// ------------------------------------------------------------------------------------------------
// Reception test with interrupt handling
int radio_receive_test_int(spi_parms_t *spi_parms, arguments_t *arguments)
// ------------------------------------------------------------------------------------------------
{
uint8_t nb_rx, rx_bytes[RADIO_BUFSIZE];
init_radio_int(spi_parms, arguments);
PI_CC_SPIStrobe(spi_parms, PI_CCxxx0_SFRX); // Flush Rx FIFO
verbprintf(0, "Starting...\n");
while((arguments->repetition == 0) || (packets_received < arguments->repetition))
{
radio_init_rx(spi_parms, arguments); // Init for new packet to receive
radio_turn_rx(spi_parms); // Put back into Rx
do
{
radio_wait_free(); // make sure no radio operation is in progress
nb_rx = radio_receive_packet(spi_parms, arguments, rx_bytes);
} while(nb_rx == 0);
rx_bytes[nb_rx] = '\0';
verbprintf(0,"\"%s\"\n", rx_bytes);
}
}
// ------------------------------------------------------------------------------------------------
// Simple echo test
void radio_test_echo(spi_parms_t *spi_parms, radio_parms_t *radio_parms, arguments_t *arguments, uint8_t active)
// ------------------------------------------------------------------------------------------------
{
uint8_t nb_bytes, rtx_bytes[RADIO_BUFSIZE];
uint8_t rtx_toggle, rtx_count;
uint32_t timeout_value, timeout;
struct timeval tdelay, tstart, tstop;
init_radio_int(spi_parms, arguments);
radio_flush_fifos(spi_parms);
timeout_value = (uint32_t) (arguments->packet_length * 10 * radio_get_byte_time(radio_parms));
timeout = 0;
if (active)
{
nb_bytes = strlen(arguments->test_phrase);
strcpy(rtx_bytes, arguments->test_phrase);
rtx_toggle = 1;
}
else
{
rtx_toggle = 0;
}
while (packets_sent < arguments->repetition)
{
rtx_count = 0;
do // Rx-Tx transaction in whichever order
{
if (arguments->tnc_keyup_delay)
{
usleep(arguments->tnc_keyup_delay);
}
if (rtx_toggle) // Tx
{
verbprintf(0, "Sending #%d\n", packets_sent);
radio_wait_free(); // make sure no radio operation is in progress
radio_send_packet(spi_parms, arguments, rtx_bytes, nb_bytes);
radio_wait_a_bit(4);
timeout = timeout_value; // arm Rx timeout
rtx_count++;
rtx_toggle = 0; // next is Rx
}
if (rtx_count >= 2)
{
break;
}
if (arguments->tnc_keydown_delay)
{
usleep(arguments->tnc_keydown_delay);
}
if (!rtx_toggle) // Rx
{
verbprintf(0, "Receiving #%d\n", packets_received);
radio_init_rx(spi_parms, arguments); // Init for new packet to receive
radio_turn_rx(spi_parms); // Put back into Rx
if (timeout > 0)
{
gettimeofday(&tstart, NULL);
}
do
{
radio_wait_free(); // make sure no radio operation is in progress
nb_bytes = radio_receive_packet(spi_parms, arguments, rtx_bytes);
radio_wait_a_bit(4);
if (timeout > 0)
{
gettimeofday(&tstop, NULL);
timeval_subtract(&tdelay, &tstop, &tstart);
if (ts_us(&tdelay) > timeout)
{
verbprintf(0, "Time out reached. Faking receiving data\n");
nb_bytes = strlen(arguments->test_phrase);
strcpy(rtx_bytes, arguments->test_phrase);
break;
}
}
} while (nb_bytes == 0);
rtx_count++;
rtx_toggle = 1; // next is Tx
}
} while(rtx_count < 2);
}
}
/// main loop for time division multiplexing transparent serial
///
void
tdm_serial_loop(void)
{
__pdata uint16_t last_t = timer2_tick();
__pdata uint16_t last_link_update = last_t;
_canary = 42;
for (;;) {
__pdata uint8_t len;
__pdata uint16_t tnow, tdelta;
__pdata uint8_t max_xmit;
if (_canary != 42) {
panic("stack blown\n");
}
if (pdata_canary != 0x41) {
panic("pdata canary changed\n");
}
// give the AT command processor a chance to handle a command
at_command();
// display test data if needed
if (test_display) {
display_test_output();
test_display = 0;
}
if (seen_mavlink && feature_mavlink_framing && !at_mode_active) {
seen_mavlink = false;
MAVLink_report();
}
// set right receive channel
radio_set_channel(fhop_receive_channel());
// get the time before we check for a packet coming in
tnow = timer2_tick();
// see if we have received a packet
if (radio_receive_packet(&len, pbuf)) {
// update the activity indication
received_packet = true;
fhop_set_locked(true);
// update filtered RSSI value and packet stats
statistics.average_rssi = (radio_last_rssi() + 7*(uint16_t)statistics.average_rssi)/8;
statistics.receive_count++;
// we're not waiting for a preamble
// any more
transmit_wait = 0;
if (len < 2) {
// not a valid packet. We always send
// two control bytes at the end of every packet
continue;
}
// extract control bytes from end of packet
memcpy(&trailer, &pbuf[len-sizeof(trailer)], sizeof(trailer));
len -= sizeof(trailer);
if (trailer.window == 0 && len != 0) {
// its a control packet
if (len == sizeof(struct statistics)) {
memcpy(&remote_statistics, pbuf, len);
}
// don't count control packets in the stats
statistics.receive_count--;
} else if (trailer.window != 0) {
// sync our transmit windows based on
// received header
sync_tx_windows(len);
last_t = tnow;
if (trailer.command == 1) {
handle_at_command(len);
} else if (len != 0 &&
!packet_is_duplicate(len, pbuf, trailer.resend) &&
!at_mode_active) {
// its user data - send it out
// the serial port
//printf("rcv(%d,[", len);
LED_ACTIVITY = LED_ON;
serial_write_buf(pbuf, len);
LED_ACTIVITY = LED_OFF;
//printf("]\n");
}
}
continue;
}
// see how many 16usec ticks have passed and update
// the tdm state machine. We re-fetch tnow as a bad
// packet could have cost us a lot of time.
tnow = timer2_tick();
tdelta = tnow - last_t;
tdm_state_update(tdelta);
last_t = tnow;
// update link status every 0.5s
if (tnow - last_link_update > 32768) {
link_update();
last_link_update = tnow;
}
if (lbt_rssi != 0) {
// implement listen before talk
if (radio_current_rssi() < lbt_rssi) {
lbt_listen_time += tdelta;
} else {
lbt_listen_time = 0;
if (lbt_rand == 0) {
lbt_rand = ((uint16_t)rand()) % lbt_min_time;
}
}
if (lbt_listen_time < lbt_min_time + lbt_rand) {
// we need to listen some more
continue;
}
}
// we are allowed to transmit in our transmit window
// or in the other radios transmit window if we have
// bonus ticks
#if USE_TICK_YIELD
if (tdm_state != TDM_TRANSMIT &&
!(bonus_transmit && tdm_state == TDM_RECEIVE)) {
// we cannot transmit now
continue;
}
#else
if (tdm_state != TDM_TRANSMIT) {
continue;
}
#endif
if (transmit_yield != 0) {
// we've give up our window
continue;
}
if (transmit_wait != 0) {
// we're waiting for a preamble to turn into a packet
continue;
}
if (!received_packet &&
radio_preamble_detected() ||
radio_receive_in_progress()) {
// a preamble has been detected. Don't
// transmit for a while
transmit_wait = packet_latency;
continue;
}
// sample the background noise when it is out turn to
// transmit, but we are not transmitting,
// averaged over around 4 samples
statistics.average_noise = (radio_current_rssi() + 3*(uint16_t)statistics.average_noise)/4;
if (duty_cycle_wait) {
// we're waiting for our duty cycle to drop
continue;
}
// how many bytes could we transmit in the time we
// have left?
if (tdm_state_remaining < packet_latency) {
// none ....
continue;
}
max_xmit = (tdm_state_remaining - packet_latency) / ticks_per_byte;
if (max_xmit < PACKET_OVERHEAD) {
// can't fit the trailer in with a byte to spare
continue;
}
max_xmit -= PACKET_OVERHEAD;
if (max_xmit > max_data_packet_length) {
max_xmit = max_data_packet_length;
}
// ask the packet system for the next packet to send
if (send_at_command &&
max_xmit >= strlen(remote_at_cmd)) {
// send a remote AT command
len = strlen(remote_at_cmd);
memcpy(pbuf, remote_at_cmd, len);
trailer.command = 1;
send_at_command = false;
} else {
// get a packet from the serial port
memset(pbuf, 0x40, 16);
len = packet_get_next(max_xmit-16, pbuf+16) + 16;
trailer.command = packet_is_injected();
if (len == 16)
len = 0;
}
if (len > max_data_packet_length) {
panic("oversized tdm packet");
}
trailer.bonus = (tdm_state == TDM_RECEIVE);
trailer.resend = packet_is_resend();
if (tdm_state == TDM_TRANSMIT &&
len == 0 &&
send_statistics &&
max_xmit >= sizeof(statistics)) {
// send a statistics packet
send_statistics = 0;
memcpy(pbuf, &statistics, sizeof(statistics));
len = sizeof(statistics);
// mark a stats packet with a zero window
trailer.window = 0;
trailer.resend = 0;
} else {
// calculate the control word as the number of
// 16usec ticks that will be left in this
// tdm state after this packet is transmitted
trailer.window = (uint16_t)(tdm_state_remaining - flight_time_estimate(len+sizeof(trailer)));
}
// set right transmit channel
radio_set_channel(fhop_transmit_channel());
memcpy(&pbuf[len], &trailer, sizeof(trailer));
if (len != 0 && trailer.window != 0) {
// show the user that we're sending real data
LED_ACTIVITY = LED_ON;
}
if (len == 0) {
// sending a zero byte packet gives up
// our window, but doesn't change the
// start of the next window
transmit_yield = 1;
}
// after sending a packet leave a bit of time before
// sending the next one. The receivers don't cope well
// with back to back packets
transmit_wait = packet_latency;
// if we're implementing a duty cycle, add the
// transmit time to the number of ticks we've been transmitting
if ((duty_cycle - duty_cycle_offset) != 100) {
transmitted_ticks += flight_time_estimate(len+sizeof(trailer));
}
// start transmitting the packet
if (!radio_transmit(len + sizeof(trailer), pbuf, tdm_state_remaining + (silence_period/2)) &&
len != 0 && trailer.window != 0 && trailer.command == 0) {
packet_force_resend();
}
if (lbt_rssi != 0) {
// reset the LBT listen time
lbt_listen_time = 0;
lbt_rand = 0;
}
// set right receive channel
radio_set_channel(fhop_receive_channel());
// re-enable the receiver
radio_receiver_on();
if (len != 0 && trailer.window != 0) {
LED_ACTIVITY = LED_OFF;
}
}
}
// ------------------------------------------------------------------------------------------------
// Run the KISS virtual TNC
void kiss_run(serial_t *serial_parms, spi_parms_t *spi_parms, arguments_t *arguments)
// ------------------------------------------------------------------------------------------------
{
static const size_t bufsize = RADIO_BUFSIZE;
uint32_t timeout_value;
uint8_t rx_buffer[bufsize], tx_buffer[bufsize];
uint8_t rtx_toggle; // 1:Tx, 0:Rx
uint8_t rx_trigger;
uint8_t tx_trigger;
uint8_t force_mode;
int rx_count, tx_count, byte_count, ret;
uint64_t timestamp;
struct timeval tp;
set_serial_parameters(serial_parms, arguments);
init_radio_int(spi_parms, arguments);
memset(rx_buffer, 0, bufsize);
memset(tx_buffer, 0, bufsize);
radio_flush_fifos(spi_parms);
verbprintf(1, "Starting...\n");
force_mode = 1;
rtx_toggle = 0;
rx_trigger = 0;
tx_trigger = 0;
rx_count = 0;
tx_count = 0;
radio_init_rx(spi_parms, arguments); // init for new packet to receive Rx
radio_turn_rx(spi_parms); // Turn Rx on
while(1)
{
byte_count = radio_receive_packet(spi_parms, arguments, &rx_buffer[rx_count]); // check if anything was received on radio link
if (byte_count > 0)
{
rx_count += byte_count; // Accumulate Rx
gettimeofday(&tp, NULL);
timestamp = tp.tv_sec * 1000000ULL + tp.tv_usec;
timeout_value = arguments->tnc_radio_window;
force_mode = (timeout_value == 0);
if (rtx_toggle) // Tx to Rx transition
{
tx_trigger = 1; // Push Tx
}
else
{
tx_trigger = 0;
}
radio_init_rx(spi_parms, arguments); // Init for new packet to receive
rtx_toggle = 0;
}
byte_count = read_serial(serial_parms, &tx_buffer[tx_count], bufsize - tx_count);
if (byte_count > 0)
{
tx_count += byte_count; // Accumulate Tx
gettimeofday(&tp, NULL);
timestamp = tp.tv_sec * 1000000ULL + tp.tv_usec;
timeout_value = arguments->tnc_serial_window;
force_mode = (timeout_value == 0);
if (!rtx_toggle) // Rx to Tx transition
{
rx_trigger = 1;
}
else
{
rx_trigger = 0;
}
rtx_toggle = 1;
}
if ((rx_count > 0) && ((rx_trigger) || (force_mode))) // Send bytes received on air to serial
{
radio_wait_free(); // Make sure no radio operation is in progress
radio_turn_idle(spi_parms); // Inhibit radio operations
verbprintf(2, "Received %d bytes\n", rx_count);
ret = write_serial(serial_parms, rx_buffer, rx_count);
verbprintf(2, "Sent %d bytes on serial\n", ret);
radio_init_rx(spi_parms, arguments); // Init for new packet to receive Rx
radio_turn_rx(spi_parms); // Put back into Rx
rx_count = 0;
rx_trigger = 0;
}
if ((tx_count > 0) && ((tx_trigger) || (force_mode))) // Send bytes received on serial to air
{
if (!kiss_command(tx_buffer))
{
radio_wait_free(); // Make sure no radio operation is in progress
radio_turn_idle(spi_parms); // Inhibit radio operations (should be superfluous since both Tx and Rx turn to IDLE after a packet has been processed)
radio_flush_fifos(spi_parms); // Flush result of any Rx activity
verbprintf(2, "%d bytes to send\n", tx_count);
if (tnc_tx_keyup_delay)
{
usleep(tnc_tx_keyup_delay);
}
radio_send_packet(spi_parms, arguments, tx_buffer, tx_count);
radio_init_rx(spi_parms, arguments); // init for new packet to receive Rx
radio_turn_rx(spi_parms); // put back into Rx
}
tx_count = 0;
tx_trigger = 0;
}
if (!force_mode)
{
gettimeofday(&tp, NULL);
if ((tp.tv_sec * 1000000ULL + tp.tv_usec) > timestamp + timeout_value)
{
force_mode = 1;
}
}
radio_wait_a_bit(4);
}
}
