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Implemented grouped APRS packet transmission properly 

Fixed packet losses (incomplete)
Develop
Sven Steudte 2017-09-06 22:03:56 +02:00
rodzic afd3b96352
commit 056fb067a0
9 zmienionych plików z 99 dodań i 63 usunięć
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2
tracker/software/drivers/ov5640.c
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@ -820,9 +820,7 @@ bool OV5640_Snapshot2RAM(void)
do {
TRACE_INFO("CAM > Capture image");
lockRadio(); // Lock radio because SPI and pseudo DCMI use the same DMA
status = OV5640_Capture();
unlockRadio(); // Unlock radio
TRACE_INFO("CAM > Capture finished");
ov5640_conf->size_sampled = ov5640_conf->ram_size - 1;

2
tracker/software/drivers/pac1720.c
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@ -153,6 +153,6 @@ void pac1720_init(void)
I2C_write8(PAC1720_ADDRESS, PAC1720_V_SOURCE_SAMP_CONFIG, 0xFF);
//TRACE_INFO("PAC > Init PAC1720 continuous measurement");
//chThdCreateFromHeap(NULL, THD_WORKING_AREA_SIZE(512), "PAC1720", NORMALPRIO, pac1720_thd, NULL);
chThdCreateFromHeap(NULL, THD_WORKING_AREA_SIZE(512), "PAC1720", NORMALPRIO, pac1720_thd, NULL);
}

47
tracker/software/protocols/aprs/aprs.c
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@ -47,6 +47,7 @@ uint32_t aprs_encode_position(uint8_t* message, mod_t mod, const aprs_conf_t *co
packet.max_size = 512; // TODO: replace 512 with real size
packet.mod = mod;
ax25_init(&packet);
ax25_send_header(&packet, config->callsign, config->ssid, config->path, config->preamble);
ax25_send_byte(&packet, '/'); // Report w/ timestamp, no APRS messaging. $ = NMEA raw data
@ -169,7 +170,7 @@ uint32_t aprs_encode_position(uint8_t* message, mod_t mod, const aprs_conf_t *co
/**
* Transmit custom experimental packet
*/
uint32_t aprs_encode_experimental(char packetType, uint8_t* message, mod_t mod, const aprs_conf_t *config, uint8_t *data, size_t size, bool noPreamble)
uint32_t aprs_encode_experimental(char packetType, uint8_t* message, mod_t mod, const aprs_conf_t *config, uint8_t *data, size_t size)
{
ax25_t packet;
packet.data = message;
@ -177,7 +178,8 @@ uint32_t aprs_encode_experimental(char packetType, uint8_t* message, mod_t mod,
packet.mod = mod;
// Encode APRS header
ax25_send_header(&packet, config->callsign, config->ssid, config->path, noPreamble ? 0 : config->preamble);
ax25_init(&packet);
ax25_send_header(&packet, config->callsign, config->ssid, config->path, config->preamble);
ax25_send_string(&packet, "{{");
ax25_send_byte(&packet, packetType);
@ -185,7 +187,7 @@ uint32_t aprs_encode_experimental(char packetType, uint8_t* message, mod_t mod,
for(uint16_t i=0; i<size; i++)
ax25_send_byte(&packet, data[i]);
// Send footer
// Encode footer
ax25_send_footer(&packet);
scramble(&packet);
nrzi_encode(&packet);
@ -193,6 +195,41 @@ uint32_t aprs_encode_experimental(char packetType, uint8_t* message, mod_t mod,
return packet.size;
}
/**
* Transmit custom data packet (the methods aprs_encode_data allow multiple APRS packets in a row without preable being sent)
*/
void aprs_encode_data_init(ax25_t* packet, uint8_t* message, mod_t mod)
{
packet->data = message;
packet->max_size = 8192; // TODO: replace 8192 with real size
packet->mod = mod;
// Encode APRS header
ax25_init(packet);
}
uint32_t aprs_encode_data_encodePacket(ax25_t* packet, char packetType, const aprs_conf_t *config, uint8_t *data, size_t size)
{
// Encode header
ax25_send_header(packet, config->callsign, config->ssid, config->path, packet->size > 0 ? 0 : config->preamble);
ax25_send_string(packet, "{{");
ax25_send_byte(packet, packetType);
// Encode message
for(uint16_t i=0; i<size; i++)
ax25_send_byte(packet, data[i]);
// Encode footer
ax25_send_footer(packet);
return packet->size;
}
uint32_t aprs_encode_data_finalize(ax25_t* packet)
{
scramble(packet);
nrzi_encode(packet);
return packet->size;
}
/**
* Transmit message packet
*/
@ -205,6 +242,7 @@ uint32_t aprs_encode_message(uint8_t* message, mod_t mod, const aprs_conf_t *con
// Encode APRS header
char temp[10];
ax25_init(&packet);
ax25_send_header(&packet, config->callsign, config->ssid, config->path, config->preamble);
ax25_send_byte(&packet, ':');
@ -218,7 +256,7 @@ uint32_t aprs_encode_message(uint8_t* message, mod_t mod, const aprs_conf_t *con
chsnprintf(temp, sizeof(temp), "%d", ++msg_id);
ax25_send_string(&packet, temp);
// Send footer
// Encode footer
ax25_send_footer(&packet);
scramble(&packet);
nrzi_encode(&packet);
@ -237,6 +275,7 @@ uint32_t aprs_encode_telemetry_configuration(uint8_t* message, mod_t mod, const
packet.max_size = 512; // TODO: replace 512 with real size
packet.mod = mod;
ax25_init(&packet);
ax25_send_header(&packet, config->callsign, config->ssid, config->path, config->preamble); // Header
ax25_send_byte(&packet, ':'); // Message flag

7
tracker/software/protocols/aprs/aprs.h
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@ -21,6 +21,7 @@
#include "config.h"
#include "si4464.h"
#include "tracking.h"
#include "ax25.h"
#define GSP_FIX_OLD 0x0
#define GSP_FIX_CURRENT 0x1
@ -51,7 +52,11 @@
uint32_t aprs_encode_position(uint8_t* message, mod_t mod, const aprs_conf_t *config, trackPoint_t *trackPoint);
uint32_t aprs_encode_telemetry_configuration(uint8_t* message, mod_t mod, const aprs_conf_t *config, const telemetry_conf_t type);
uint32_t aprs_encode_message(uint8_t* message, mod_t mod, const aprs_conf_t *config, const char *receiver, const char *text);
uint32_t aprs_encode_experimental(char packetType, uint8_t* message, mod_t mod, const aprs_conf_t *config, uint8_t *data, size_t size, bool noPreamble);
uint32_t aprs_encode_experimental(char packetType, uint8_t* message, mod_t mod, const aprs_conf_t *config, uint8_t *data, size_t size);
void aprs_encode_data_init(ax25_t* packet, uint8_t* message, mod_t mod);
uint32_t aprs_encode_data_encodePacket(ax25_t* packet, char packetType, const aprs_conf_t *config, uint8_t *data, size_t size);
uint32_t aprs_encode_data_finalize(ax25_t* packet);
#endif

6
tracker/software/protocols/aprs/ax25.c
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@ -113,11 +113,15 @@ void ax25_send_string(ax25_t *packet, const char *string)
}
}
void ax25_init(ax25_t *packet)
{
packet->size = 0;
}
void ax25_send_header(ax25_t *packet, const char *callsign, uint8_t ssid, const char *path, uint16_t preamble)
{
uint8_t i, j;
uint8_t tmp[8];
packet->size = 0;
packet->ones_in_a_row = 0;
packet->crc = 0xffff;

1
tracker/software/protocols/aprs/ax25.h
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@ -36,6 +36,7 @@ typedef struct {
mod_t mod; // Modulation type (MOD_AFSK or MOD_2GFSK)
} ax25_t;
void ax25_init(ax25_t *packet);
void ax25_send_header(ax25_t *packet, const char *callsign, uint8_t ssid, const char *path, uint16_t preamble);
void ax25_send_path(ax25_t *packet, const char *callsign, uint8_t ssid, bool last);
void ax25_send_byte(ax25_t *packet, char byte);

44
tracker/software/radio.c
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@ -80,21 +80,8 @@ void init2GFSK(radioMSG_t *msg) {
active_mod = MOD_2GFSK;
}
thread_reference_t feeder_ref = NULL;
thread_t *feeder_thd = NULL;
/*
* Radio GPIO1 interrupt
*/
CH_IRQ_HANDLER(VectorE0) {
CH_IRQ_PROLOGUE();
chThdResumeS(&feeder_ref, MSG_OK);
EXTI->PR |= EXTI_PR_PR12;
CH_IRQ_EPILOGUE();
}
/*
* TODO: I'd suggest re-working the FIFO handler system.
* Will give it some thought.
@ -112,19 +99,11 @@ THD_FUNCTION(si_fifo_feeder_thd, arg)
// Initial FIFO fill
Si4464_writeFIFO(tim_msg.msg, c);
// Initialize interrupt
chSysLock();
SYSCFG->EXTICR[3] |= SYSCFG_EXTICR4_EXTI12_PC;
EXTI->IMR |= EXTI_IMR_MR12; // Activate interrupt for chan12 (=>PC12)
EXTI->RTSR |= EXTI_RTSR_TR12; // Listen on rising edge
EXTI->PR |= EXTI_PR_PR12; // Clear any pending interrupt
nvicEnableVector(EXTI15_10_IRQn, 1); // Enable interrupt
chSysUnlock();
// Transmit
// Start transmission
radioTune(tim_msg.freq, 0, tim_msg.power, all);
while(c < all) { // Do while bytes not written into FIFO completely
chThdSuspendS(&feeder_ref); // Suspend until interrupt resumes it
//chThdSuspendS(&feeder_ref); // Suspend until interrupt resumes it
// Determine free memory in Si4464-FIFO
uint8_t more = Si4464_freeFIFO();
@ -132,14 +111,14 @@ THD_FUNCTION(si_fifo_feeder_thd, arg)
if((more = all-c) == 0) // Calculate remainder to send
break; // End if nothing left
}
//TRACE_DEBUG("fed %db %d<%d", more, c, all);
Si4464_writeFIFO(&tim_msg.msg[c], more); // Write into FIFO
c += more;
chThdSleepMilliseconds(20);
}
nvicDisableVector(EXTI15_10_IRQn); // Disable interrupt
// Shutdown radio (and wait for Si4464 to finish transmission)
shutdownRadio();
chThdExit(MSG_OK);
}
@ -147,8 +126,6 @@ void send2GFSK(radioMSG_t *msg) {
// Copy data
memcpy(&tim_msg, msg, sizeof(radioMSG_t));
if(feeder_thd != NULL) // No waiting on first use
chThdWait(feeder_thd);
// Start/re-start FIFO feeder
feeder_thd = chThdCreateStatic(si_fifo_feeder_wa, sizeof(si_fifo_feeder_wa), HIGHPRIO+1, si_fifo_feeder_thd, NULL);
@ -313,10 +290,7 @@ void shutdownRadio(void)
{
// Wait for PH to finish transmission for 2GFSK
while(active_mod == MOD_2GFSK && Si4464_getState() == SI4464_STATE_TX)
{
TRACE_DEBUG("Waiting for Si4464 (state=%d, free=%d)", Si4464_getState(), Si4464_freeFIFO());
chThdSleepMilliseconds(5);
}
Si4464_shutdown();
active_mod = MOD_NOT_SET;
@ -376,12 +350,11 @@ uint32_t getAPRSRegionFrequency(void) {
*/
bool transmitOnRadio(radioMSG_t *msg, bool shutdown)
{
(void)shutdown;
(void)shutdown;
if(inRadioBand(msg->freq)) // Frequency in radio radio band
{
if(inRadioBand(msg->freq)) // Frequency in radio radio band
{
lockRadio(); // Lock radio
TRACE_INFO( "RAD > Transmit %d.%03d MHz, Pwr %d, %s, %d bits",
@ -462,8 +435,9 @@ void lockRadio(void)
{
chMtxLock(&radio_mtx);
while(active_mod != MOD_NOT_SET && Si4464_getState() == SI4464_STATE_TX)
chThdSleepMilliseconds(1);
// Wait for old feeder thread to terminate
if(feeder_thd != NULL) // No waiting on first use
chThdWait(feeder_thd);
}
void unlockRadio(void)

51
tracker/software/threads/image.c
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@ -273,7 +273,7 @@ const uint8_t noCameraFound[] = {
0xBD, 0xC0, 0x20, 0x00, 0x01, 0xFF, 0xD9
};
static uint8_t gimage_id = 0; // Global image ID (for all image threads)
static uint8_t gimage_id = 5; // Global image ID (for all image threads)
mutex_t camera_mtx;
void encode_ssdv(const uint8_t *image, uint32_t image_len, module_conf_t* conf, uint8_t image_id, bool redudantTx)
@ -297,6 +297,17 @@ void encode_ssdv(const uint8_t *image, uint32_t image_len, module_conf_t* conf,
msg.freq = getFrequency(&conf->frequency);
msg.power = conf->power;
//image_id = 0; // FIXME temporary
ax25_t ax25_handle;
if(conf->protocol == PROT_APRS_2GFSK || conf->protocol == PROT_APRS_AFSK)
{
msg.mod = conf->protocol == PROT_APRS_AFSK ? MOD_AFSK : MOD_2GFSK;
msg.afsk_conf = &(conf->afsk_conf);
msg.gfsk_conf = &(conf->gfsk_conf);
aprs_encode_data_init(&ax25_handle, msg.msg, msg.mod);
}
while(true)
{
conf->wdg_timeout = chVTGetSystemTimeX() + S2ST(600); // TODO: Implement more sophisticated method
@ -309,8 +320,9 @@ void encode_ssdv(const uint8_t *image, uint32_t image_len, module_conf_t* conf,
if(r <= 0)
{
if(msg.bin_len > 0) transmitOnRadio(&msg, false); // Empty buffer
TRACE_ERROR("SSDV > Premature end of file");
if(conf->protocol == PROT_APRS_2GFSK || conf->protocol == PROT_APRS_AFSK) msg.bin_len = aprs_encode_data_finalize(&ax25_handle);
if(msg.bin_len > 0) transmitOnRadio(&msg, false); // Empty buffer
break;
}
ssdv_enc_feed(&ssdv, b, r);
@ -318,37 +330,34 @@ void encode_ssdv(const uint8_t *image, uint32_t image_len, module_conf_t* conf,
if(c == SSDV_EOI)
{
if(msg.bin_len > 0) transmitOnRadio(&msg, false); // Empty buffer
TRACE_INFO("SSDV > ssdv_enc_get_packet said EOI");
if(conf->protocol == PROT_APRS_2GFSK || conf->protocol == PROT_APRS_AFSK) msg.bin_len = aprs_encode_data_finalize(&ax25_handle);
if(msg.bin_len > 0) transmitOnRadio(&msg, false); // Empty buffer
break;
} else if(c != SSDV_OK) {
if(msg.bin_len > 0) transmitOnRadio(&msg, false); // Empty buffer
TRACE_ERROR("SSDV > ssdv_enc_get_packet failed: %i", c);
if(conf->protocol == PROT_APRS_2GFSK || conf->protocol == PROT_APRS_AFSK) msg.bin_len = aprs_encode_data_finalize(&ax25_handle);
if(msg.bin_len > 0) transmitOnRadio(&msg, false); // Empty buffer
return;
}
switch(conf->protocol) {
case PROT_APRS_2GFSK:
case PROT_APRS_AFSK:
msg.mod = conf->protocol == PROT_APRS_AFSK ? MOD_AFSK : MOD_2GFSK;
msg.afsk_conf = &(conf->afsk_conf);
msg.gfsk_conf = &(conf->gfsk_conf);
// Deleting buffer
for(uint16_t t=0; t<256; t++)
pkt_base91[t] = 0;
// Encode packet
TRACE_INFO("IMG > Encode APRS/SSDV packet");
base91_encode(&pkt[1], pkt_base91, sizeof(pkt)-37); // Sync byte, CRC and FEC of SSDV not transmitted
msg.bin_len += 8 + aprs_encode_experimental('I', &msg.msg[msg.bin_len/8+1], msg.mod, &conf->aprs_conf, pkt_base91, strlen((char*)pkt_base91), msg.bin_len > 0);
msg.bin_len = aprs_encode_data_encodePacket(&ax25_handle, 'I', &conf->aprs_conf, pkt_base91, strlen((char*)pkt_base91));
if(redudantTx)
msg.bin_len += 8 + aprs_encode_experimental('I', &msg.msg[msg.bin_len/8+1], msg.mod, &conf->aprs_conf, pkt_base91, strlen((char*)pkt_base91), false);
msg.bin_len = aprs_encode_data_encodePacket(&ax25_handle, 'I', &conf->aprs_conf, pkt_base91, strlen((char*)pkt_base91));
// Transmit
if(msg.bin_len >= 58000 || conf->packet_spacing) { // Transmit if buffer is full or if single packet transmission activation (packet_spacing != 0)
if(msg.bin_len >= 58000 || conf->packet_spacing) // Transmit if buffer is full or if single packet transmission activation (packet_spacing != 0)
{
msg.bin_len = aprs_encode_data_finalize(&ax25_handle);
transmitOnRadio(&msg, false);
msg.bin_len = 0;
chThdSleepMilliseconds(7500); // FIXME: Throttle it for my poor TH-D72. Has to be removed later.
}
break;
@ -400,10 +409,13 @@ THD_FUNCTION(imgThread, arg) {
uint32_t image_len = 0;
uint8_t *image;
// Lock camera
// Lock camera FIXME: Removed for testing
TRACE_INFO("IMG > Lock camera");
chMtxLock(&camera_mtx);
TRACE_INFO("IMG > Locked camera");
//TRACE_INFO("IMG > Lock radio");
//lockRadio(); // Lock radio because SPI and pseudo DCMI use the same DMA
//TRACE_INFO("IMG > Locked radio");
uint8_t tries;
bool status = false;
@ -472,7 +484,10 @@ THD_FUNCTION(imgThread, arg) {
}
// Unlock camera
// Unlock camera FIXME: Removed for testing
//TRACE_INFO("IMG > Unlock radio");
//unlockRadio(); // Unlock radio
//TRACE_INFO("IMG > Unlocked radio");
TRACE_INFO("IMG > Unlock camera");
chMtxUnlock(&camera_mtx);
TRACE_INFO("IMG > Unlocked camera");
@ -502,7 +517,7 @@ void start_image_thread(module_conf_t *conf)
if(conf->init_delay) chThdSleepMilliseconds(conf->init_delay);
TRACE_INFO("IMG > Startup image thread");
chsnprintf(conf->name, sizeof(conf->name), "IMG");
thread_t *th = chThdCreateFromHeap(NULL, THD_WORKING_AREA_SIZE(50*1024), "IMG", NORMALPRIO, imgThread, conf);
thread_t *th = chThdCreateFromHeap(NULL, THD_WORKING_AREA_SIZE(100*1024), "IMG", NORMALPRIO, imgThread, conf);
if(!th) {
// Print startup error, do not start watchdog for this thread
TRACE_ERROR("IMG > Could not startup thread (not enough memory available)");

2
tracker/software/threads/log.c
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@ -178,7 +178,7 @@ THD_FUNCTION(logThread, arg)
msg.gfsk_conf = &(conf->gfsk_conf);
base91_encode((uint8_t*)pkt, pkt_base91, sizeof(pkt)); // Encode base 91
msg.bin_len = aprs_encode_experimental('L', msg.msg, msg.mod, &conf->aprs_conf, pkt_base91, strlen((char*)pkt_base91), false); // Encode APRS
msg.bin_len = aprs_encode_experimental('L', msg.msg, msg.mod, &conf->aprs_conf, pkt_base91, strlen((char*)pkt_base91)); // Encode APRS
transmitOnRadio(&msg, true); // Transmit packet
break;