Added a RTC supervisor timer to RFM22B driver.

flight/Modules/PipXtreme/pipxtrememod.c

@@ -39,6 +39,8 @@
  */
 
 #include <openpilot.h>
+#include <pipxstatus.h>
+#include <pios_board_info.h>
 #include "systemmod.h"
 
 // Private constants
@@ -97,6 +99,22 @@ int32_t PipXtremeModInitialize(void)
 
 	// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
 
+	// Initialize out status object.
+	PipXStatusInitialize();
+	PipXStatusData pipxStatus;
+	PipXStatusGet(&pipxStatus);
+
+	// Get our hardware information.
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+
+	pipxStatus.BoardType= bdinfo->board_type;
+	PIOS_BL_HELPER_FLASH_Read_Description(pipxStatus.Description, PIPXSTATUS_DESCRIPTION_NUMELEM);
+	PIOS_SYS_SerialNumberGetBinary(pipxStatus.CPUSerial);
+	pipxStatus.BoardRevision= bdinfo->board_rev;
+
+	// Update the object
+	PipXStatusSet(&pipxStatus);
+
 	// Call the module start function.
 	PipXtremeModStart();
 

flight/Modules/RadioComBridge/RadioComBridge.c

@@ -42,7 +42,7 @@
 
 #include <stdbool.h>
 
-#undef PIOS_INCLUDE_USB
+//#undef PIOS_INCLUDE_USB
 
 // ****************
 // Private functions
@@ -173,7 +173,6 @@ static int32_t RadioComBridgeInitialize(void)
 
 	// Initialize the UAVObjects that we use
 	GCSReceiverInitialize();
-	PipXStatusInitialize();
 	PipXSettingsInitialize();
 	data->send_gcsreceiver = false;
 	data->send_pipxstatus = false;
@@ -355,6 +354,7 @@ static void radioStatusTask(void *parameters)
 		// Update the status
 		pipxStatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
 		pipxStatus.RSSI = PIOS_RFM22B_RSSI(pios_rfm22b_id);
+		pipxStatus.Resets = PIOS_RFM22B_Resets(pios_rfm22b_id);
 
 		// Update the potential pairing contacts
 		for (uint8_t i = 0; i < PIPXSTATUS_PAIRIDS_NUMELEM; ++i)

flight/PiOS/Common/pios_rfm22b.c

@@ -63,6 +63,11 @@
 /* Local Defines */
 #define STACK_SIZE_BYTES  200
 
+// RTC timer is running at 625Hz (1.6ms or 5 ticks == 8ms).
+// A 256 byte message at 56kbps should take less than 40ms
+// Note: This timeout should be rate dependent.
+#define PIOS_RFM22B_SUPERVISOR_TIMEOUT 65  // ~100ms
+
 // 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
@@ -156,14 +161,19 @@ struct pios_rfm22b_dev {
 	uint32_t rx_in_context;
 	pios_com_callback tx_out_cb;
 	uint32_t tx_out_context;
+
+	// The supervisor countdown timer.
+	uint16_t supv_timer;
+	uint16_t resets;
 };
 
 uint32_t random32 = 0x459ab8d8;
 
 /* Local function forwared declarations */
-void rfm22_processInt(void);
-void PIOS_RFM22_EXT_Int(void);
-void rfm22_setTxMode(uint8_t mode);
+static void PIOS_RFM22B_Supervisor(uint32_t ppm_id);
+static void rfm22_processInt(void);
+static void PIOS_RFM22_EXT_Int(void);
+static void rfm22_setTxMode(uint8_t mode);
 
 // SPI read/write functions
 void rfm22_startBurstWrite(uint8_t addr);
@@ -290,6 +300,8 @@ const uint8_t ss_reg_71[] = {  0x2B, 0x23}; // rfm22_modulation_mode_control2
 
 volatile bool		initialized = false;
 
+struct pios_rfm22b_dev * rfm22b_dev;
+
 #if defined(RFM22_EXT_INT_USE)
 volatile bool		exec_using_spi;					// set this if you want to access the SPI bus outside of the interrupt
 #endif
@@ -430,8 +442,6 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, const struct pios_rfm22b_cfg *cfg)
 	PIOS_DEBUG_Assert(rfm22b_id);
 	PIOS_DEBUG_Assert(cfg);
 
-	struct pios_rfm22b_dev * rfm22b_dev;
-
 	// Allocate the device structure.
 	rfm22b_dev = (struct pios_rfm22b_dev *) PIOS_RFM22B_alloc();
 	if (!rfm22b_dev)
@@ -457,6 +467,10 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, const struct pios_rfm22b_cfg *cfg)
 	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);
 
+	// Initialize the supervisor timer.
+	rfm22b_dev->supv_timer = PIOS_RFM22B_SUPERVISOR_TIMEOUT;
+	rfm22b_dev->resets = 0;
+
 	// Initialize the radio device.
 	int initval = rfm22_init_normal(rfm22b_dev->deviceID, cfg->minFrequencyHz, cfg->maxFrequencyHz, 50000);
 
@@ -501,6 +515,11 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, const struct pios_rfm22b_cfg *cfg)
 	DEBUG_PRINTF(2, "RF frequency: %dHz\n\r", rfm22_getNominalCarrierFrequency());
 	DEBUG_PRINTF(2, "RF TX power: %d\n\r", rfm22_getTxPower());
 
+	// Setup a real-time clock callback to kickstart the radio if a transfer lock sup.
+	if (!PIOS_RTC_RegisterTickCallback(PIOS_RFM22B_Supervisor, *rfm22b_id)) {
+		PIOS_DEBUG_Assert(0);
+	}
+
 	return(0);
 }
 
@@ -511,11 +530,18 @@ uint32_t PIOS_RFM22B_DeviceID(uint32_t rfm22b_id)
 	return rfm22b_dev->deviceID;
 }
 
-int8_t PIOS_RFM22B_RSSI(uint32_t rfb22b_id)
+int8_t PIOS_RFM22B_RSSI(uint32_t rfm22b_id)
 {
 	return rfm22_receivedRSSI();
 }
 
+int16_t PIOS_RFM22B_Resets(uint32_t rfm22b_id)
+{
+	struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
+
+	return rfm22b_dev->resets;
+}
+
 static void PIOS_RFM22B_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail)
 {
 	struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
@@ -602,12 +628,39 @@ static void PIOS_RFM22B_RegisterTxCallback(uint32_t rfm22b_id, pios_com_callback
 	rfm22b_dev->tx_out_cb = tx_out_cb;
 }
 
-void rfm22_setDebug(const char* msg)
+static void PIOS_RFM22B_Supervisor(uint32_t rfm22b_id)
+{
+	/* Recover our device context */
+	struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
+
+	if (!PIOS_RFM22B_validate(rfm22b_dev)) {
+		/* Invalid device specified */
+		return;
+	}
+
+	/* Not a problem if we're waiting for a packet. */
+	if(rf_mode == RX_WAIT_SYNC_MODE)
+		return;
+
+	/* The radio must be locked up if the timer reaches 0 */
+	if(--(rfm22b_dev->supv_timer) != 0)
+		return;
+	++(rfm22b_dev->resets);
+
+	/* Start a packet transfer if one is available. */
+	if(!rfm22_txStart())
+	{
+		/* Otherwise, switch to RX mode */
+		rfm22_setRxMode(RX_WAIT_PREAMBLE_MODE, false);
+	}
+}
+
+static void rfm22_setDebug(const char* msg)
 {
 	debug_msg = msg;
 }
 
-void rfm22_setError(const char* msg)
+static void rfm22_setError(const char* msg)
 {
 	error_msg = msg;
 }
@@ -687,7 +740,7 @@ uint8_t rfm22_read(uint8_t addr)
 // external interrupt
 
 
-void PIOS_RFM22_EXT_Int(void)
+static void PIOS_RFM22_EXT_Int(void)
 {
 	rfm22_setDebug("Ext Int");
 	if (!exec_using_spi)
@@ -1126,6 +1179,9 @@ uint8_t rfm22_txStart()
 	// Disable interrrupts.
 	PIOS_IRQ_Disable();
 
+	// Initialize the supervisor timer.
+	rfm22b_dev->supv_timer = PIOS_RFM22B_SUPERVISOR_TIMEOUT;
+
 	// disable interrupts
 	rfm22_write(RFM22_interrupt_enable1, 0x00);
 	rfm22_write(RFM22_interrupt_enable2, 0x00);
@@ -1202,7 +1258,7 @@ uint8_t rfm22_txStart()
 }
 
 
-void rfm22_setTxMode(uint8_t mode)
+static void rfm22_setTxMode(uint8_t mode)
 {
 	rfm22_setDebug("setTxMode");
 	if (mode != TX_DATA_MODE && mode != TX_STREAM_MODE && mode != TX_CARRIER_MODE && mode != TX_PN_MODE)
@@ -1582,7 +1638,7 @@ void rfm22_processTxInt(void)
 	rfm22_setDebug("ProcessTxInt done");
 }
 
-void rfm22_processInt(void)
+static void rfm22_processInt(void)
 {
 	rfm22_setDebug("ProcessInt");
 	// this is called from the external interrupt handler
@@ -1593,6 +1649,9 @@ void rfm22_processInt(void)
 
 	exec_using_spi = TRUE;
 
+	// Reset the supervisor timer.
+	rfm22b_dev->supv_timer = PIOS_RFM22B_SUPERVISOR_TIMEOUT;
+
 	// ********************************
 	// read the RF modules current status registers
 

flight/PiOS/inc/pios_rfm22b.h

@@ -48,7 +48,8 @@ struct pios_rfm22b_cfg {
 /* Public Functions */
 extern int32_t PIOS_RFM22B_Init(uint32_t *rfb22b_id, const struct pios_rfm22b_cfg *cfg);
 extern uint32_t PIOS_RFM22B_DeviceID(uint32_t rfb22b_id);
-extern int8_t PIOS_RFM22B_RSSI(uint32_t rfb22b_id);
+extern int8_t PIOS_RFM22B_RSSI(uint32_t rfm22b_id);
+extern int16_t PIOS_RFM22B_Resets(uint32_t rfm22b_id);
 
 #endif /* PIOS_RFM22B_H */
 

flight/board_hw_defs/pipxtreme/board_hw_defs.c

@@ -483,8 +483,8 @@ const struct pios_rfm22b_cfg pios_rfm22b_cfg = {
 	.maxFrequencyHz = 434000000 + 2000000,
 	.RFXtalCap = 0x7f,
 	.maxRFBandwidth = 128000,
-	.maxTxPower = RFM22_tx_pwr_txpow_0, // +1dBm ... 1.25mW
-	//.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
+	//.maxTxPower = RFM22_tx_pwr_txpow_0, // +1dBm ... 1.25mW
+	.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
 	.sendTimeout = 25, /* ms */
 	.minPacketSize = 100,
 	.txWinSize = 4,

shared/uavobjectdefinition/pipxstatus.xml

@@ -13,6 +13,7 @@
 		<field name="AFC" units="" type="int32" elements="1" defaultvalue="0"/>
 		<field name="Retries" units="" type="uint16" elements="1" defaultvalue="0"/>
 		<field name="Errors" units="" type="uint16" elements="1" defaultvalue="0"/>
+		<field name="Resets" units="" type="uint16" elements="1" defaultvalue="0"/>
 		<field name="RSSI" units="dBm" type="int8" elements="1" defaultvalue="0"/>
 		<field name="LinkState" units="function" type="enum" elements="1" options="Disconnected,Connecting,Connected" defaultvalue="Disconnected"/>
 		<field name="PairIDs" units="" type="uint32" elements="4" defaultvalue="0"/>