From 9c44aac3101e0d84ff2561cccd41dcffc8d643f5 Mon Sep 17 00:00:00 2001
From: Davide Mor <davide.mor@skywarder.eu>
Date: Fri, 11 Mar 2022 22:51:01 +0100
Subject: [PATCH] [parafoil-test] Hackily implemented support for packets >
64bytes
---
src/shared/drivers/SX1278/SX1278.cpp | 54 ++++++++++++++-----
src/shared/drivers/SX1278/SX1278.h | 3 ++
src/shared/drivers/SX1278/SX1278Defs.h | 5 ++
.../drivers/sx1278/test-sx1278-bench.cpp | 12 ++---
4 files changed, 51 insertions(+), 23 deletions(-)
diff --git a/src/shared/drivers/SX1278/SX1278.cpp b/src/shared/drivers/SX1278/SX1278.cpp
index 52a91f3ba..6a7f718f4 100644
--- a/src/shared/drivers/SX1278/SX1278.cpp
+++ b/src/shared/drivers/SX1278/SX1278.cpp
@@ -31,6 +31,8 @@ namespace Boardcore
using namespace SX1278Defs;
+long long now() { return miosix::getTick() * 1000 / miosix::TICK_FREQ; }
+
// Default values for registers
constexpr uint8_t REG_OP_MODE_DEFAULT = RegOpMode::LONG_RANGE_MODE_FSK |
RegOpMode::MODULATION_TYPE_FSK |
@@ -247,31 +249,55 @@ ssize_t SX1278::receive(uint8_t *pkt, size_t max_len)
bool SX1278::send(uint8_t *pkt, size_t len)
{
- // Packets longer than 255 are not supported
- if (len > 255)
- return false;
+ // Hacked together larger packets support
+ while (len > 0)
+ {
+ // This shouldn't be needed, but for some reason the device "lies" about
+ // being ready, so lock up if we are going too fast
+ rateLimitTx();
- bus_mgr.lock(SX1278BusManager::Mode::MODE_TX);
+ bus_mgr.lock(SX1278BusManager::Mode::MODE_TX);
- // Wait for TX ready
- bus_mgr.waitForIrq(RegIrqFlags::TX_READY);
+ // Wait for TX ready
+ bus_mgr.waitForIrq(RegIrqFlags::TX_READY);
- {
- SPITransaction spi(bus_mgr.getBus(),
- SPITransaction::WriteBit::INVERTED);
+ // Segment a packet that is bigger than the MTU (-1 for the length)
+ uint8_t pkt_len = std::min(len, FIFO_LEN - 1);
+
+ {
+ SPITransaction spi(bus_mgr.getBus(),
+ SPITransaction::WriteBit::INVERTED);
+
+ spi.writeRegister(REG_FIFO, pkt_len);
+ spi.writeRegisters(REG_FIFO, pkt, pkt_len);
+ }
+
+ // Wait for packet sent
+ bus_mgr.waitForIrq(RegIrqFlags::PACKET_SENT);
+
+ pkt += pkt_len;
+ len -= pkt_len;
+ bus_mgr.unlock();
- spi.writeRegister(REG_FIFO, static_cast<uint8_t>(len));
- spi.writeRegisters(REG_FIFO, pkt, len);
+ last_tx = now();
}
- // Wait for packet sent
- bus_mgr.waitForIrq(RegIrqFlags::PACKET_SENT);
- bus_mgr.unlock();
return true;
}
void SX1278::handleDioIRQ() { bus_mgr.handleDioIRQ(); }
+void SX1278::rateLimitTx()
+{
+ const long long RATE_LIMIT = 2;
+
+ long long delta = now() - last_tx;
+ if (delta <= RATE_LIMIT)
+ {
+ miosix::Thread::sleep(RATE_LIMIT - delta);
+ }
+}
+
uint8_t SX1278::getVersion()
{
SPITransaction spi(bus_mgr.getBus(), SPITransaction::WriteBit::INVERTED);
diff --git a/src/shared/drivers/SX1278/SX1278.h b/src/shared/drivers/SX1278/SX1278.h
index 6fb4c355d..3d89a9f94 100644
--- a/src/shared/drivers/SX1278/SX1278.h
+++ b/src/shared/drivers/SX1278/SX1278.h
@@ -228,6 +228,8 @@ public:
public:
using Mode = SX1278BusManager::Mode;
+ void rateLimitTx();
+
void setBitrate(int bitrate);
void setFreqDev(int freq_dev);
void setFreqRF(int freq_rf);
@@ -240,6 +242,7 @@ public:
void waitForIrq(uint16_t mask);
+ long long last_tx = 0;
SX1278BusManager bus_mgr;
PrintLogger logger = Logging::getLogger("sx1278");
};
diff --git a/src/shared/drivers/SX1278/SX1278Defs.h b/src/shared/drivers/SX1278/SX1278Defs.h
index cd50d09a8..f38059551 100644
--- a/src/shared/drivers/SX1278/SX1278Defs.h
+++ b/src/shared/drivers/SX1278/SX1278Defs.h
@@ -33,6 +33,11 @@ namespace Boardcore
namespace SX1278Defs
{
+/**
+ * @brief Length of the fifo.
+ */
+constexpr size_t FIFO_LEN = 64;
+
/**
* @brief Main oscillator frequency (Hz)
*/
diff --git a/src/tests/drivers/sx1278/test-sx1278-bench.cpp b/src/tests/drivers/sx1278/test-sx1278-bench.cpp
index 5ddb67f00..3d46b9b46 100644
--- a/src/tests/drivers/sx1278/test-sx1278-bench.cpp
+++ b/src/tests/drivers/sx1278/test-sx1278-bench.cpp
@@ -93,9 +93,6 @@ struct Stats
} stats;
-/// Interval between transmissions.
-const int TX_INTERVAL = 1;
-
SX1278 *sx1278[2] = {nullptr, nullptr};
struct Msg
@@ -115,12 +112,10 @@ void recvLoop(int idx)
while (1)
{
Msg msg;
- msg.idx = 0;
- msg.dummy_1 = 0;
- msg.dummy_2 = 0;
- msg.dummy_3 = 0;
+ memset(&msg, 0, sizeof(msg));
int len = sx1278[idx]->receive((uint8_t *)&msg, sizeof(msg));
+
if (len != sizeof(msg))
{
stats.recv_errors++;
@@ -143,8 +138,6 @@ void sendLoop(int idx)
{
while (1)
{
- miosix::Thread::sleep(TX_INTERVAL);
-
int next_idx = stats.send_count + 1;
Msg msg;
@@ -269,6 +262,7 @@ int main()
std::thread recv([]() { recvLoop(0); });
#endif
#ifndef DISABLE_TX
+ miosix::Thread::sleep(500);
std::thread send([]() { sendLoop(1); });
#endif
--
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