Author: jaguarondi
Date: 2008-08-28 18:10:34 +0200 (Thu, 28 Aug 2008)
New Revision: 1628
Modified:
firmware/rf/trunk/main.c
firmware/rf/trunk/rf_ctrl.c
firmware/rf/trunk/rf_ctrl.h
Log:
* This patch adds the next channel in the RF frame so the receiver can update
its table if it's not correct. This helps keeping the channels in sync when
there's a lot of collisions.
Modified: firmware/rf/trunk/main.c
===================================================================
--- firmware/rf/trunk/main.c 2008-08-28 14:35:37 UTC (rev 1627)
+++ firmware/rf/trunk/main.c 2008-08-28 16:10:34 UTC (rev 1628)
@@ -112,33 +112,6 @@
disconnected_flag = false;
system_start_up();
}
-#if defined(AFH)
- uint8_t i;
- for (i=0; i<AFH_RANGE; i++)
- {
- if (AFH_collision[i] > AFH_COLL_TRSH)
- {
- AFH_collision[i] = -AFH_COLL_TRSH;
- AFH_freq[i] += CHANNEL_JUMP;
- if (AFH_freq[i] > CHANNEL_MAX)
- {
- AFH_freq[i] -= NUMBER_OF_CHANNELS;
- }
- }
- if (AFH_prescaler == 0)
- {
- if (AFH_collision[i] > 0)
- {
- AFH_collision[i]--;
- }
- else if (AFH_collision[i] < 0)
- {
- AFH_collision[i]++;
- }
- }
- }
- if (AFH_prescaler == 0)
- AFH_prescaler++;
-#endif
+ AFH_update();
}
}
Modified: firmware/rf/trunk/rf_ctrl.c
===================================================================
--- firmware/rf/trunk/rf_ctrl.c 2008-08-28 14:35:37 UTC (rev 1627)
+++ firmware/rf/trunk/rf_ctrl.c 2008-08-28 16:10:34 UTC (rev 1628)
@@ -29,7 +29,8 @@
uint8_t checksum_tx;
-static void update_channel(void);
+static uint8_t next_channel;
+static uint8_t update_channel(uint8_t);
static void reset_atr2406(void);
static void stop_rf_timer(void);
@@ -75,6 +76,19 @@
connected = CONNECTED_TIMEOUT;
good_frame_received = true;
+ /* We should have received the next channel */
+#if defined(AFH)
+ uint8_t next_index = (AFH_index + 1) % AFH_RANGE;
+ /* We update channel if the other board already switched to the
+ * next one. This doesn't work when channels are 80 or above but as
+ * this is just an improvement, this shouldn't be too bad. */
+ if (AFH_freq[next_index] < next_channel &&
+ next_channel <= CHANNEL_MAX)
+ {
+ AFH_freq[next_index] = next_channel;
+ AFH_collision[next_index] = 0;
+ }
+#endif
/* Switch rx buffer */
uint8_t volatile *p = rf_buffer_rx;
rf_buffer_rx = rf_buffer_rx_full;
@@ -101,8 +115,12 @@
/* Configure in TX. */
/* In frequency hopping, compute the next channel and save it in the RF
* frame. */
- update_channel();
+ channel = update_channel(channel);
rf_buffer_tx[8] = channel;
+#if defined(AFH)
+ /* Save next channel in the frame */
+ rf_buffer_tx[11] = AFH_freq[(AFH_index + 1) % AFH_RANGE];
+#endif
init_atr2406(channel,TXEN);//configure ATR2406 to desired channel
UCSR0A = 0x40;
UCSR0B = 0x08;
@@ -151,7 +169,7 @@
spi_request();
/* In frequency hopping, compute the next channel and save it in the
* SOF to be recognized. */
- update_channel();
+ channel = update_channel(channel);
sof_ary[0] = channel;
rf_rx_state = 0x00;
checksum = 0x00;
@@ -177,8 +195,38 @@
rf_state = rf_state % 5;
}
-static void update_channel(void)
+void AFH_update(void)
{
+ uint8_t i;
+ for (i=0; i<AFH_RANGE; i++)
+ {
+ if (AFH_collision[i] > AFH_COLL_TRSH)
+ {
+ AFH_collision[i] = -AFH_COLL_TRSH;
+ AFH_freq[i] += CHANNEL_JUMP;
+ while (AFH_freq[i] > CHANNEL_MAX)
+ {
+ AFH_freq[i] -= NUMBER_OF_CHANNELS;
+ }
+ }
+ if (AFH_prescaler == 0)
+ {
+ if (AFH_collision[i] > 0)
+ {
+ AFH_collision[i]--;
+ }
+ else if (AFH_collision[i] < 0)
+ {
+ AFH_collision[i]++;
+ }
+ }
+ }
+ if (AFH_prescaler == 0)
+ AFH_prescaler++;
+}
+
+uint8_t update_channel(uint8_t channel)
+{
#if defined(NOHOPP)
channel = TRX_CHANNEL;
#elif defined(HOPPING)
@@ -197,6 +245,7 @@
channel = 0;
}
#endif
+ return channel;
}
/*
@@ -458,7 +507,7 @@
data = UDR0 ^ SCRAMBLE_BYTE;
- if(state==0x04)
+ if (state==0x04)
/* Frame detected, receive data */
{
rf_buffer_rx[rf_rx_counter++] = data;
@@ -477,21 +526,24 @@
clr_rxon();
}
}
+ else if (state==3)
+ /* Check next channel */
+ {
+ ++state;
+ /* Initialize the counter here */
+ rf_rx_counter = 0x00;
+#if defined(_SLAVE)
+ ts = TCNT1;
+ OCR1A = ts + T_SYNC - T_LATENCY;
+#endif
+ next_channel = data;
+ }
else
/* Check SOF */
{
- /* Initialize the counter here */
- rf_rx_counter = 0x00;
-
if(data == sof_ary[state])
{
- if(++state==0x04)
- {
-#if defined(_SLAVE)
- ts = TCNT1;
- OCR1A = ts + T_SYNC - T_LATENCY;
-#endif
- }
+ ++state;
}
else
{
Modified: firmware/rf/trunk/rf_ctrl.h
===================================================================
--- firmware/rf/trunk/rf_ctrl.h 2008-08-28 14:35:37 UTC (rev 1627)
+++ firmware/rf/trunk/rf_ctrl.h 2008-08-28 16:10:34 UTC (rev 1628)
@@ -53,6 +53,7 @@
extern void pwr_dwn_atr2406(void);
extern void start_rf_timer(void);
extern void start_rf_timer_scanning(void);
+extern void AFH_update(void);
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