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improved initial search and fixed default air rate
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Andrew Tridgell committed Apr 16, 2013
1 parent 18d46eb commit 40140a1
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Showing 4 changed files with 30 additions and 140 deletions.
13 changes: 7 additions & 6 deletions Firmware/radio/loop.c
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Original file line number Diff line number Diff line change
Expand Up @@ -138,11 +138,12 @@ static void one_second(void)
one_second_counter++;
seconds_since_boot++;
if (seconds_last_packet == 0 || (seconds_since_boot - seconds_last_packet) > 10) {
// we are doing initial lock, decrement channel
// more rapidly
fhop_prev();
radio_set_frequency(fhop_receive_freqency());
radio_receiver_on();
if (one_second_counter > 51) {
fhop_prev();
radio_set_frequency(fhop_receive_freqency());
radio_receiver_on();
one_second_counter = 0;
}
printf("Searching %lu at %lu Hz\n",
(unsigned long)seconds_since_boot,
(unsigned long)fhop_receive_freqency());
Expand Down Expand Up @@ -355,8 +356,8 @@ serial_loop(void)
__pdata uint8_t len;

if (delay_expired()) {
one_second();
delay_set_ticks(100);
one_second();
}

if (_canary != 42) {
Expand Down
6 changes: 3 additions & 3 deletions Firmware/radio/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -233,9 +233,9 @@ radio_init(void)
}

// 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))) {
if (!radio_configure() &&
!radio_configure() &&
!radio_configure()) {
panic("radio_configure failed");
}
}
Expand Down
137 changes: 19 additions & 118 deletions Firmware/radio/radio.c
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Original file line number Diff line number Diff line change
Expand Up @@ -176,14 +176,6 @@ radio_current_rssi(void)
return register_read(EZRADIOPRO_RECEIVED_SIGNAL_STRENGTH_INDICATOR);
}

// return the actual air data rate in BPS
//
uint8_t
radio_air_rate(void)
{
return settings.air_data_rate;
}

// clear the transmit FIFO
//
static void
Expand Down Expand Up @@ -326,82 +318,28 @@ __code static const uint8_t reg_index[NUM_RADIO_REGISTERS] = {
EZRADIOPRO_FREQUENCY_DEVIATION, // 0x72
};

// air data rates in kbps units
__code static const uint8_t air_data_rates[NUM_DATA_RATES] = {
2, 4, 8, 16, 19, 24, 32, 48, 64, 96, 128, 192, 250
};

// register table for 915MHz radios
__code static const uint8_t reg_table_915[NUM_RADIO_REGISTERS][NUM_DATA_RATES] = {
{0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x05, 0x0B, 0x9A, 0x88, 0x8A, 0x8C, 0x8D},
{0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03},
{0xD0, 0xE8, 0xF4, 0xFA, 0xD0, 0xD0, 0x7D, 0x53, 0x5E, 0x7D, 0x5E, 0x3F, 0x30},
{0xE0, 0x60, 0x20, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x02, 0x02},
{0x10, 0x20, 0x41, 0x83, 0x9D, 0xC4, 0x06, 0x89, 0x5D, 0x06, 0x5D, 0x0C, 0xAA},
{0x62, 0xC5, 0x89, 0x12, 0x49, 0x9C, 0x25, 0x37, 0x86, 0x25, 0x86, 0x4A, 0xAB},
{0x00, 0x00, 0x00, 0x01, 0x02, 0x01, 0x02, 0x03, 0x02, 0x02, 0x02, 0x04, 0x07},
{0x23, 0x44, 0x85, 0x08, 0x7D, 0x8A, 0x0E, 0x18, 0xBB, 0x0E, 0xBB, 0xEA, 0xFF},
{0x1E, 0x1E, 0x1E, 0x1E, 0x1E, 0x1E, 0x20, 0x30, 0x41, 0x50, 0x50, 0x50, 0x50},
{0x10, 0x20, 0x41, 0x83, 0x9D, 0xC4, 0x08, 0x0C, 0x10, 0x18, 0x20, 0x31, 0x40},
{0x62, 0xC5, 0x89, 0x12, 0x49, 0x9C, 0x31, 0x4A, 0x62, 0x93, 0xC5, 0x27, 0x00},
{0x03, 0x06, 0x0D, 0x1A, 0x0F, 0x26, 0x33, 0x4D, 0x66, 0x9A, 0xCD, 0xFE, 0xFE}
};


// register table for 433MHz radios
__code static const uint8_t reg_table_433[NUM_RADIO_REGISTERS][NUM_DATA_RATES] = {
{0x27, 0x27, 0x27, 0x2E, 0x16, 0x01, 0x05, 0x0B, 0x9A, 0x88, 0x8A, 0x8C, 0x8D},
{0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03},
{0xF4, 0xFA, 0x7D, 0x3F, 0x69, 0xA7, 0x7D, 0x53, 0x5E, 0x7D, 0x5E, 0x3F, 0x30},
{0x20, 0x00, 0x01, 0x02, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x02, 0x02},
{0x41, 0x83, 0x06, 0x0C, 0x37, 0xC4, 0x06, 0x89, 0x5D, 0x06, 0x5D, 0x0C, 0xAA},
{0x89, 0x12, 0x25, 0x4A, 0x4C, 0x9C, 0x25, 0x37, 0x86, 0x25, 0x86, 0x4A, 0xAB},
{0x00, 0x01, 0x02, 0x04, 0x02, 0x01, 0x02, 0x03, 0x02, 0x02, 0x02, 0x04, 0x07},
{0x85, 0x08, 0x0E, 0x12, 0x72, 0x8A, 0x0E, 0x18, 0xBB, 0x0E, 0xBB, 0xEA, 0xFF},
{0x1D, 0x1D, 0x1D, 0x1E, 0x1E, 0x1E, 0x20, 0x30, 0x41, 0x50, 0x50, 0x50, 0x50},
{0x10, 0x20, 0x41, 0x83, 0x9B, 0xC4, 0x08, 0x0C, 0x10, 0x18, 0x20, 0x31, 0x40},
{0x62, 0xC5, 0x89, 0x12, 0xA6, 0x9C, 0x31, 0x4A, 0x62, 0x93, 0xC5, 0x27, 0x00},
{0x03, 0x06, 0x0D, 0x1A, 0x1E, 0x26, 0x33, 0x4D, 0x66, 0x9A, 0xCD, 0xFE, 0xFE}
};

// register table for 470MHz radios
__code static const uint8_t reg_table_470[NUM_RADIO_REGISTERS][NUM_DATA_RATES] = {
{0x2B, 0x2B, 0x2B, 0x2E, 0x16, 0x01, 0x05, 0x0B, 0x9A, 0x88, 0x8A, 0x8C, 0x8D},
{0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03},
{0xF4, 0xFA, 0x7D, 0x3F, 0x69, 0xA7, 0x7D, 0x53, 0x5E, 0x7D, 0x5E, 0x3F, 0x30},
{0x20, 0x00, 0x01, 0x02, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x02, 0x02},
{0x41, 0x83, 0x06, 0x0C, 0x37, 0xC4, 0x06, 0x89, 0x5D, 0x06, 0x5D, 0x0C, 0xAA},
{0x89, 0x12, 0x25, 0x4A, 0x4C, 0x9C, 0x25, 0x37, 0x86, 0x25, 0x86, 0x4A, 0xAB},
{0x00, 0x01, 0x02, 0x04, 0x02, 0x01, 0x02, 0x03, 0x02, 0x02, 0x02, 0x04, 0x07},
{0x85, 0x08, 0x0E, 0x12, 0x72, 0x8A, 0x0E, 0x18, 0xBB, 0x0E, 0xBB, 0xEA, 0xFF},
{0x1E, 0x1E, 0x1E, 0x21, 0x21, 0x21, 0x21, 0x30, 0x41, 0x50, 0x50, 0x50, 0x50},
{0x10, 0x20, 0x41, 0x83, 0x9B, 0xC4, 0x08, 0x0C, 0x10, 0x18, 0x20, 0x31, 0x40},
{0x62, 0xC5, 0x89, 0x12, 0xA6, 0x9C, 0x31, 0x4A, 0x62, 0x93, 0xC5, 0x27, 0x00},
{0x03, 0x06, 0x0D, 0x1A, 0x1E, 0x26, 0x33, 0x4D, 0x66, 0x9A, 0xCD, 0xFE, 0xFE}
};

// register table for 868MHz radios
__code static const uint8_t reg_table_868[NUM_RADIO_REGISTERS][NUM_DATA_RATES] = {
{0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x05, 0x0B, 0x9A, 0x88, 0x8A, 0x8C, 0x8D},
{0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03},
{0xD0, 0xE8, 0xF4, 0xFA, 0xD3, 0xA7, 0x7D, 0x53, 0x5E, 0x7D, 0x5E, 0x3F, 0x30},
{0xE0, 0x60, 0x20, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 0x01, 0x02, 0x02},
{0x10, 0x20, 0x41, 0x83, 0x9B, 0xC4, 0x06, 0x89, 0x5D, 0x06, 0x5D, 0x0C, 0xAA},
{0x62, 0xC5, 0x89, 0x12, 0xA6, 0x9C, 0x25, 0x37, 0x86, 0x25, 0x86, 0x4A, 0xAB},
{0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x02, 0x03, 0x02, 0x02, 0x02, 0x04, 0x07},
{0x23, 0x44, 0x85, 0x08, 0x39, 0x8A, 0x0E, 0x18, 0xBB, 0x0E, 0xBB, 0xEA, 0xFF},
{0x1C, 0x1C, 0x1C, 0x1C, 0x1C, 0x1E, 0x20, 0x30, 0x41, 0x50, 0x50, 0x50, 0x50},
{0x10, 0x20, 0x41, 0x83, 0x9B, 0xC4, 0x08, 0x0C, 0x10, 0x18, 0x20, 0x31, 0x40},
{0x62, 0xC5, 0x89, 0x12, 0xA6, 0x9C, 0x31, 0x4A, 0x62, 0x93, 0xC5, 0x27, 0x00},
{0x03, 0x06, 0x0D, 0x1A, 0x1E, 0x26, 0x33, 0x4D, 0x66, 0x9A, 0xCD, 0xFE, 0xFE}
__code static const uint8_t reg_table_915[NUM_RADIO_REGISTERS] = {
0x01,
0x03,
0xD0,
0x00,
0x9D,
0x49,
0x02,
0x7D,
0x1E,
0x9D,
0x49,
0x0F
};

// configure radio based on the air data rate
//
bool
radio_configure(__pdata uint8_t air_rate)
radio_configure(void)
{
__pdata uint8_t i, rate_selection;
__pdata uint8_t i;

// disable interrupts
register_write(EZRADIOPRO_INTERRUPT_ENABLE_1, 0x00);
Expand Down Expand Up @@ -438,11 +376,6 @@ radio_configure(__pdata uint8_t air_rate)
// set capacitance
register_write(EZRADIOPRO_CRYSTAL_OSCILLATOR_LOAD_CAPACITANCE, EZRADIOPRO_OSC_CAP_VALUE);

// see Si1000.pdf section 23.3.8
if (air_rate > 100) {
register_write(EZRADIOPRO_CHARGEPUMP_CURRENT_TRIMMING_OVERRIDE, 0xC0);
}

// setup frequency and channel spacing
set_frequency_registers(settings.frequency);
register_write(EZRADIOPRO_FREQUENCY_HOPPING_STEP_SIZE, settings.channel_spacing);
Expand Down Expand Up @@ -472,22 +405,12 @@ radio_configure(__pdata uint8_t air_rate)
register_write(EZRADIOPRO_TX_FIFO_CONTROL_2, TX_FIFO_THRESHOLD_LOW);
register_write(EZRADIOPRO_RX_FIFO_CONTROL, RX_FIFO_THRESHOLD_HIGH);

settings.preamble_length = 8;

register_write(EZRADIOPRO_PREAMBLE_LENGTH, settings.preamble_length); // nibbles
register_write(EZRADIOPRO_PREAMBLE_LENGTH, 8); // nibbles
register_write(EZRADIOPRO_PREAMBLE_DETECTION_CONTROL, 4<<3);

// setup minimum output power during startup
radio_set_transmit_power(0);

// work out which register table column we will use
for (i = 0; i < NUM_DATA_RATES - 1; i++) {
if (air_data_rates[i] >= air_rate) break;
}
rate_selection = i;

settings.air_data_rate = air_data_rates[rate_selection];

register_write(EZRADIOPRO_MODULATION_MODE_CONTROL_1, 0x00);

register_write(EZRADIOPRO_MODULATION_MODE_CONTROL_2, 0x23);
Expand All @@ -498,33 +421,11 @@ radio_configure(__pdata uint8_t air_rate)

// this follows the recommendation in the register spreadsheet
// for AFC enabled and manchester disabled
if (settings.air_data_rate < 200) {
register_write(EZRADIOPRO_AFC_TIMING_CONTROL, 0x0A);
} else {
register_write(EZRADIOPRO_AFC_TIMING_CONTROL, 0x02);
}
register_write(EZRADIOPRO_AFC_TIMING_CONTROL, 0x0A);

// set the registers from the tables
if (g_board_frequency == FREQ_433) {
for (i = 0; i < NUM_RADIO_REGISTERS; i++) {
register_write(reg_index[i],
reg_table_433[i][rate_selection]);
}
} else if (g_board_frequency == FREQ_470) {
for (i = 0; i < NUM_RADIO_REGISTERS; i++) {
register_write(reg_index[i],
reg_table_470[i][rate_selection]);
}
} else if (g_board_frequency == FREQ_868) {
for (i = 0; i < NUM_RADIO_REGISTERS; i++) {
register_write(reg_index[i],
reg_table_868[i][rate_selection]);
}
} else {
for (i = 0; i < NUM_RADIO_REGISTERS; i++) {
register_write(reg_index[i],
reg_table_915[i][rate_selection]);
}
for (i = 0; i < NUM_RADIO_REGISTERS; i++) {
register_write(reg_index[i], reg_table_915[i]);
}

return true;
Expand Down
14 changes: 1 addition & 13 deletions Firmware/radio/radio.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -179,12 +179,9 @@ extern uint8_t radio_get_channel(void);

/// configure the radio for a given air data rate
///
/// @param air_rate The air data rate, in bits per second
/// Note that this value is rounded up to
/// the next supported value
/// @return True if the radio was successfully configured.
///
extern bool radio_configure(__pdata uint8_t air_rate);
extern bool radio_configure(void);

/// configure the radio network ID
///
Expand All @@ -208,13 +205,6 @@ extern uint8_t radio_last_rssi(void);
///
extern uint8_t radio_current_rssi(void);

/// return the air data rate
///
/// @return The value passed to the last successful call
/// to radio_configure
///
extern uint8_t radio_air_rate(void);

/// set the radio transmit power (in dBm)
///
/// @param power The desired transmit power in dBm
Expand Down Expand Up @@ -242,10 +232,8 @@ void MAVLink_report(void);
struct radio_settings {
uint32_t frequency;
uint32_t channel_spacing;
uint8_t air_data_rate;
uint8_t current_channel;
uint8_t transmit_power;
uint8_t preamble_length; // in nibbles
};

extern __pdata struct radio_settings settings;
Expand Down

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