVELLINGUTIL_H
#define LEVELLINGUTIL_H
#ifndef CCCALIBRATIONUTIL_H
#define CCCALIBRATIONUTIL_H
#include <QObject>
#include <QTimer>
@ -35,12 +35,12 @@
#include "uavobject.h"
#include "vehicleconfigurationsource.h"
class LevellingUtil : public QObject
class CCCalibrationUtil : public QObject
{
Q_OBJECT
public:
explicit LevellingUtil(long measurementCount, long measurementRate);
explicit LevellingUtil(long accelMeasurementCount, long accelMeasurementRate,
explicit CCCalibrationUtil(long measurementCount, long measurementRate);
explicit CCCalibrationUtil(long accelMeasurementCount, long accelMeasurementRate,
long gyroMeasurementCount, long gyroMeasurementRate);
signals:
@ -89,4 +89,4 @@ private:
accelGyroBias calculateLevellingData();
};
#endif // LEVELLINGUTIL_H
#endif // CCCALIBRATIONUTIL_H

2
ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.cpp
View File

@ -82,7 +82,7 @@ void ConnectionDiagram::setupGraphicsScene()
case VehicleConfigurationSource::CONTROLLER_CC:
case VehicleConfigurationSource::CONTROLLER_CC3D:
case VehicleConfigurationSource::CONTROLLER_REVO:
case VehicleConfigurationSource::CONTROLLER_PIPX:
case VehicleConfigurationSource::CONTROLLER_OPLINK:
default:
elementsToShow << "controller";
break;

2
ground/openpilotgcs/src/plugins/setupwizard/outputcalibrationutil.cpp
View File

@ -46,7 +46,7 @@ OutputCalibrationUtil::~OutputCalibrationUtil()
void OutputCalibrationUtil::startChannelOutput(quint16 channel, quint16 safeValue)
{
if(m_outputChannel < 0 && channel >= 0 && channel < ActuatorCommand::CHANNEL_NUMELEM)
if(m_outputChannel < 0 && channel < ActuatorCommand::CHANNEL_NUMELEM)
{
//Start output...
m_outputChannel = channel;

6
ground/openpilotgcs/src/plugins/setupwizard/pages/autoupdatepage.cpp
View File

@ -15,9 +15,9 @@ AutoUpdatePage::AutoUpdatePage(SetupWizard *wizard, QWidget *parent) :
Q_ASSERT(pm);
UploaderGadgetFactory *uploader = pm->getObject<UploaderGadgetFactory>();
Q_ASSERT(uploader);
connect(ui->startUpdate,SIGNAL(clicked()), this, SLOT(disableButtons()));
connect(ui->startUpdate,SIGNAL(clicked()),uploader,SIGNAL(autoUpdate()));
connect(uploader,SIGNAL(autoUpdateSignal(uploader::AutoUpdateStep,QVariant)),this,SLOT(updateStatus(uploader::AutoUpdateStep,QVariant)));
connect(ui->startUpdate, SIGNAL(clicked()), this, SLOT(disableButtons()));
connect(ui->startUpdate, SIGNAL(clicked()), uploader, SIGNAL(autoUpdate()));
connect(uploader, SIGNAL(autoUpdateSignal(uploader::AutoUpdateStep,QVariant)), this, SLOT(updateStatus(uploader::AutoUpdateStep, QVariant)));
}
AutoUpdatePage::~AutoUpdatePage()

61
ground/openpilotgcs/src/plugins/setupwizard/pages/levellingpage.cpp → ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.cpp
View File

@ -1,11 +1,11 @@
/**
******************************************************************************
*
* @file levellingpage.cpp
* @file cccalibrationpage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup LevellingPage
* @addtogroup CCCalibrationPage
* @{
* @brief
*****************************************************************************/
@ -27,38 +27,37 @@
#include <QMessageBox>
#include <QDebug>
#include "levellingpage.h"
#include "ui_levellingpage.h"
#include "cccalibrationpage.h"
#include "ui_cccalibrationpage.h"
#include "setupwizard.h"
LevellingPage::LevellingPage(SetupWizard *wizard, QWidget *parent) :
CCCalibrationPage::CCCalibrationPage(SetupWizard *wizard, QWidget *parent) :
AbstractWizardPage(wizard, parent),
ui(new Ui::LevellingPage), m_levellingUtil(0)
ui(new Ui::CCCalibrationPage), m_calibrationUtil(0)
{
ui->setupUi(this);
connect(ui->levelButton, SIGNAL(clicked()), this, SLOT(performLevelling()));
connect(ui->levelButton, SIGNAL(clicked()), this, SLOT(performCalibration()));
}
LevellingPage::~LevellingPage()
CCCalibrationPage::~CCCalibrationPage()
{
if(m_levellingUtil) {
delete m_levellingUtil;
if(m_calibrationUtil) {
delete m_calibrationUtil;
}
delete ui;
}
bool LevellingPage::validatePage()
bool CCCalibrationPage::validatePage()
{
return true;
}
bool LevellingPage::isComplete() const
bool CCCalibrationPage::isComplete() const
{
//const_cast<LevellingPage *>(this)->getWizard()->isLevellingPerformed() &&
return ui->levelButton->isEnabled();
}
void LevellingPage::enableButtons(bool enable)
void CCCalibrationPage::enableButtons(bool enable)
{
ui->levelButton->setEnabled(enable);
getWizard()->button(QWizard::NextButton)->setEnabled(enable);
@ -68,7 +67,7 @@ void LevellingPage::enableButtons(bool enable)
QApplication::processEvents();
}
void LevellingPage::performLevelling()
void CCCalibrationPage::performCalibration()
{
if(!getWizard()->getConnectionManager()->isConnected()) {
QMessageBox msgBox;
@ -84,19 +83,19 @@ void LevellingPage::performLevelling()
ui->progressLabel->setText(QString(tr("Retrieving data...")));
if(!m_levellingUtil)
if(!m_calibrationUtil)
{
m_levellingUtil = new LevellingUtil(BIAS_CYCLES, BIAS_RATE);
m_calibrationUtil = new CCCalibrationUtil(BIAS_CYCLES, BIAS_RATE);
}
connect(m_levellingUtil, SIGNAL(progress(long,long)), this, SLOT(levellingProgress(long,long)));
connect(m_levellingUtil, SIGNAL(done(accelGyroBias)), this, SLOT(levellingDone(accelGyroBias)));
connect(m_levellingUtil, SIGNAL(timeout(QString)), this, SLOT(levellingTimeout(QString)));
connect(m_calibrationUtil, SIGNAL(progress(long,long)), this, SLOT(calibrationProgress(long,long)));
connect(m_calibrationUtil, SIGNAL(done(accelGyroBias)), this, SLOT(calibrationDone(accelGyroBias)));
connect(m_calibrationUtil, SIGNAL(timeout(QString)), this, SLOT(calibrationTimeout(QString)));
m_levellingUtil->start();
m_calibrationUtil->start();
}
void LevellingPage::levellingProgress(long current, long total)
void CCCalibrationPage::calibrationProgress(long current, long total)
{
if(ui->levellinProgressBar->maximum() != (int)total) {
ui->levellinProgressBar->setMaximum((int)total);
@ -106,16 +105,16 @@ void LevellingPage::levellingProgress(long current, long total)
}
}
void LevellingPage::levellingDone(accelGyroBias bias)
void CCCalibrationPage::calibrationDone(accelGyroBias bias)
{
stopLevelling();
stopCalibration();
getWizard()->setLevellingBias(bias);
emit completeChanged();
}
void LevellingPage::levellingTimeout(QString message)
void CCCalibrationPage::calibrationTimeout(QString message)
{
stopLevelling();
stopCalibration();
QMessageBox msgBox;
msgBox.setText(message);
@ -124,13 +123,13 @@ void LevellingPage::levellingTimeout(QString message)
msgBox.exec();
}
void LevellingPage::stopLevelling()
void CCCalibrationPage::stopCalibration()
{
if(m_levellingUtil)
if(m_calibrationUtil)
{
disconnect(m_levellingUtil, SIGNAL(progress(long,long)), this, SLOT(levellingProgress(long,long)));
disconnect(m_levellingUtil, SIGNAL(done(accelGyroBias)), this, SLOT(levellingDone(accelGyroBias)));
disconnect(m_levellingUtil, SIGNAL(timeout(QString)), this, SLOT(levellingTimeout(QString)));
disconnect(m_calibrationUtil, SIGNAL(progress(long,long)), this, SLOT(calibrationProgress(long,long)));
disconnect(m_calibrationUtil, SIGNAL(done(accelGyroBias)), this, SLOT(calibrationDone(accelGyroBias)));
disconnect(m_calibrationUtil, SIGNAL(timeout(QString)), this, SLOT(calibrationTimeout(QString)));
ui->progressLabel->setText(QString(tr("<font color='green'>Done!</font>")));
enableButtons(true);
}

34
ground/openpilotgcs/src/plugins/setupwizard/pages/levellingpage.h → ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.h
View File

@ -1,11 +1,11 @@
/**
******************************************************************************
*
* @file levellingpage.h
* @file cccalibrationpage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup LevellingPage
* @addtogroup CCCalibrationPage
* @{
* @brief
*****************************************************************************/
@ -25,41 +25,41 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef LEVELLINGPAGE_H
#define LEVELLINGPAGE_H
#ifndef CCCALIBRATIONPAGE_H
#define CCCALIBRATIONPAGE_H
#include "abstractwizardpage.h"
#include "levellingutil.h"
#include "cccalibrationutil.h"
namespace Ui {
class LevellingPage;
class CCCalibrationPage;
}
class LevellingPage : public AbstractWizardPage
class CCCalibrationPage : public AbstractWizardPage
{
Q_OBJECT
public:
explicit LevellingPage(SetupWizard *wizard, QWidget *parent = 0);
~LevellingPage();
explicit CCCalibrationPage(SetupWizard *wizard, QWidget *parent = 0);
~CCCalibrationPage();
bool validatePage();
bool isComplete() const;
private slots:
void performLevelling();
void levellingProgress(long current, long total);
void levellingDone(accelGyroBias bias);
void levellingTimeout(QString message);
void performCalibration();
void calibrationProgress(long current, long total);
void calibrationDone(accelGyroBias bias);
void calibrationTimeout(QString message);
private:
static const int BIAS_CYCLES = 200;
static const int BIAS_RATE = 30;
Ui::LevellingPage *ui;
LevellingUtil *m_levellingUtil;
Ui::CCCalibrationPage *ui;
CCCalibrationUtil *m_calibrationUtil;
void stopLevelling();
void stopCalibration();
void enableButtons(bool enable);
};
#endif // LEVELLINGPAGE_H
#endif // CCCALIBRATIONPAGE_H

16
ground/openpilotgcs/src/plugins/setupwizard/pages/levellingpage.ui → ground/openpilotgcs/src/plugins/setupwizard/pages/cccalibrationpage.ui
View File

@ -1,7 +1,7 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>LevellingPage</class>
<widget class="QWizardPage" name="LevellingPage">
<class>CCCalibrationPage</class>
<widget class="QWizardPage" name="CCCalibrationPage">
<property name="geometry">
<rect>
<x>0</x>
@ -20,12 +20,12 @@
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;&quot;&gt;OpenPilot controller leveling calibration procedure&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:12pt; font-weight:600;&quot;&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:10pt;&quot;&gt;The wizard needs to get information from the controller to determine in which position the vehicle is normally considered to be level. To be able to successfully perform these measurements, you need to place the vehicle on a surface that is as flat and level as possible. Examples of such surfaces could be a table top or the floor. Be careful to ensure that the vehicle really is level, since this step will affect the accelerometer and gyro bias in the controller software.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:10pt;&quot;&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'MS Shell Dlg 2'; font-size:10pt;&quot;&gt;To perform the leveling, please push the Calculate button and wait for the process to finish. &lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600;&quot;&gt;OpenPilot CopterControl sensor calibration procedure&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;The wizard needs to get information from the controller to determine in which position the vehicle is normally considered to be level. To be able to successfully perform these measurements, you need to place the vehicle on a surface that is as flat and level as possible. Examples of such surfaces could be a table top or the floor. Be careful to ensure that the vehicle really is level, since this step will affect the accelerometer and gyro bias in the controller software.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;To perform the calibration, please push the Calculate button and wait for the process to finish. &lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>

8
ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp
View File

@ -97,12 +97,12 @@ SetupWizard::CONTROLLER_TYPE ControllerPage::getControllerType()
switch (id) {
case 0x0301:
return SetupWizard::CONTROLLER_PIPX;
return SetupWizard::CONTROLLER_OPLINK;
case 0x0401:
return SetupWizard::CONTROLLER_CC;
case 0x0402:
return SetupWizard::CONTROLLER_CC3D;
case 0x0901:
case 0x0903:
return SetupWizard::CONTROLLER_REVO;
default:
return SetupWizard::CONTROLLER_UNKNOWN;
@ -122,9 +122,7 @@ void ControllerPage::setupBoardTypes()
ui->boardTypeCombo->addItem(tr("OpenPilot CopterControl"), SetupWizard::CONTROLLER_CC);
ui->boardTypeCombo->addItem(tr("OpenPilot CopterControl 3D"), SetupWizard::CONTROLLER_CC3D);
ui->boardTypeCombo->addItem(tr("OpenPilot Revolution"), SetupWizard::CONTROLLER_REVO);
//ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(ui->boardTypeCombo->count() - 1, 0), v, Qt::UserRole - 1);
ui->boardTypeCombo->addItem(tr("OpenPilot OPLink Radio Modem"), SetupWizard::CONTROLLER_PIPX);
//ui->boardTypeCombo->model()->setData(ui->boardTypeCombo->model()->index(ui->boardTypeCombo->count() - 1, 0), v, Qt::UserRole - 1);
ui->boardTypeCombo->addItem(tr("OpenPilot OPLink Radio Modem"), SetupWizard::CONTROLLER_OPLINK);
}
void ControllerPage::setControllerType(SetupWizard::CONTROLLER_TYPE type)

50
ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.cpp
View File

@ -74,18 +74,42 @@ bool InputPage::restartNeeded(VehicleConfigurationSource::INPUT_TYPE selectedTyp
Q_ASSERT(uavoManager);
HwSettings* hwSettings = HwSettings::GetInstance(uavoManager);
HwSettings::DataFields data = hwSettings->getData();
switch(selectedType)
{
case VehicleConfigurationSource::INPUT_PWM:
return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PWM;
case VehicleConfigurationSource::INPUT_PPM:
return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PPM;
case VehicleConfigurationSource::INPUT_SBUS:
return data.CC_MainPort != HwSettings::CC_MAINPORT_SBUS;
case VehicleConfigurationSource::INPUT_DSM2:
// TODO: Handle all of the DSM types ?? Which is most common?
return data.CC_MainPort != HwSettings::CC_MAINPORT_DSM2;
default:
return true;
switch(getWizard()->getControllerType()) {
case SetupWizard::CONTROLLER_CC:
case SetupWizard::CONTROLLER_CC3D:
{
switch(selectedType)
{
case VehicleConfigurationSource::INPUT_PWM:
return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PWM;
case VehicleConfigurationSource::INPUT_PPM:
return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PPM;
case VehicleConfigurationSource::INPUT_SBUS:
return data.CC_MainPort != HwSettings::CC_MAINPORT_SBUS;
case VehicleConfigurationSource::INPUT_DSM2:
// TODO: Handle all of the DSM types ?? Which is most common?
return data.CC_MainPort != HwSettings::CC_MAINPORT_DSM2;
default: return true;
}
break;
}
case SetupWizard::CONTROLLER_REVO:
{
switch(selectedType)
{
case VehicleConfigurationSource::INPUT_PWM:
return data.RM_RcvrPort != HwSettings::CC_RCVRPORT_PWM;
case VehicleConfigurationSource::INPUT_PPM:
return data.RM_RcvrPort != HwSettings::CC_RCVRPORT_PPM;
case VehicleConfigurationSource::INPUT_SBUS:
return data.RM_MainPort != HwSettings::CC_MAINPORT_SBUS;
case VehicleConfigurationSource::INPUT_DSM2:
// TODO: Handle all of the DSM types ?? Which is most common?
return data.RM_MainPort != HwSettings::CC_MAINPORT_DSM2;
default: return true;
}
break;
}
default: return true;
}
}

4
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
View File

@ -330,6 +330,7 @@ void OutputCalibrationPage::debugLogChannelValues()
void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value)
{
Q_UNUSED(value);
if(ui->motorNeutralButton->isChecked()) {
quint16 value = ui->motorNeutralSlider->value();
m_calibrationUtil->setChannelOutputValue(value);
@ -348,6 +349,7 @@ void OutputCalibrationPage::on_servoCenterButton_toggled(bool checked)
void OutputCalibrationPage::on_servoCenterSlider_valueChanged(int position)
{
Q_UNUSED(position);
if(ui->servoCenterButton->isChecked()) {
quint16 value = ui->servoCenterSlider->value();
m_calibrationUtil->setChannelOutputValue(value);
@ -375,6 +377,7 @@ void OutputCalibrationPage::on_servoMinAngleButton_toggled(bool checked)
void OutputCalibrationPage::on_servoMinAngleSlider_valueChanged(int position)
{
Q_UNUSED(position);
if(ui->servoMinAngleButton->isChecked()) {
quint16 value = ui->servoMinAngleSlider->value();
m_calibrationUtil->setChannelOutputValue(value);
@ -393,6 +396,7 @@ void OutputCalibrationPage::on_servoMaxAngleButton_toggled(bool checked)
void OutputCalibrationPage::on_servoMaxAngleSlider_valueChanged(int position)
{
Q_UNUSED(position);
if(ui->servoMaxAngleButton->isChecked()) {
quint16 value = ui->servoMaxAngleSlider->value();
m_calibrationUtil->setChannelOutputValue(value);

42
ground/openpilotgcs/src/plugins/setupwizard/pages/revocalibrationpage.cpp Normal file
View File

@ -0,0 +1,42 @@
/**
******************************************************************************
*
* @file revocalibrationpage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup RevoCalibrationPage
* @{
* @brief
*****************************************************************************/
/*
* 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 "revocalibrationpage.h"
#include "ui_revocalibrationpage.h"
RevoCalibrationPage::RevoCalibrationPage(SetupWizard *wizard, QWidget *parent) :
AbstractWizardPage(wizard, parent),
ui(new Ui::RevoCalibrationPage)
{
ui->setupUi(this);
setFinalPage(true);
}
RevoCalibrationPage::~RevoCalibrationPage()
{
delete ui;
}

49
ground/openpilotgcs/src/plugins/setupwizard/pages/revocalibrationpage.h Normal file
View File

@ -0,0 +1,49 @@
/**
******************************************************************************
*
* @file revocalibrationpage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup RevoCalibrationPage
* @{
* @brief
*****************************************************************************/
/*
* 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 REVOCALIBRATIONPAGE_H
#define REVOCALIBRATIONPAGE_H
#include "abstractwizardpage.h"
namespace Ui {
class RevoCalibrationPage;
}
class RevoCalibrationPage : public AbstractWizardPage
{
Q_OBJECT
public:
explicit RevoCalibrationPage(SetupWizard *wizard, QWidget *parent = 0);
~RevoCalibrationPage();
private:
Ui::RevoCalibrationPage *ui;
};
#endif // REVOCALIBRATIONPAGE_H

46
ground/openpilotgcs/src/plugins/setupwizard/pages/revocalibrationpage.ui Normal file
View File

@ -0,0 +1,46 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>RevoCalibrationPage</class>
<widget class="QWizardPage" name="RevoCalibrationPage">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>600</width>
<height>400</height>
</rect>
</property>
<property name="windowTitle">
<string>WizardPage</string>
</property>
<widget class="QLabel" name="label">
<property name="geometry">
<rect>
<x>10</x>
<y>10</y>
<width>582</width>
<height>150</height>
</rect>
</property>
<property name="text">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:12pt; font-weight:600;&quot;&gt;OpenPilot Revolution controller sensor calibration procedure&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:12pt; font-weight:600;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;The calibration procedure for the OpenPilot Revolution controller is not yet implemented in this setup wizard. To calibrate your OpenPilot Revolution controller please use the calibration utility found in the configuration plugin after you have finished this wizard.&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:10pt;&quot;&gt;Future versions of will have an easy to use calibration procedure implemented.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</widget>
<resources/>
<connections/>
</ui>

39
ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
View File

@ -36,12 +36,13 @@
#include "pages/surfacepage.h"
#include "pages/inputpage.h"
#include "pages/outputpage.h"
#include "pages/levellingpage.h"
#include "pages/cccalibrationpage.h"
#include "pages/summarypage.h"
#include "pages/savepage.h"
#include "pages/notyetimplementedpage.h"
#include "pages/rebootpage.h"
#include "pages/outputcalibrationpage.h"
#include "pages/revocalibrationpage.h"
#include "extensionsystem/pluginmanager.h"
#include "vehicleconfigurationhelper.h"
#include "actuatorsettings.h"
@ -51,7 +52,7 @@
SetupWizard::SetupWizard(QWidget *parent) : QWizard(parent), VehicleConfigurationSource(),
m_controllerType(CONTROLLER_UNKNOWN),
m_vehicleType(VEHICLE_UNKNOWN), m_inputType(INPUT_UNKNOWN), m_escType(ESC_UNKNOWN),
m_levellingPerformed(false), m_restartNeeded(false), m_connectionManager(0)
m_calibrationPerformed(false), m_restartNeeded(false), m_connectionManager(0)
{
setWindowTitle(tr("OpenPilot Setup Wizard"));
setOption(QWizard::IndependentPages, false);
@ -81,9 +82,9 @@ int SetupWizard::nextId() const
{
case CONTROLLER_CC:
case CONTROLLER_CC3D:
return PAGE_INPUT;
case CONTROLLER_REVO:
case CONTROLLER_PIPX:
return PAGE_INPUT;
case CONTROLLER_OPLINK:
default:
return PAGE_NOTYETIMPLEMENTED;
}
@ -117,12 +118,25 @@ int SetupWizard::nextId() const
return PAGE_VEHICLES;
case PAGE_OUTPUT:
return PAGE_SUMMARY;
case PAGE_LEVELLING:
return PAGE_CALIBRATION;
case PAGE_CALIBRATION:
case PAGE_CC_CALIBRATION:
return PAGE_OUTPUT_CALIBRATION;
case PAGE_REVO_CALIBRATION:
return PAGE_OUTPUT_CALIBRATION;
case PAGE_OUTPUT_CALIBRATION:
return PAGE_SAVE;
case PAGE_SUMMARY:
return PAGE_LEVELLING;
{
switch(getControllerType())
{
case CONTROLLER_CC:
case CONTROLLER_CC3D:
return PAGE_CC_CALIBRATION;
case CONTROLLER_REVO:
return PAGE_REVO_CALIBRATION;
default:
return PAGE_NOTYETIMPLEMENTED;
}
}
case PAGE_SAVE:
return PAGE_END;
case PAGE_NOTYETIMPLEMENTED:
@ -147,7 +161,7 @@ QString SetupWizard::getSummaryText()
case CONTROLLER_REVO:
summary.append(tr("OpenPilot Revolution"));
break;
case CONTROLLER_PIPX:
case CONTROLLER_OPLINK:
summary.append(tr("OpenPilot OPLink Radio Modem"));
break;
default:
@ -275,8 +289,9 @@ void SetupWizard::createPages()
setPage(PAGE_SURFACE, new SurfacePage(this));
setPage(PAGE_INPUT, new InputPage(this));
setPage(PAGE_OUTPUT, new OutputPage(this));
setPage(PAGE_LEVELLING, new LevellingPage(this));
setPage(PAGE_CALIBRATION, new OutputCalibrationPage(this));
setPage(PAGE_CC_CALIBRATION, new CCCalibrationPage(this));
setPage(PAGE_REVO_CALIBRATION, new RevoCalibrationPage(this));
setPage(PAGE_OUTPUT_CALIBRATION, new OutputCalibrationPage(this));
setPage(PAGE_SUMMARY, new SummaryPage(this));
setPage(PAGE_SAVE, new SavePage(this));
setPage(PAGE_REBOOT, new RebootPage(this));
@ -295,7 +310,7 @@ void SetupWizard::createPages()
void SetupWizard::customBackClicked()
{
if(currentId() == PAGE_CALIBRATION) {
if(currentId() == PAGE_OUTPUT_CALIBRATION) {
static_cast<OutputCalibrationPage*>(currentPage())->customBackClicked();
}
else {

26
ground/openpilotgcs/src/plugins/setupwizard/setupwizard.h
View File

@ -29,7 +29,7 @@
#define SETUPWIZARD_H
#include <QWizard>
#include "levellingutil.h"
#include "cccalibrationutil.h"
#include <coreplugin/icore.h>
#include <coreplugin/connectionmanager.h>
#include "vehicleconfigurationsource.h"
@ -58,9 +58,15 @@ public:
void setESCType(SetupWizard::ESC_TYPE type) { m_escType = type; }
SetupWizard::ESC_TYPE getESCType() const { return m_escType; }
void setLevellingBias(accelGyroBias bias) { m_levellingBias = bias; m_levellingPerformed = true; }
bool isLevellingPerformed() const { return m_levellingPerformed; }
accelGyroBias getLevellingBias() const { return m_levellingBias; }
void setGPSSetting(SetupWizard::GPS_SETTING setting) { m_gpsSetting = setting; }
SetupWizard::GPS_SETTING getGPSSetting() const {return m_gpsSetting;}
void setRadioSetting(SetupWizard::RADIO_SETTING setting) { m_radioSetting = setting; }
SetupWizard::RADIO_SETTING getRadioSetting() const {return m_radioSetting;}
void setLevellingBias(accelGyroBias bias) { m_calibrationBias = bias; m_calibrationPerformed = true; }
bool isCalibrationPerformed() const { return m_calibrationPerformed; }
accelGyroBias getCalibrationBias() const { return m_calibrationBias; }
void setActuatorSettings(QList<actuatorChannelSettings> actuatorSettings) { m_actuatorSettings = actuatorSettings; }
bool isMotorCalibrationPerformed() const { return m_motorCalibrationPerformed; }
@ -84,8 +90,9 @@ private slots:
void pageChanged(int currId);
private:
enum {PAGE_START, PAGE_CONTROLLER, PAGE_VEHICLES, PAGE_MULTI, PAGE_FIXEDWING,
PAGE_HELI, PAGE_SURFACE, PAGE_INPUT, PAGE_OUTPUT, PAGE_LEVELLING, PAGE_CALIBRATION,
PAGE_SAVE, PAGE_SUMMARY, PAGE_NOTYETIMPLEMENTED, PAGE_REBOOT, PAGE_END, PAGE_UPDATE};
PAGE_HELI, PAGE_SURFACE, PAGE_INPUT, PAGE_OUTPUT, PAGE_CC_CALIBRATION,
PAGE_REVO_CALIBRATION, PAGE_OUTPUT_CALIBRATION, PAGE_SAVE, PAGE_SUMMARY,
PAGE_NOTYETIMPLEMENTED, PAGE_REBOOT, PAGE_END, PAGE_UPDATE};
void createPages();
bool saveHardwareSettings() const;
bool canAutoUpdate() const;
@ -96,8 +103,11 @@ private:
INPUT_TYPE m_inputType;
ESC_TYPE m_escType;
bool m_levellingPerformed;
accelGyroBias m_levellingBias;
GPS_SETTING m_gpsSetting;
RADIO_SETTING m_radioSetting;
bool m_calibrationPerformed;
accelGyroBias m_calibrationBias;
bool m_motorCalibrationPerformed;
QList<actuatorChannelSettings> m_actuatorSettings;

19
ground/openpilotgcs/src/plugins/setupwizard/setupwizard.pro
View File

@ -25,8 +25,6 @@ HEADERS += setupwizardplugin.h \
pages/outputpage.h \
pages/inputpage.h \
pages/summarypage.h \
pages/levellingpage.h \
levellingutil.h \
vehicleconfigurationsource.h \
vehicleconfigurationhelper.h \
connectiondiagram.h \
@ -34,7 +32,10 @@ HEADERS += setupwizardplugin.h \
outputcalibrationutil.h \
pages/rebootpage.h \
pages/savepage.h \
pages/autoupdatepage.h
pages/autoupdatepage.h \
pages/cccalibrationpage.h \
cccalibrationutil.h \
pages/revocalibrationpage.h
SOURCES += setupwizardplugin.cpp \
setupwizard.cpp \
@ -51,8 +52,6 @@ SOURCES += setupwizardplugin.cpp \
pages/outputpage.cpp \
pages/inputpage.cpp \
pages/summarypage.cpp \
pages/levellingpage.cpp \
levellingutil.cpp \
vehicleconfigurationsource.cpp \
vehicleconfigurationhelper.cpp \
connectiondiagram.cpp \
@ -60,7 +59,10 @@ SOURCES += setupwizardplugin.cpp \
outputcalibrationutil.cpp \
pages/rebootpage.cpp \
pages/savepage.cpp \
pages/autoupdatepage.cpp
pages/autoupdatepage.cpp \
pages/cccalibrationpage.cpp \
cccalibrationutil.cpp \
pages/revocalibrationpage.cpp
OTHER_FILES += SetupWizard.pluginspec
@ -77,12 +79,13 @@ FORMS += \
pages/outputpage.ui \
pages/inputpage.ui \
pages/summarypage.ui \
pages/levellingpage.ui \
connectiondiagram.ui \
pages/outputcalibrationpage.ui \
pages/rebootpage.ui \
pages/savepage.ui \
pages/autoupdatepage.ui
pages/autoupdatepage.ui \
pages/cccalibrationpage.ui \
pages/revocalibrationpage.ui
RESOURCES += \
wizardResources.qrc

43
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -141,7 +141,38 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
}
break;
case VehicleConfigurationSource::CONTROLLER_REVO:
// TODO: Implement Revo settings
// Reset all ports
data.RM_RcvrPort = HwSettings::RM_RCVRPORT_DISABLED;
//Default mainport to be active telemetry link
data.RM_MainPort = HwSettings::RM_MAINPORT_TELEMETRY;
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_DISABLED;
switch(m_configSource->getInputType())
{
case VehicleConfigurationSource::INPUT_PWM:
data.RM_RcvrPort = HwSettings::RM_RCVRPORT_PWM;
break;
case VehicleConfigurationSource::INPUT_PPM:
data.RM_RcvrPort = HwSettings::RM_RCVRPORT_PPM;
break;
case VehicleConfigurationSource::INPUT_SBUS:
// We have to set teletry on flexport since s.bus needs the mainport.
data.RM_MainPort = HwSettings::RM_MAINPORT_SBUS;
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_TELEMETRY;
break;
case VehicleConfigurationSource::INPUT_DSMX10:
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_DSMX10BIT;
break;
case VehicleConfigurationSource::INPUT_DSMX11:
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_DSMX11BIT;
break;
case VehicleConfigurationSource::INPUT_DSM2:
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_DSM2;
break;
default:
break;
}
break;
default:
break;
@ -229,11 +260,17 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
switch(m_configSource->getVehicleSubType()) {
case VehicleConfigurationSource::MULTI_ROTOR_TRI_Y:
data.ChannelUpdateFreq[0] = updateFrequence;
if(m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
data.ChannelUpdateFreq[1] = updateFrequence;
}
break;
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_X:
case VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS:
data.ChannelUpdateFreq[0] = updateFrequence;
data.ChannelUpdateFreq[1] = updateFrequence;
if(m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
data.ChannelUpdateFreq[2] = updateFrequence;
}
break;
case VehicleConfigurationSource::MULTI_ROTOR_HEXA:
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y:
@ -295,9 +332,9 @@ void VehicleConfigurationHelper::applyLevellingConfiguration()
AttitudeSettings* attitudeSettings = AttitudeSettings::GetInstance(m_uavoManager);
Q_ASSERT(attitudeSettings);
AttitudeSettings::DataFields data = attitudeSettings->getData();
if(m_configSource->isLevellingPerformed())
if(m_configSource->isCalibrationPerformed())
{
accelGyroBias bias = m_configSource->getLevellingBias();
accelGyroBias bias = m_configSource->getCalibrationBias();
data.AccelBias[0] += bias.m_accelerometerXBias;
data.AccelBias[1] += bias.m_accelerometerYBias;

12
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
View File

@ -56,7 +56,7 @@ class VehicleConfigurationSource
public:
VehicleConfigurationSource();
enum CONTROLLER_TYPE {CONTROLLER_UNKNOWN, CONTROLLER_CC, CONTROLLER_CC3D, CONTROLLER_REVO, CONTROLLER_PIPX};
enum CONTROLLER_TYPE {CONTROLLER_UNKNOWN, CONTROLLER_CC, CONTROLLER_CC3D, CONTROLLER_REVO, CONTROLLER_OPLINK};
enum VEHICLE_TYPE {VEHICLE_UNKNOWN, VEHICLE_MULTI, VEHICLE_FIXEDWING, VEHICLE_HELI, VEHICLE_SURFACE};
enum VEHICLE_SUB_TYPE {MULTI_ROTOR_UNKNOWN, MULTI_ROTOR_TRI_Y, MULTI_ROTOR_QUAD_X, MULTI_ROTOR_QUAD_PLUS,
MULTI_ROTOR_HEXA, MULTI_ROTOR_HEXA_H, MULTI_ROTOR_HEXA_COAX_Y, MULTI_ROTOR_OCTO,
@ -65,14 +65,20 @@ public:
enum ESC_TYPE {ESC_RAPID, ESC_LEGACY, ESC_UNKNOWN};
enum INPUT_TYPE {INPUT_PWM, INPUT_PPM, INPUT_SBUS, INPUT_DSMX10, INPUT_DSMX11, INPUT_DSM2, INPUT_UNKNOWN};
enum GPS_SETTING {GPS_UBX, GPS_NMEA, GPS_DISABLED};
enum RADIO_SETTING {RADIO_TELEMETRY, RADIO_DISABLED};
virtual VehicleConfigurationSource::CONTROLLER_TYPE getControllerType() const = 0;
virtual VehicleConfigurationSource::VEHICLE_TYPE getVehicleType() const = 0;
virtual VehicleConfigurationSource::VEHICLE_SUB_TYPE getVehicleSubType() const = 0;
virtual VehicleConfigurationSource::INPUT_TYPE getInputType() const = 0;
virtual VehicleConfigurationSource::ESC_TYPE getESCType() const = 0;
virtual bool isLevellingPerformed() const = 0;
virtual accelGyroBias getLevellingBias() const = 0;
virtual VehicleConfigurationSource::GPS_SETTING getGPSSetting() const = 0;
virtual VehicleConfigurationSource::RADIO_SETTING getRadioSetting() const = 0;
virtual bool isCalibrationPerformed() const = 0;
virtual accelGyroBias getCalibrationBias() const = 0;
virtual bool isMotorCalibrationPerformed() const = 0;
virtual QList<actuatorChannelSettings> getActuatorSettings() const = 0;

4
make/templates/firmwareinfotemplate.c
View File

@ -55,7 +55,11 @@ struct __attribute__((packed)) fw_version_info {
uint8_t pad[20];
};
#if (defined(__MACH__) && defined(__APPLE__))
const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__((__section__("__TEXT,.fw_version_blob"))) = {
#else
const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__((__section__(".fw_version_blob"))) = {
#endif
.magic = { 'O','p','F','w' },
.commit_hash_prefix = 0x${HASH8},
.timestamp = ${UNIXTIME},