/// build the timing table
static void
tdm_build_timing_table(void)
{
__pdata uint8_t j;
__pdata uint16_t rate;
bool golay_saved = feature_golay;
feature_golay = false;
for (rate=2; rate<256; rate=(rate*3)/2) {
__pdata uint32_t latency_sum=0, per_byte_sum=0;
uint8_t size = MAX_PACKET_LENGTH;
radio_configure(rate);
for (j=0; j<50; j++) {
__pdata uint16_t time_0, time_max, t1, t2;
radio_set_channel(1);
radio_receiver_on();
if (serial_read_available() > 0) {
feature_golay = golay_saved;
return;
}
t1 = timer2_tick();
if (!radio_transmit(0, pbuf, 0xFFFF)) {
break;
}
t2 = timer2_tick();
radio_receiver_on();
time_0 = t2-t1;
radio_set_channel(2);
t1 = timer2_tick();
if (!radio_transmit(size, pbuf, 0xFFFF)) {
if (size == 0) {
break;
}
size /= 4;
j--;
continue;
}
t2 = timer2_tick();
radio_receiver_on();
time_max = t2-t1;
latency_sum += time_0;
per_byte_sum += ((size/2) + (time_max - time_0))/size;
}
if (j > 0) {
printf("{ %u, %u, %u },\n",
(unsigned)(radio_air_rate()),
(unsigned)(latency_sum/j),
(unsigned)(per_byte_sum/j));
}
}
feature_golay = golay_saved;
}
static void
radio_init(void)
{
__pdata uint32_t freq_min, freq_max;
__pdata uint32_t channel_spacing;
__pdata uint8_t txpower;
// Do generic PHY initialisation
if (!radio_initialise()) {
panic("radio_initialise failed");
}
switch (g_board_frequency) {
case FREQ_433:
freq_min = 433050000UL;
freq_max = 434790000UL;
txpower = 10;
num_fh_channels = 10;
break;
case FREQ_470:
freq_min = 470000000UL;
freq_max = 471000000UL;
txpower = 10;
num_fh_channels = 10;
break;
case FREQ_868:
freq_min = 868000000UL;
freq_max = 869000000UL;
txpower = 10;
num_fh_channels = 10;
break;
case FREQ_915:
freq_min = 915000000UL;
freq_max = 928000000UL;
txpower = 20;
num_fh_channels = MAX_FREQ_CHANNELS;
break;
default:
freq_min = 0;
freq_max = 0;
txpower = 0;
panic("bad board frequency %d", g_board_frequency);
break;
}
if (param_get(PARAM_NUM_CHANNELS) != 0) {
num_fh_channels = param_get(PARAM_NUM_CHANNELS);
}
if (param_get(PARAM_MIN_FREQ) != 0) {
freq_min = param_get(PARAM_MIN_FREQ) * 1000UL;
}
if (param_get(PARAM_MAX_FREQ) != 0) {
freq_max = param_get(PARAM_MAX_FREQ) * 1000UL;
}
if (param_get(PARAM_TXPOWER) != 0) {
txpower = param_get(PARAM_TXPOWER);
}
// constrain power and channels
txpower = constrain(txpower, BOARD_MINTXPOWER, BOARD_MAXTXPOWER);
num_fh_channels = constrain(num_fh_channels, 1, MAX_FREQ_CHANNELS);
// double check ranges the board can do
switch (g_board_frequency) {
case FREQ_433:
freq_min = constrain(freq_min, 414000000UL, 460000000UL);
freq_max = constrain(freq_max, 414000000UL, 460000000UL);
break;
case FREQ_470:
freq_min = constrain(freq_min, 450000000UL, 490000000UL);
freq_max = constrain(freq_max, 450000000UL, 490000000UL);
break;
case FREQ_868:
freq_min = constrain(freq_min, 849000000UL, 889000000UL);
freq_max = constrain(freq_max, 849000000UL, 889000000UL);
break;
case FREQ_915:
freq_min = constrain(freq_min, 868000000UL, 935000000UL);
freq_max = constrain(freq_max, 868000000UL, 935000000UL);
break;
default:
panic("bad board frequency %d", g_board_frequency);
break;
}
if (freq_max == freq_min) {
freq_max = freq_min + 1000000UL;
}
// get the duty cycle we will use
duty_cycle = param_get(PARAM_DUTY_CYCLE);
duty_cycle = constrain(duty_cycle, 0, 100);
param_set(PARAM_DUTY_CYCLE, duty_cycle);
// get the LBT threshold we will use
lbt_rssi = param_get(PARAM_LBT_RSSI);
if (lbt_rssi != 0) {
// limit to the RSSI valid range
lbt_rssi = constrain(lbt_rssi, 25, 220);
}
param_set(PARAM_LBT_RSSI, lbt_rssi);
// sanity checks
param_set(PARAM_MIN_FREQ, freq_min/1000);
param_set(PARAM_MAX_FREQ, freq_max/1000);
param_set(PARAM_NUM_CHANNELS, num_fh_channels);
channel_spacing = (freq_max - freq_min) / (num_fh_channels+2);
// add half of the channel spacing, to ensure that we are well
// away from the edges of the allowed range
freq_min += channel_spacing/2;
// add another offset based on network ID. This means that
// with different network IDs we will have much lower
// interference
srand(param_get(PARAM_NETID));
if (num_fh_channels > 5) {
freq_min += ((unsigned long)(rand()*625)) % channel_spacing;
}
debug("freq low=%lu high=%lu spacing=%lu\n",
freq_min, freq_min+(num_fh_channels*channel_spacing),
channel_spacing);
// set the frequency and channel spacing
// change base freq based on netid
radio_set_frequency(freq_min);
// set channel spacing
radio_set_channel_spacing(channel_spacing);
// start on a channel chosen by network ID
radio_set_channel(param_get(PARAM_NETID) % num_fh_channels);
// And intilise the radio with them.
if (!radio_configure(param_get(PARAM_AIR_SPEED)) &&
!radio_configure(param_get(PARAM_AIR_SPEED)) &&
!radio_configure(param_get(PARAM_AIR_SPEED))) {
panic("radio_configure failed");
}
// report the real air data rate in parameters
param_set(PARAM_AIR_SPEED, radio_air_rate());
// setup network ID
radio_set_network_id(param_get(PARAM_NETID));
// setup transmit power
radio_set_transmit_power(txpower);
// report the real transmit power in settings
param_set(PARAM_TXPOWER, radio_get_transmit_power());
#ifdef USE_RTC
// initialise real time clock
rtc_init();
#endif
// initialise frequency hopping system
fhop_init(param_get(PARAM_NETID));
// initialise TDM system
tdm_init();
}
// initialise the TDM subsystem
void
tdm_init(void)
{
__pdata uint16_t i;
__pdata uint8_t air_rate = radio_air_rate();
__pdata uint32_t window_width;
#define REGULATORY_MAX_WINDOW (((1000000UL/16)*4)/10)
#define LBT_MIN_TIME_USEC 5000
// tdm_build_timing_table();
// calculate how many 16usec ticks it takes to send each byte
ticks_per_byte = (8+(8000000UL/(air_rate*1000UL)))/16;
ticks_per_byte++;
// calculate the minimum packet latency in 16 usec units
// we initially assume a preamble length of 40 bits, then
// adjust later based on actual preamble length. This is done
// so that if one radio has antenna diversity and the other
// doesn't, then they will both using the same TDM round timings
packet_latency = (8+(10/2)) * ticks_per_byte + 13;
if (feature_golay) {
max_data_packet_length = (MAX_PACKET_LENGTH/2) - (6+sizeof(trailer));
// golay encoding doubles the cost per byte
ticks_per_byte *= 2;
// and adds 4 bytes
packet_latency += 4*ticks_per_byte;
} else {
max_data_packet_length = MAX_PACKET_LENGTH - sizeof(trailer);
}
// set the silence period to two times the packet latency
silence_period = 2*packet_latency;
// set the transmit window to allow for 3 full sized packets
window_width = 3*(packet_latency+(max_data_packet_length*(uint32_t)ticks_per_byte));
// min listen time is 5ms
lbt_min_time = LBT_MIN_TIME_USEC/16;
// if LBT is enabled, we need at least 3*5ms of window width
if (lbt_rssi != 0) {
window_width = constrain(window_width, 3*lbt_min_time, window_width);
}
// the window width cannot be more than 0.4 seconds to meet US
// regulations
if (window_width >= REGULATORY_MAX_WINDOW && num_fh_channels > 1) {
window_width = REGULATORY_MAX_WINDOW;
}
// user specified window is in milliseconds
if (window_width > param_get(PARAM_MAX_WINDOW)*(1000/16)) {
window_width = param_get(PARAM_MAX_WINDOW)*(1000/16);
}
// make sure it fits in the 13 bits of the trailer window
if (window_width > 0x1fff) {
window_width = 0x1fff;
}
tx_window_width = window_width;
// now adjust the packet_latency for the actual preamble
// length, so we get the right flight time estimates, while
// not changing the round timings
packet_latency += ((settings.preamble_length-10)/2) * ticks_per_byte;
// tell the packet subsystem our max packet size, which it
// needs to know for MAVLink packet boundary detection
i = (tx_window_width - packet_latency) / ticks_per_byte;
if (i > max_data_packet_length) {
i = max_data_packet_length;
}
//TODO: decrease length here, test
printf("setting max to %d\n", i);
packet_set_max_xmit(i);
// crc_test();
// tdm_test_timing();
// golay_test();
}