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Code Issues Releases Activity

Further improvements in link reliability on the PipX.

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This commit is contained in:
Brian Webb 2012-06-06 17:44:56 -07:00
parent 5876df250d
commit e9d0909a68
1 changed files with 36 additions and 113 deletions
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149
flight/PiOS/Common/pios_rfm22b.c
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@ -636,7 +636,7 @@ static void PIOS_RFM22B_Supervisor(uint32_t rfm22b_id)
} }
/* If we're waiting for a receive, we just need to make sure that there are no packets waiting to be transmitted. */ /* If we're waiting for a receive, we just need to make sure that there are no packets waiting to be transmitted. */
if(rf_mode == RX_WAIT_SYNC_MODE) if(rf_mode == RX_WAIT_PREAMBLE_MODE)
{ {
/* Start a packet transfer if one is available. */ /* Start a packet transfer if one is available. */
PIOS_RFM22B_TxStart(rfm22b_id, 0); PIOS_RFM22B_TxStart(rfm22b_id, 0);
@ -657,9 +657,9 @@ static void PIOS_RFM22B_Supervisor(uint32_t rfm22b_id)
rfm22_init_normal(rfm22b_dev->deviceID, rfm22b_dev->cfg.minFrequencyHz, rfm22b_dev->cfg.maxFrequencyHz, 50000); rfm22_init_normal(rfm22b_dev->deviceID, rfm22b_dev->cfg.minFrequencyHz, rfm22b_dev->cfg.maxFrequencyHz, 50000);
/* Start a packet transfer if one is available. */ /* Start a packet transfer if one is available. */
rf_mode = RX_WAIT_SYNC_MODE; rf_mode = RX_WAIT_PREAMBLE_MODE;
PIOS_RFM22B_TxStart(rfm22b_id, 0); PIOS_RFM22B_TxStart(rfm22b_id, 0);
if(rf_mode == RX_WAIT_SYNC_MODE) if(rf_mode == RX_WAIT_PREAMBLE_MODE)
{ {
/* Switch to RX mode */ /* Switch to RX mode */
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false); rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
@ -1119,7 +1119,7 @@ void rfm22_setRxMode(uint8_t mode, bool multi_packet_mode)
// FIFO mode, GFSK modulation // FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd; uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo | rfm22_write(RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo |
RFM22_mmc2_modtyp_gfsk); RFM22_mmc2_modtyp_gfsk);
} }
// empty the rx buffer // empty the rx buffer
@ -1144,12 +1144,11 @@ void rfm22_setRxMode(uint8_t mode, bool multi_packet_mode)
// enable RX interrupts // enable RX interrupts
rfm22_write(RFM22_interrupt_enable1, RFM22_ie1_encrcerror | RFM22_ie1_enpkvalid | rfm22_write(RFM22_interrupt_enable1, RFM22_ie1_encrcerror | RFM22_ie1_enpkvalid |
RFM22_ie1_enrxffafull | RFM22_ie1_enfferr); RFM22_ie1_enrxffafull | RFM22_ie1_enfferr);
rfm22_write(RFM22_interrupt_enable2, RFM22_ie2_enpreainval | RFM22_ie2_enpreaval | rfm22_write(RFM22_interrupt_enable2, RFM22_ie2_enpreainval | RFM22_ie2_enpreaval |
RFM22_ie2_enswdet); RFM22_ie2_enswdet);
// enable the receiver // enable the receiver
// rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_xton | RFM22_opfc1_rxon);
rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_rxon); rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_rxon);
exec_using_spi = FALSE; exec_using_spi = FALSE;
@ -1216,11 +1215,11 @@ uint8_t rfm22_txStart()
// FIFO mode, GFSK modulation // FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd; uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo | rfm22_write(RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo |
RFM22_mmc2_modtyp_gfsk); RFM22_mmc2_modtyp_gfsk);
// set the tx power // set the tx power
rfm22_write(RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_1 | rfm22_write(RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_1 |
RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | tx_power); RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | tx_power);
// clear FIFOs // clear FIFOs
rfm22_write(RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx); rfm22_write(RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
@ -1246,15 +1245,9 @@ uint8_t rfm22_txStart()
rf_mode = TX_DATA_MODE; rf_mode = TX_DATA_MODE;
// enable TX interrupts // enable TX interrupts
// rfm22_write(RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem | RFM22_ie1_enfferr);
rfm22_write(RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem); rfm22_write(RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem);
// read interrupt status - clear interrupts
//rfm22_read(RFM22_interrupt_status1);
//rfm22_read(RFM22_interrupt_status2);
// enable the transmitter // enable the transmitter
// rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_xton | RFM22_opfc1_txon);
rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_txon); rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_txon);
// Re-ensable interrrupts. // Re-ensable interrrupts.
@ -1275,20 +1268,18 @@ static void rfm22_setTxMode(uint8_t mode)
exec_using_spi = TRUE; exec_using_spi = TRUE;
// *******************
// disable interrupts // disable interrupts
rfm22_write(RFM22_interrupt_enable1, 0x00); rfm22_write(RFM22_interrupt_enable1, 0x00);
rfm22_write(RFM22_interrupt_enable2, 0x00); rfm22_write(RFM22_interrupt_enable2, 0x00);
// rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_xton); // READY mode // TUNE mode
rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon); // TUNE mode rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
RX_LED_OFF; RX_LED_OFF;
// set the tx power // set the tx power
rfm22_write(RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_1 | rfm22_write(RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_1 |
RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | tx_power); RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | tx_power);
uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd; uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
if (mode == TX_CARRIER_MODE) if (mode == TX_CARRIER_MODE)
@ -1305,13 +1296,10 @@ static void rfm22_setTxMode(uint8_t mode)
rfm22_write(RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo | rfm22_write(RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo |
RFM22_mmc2_modtyp_gfsk); RFM22_mmc2_modtyp_gfsk);
// rfm22_write(0x72, reg_72[lookup_index]); // rfm22_frequency_deviation
// clear FIFOs // clear FIFOs
rfm22_write(RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx); rfm22_write(RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
rfm22_write(RFM22_op_and_func_ctrl2, 0x00); rfm22_write(RFM22_op_and_func_ctrl2, 0x00);
// *******************
// add some data to the chips TX FIFO before enabling the transmitter // add some data to the chips TX FIFO before enabling the transmitter
{ {
uint16_t rd = 0; uint16_t rd = 0;
@ -1347,8 +1335,6 @@ static void rfm22_setTxMode(uint8_t mode)
tx_data_rd = rd; tx_data_rd = rd;
} }
// *******************
// reset the timer // reset the timer
rfm22_int_timer = 0; rfm22_int_timer = 0;
@ -1392,73 +1378,34 @@ void rfm22_processRxInt(void)
return; return;
} }
// Sync timeout. Restart RX mode.
if (rf_mode == RX_WAIT_SYNC_MODE && rfm22_int_timer >= timeout_sync_ms)
{
rfm22_int_time_outs++;
rfm22_setError("R_SYNC_TIMEOUT");
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
return;
}
// RX timeout. Restart RX mode.
if (rf_mode == RX_DATA_MODE && rfm22_int_timer >= timeout_data_ms)
{
rfm22_setError("MISSING_INTERRUPTS");
rfm22_int_time_outs++;
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
return;
}
// The module is not in RX mode. Restart RX mode.
if ((device_status & RFM22_ds_cps_mask) != RFM22_ds_cps_rx)
{
// the rf module is not in rx mode
if (rfm22_int_timer >= 100)
{
rfm22_int_time_outs++;
// reset the receiver
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
return;
}
}
// Valid preamble detected // Valid preamble detected
if (int_stat2 & RFM22_is2_ipreaval) if (int_stat2 & RFM22_is2_ipreaval && (rf_mode == RX_WAIT_PREAMBLE_MODE))
{ {
if (rf_mode == RX_WAIT_PREAMBLE_MODE) rf_mode = RX_WAIT_SYNC_MODE;
{ RX_LED_ON;
rfm22_int_timer = 0; // reset the timer rfm22_setDebug("pream_det");
rf_mode = RX_WAIT_SYNC_MODE;
RX_LED_ON;
rfm22_setDebug("pream_det");
}
} }
// Sync word detected // Sync word detected
if (int_stat2 & RFM22_is2_iswdet) if (int_stat2 & RFM22_is2_iswdet && ((rf_mode == RX_WAIT_PREAMBLE_MODE || rf_mode == RX_WAIT_SYNC_MODE)))
{ {
if (rf_mode == RX_WAIT_PREAMBLE_MODE || rf_mode == RX_WAIT_SYNC_MODE) rf_mode = RX_DATA_MODE;
{ RX_LED_ON;
rfm22_int_timer = 0; // reset the timer rfm22_setDebug("sync_det");
rf_mode = RX_DATA_MODE;
RX_LED_ON;
rfm22_setDebug("sync_det");
// read the 10-bit signed afc correction value // read the 10-bit signed afc correction value
// bits 9 to 2 // bits 9 to 2
afc_correction = (uint16_t)rfm22_read(RFM22_afc_correction_read) << 8; afc_correction = (uint16_t)rfm22_read(RFM22_afc_correction_read) << 8;
// bits 1 & 0 // bits 1 & 0
afc_correction |= (uint16_t)rfm22_read(RFM22_ook_counter_value1) & 0x00c0; afc_correction |= (uint16_t)rfm22_read(RFM22_ook_counter_value1) & 0x00c0;
afc_correction >>= 6; afc_correction >>= 6;
// convert the afc value to Hz // convert the afc value to Hz
afc_correction_Hz = (int32_t)(frequency_step_size * afc_correction + 0.5f); afc_correction_Hz = (int32_t)(frequency_step_size * afc_correction + 0.5f);
// remember the rssi for this packet // remember the rssi for this packet
rx_packet_start_rssi_dBm = rssi_dBm; rx_packet_start_rssi_dBm = rssi_dBm;
// remember the afc value for this packet // remember the afc value for this packet
rx_packet_start_afc_Hz = afc_correction_Hz; rx_packet_start_afc_Hz = afc_correction_Hz;
}
} }
// RX FIFO almost full, it needs emptying // RX FIFO almost full, it needs emptying
@ -1467,8 +1414,6 @@ void rfm22_processRxInt(void)
if (rf_mode == RX_DATA_MODE) if (rf_mode == RX_DATA_MODE)
{ {
// read data from the rf chips FIFO buffer // read data from the rf chips FIFO buffer
rfm22_int_timer = 0; // reset the timer
// read the total length of the packet data // read the total length of the packet data
uint16_t len = rfm22_read(RFM22_received_packet_length); uint16_t len = rfm22_read(RFM22_received_packet_length);
@ -1512,23 +1457,9 @@ void rfm22_processRxInt(void)
return; return;
} }
// if (int_stat2 & RFM22_is2_irssi)
// { // RSSI level is >= the set threshold
// }
// if (device_status & RFM22_ds_rxffem)
// { // RX FIFO empty
// }
// if (device_status & RFM22_ds_headerr)
// { // Header check error
// }
// Valid packet received // Valid packet received
if (int_stat1 & RFM22_is1_ipkvalid) if (int_stat1 & RFM22_is1_ipkvalid)
{ {
// reset the timer
rfm22_int_timer = 0;
// read the total length of the packet data // read the total length of the packet data
register uint16_t len = rfm22_read(RFM22_received_packet_length); register uint16_t len = rfm22_read(RFM22_received_packet_length);
@ -1548,6 +1479,7 @@ void rfm22_processRxInt(void)
// we have a packet length error .. discard the packet // we have a packet length error .. discard the packet
rfm22_setError("r_pack_len_error"); rfm22_setError("r_pack_len_error");
debug_val = len; debug_val = len;
rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
return; return;
} }
@ -1567,7 +1499,7 @@ void rfm22_processRxInt(void)
bool need_yield = false; bool need_yield = false;
if (rfm22b_dev_g->rx_in_cb) if (rfm22b_dev_g->rx_in_cb)
(rfm22b_dev_g->rx_in_cb)(rfm22b_dev_g->rx_in_context, (uint8_t*)rx_buffer, (rfm22b_dev_g->rx_in_cb)(rfm22b_dev_g->rx_in_context, (uint8_t*)rx_buffer,
rx_buffer_wr, NULL, &need_yield); rx_buffer_wr, NULL, &need_yield);
rx_buffer_wr = 0; rx_buffer_wr = 0;
} }
@ -1661,9 +1593,6 @@ static void rfm22_processInt(void)
// Reset the supervisor timer. // Reset the supervisor timer.
rfm22b_dev_g->supv_timer = PIOS_RFM22B_SUPERVISOR_TIMEOUT; rfm22b_dev_g->supv_timer = PIOS_RFM22B_SUPERVISOR_TIMEOUT;
// ********************************
// read the RF modules current status registers
// read interrupt status registers - clears the interrupt line // read interrupt status registers - clears the interrupt line
int_status1 = rfm22_read(RFM22_interrupt_status1); int_status1 = rfm22_read(RFM22_interrupt_status1);
int_status2 = rfm22_read(RFM22_interrupt_status2); int_status2 = rfm22_read(RFM22_interrupt_status2);
@ -1676,22 +1605,16 @@ static void rfm22_processInt(void)
// Read the RSSI if we're in RX mode // Read the RSSI if we're in RX mode
if (rf_mode != TX_DATA_MODE && rf_mode != TX_STREAM_MODE && if (rf_mode != TX_DATA_MODE && rf_mode != TX_STREAM_MODE &&
rf_mode != TX_CARRIER_MODE && rf_mode != TX_PN_MODE) rf_mode != TX_CARRIER_MODE && rf_mode != TX_PN_MODE)
{ {
// read rx signal strength .. 45 = -100dBm, 205 = -20dBm // read rx signal strength .. 45 = -100dBm, 205 = -20dBm
rssi = rfm22_read(RFM22_rssi); rssi = rfm22_read(RFM22_rssi);
// convert to dBm // convert to dBm
rssi_dBm = (int8_t)(rssi >> 1) - 122; rssi_dBm = (int8_t)(rssi >> 1) - 122;
// calibrate the RSSI value (rf bandwidth appears to affect it)
// if (rf_bandwidth_used > 0)
// rssi_dBm -= 10000 / rf_bandwidth_used;
} }
else else
{
// read the tx power register // read the tx power register
tx_pwr = rfm22_read(RFM22_tx_power); tx_pwr = rfm22_read(RFM22_tx_power);
}
// the RF module has gone and done a reset - we need to re-initialize the rf module // the RF module has gone and done a reset - we need to re-initialize the rf module
if (int_status2 & RFM22_is2_ipor) if (int_status2 & RFM22_is2_ipor)
@ -1862,8 +1785,8 @@ bool rfm22_txReady(void)
return FALSE; return FALSE;
return (tx_data_rd == 0 && tx_data_wr == 0 && rf_mode != TX_DATA_MODE && return (tx_data_rd == 0 && tx_data_wr == 0 && rf_mode != TX_DATA_MODE &&
rf_mode != TX_STREAM_MODE && rf_mode != TX_CARRIER_MODE && rf_mode != TX_PN_MODE && rf_mode != TX_STREAM_MODE && rf_mode != TX_CARRIER_MODE && rf_mode != TX_PN_MODE &&
rf_mode != RX_SCAN_SPECTRUM); rf_mode != RX_SCAN_SPECTRUM);
} }
// ************************************ // ************************************