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[superbitrf] Fixed timing

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This commit is contained in:
fvantienen
2013-09-03 16:19:12 +02:00
committed by Felix Ruess
parent 6fb80641d6
commit 3f27a93308
4 changed files with 54 additions and 33 deletions
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conf/firmwares/subsystems/fixedwing/telemetry_superbitrf.makefile
+14
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@@ -0,0 +1,14 @@
#
# The superbitRF module as telemetry downlink/uplink
#
#
ap.CFLAGS += -DUSE_$(MODEM_PORT)
ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=SuperbitRF -DDOWNLINK_AP_DEVICE=SuperbitRF
ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=SUPERBITRF
#ap.CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2
ap.srcs += peripherals/cyrf6936.c
ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/superbitrf.c subsystems/datalink/pprz_transport.c
ap.srcs += $(SRC_FIRMWARE)/datalink.c
conf/firmwares/subsystems/shared/telemetry_superbitrf.makefile → conf/firmwares/subsystems/rotorcraft/telemetry_superbitrf.makefile
+1 -3
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@@ -7,10 +7,8 @@ ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=SuperbitRF
ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=SUPERBITRF
#ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=SuperbitRF
#ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=SUPERBITRF
#ap.CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2
ap.srcs += peripherals/cyrf6936.c
ap.srcs += subsystems/datalink/downlink.c subsystems/datalink/superbitrf.c subsystems/datalink/pprz_transport.c
ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/telemetry.c
sw/airborne/subsystems/datalink/superbitrf.c
+36 -28
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@@ -476,16 +476,19 @@ void superbitrf_event(void) {
/* Switch the different states */
switch (superbitrf.state) {
case 0:
// Fixing timer overflow
if(superbitrf.timer_overflow && get_sys_time_usec() <= superbitrf.timer)
superbitrf.timer_overflow = FALSE;
// When there is a timeout
if (superbitrf.timer < get_sys_time_usec()) {
superbitrf.channel_idx = (IS_DSM2(superbitrf.protocol) || SUPERBITRF_FORCE_DSM2)? (superbitrf.channel_idx + 2) %2 : (superbitrf.channel_idx + 2) %23;
if(superbitrf.timer < get_sys_time_usec() && !superbitrf.timer_overflow) {
superbitrf.transfer_timeouts++;
superbitrf.timeouts++;
superbitrf.state++;
}
// We really lost the communication
if(superbitrf.timeouts > 2) {
if(superbitrf.timeouts > 100) {
superbitrf.state = 0;
superbitrf.resync_count++;
superbitrf.status = SUPERBITRF_SYNCING_A;
@@ -496,22 +499,20 @@ void superbitrf_event(void) {
cyrf6936_multi_write(&superbitrf.cyrf6936, cyrf_abort_receive, 2);
superbitrf.state++;
// Only send on channel 2
if(superbitrf.crc_seed != ((superbitrf.bind_mfg_id[0] << 8) + superbitrf.bind_mfg_id[1])) {
superbitrf.state = 8;
// Set the timer
superbitrf.timer = (get_sys_time_usec() + SUPERBITRF_DATARECV_TIME) % 0xFFFFFFFF;
break;
}
// Set the timer
superbitrf.timer = (get_sys_time_usec() + SUPERBITRF_DATARECV_TIME) % 0xFFFFFFFF;
if(superbitrf.timer < get_sys_time_usec())
superbitrf.timer_overflow = TRUE;
else
superbitrf.timer_overflow = FALSE;
// Set the timer for sending
superbitrf.timer = (get_sys_time_usec() + SUPERBITRF_DATAWAIT_TIME) % 0xFFFFFFFF;
// Only send on channel 2
if(superbitrf.crc_seed != ((superbitrf.bind_mfg_id[0] << 8) + superbitrf.bind_mfg_id[1]))
superbitrf.state = 8;
break;
case 2:
// Wait before sending
//superbitrf.state++;
if (superbitrf.timer < get_sys_time_usec())
superbitrf.state++;
// Wait before sending (FIXME??)
superbitrf.state++;
break;
case 3:
// Create a new packet when no packet loss
@@ -549,13 +550,14 @@ void superbitrf_event(void) {
// Start receiving
cyrf6936_multi_write(&superbitrf.cyrf6936, cyrf_start_receive, 2);
superbitrf.state++;
// Set the timer
superbitrf.timer = (superbitrf.timer - SUPERBITRF_DATAWAIT_TIME + SUPERBITRF_DATARECV_TIME) % 0xFFFFFFFF;
break;
case 6:
// Fixing timer overflow
if(superbitrf.timer_overflow && get_sys_time_usec() <= superbitrf.timer)
superbitrf.timer_overflow = FALSE;
// Waiting for data receive
if (superbitrf.timer < get_sys_time_usec())
if (superbitrf.timer < get_sys_time_usec() && !superbitrf.timer_overflow)
superbitrf.state++;
break;
case 7:
@@ -584,7 +586,15 @@ void superbitrf_event(void) {
break;
default:
// Set the timer
superbitrf.timer = (superbitrf.timer - SUPERBITRF_DATARECV_TIME + SUPERBITRF_RECV_TIME) % 0xFFFFFFFF;
if(superbitrf.crc_seed != ((superbitrf.bind_mfg_id[0] << 8) + superbitrf.bind_mfg_id[1]))
superbitrf.timer = (superbitrf.timer - SUPERBITRF_DATARECV_TIME + SUPERBITRF_RECV_TIME) % 0xFFFFFFFF;
else
superbitrf.timer = (superbitrf.timer - SUPERBITRF_DATARECV_TIME + SUPERBITRF_RECV_SHORT_TIME) % 0xFFFFFFFF;
if(superbitrf.timer < get_sys_time_usec())
superbitrf.timer_overflow = TRUE;
else
superbitrf.timer_overflow = FALSE;
superbitrf.state = 0;
break;
}
@@ -791,7 +801,7 @@ static inline void superbitrf_receive_packet_cb(bool_t error, uint8_t status, ui
/* When we receive a packet during transfer */
case SUPERBITRF_TRANSFER:
// Check the MFG id
if(error && !(status & CYRF_BAD_CRC)) {
if(error) {
// Start receiving TODO: Fix nicely
cyrf6936_multi_write(&superbitrf.cyrf6936, cyrf_start_receive, 2);
break;
@@ -811,10 +821,6 @@ static inline void superbitrf_receive_packet_cb(bool_t error, uint8_t status, ui
break;
}
// If the CRC is wrong invert
if (error && (status & CYRF_BAD_CRC))
superbitrf.crc_seed = ~superbitrf.crc_seed;
// Check if it is a RC packet
if(packet[1] == (~superbitrf.bind_mfg_id[3]&0xFF) || packet[1] == (superbitrf.bind_mfg_id[3]&0xFF)) {
superbitrf.rc_count++;
@@ -824,8 +830,10 @@ static inline void superbitrf_receive_packet_cb(bool_t error, uint8_t status, ui
superbitrf.rc_frame_available = TRUE;
// Calculate the timing (seperately for the channel switches)
superbitrf.timing2 = superbitrf.timing1;
superbitrf.timing1 = get_sys_time_usec() - (superbitrf.timer - SUPERBITRF_RECV_TIME);
if(superbitrf.crc_seed != ((superbitrf.bind_mfg_id[0] << 8) + superbitrf.bind_mfg_id[1]))
superbitrf.timing2 = get_sys_time_usec() - (superbitrf.timer - SUPERBITRF_RECV_TIME);
else
superbitrf.timing1 = get_sys_time_usec() - (superbitrf.timer - SUPERBITRF_RECV_SHORT_TIME);
// Go to next receive
superbitrf.state = 1;
sw/airborne/subsystems/datalink/superbitrf.h
+3 -2
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@@ -35,8 +35,8 @@
/* The timings in microseconds */
#define SUPERBITRF_BIND_RECV_TIME 10000 /**< The time to wait for a bind packet on a channel in microseconds */
#define SUPERBITRF_SYNC_RECV_TIME 7000 /**< The time to wait for a sync packet on a channel in microseconds */
#define SUPERBITRF_RECV_TIME 22000 /**< The time to wait for a transfer packet on a channel in microseconds */
#define SUPERBITRF_DATAWAIT_TIME 100 /**< The time to wait after RC receive to send a data packet in microseconds */
#define SUPERBITRF_RECV_TIME 20000 /**< The time to wait for a transfer packet on a channel in microseconds */
#define SUPERBITRF_RECV_SHORT_TIME 6000 /**< The time to wait for a transfer packet short on a channel in microseconds */
#define SUPERBITRF_DATARECV_TIME 10000 /**< The time to wait for a data packet on a channel in microseconds */
#define SUPERBITRF_DATARECVB_TIME 6000 /**< The time to wait for a data packet on a channel during bind in microseconds */
@@ -75,6 +75,7 @@ struct SuperbitRF {
volatile enum SuperbitRFStatus status; /**< The status of the superbitRF */
uint8_t state; /**< The states each status can be in */
uint32_t timer; /**< The timer in microseconds */
bool_t timer_overflow; /**< When the timer overflows */
uint8_t timeouts; /**< The amount of timeouts */
uint32_t transfer_timeouts; /**< The amount of timeouts during transfer */
uint32_t resync_count; /**< The amount of resyncs needed during transfer */