diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1e16cfc5ea55b2bf8aa520ac69682362b10c5274..0bbf59d28c919842c2d528e021ec45b440b58ea9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -317,7 +317,7 @@ target_compile_definitions(test-sx1278fsk-gui-rx PRIVATE DISABLE_TX)
sbs_target(test-sx1278fsk-gui-rx stm32f429zi_skyward_groundstation_v2)
add_executable(test-sx1278fsk-mavlink src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp)
-sbs_target(test-sx1278fsk-mavlink stm32f429zi_skyward_groundstation_v2)
+sbs_target(test-sx1278fsk-mavlink stm32f767zi_gemini_gs)
# add_executable(test-mavlinkdriver src/tests/radio/test-mavlinkdriver.cpp)
# sbs_target(test-mavlinkdriver stm32f407vg_stm32f4discovery)
diff --git a/src/entrypoints/sx1278-serial.cpp b/src/entrypoints/sx1278-serial.cpp
index 21401681df78278d4b1f26a18e4bf70d44c51cdc..ccda46ee6b3b5238714d096c8101d6ea19524c78 100644
--- a/src/entrypoints/sx1278-serial.cpp
+++ b/src/entrypoints/sx1278-serial.cpp
@@ -94,7 +94,7 @@ using rxen = radio::rxEn;
// #define SX1278_IS_EBYTE
// Comment to use SX1278_2
-#define SX1278_1
+// #define SX1278_1
#ifdef SX1278_1
using cs = miosix::radio1::cs;
@@ -248,15 +248,16 @@ int main()
#ifdef SX1278_IS_LORA
// Run default configuration
- SX1278Lora::Config config;
- SX1278Lora::Error err;
+ Boardcore::SX1278Lora::Config config;
+ Boardcore::SX1278Lora::Error err;
- sx1278 = new SX1278Lora(sx1278_bus, cs::getPin(), dio0::getPin(),
- dio1::getPin(), dio3::getPin(),
- SPI::ClockDivider::DIV_64, std::move(frontend));
+ sx1278 = new Boardcore::SX1278Lora(sx1278_bus, cs::getPin(), dio0::getPin(),
+ dio1::getPin(), dio3::getPin(),
+ Boardcore::SPI::ClockDivider::DIV_64,
+ std::move(frontend));
printf("\n[sx1278] Configuring sx1278 lora...\n");
- if ((err = sx1278->init(config)) != SX1278Lora::Error::NONE)
+ if ((err = sx1278->init(config)) != Boardcore::SX1278Lora::Error::NONE)
{
printf("[sx1278] sx1278->init error\n");
return -1;
diff --git a/src/shared/radio/SX1278/SX1278Fsk.cpp b/src/shared/radio/SX1278/SX1278Fsk.cpp
index cd07309083f9177bb07d52dd1a4943f6de7cad58..455b99327084c58dcee3ab12eab06ab354ce8759 100644
--- a/src/shared/radio/SX1278/SX1278Fsk.cpp
+++ b/src/shared/radio/SX1278/SX1278Fsk.cpp
@@ -254,74 +254,67 @@ ssize_t SX1278Fsk::receive(uint8_t *pkt, size_t max_len)
// Save the packet locally, we always want to read it all
uint8_t tmp_pkt[MTU];
- // TODO: Maybe flush stuff?
-
uint8_t len = 0;
bool crc_ok;
+ IrqFlags flags = 0;
do
{
- crc_ok = false;
+ crc_ok = false;
- // Current FIFO read progress
uint8_t cur_len = 0;
- // Have we received payload ready yet? (aka the whole packet is in the
- // FIFO)
- bool payload_ready = false;
// Special wait for fifo level/payload ready, release the lock at this
// stage
- if ((waitForIrq(guard_mode,
- RegIrqFlags::FIFO_LEVEL | RegIrqFlags::PAYLOAD_READY, 0,
- true) &
- RegIrqFlags::PAYLOAD_READY) != 0 &&
- crc_enabled)
+ flags = waitForIrq(guard_mode,
+ RegIrqFlags::FIFO_LEVEL | RegIrqFlags::PAYLOAD_READY,
+ 0, true);
+ if ((flags & RegIrqFlags::PAYLOAD_READY) != 0 && crc_enabled)
{
- payload_ready = true;
- crc_ok = checkForIrqAndReset(RegIrqFlags::CRC_OK, 0) != 0;
+ crc_ok = checkForIrqAndReset(RegIrqFlags::CRC_OK, 0) != 0;
}
// Record RSSI here, it's where it is the most accurate
last_rx_rssi = getRssi();
- // Now read packet length
+ // Now first packet bit
{
SPITransaction spi(getSpiSlave());
len = spi.readRegister(REG_FIFO);
- }
- while (cur_len < len)
- {
- // Calculate next read_size, remember, the FIFO will be at least
- // FIFO_LEN / 2 filled at this point!
- int read_size = std::min((int)(len - cur_len), FIFO_LEN / 2);
-
- // Read the packet chunk
- {
- SPITransaction spi(getSpiSlave());
+ int read_size = std::min((int)len, FIFO_LEN / 2);
+ // Skip 0 sized read
+ if (read_size != 0)
spi.readRegisters(REG_FIFO, &tmp_pkt[cur_len], read_size);
- }
- // Advance the read pointer
cur_len += read_size;
+ }
- // Ok there is still more data, wait for it
- if ((waitForIrq(
- guard_mode,
- RegIrqFlags::FIFO_LEVEL | RegIrqFlags::PAYLOAD_READY, 0) &
- RegIrqFlags::PAYLOAD_READY) != 0 &&
- crc_enabled)
+ // Then read the other chunks
+ while (cur_len < len)
+ {
+ flags = waitForIrq(
+ guard_mode,
+ RegIrqFlags::FIFO_LEVEL | RegIrqFlags::PAYLOAD_READY, 0);
+ if ((flags & RegIrqFlags::PAYLOAD_READY) != 0 && crc_enabled)
{
- payload_ready = true;
crc_ok = checkForIrqAndReset(RegIrqFlags::CRC_OK, 0) != 0;
}
+
+ SPITransaction spi(getSpiSlave());
+
+ int read_size = std::min((int)(len - cur_len), FIFO_LEN / 2);
+ spi.readRegisters(REG_FIFO, &tmp_pkt[cur_len], read_size);
+
+ cur_len += read_size;
}
// For some reason this sometimes happen?
} while (len == 0);
- if (len > max_len || (!crc_ok && crc_enabled))
+ if (len > max_len || (!crc_ok && crc_enabled)) {
return -1;
+ }
// Finally copy the packet to the destination
memcpy(pkt, tmp_pkt, len);
diff --git a/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp b/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp
index f62f534ab934bef0821cd2f49a559ebb1fb45c11..237ecebaf33a9ac62d0579641fbacf34fc7ebea9 100644
--- a/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp
+++ b/src/tests/radio/sx1278/fsk/test-sx1278-mavlink.cpp
@@ -214,7 +214,7 @@ int main()
initBoard();
SX1278Fsk::Config config = {
- .freq_rf = 434000000,
+ .freq_rf = 868000000,
.freq_dev = 50000,
.bitrate = 48000,
.rx_bw = Boardcore::SX1278Fsk::Config::RxBw::HZ_125000,
@@ -223,7 +223,7 @@ int main()
.power = 13,
.shaping = Boardcore::SX1278Fsk::Config::Shaping::GAUSSIAN_BT_1_0,
.dc_free = Boardcore::SX1278Fsk::Config::DcFree::WHITENING,
- .enable_crc = true};
+ .enable_crc = false};
SX1278Fsk::Error err;