diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/.gitignore | 1 | ||||
| -rw-r--r-- | src/Makefile | 6 | ||||
| -rw-r--r-- | src/drivers/ao_cc1120.c | 87 | ||||
| -rw-r--r-- | src/drivers/ao_cc1120_CC1120.h | 28 | ||||
| -rw-r--r-- | src/drivers/ao_fec.h | 60 | ||||
| -rw-r--r-- | src/drivers/ao_fec_tx.c | 139 | ||||
| -rw-r--r-- | src/megametrum-v0.1/Makefile | 3 | ||||
| -rw-r--r-- | src/test/Makefile | 7 | ||||
| -rw-r--r-- | src/test/ao_fec_tx_test.c | 47 | ||||
| -rw-r--r-- | src/util/make-whiten | 37 |
10 files changed, 372 insertions, 43 deletions
diff --git a/src/.gitignore b/src/.gitignore index c6e1e353..cae36ae6 100644 --- a/src/.gitignore +++ b/src/.gitignore @@ -1,2 +1,3 @@ altitude.h altitude-pa.h +ao_whiten.h diff --git a/src/Makefile b/src/Makefile index c2e324c4..3fca2ab2 100644 --- a/src/Makefile +++ b/src/Makefile @@ -6,6 +6,7 @@ vpath make-altitude util vpath make-altitude-pa util vpath make-kalman util +vpath make-whiten util vpath kalman.5c kalman vpath kalman_filter.5c kalman vpath load_csv.5c kalman @@ -46,7 +47,7 @@ uninstall: all-recursive: all-local -all-local: altitude.h altitude-pa.h ao_kalman.h +all-local: altitude.h altitude-pa.h ao_kalman.h ao_whiten.h altitude.h: make-altitude nickle $< > $@ @@ -57,5 +58,8 @@ altitude-pa.h: make-altitude-pa ao_kalman.h: make-kalman kalman.5c kalman_filter.5c load_csv.5c matrix.5c bash $< kalman > $@ +ao_whiten.h: make-whiten + nickle $< > $@ + clean-local: rm -f altitude.h ao_kalman.h diff --git a/src/drivers/ao_cc1120.c b/src/drivers/ao_cc1120.c index f06d52ca..231d14d4 100644 --- a/src/drivers/ao_cc1120.c +++ b/src/drivers/ao_cc1120.c @@ -18,6 +18,7 @@ #include <ao.h> #include <ao_cc1120.h> #include <ao_exti.h> +#include <ao_fec.h> uint8_t ao_radio_wake; uint8_t ao_radio_mutex; @@ -240,26 +241,27 @@ ao_radio_rx_done(void) return ao_radio_marc_status() == CC1120_MARC_STATUS1_RX_FINISHED; } +static void +ao_radio_start_tx(void) +{ + ao_radio_reg_write(CC1120_IOCFG2, CC1120_IOCFG_GPIO_CFG_RX0TX1_CFG); + ao_exti_enable(&AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); + ao_radio_strobe(CC1120_STX); +} + void ao_radio_rdf(uint8_t len) { int i; ao_radio_get(len); - ao_radio_abort = 0; ao_radio_wake = 0; for (i = 0; i < sizeof (rdf_setup) / sizeof (rdf_setup[0]); i += 2) ao_radio_reg_write(rdf_setup[i], rdf_setup[i+1]); - ao_radio_reg_write(CC1120_IOCFG2, CC1120_IOCFG_GPIO_CFG_RX0TX1_CFG); - ao_radio_fifo_write_fixed(ao_radio_rdf_value, len); - ao_radio_reg_write(CC1120_PKT_LEN, len); - - ao_exti_enable(&AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); - - ao_radio_strobe(CC1120_STX); + ao_radio_start_tx(); cli(); while (!ao_radio_wake && !ao_radio_abort) @@ -327,24 +329,45 @@ ao_radio_test(void) void ao_radio_send(void *d, uint8_t size) { - uint8_t marc_status; - + uint8_t marc_status; + static uint8_t prepare[128]; + uint8_t prepare_len; + static uint8_t encode[256]; + uint8_t encode_len; + static uint8_t interleave[256]; + uint8_t interleave_len; + + ao_fec_dump_bytes(d, size, "Input"); + +#if 1 + prepare_len = ao_fec_prepare(d, size, prepare); + ao_fec_dump_bytes(prepare, prepare_len, "Prepare"); + + ao_fec_whiten(prepare, prepare_len, prepare); + ao_fec_dump_bytes(prepare, prepare_len, "Whiten"); + + encode_len = ao_fec_encode(prepare, prepare_len, encode); + ao_fec_dump_bytes(encode, encode_len, "Encode"); + + interleave_len = ao_fec_interleave(encode, encode_len, interleave); + ao_fec_dump_bytes(interleave, interleave_len, "Interleave"); + ao_radio_get(interleave_len); + ao_radio_fifo_write(interleave, interleave_len); +#else ao_radio_get(size); - ao_radio_wake = 0; ao_radio_fifo_write(d, size); - ao_exti_enable(&AO_CC1120_INT_PORT, AO_CC1120_INT_PIN); - ao_radio_strobe(CC1120_STX); +#endif + + ao_radio_wake = 0; + + ao_radio_start_tx(); + cli(); - for (;;) { - if (ao_radio_wake) { - marc_status = ao_radio_marc_status(); - if (marc_status != CC1120_MARC_STATUS1_NO_FAILURE) - break; - ao_radio_wake = 0; - } + while (!ao_radio_wake && !ao_radio_abort) ao_sleep(&ao_radio_wake); - } sei(); + if (!ao_radio_tx_done()) + ao_radio_idle(); ao_radio_put(); } @@ -361,6 +384,7 @@ ao_radio_recv(__xdata void *d, uint8_t size) cli(); for (;;) { if (ao_radio_abort) + break; if (ao_radio_wake) { marc_status = ao_radio_marc_status(); @@ -413,7 +437,7 @@ static const uint16_t packet_setup[] = { CC1120_DRATE0, ((PACKET_DRATE_M >> 0) & 0xff), CC1120_PKT_CFG2, ((CC1120_PKT_CFG2_CCA_MODE_ALWAYS_CLEAR << CC1120_PKT_CFG2_CCA_MODE) | (CC1120_PKT_CFG2_PKT_FORMAT_NORMAL << CC1120_PKT_CFG2_PKT_FORMAT)), - CC1120_PKT_CFG1, ((1 << CC1120_PKT_CFG1_WHITE_DATA) | + CC1120_PKT_CFG1, ((0 << CC1120_PKT_CFG1_WHITE_DATA) | (CC1120_PKT_CFG1_ADDR_CHECK_CFG_NONE << CC1120_PKT_CFG1_ADDR_CHECK_CFG) | (CC1120_PKT_CFG1_CRC_CFG_DISABLED << CC1120_PKT_CFG1_CRC_CFG) | (1 << CC1120_PKT_CFG1_APPEND_STATUS)), @@ -469,9 +493,6 @@ ao_radio_setup(void) for (i = 0; i < sizeof (radio_setup) / sizeof (radio_setup[0]); i += 2) ao_radio_reg_write(radio_setup[i], radio_setup[i+1]); - /* Enable marc status interrupt on gpio 2 pin */ - ao_radio_reg_write(CC1120_IOCFG2, CC1120_IOCFG_GPIO_CFG_MARC_MCU_WAKEUP); - ao_radio_set_packet(); ao_config_get(); @@ -707,6 +728,21 @@ static void ao_radio_beep(void) { ao_radio_rdf(RDF_PACKET_LEN); } +static void ao_radio_packet(void) { + static uint8_t packet[] = { +#if 1 + 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, + 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, + 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, + 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, +#else + 3, 1, 2, 3 +#endif + }; + + ao_radio_send(packet, sizeof (packet)); +} + #endif static const struct ao_cmds ao_radio_cmds[] = { @@ -714,6 +750,7 @@ static const struct ao_cmds ao_radio_cmds[] = { #if CC1120_DEBUG { ao_radio_show, "R\0Show CC1120 status" }, { ao_radio_beep, "b\0Emit an RDF beacon" }, + { ao_radio_packet, "p\0Send a test packet" }, #endif { 0, NULL } }; diff --git a/src/drivers/ao_cc1120_CC1120.h b/src/drivers/ao_cc1120_CC1120.h index c900b7f9..c0f35a23 100644 --- a/src/drivers/ao_cc1120_CC1120.h +++ b/src/drivers/ao_cc1120_CC1120.h @@ -21,29 +21,27 @@ *
***************************************************************/
- CC1120_SYNC3, 0x93, /* Sync Word Configuration [31:24] */
- CC1120_SYNC2, 0x0b, /* Sync Word Configuration [23:16] */
- CC1120_SYNC1, 0x51, /* Sync Word Configuration [15:8] */
- CC1120_SYNC0, 0xde, /* Sync Word Configuration [7:0] */
+ CC1120_SYNC3, 0xD3, /* Sync Word Configuration [31:24] */
+ CC1120_SYNC2, 0x91, /* Sync Word Configuration [23:16] */
+ CC1120_SYNC1, 0xD3, /* Sync Word Configuration [15:8] */
+ CC1120_SYNC0, 0x91, /* Sync Word Configuration [7:0] */
+
CC1120_SYNC_CFG1, 0x08, /* Sync Word Detection Configuration */
- CC1120_SYNC_CFG0, 0x17, /* Sync Word Length Configuration */
-#if 0
- CC1120_DEVIATION_M, 0x50, /* Frequency Deviation Configuration */
- CC1120_MODCFG_DEV_E, 0x0d, /* Modulation Format and Frequency Deviation Configuration */
-#endif
+ CC1120_SYNC_CFG0,
+ (CC1120_SYNC_CFG0_SYNC_MODE_16_BITS << CC1120_SYNC_CFG0_SYNC_MODE) |
+ (CC1120_SYNC_CFG0_SYNC_NUM_ERROR_2 << CC1120_SYNC_CFG0_SYNC_NUM_ERROR),
CC1120_DCFILT_CFG, 0x1c, /* Digital DC Removal Configuration */
- CC1120_PREAMBLE_CFG1, 0x18, /* Preamble Length Configuration */
+ CC1120_PREAMBLE_CFG1, /* Preamble Length Configuration */
+ (CC1120_PREAMBLE_CFG1_NUM_PREAMBLE_4_BYTES << CC1120_PREAMBLE_CFG1_NUM_PREAMBLE) |
+ (CC1120_PREAMBLE_CFG1_PREAMBLE_WORD_AA << CC1120_PREAMBLE_CFG1_PREAMBLE_WORD),
CC1120_PREAMBLE_CFG0, 0x2a, /* */
CC1120_FREQ_IF_CFG, 0x40, /* RX Mixer Frequency Configuration */
CC1120_IQIC, 0x46, /* Digital Image Channel Compensation Configuration */
CC1120_CHAN_BW, 0x02, /* Channel Filter Configuration */
+
CC1120_MDMCFG1, 0x46, /* General Modem Parameter Configuration */
CC1120_MDMCFG0, 0x05, /* General Modem Parameter Configuration */
-#if 0
- CC1120_DRATE2, 0x93, /* Data Rate Configuration Exponent and Mantissa [19:16] */
- CC1120_DRATE1, 0xa4, /* Data Rate Configuration Mantissa [15:8] */
- CC1120_DRATE0, 0x00, /* Data Rate Configuration Mantissa [7:0] */
-#endif
+
CC1120_AGC_REF, 0x20, /* AGC Reference Level Configuration */
CC1120_AGC_CS_THR, 0x19, /* Carrier Sense Threshold Configuration */
CC1120_AGC_GAIN_ADJUST, 0x00, /* RSSI Offset Configuration */
diff --git a/src/drivers/ao_fec.h b/src/drivers/ao_fec.h new file mode 100644 index 00000000..db5523a3 --- /dev/null +++ b/src/drivers/ao_fec.h @@ -0,0 +1,60 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_FEC_H_ +#define _AO_FEC_H_ + +#include <stdint.h> + +#define AO_FEC_CRC_INIT 0xffff +#define AO_FEC_TRELLIS_TERMINATOR 0x0b +#define AO_FEC_PREPARE_EXTRA 4 + +void +ao_fec_dump_bytes(uint8_t *bytes, uint8_t len, char *name); + +uint16_t +ao_fec_crc(uint8_t *bytes, uint8_t len); + +/* + * Append CRC and terminator bytes, returns resulting length. + * 'out' must be at least len + AO_FEC_PREPARE_EXTRA bytes long + */ +uint8_t +ao_fec_prepare(uint8_t *in, uint8_t len, uint8_t *out); + +/* + * Whiten data using the cc1111 PN9 sequence. 'out' + * must be 'len' bytes long. 'out' and 'in' can be + * the same array + */ +uint8_t +ao_fec_whiten(uint8_t *in, uint8_t len, uint8_t *out); + +/* + * Encode data. 'out' must be len*2 bytes long + */ +uint8_t +ao_fec_encode(uint8_t *in, uint8_t len, uint8_t *out); + +/* + * Interleave data. 'out' must be 'len' bytes long + */ +uint8_t +ao_fec_interleave(uint8_t *in, uint8_t len, uint8_t *out); + +#endif /* _AO_FEC_H_ */ diff --git a/src/drivers/ao_fec_tx.c b/src/drivers/ao_fec_tx.c new file mode 100644 index 00000000..b8933956 --- /dev/null +++ b/src/drivers/ao_fec_tx.c @@ -0,0 +1,139 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao_fec.h> +#include <stdio.h> + +void +ao_fec_dump_bytes(uint8_t *bytes, uint8_t len, char *name) +{ + uint8_t i; + + printf ("%s (%d):", name, len); + for (i = 0; i < len; i++) { + if ((i & 7) == 0) + printf ("\n\t%02x:", i); + printf(" %02x", bytes[i]); + } + printf ("\n"); +} + +static uint16_t inline +crc_byte(uint8_t byte, uint16_t crc) +{ + uint8_t bit; + + for (bit = 0; bit < 8; bit++) { + if (((crc & 0x8000) >> 8) ^ (byte & 0x80)) + crc = (crc << 1) ^ 0x8005; + else + crc = (crc << 1); + byte <<= 1; + } + return crc; +} + +uint16_t +ao_fec_crc(uint8_t *bytes, uint8_t len) +{ + uint16_t crc = AO_FEC_CRC_INIT; + + while (len--) + crc = crc_byte(*bytes++, crc); + return crc; +} + +uint8_t +ao_fec_prepare(uint8_t *in, uint8_t len, uint8_t *out) +{ + uint16_t crc = ao_fec_crc (in, len); + uint8_t i; + uint8_t num_fec; + + /* Copy data */ + for (i = 0; i < len; i++) + out[i] = in[i]; + + /* Append CRC */ + out[i++] = crc >> 8; + out[i++] = crc; + + /* Append FEC -- 1 byte if odd, two bytes if even */ + num_fec = 2 - (i & 1); + while (num_fec--) + out[i++] = AO_FEC_TRELLIS_TERMINATOR; + return i; +} + +static const uint8_t whiten[] = { +#include "ao_whiten.h" +}; + +uint8_t +ao_fec_whiten(uint8_t *in, uint8_t len, uint8_t *out) +{ + const uint8_t *w = whiten; + + while (len--) + *out++ = *in++ ^ *w++; +} + +static const uint8_t ao_fec_encode_table[16] = { + 0, 3, 1, 2, + 3, 0, 2, 1, + 3, 0, 2, 1, + 0, 3, 1, 2 +}; + +uint8_t +ao_fec_encode(uint8_t *in, uint8_t len, uint8_t *out) +{ + uint16_t fec = 0, output; + uint8_t byte, bit; + + for (byte = 0; byte < len; byte++) { + fec = (fec & 0x700) | in[byte]; + output = 0; + for (bit = 0; bit < 8; bit++) { + output = output << 2 | ao_fec_encode_table[fec >> 7]; + fec = (fec << 1) & 0x7ff; + } + out[byte * 2] = output >> 8; + out[byte * 2 + 1] = output; + } + return len * 2; +} + +uint8_t +ao_fec_interleave(uint8_t *in, uint8_t len, uint8_t *out) +{ + uint8_t i, j; + + for (i = 0; i < len; i += 4) { + uint32_t interleaved = 0; + + for (j = 0; j < 4 * 4; j++) { + interleaved <<= 2; + interleaved |= (in[i + (~j & 0x3)] >> (2 * ((j & 0xc) >> 2))) & 0x03; + } + out[i+0] = interleaved >> 24; + out[i+1] = interleaved >> 16; + out[i+2] = interleaved >> 8; + out[i+3] = interleaved; + } + return len; +} diff --git a/src/megametrum-v0.1/Makefile b/src/megametrum-v0.1/Makefile index 5761fed7..054855ba 100644 --- a/src/megametrum-v0.1/Makefile +++ b/src/megametrum-v0.1/Makefile @@ -18,6 +18,8 @@ INC = \ ao_ms5607.h \ ao_hmc5883.h \ ao_mpu6000.h \ + ao_cc1120_CC1120.h \ + ao_whiten.h \ stm32l.h # @@ -45,6 +47,7 @@ ALTOS_SRC = \ ao_dma_stm.c \ ao_spi_stm.c \ ao_cc1120.c \ + ao_fec_tx.c \ ao_ms5607.c \ ao_adc_stm.c \ ao_beep_stm.c \ diff --git a/src/test/Makefile b/src/test/Makefile index 1e54f5e0..3e308dd7 100644 --- a/src/test/Makefile +++ b/src/test/Makefile @@ -1,6 +1,6 @@ vpath % ..:../core:../drivers:../util -PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_gps_test ao_gps_test_skytraq ao_convert_test ao_convert_pa_test +PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_gps_test ao_gps_test_skytraq ao_convert_test ao_convert_pa_test ao_fec_tx_test KALMAN=make-kalman @@ -38,4 +38,7 @@ ao_convert_pa_test: ao_convert_pa_test.c ao_convert_pa.c altitude-pa.h cc $(CFLAGS) -o $@ $< ao_kalman.h: $(KALMAN) - (cd .. && make ao_kalman.h)
\ No newline at end of file + (cd .. && make ao_kalman.h) + +ao_fec_tx_test: ao_fec_tx_test.c ao_fec_tx.c + cc $(CFLAGS) -o $@ ao_fec_tx_test.c ../drivers/ao_fec_tx.c diff --git a/src/test/ao_fec_tx_test.c b/src/test/ao_fec_tx_test.c new file mode 100644 index 00000000..b8dc9308 --- /dev/null +++ b/src/test/ao_fec_tx_test.c @@ -0,0 +1,47 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <ao_fec.h> +#include <stdlib.h> +#include <stdio.h> + +int +main(int argc, char **argv) +{ + uint8_t input[4] = { 3, 1, 2, 3 }; + uint8_t prepare[sizeof(input) + AO_FEC_PREPARE_EXTRA]; + uint8_t encode[sizeof(prepare) * 2]; + uint8_t interleave[sizeof(encode)]; + uint8_t prepare_len; + uint8_t encode_len; + uint8_t interleave_len; + + ao_fec_dump_bytes(input, sizeof(input), "Input"); + + prepare_len = ao_fec_prepare(input, sizeof (input), prepare); + + ao_fec_dump_bytes(prepare, prepare_len, "Prepare"); + + encode_len = ao_fec_encode(prepare, prepare_len, encode); + + ao_fec_dump_bytes(encode, encode_len, "Encode"); + + interleave_len = ao_fec_interleave(encode, encode_len, interleave); + + ao_fec_dump_bytes(interleave, interleave_len, "Interleave"); +} + diff --git a/src/util/make-whiten b/src/util/make-whiten new file mode 100644 index 00000000..d68a02af --- /dev/null +++ b/src/util/make-whiten @@ -0,0 +1,37 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +/* Generate the data whitening array used by the CC11* radios */ + +int pn9 = 0x1ff; + +void +pn9_step() { + pn9 = (pn9 >> 1) | (((pn9 ^ (pn9 >> 5)) & 1) << 8); +} + +int val() +{ + int ret = pn9 & 0xff; + + for (int i = 0; i < 8; i++) + pn9_step(); + return ret; +} + +for (int i = 0; i < 128; i++) + printf (" /* %3d */ 0x%02x,\n", i + 1, val()); |