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Code Issues Releases Activity

RFM22B: Changed the connection process. Now the coordinator waits to receive a status packet from a modem that it is bound to before it sends the connection request.

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This commit is contained in:
Brian Webb 2013-04-06 02:25:59 +01:00
parent 948038f655
commit fef2c16f5a
2 changed files with 20 additions and 53 deletions
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68
flight/PiOS/Common/pios_rfm22b.c
View File

@ -188,7 +188,6 @@ static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_d
static enum pios_rfm22b_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_initConnection(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev);
@ -239,18 +238,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_STATE_INITIALIZING] = {
.entry_fn = rfm22_init,
.next_state = {
[RFM22B_EVENT_INITIALIZED] = RFM22B_STATE_INITIATING_CONNECTION,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_INITIATING_CONNECTION] = {
.entry_fn = rfm22_initConnection,
.next_state = {
[RFM22B_EVENT_REQUEST_CONNECTION] = RFM22B_STATE_REQUESTING_CONNECTION,
[RFM22B_EVENT_WAIT_FOR_CONNECTION] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[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,
@ -263,7 +251,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[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_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR
},
},
[RFM22B_STATE_ACCEPTING_CONNECTION] = {
@ -390,7 +378,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
.entry_fn = rfm22_txData,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
[RFM22B_EVENT_REQUEST_CONNECTION] = RFM22B_STATE_INITIATING_CONNECTION,
[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,
@ -413,7 +401,6 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
.entry_fn = rfm22_sendAck,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
@ -423,7 +410,6 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
.entry_fn = rfm22_sendNack,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
@ -441,7 +427,6 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_STATE_ERROR] = {
.entry_fn = rfm22_error,
.next_state = {
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
@ -1970,10 +1955,21 @@ static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
// 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);
} else if (!rfm22_isConnected(rfm22b_dev)) {
// Request a connection if we're not yet connected.
ret_event = RFM22B_EVENT_REQUEST_CONNECTION;
} else if (!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;
}
}
}
// Change the channel
@ -2116,25 +2112,8 @@ static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_d
rfm22b_dev->tx_packet = rfm22b_dev->prev_tx_packet;
rfm22b_dev->prev_tx_packet = NULL;
// Go to the next binding, if the previous tx packet was a connection request
if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_CON_REQUEST)
{
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
// Increment the current binding index to the next non-zero binding.
for (uint8_t i = 0; OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
if (++(rfm22b_dev->cur_binding) >= OPLINKSETTINGS_BINDINGS_NUMELEM)
rfm22b_dev->cur_binding = 0;
if (rfm22b_dev->bindings[rfm22b_dev->cur_binding].pairID != 0)
break;
}
rfm22b_dev->destination_id = rfm22b_dev->bindings[rfm22b_dev->cur_binding].pairID;
cph->header.destination_id = rfm22b_dev->destination_id;
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;
} else {
#ifndef PIOS_RFM22B_PERIODIC_CHANNEL_HOP
if (rfm22b_dev->tx_packet->header.type != PACKET_TYPE_CON_REQUEST) {
// First resend on the current channel, then resend on the next channel in case the receive has changed channels, then fallback.
rfm22b_dev->cur_resent_count++;
switch (rfm22b_dev->cur_resent_count) {
@ -2153,8 +2132,8 @@ static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_d
rfm22_setFreqHopChannel(rfm22b_dev, RFM22B_DEFAULT_CHANNEL);
break;
}
#endif //PIOS_RFM22B_PERIODIC_CHANNEL_HOP
}
#endif //PIOS_RFM22B_PERIODIC_CHANNEL_HOP
// Increment the reset packet counter if we're connected.
if (rfm22_isConnected(rfm22b_dev)) {
@ -2215,14 +2194,6 @@ static enum pios_rfm22b_event rfm22_receiveStatus(struct pios_rfm22b_dev *rfm22b
return RFM22B_EVENT_RX_COMPLETE;
}
static enum pios_rfm22b_event rfm22_initConnection(struct pios_rfm22b_dev *rfm22b_dev)
{
if (rfm22b_dev->coordinator)
return RFM22B_EVENT_REQUEST_CONNECTION;
else
return RFM22B_EVENT_WAIT_FOR_CONNECTION;
}
static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev)
{
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
@ -2243,6 +2214,7 @@ static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rf
cph->max_tx_power = rfm22b_dev->tx_power;
rfm22b_dev->time_to_send = true;
rfm22b_dev->send_connection_request = true;
rfm22b_dev->prev_tx_packet = NULL;
return RFM22B_EVENT_TX_START;
}

5
flight/PiOS/inc/pios_rfm22b_priv.h
View File

@ -578,12 +578,8 @@ enum pios_rfm22b_dev_magic {
enum pios_rfm22b_state {
RFM22B_STATE_UNINITIALIZED,
RFM22B_STATE_INITIALIZING,
RFM22B_STATE_INITIALIZED,
RFM22B_STATE_INITIATING_CONNECTION,
RFM22B_STATE_WAIT_FOR_CONNECTION,
RFM22B_STATE_REQUESTING_CONNECTION,
RFM22B_STATE_ACCEPTING_CONNECTION,
RFM22B_STATE_CONNECTION_ACCEPTED,
RFM22B_STATE_RX_MODE,
RFM22B_STATE_WAIT_PREAMBLE,
RFM22B_STATE_WAIT_SYNC,
@ -610,7 +606,6 @@ enum pios_rfm22b_event {
RFM22B_EVENT_INITIALIZE,
RFM22B_EVENT_INITIALIZED,
RFM22B_EVENT_REQUEST_CONNECTION,
RFM22B_EVENT_WAIT_FOR_CONNECTION,
RFM22B_EVENT_CONNECTION_REQUESTED,
RFM22B_EVENT_PACKET_ACKED,
RFM22B_EVENT_PACKET_NACKED,