From c48ddb1870463c36bb181248593155170907cbb4 Mon Sep 17 00:00:00 2001 From: olliw42 Date: Fri, 24 May 2024 15:52:29 +0200 Subject: [PATCH 01/51] 1st --- mLRS/Common/arq.h | 257 +++++++++++++++++++++++++++++++++++++ mLRS/Common/common_stats.h | 6 - mLRS/CommonRx/mlrs-rx.cpp | 72 ++++++++--- mLRS/CommonTx/mlrs-tx.cpp | 51 ++++++-- 4 files changed, 346 insertions(+), 40 deletions(-) create mode 100644 mLRS/Common/arq.h diff --git a/mLRS/Common/arq.h b/mLRS/Common/arq.h new file mode 100644 index 000000000..14689d078 --- /dev/null +++ b/mLRS/Common/arq.h @@ -0,0 +1,257 @@ +//******************************************************* +// Copyright (c) MLRS project +// GPL3 +// https://www.gnu.org/licenses/gpl-3.0.de.html +// OlliW @ www.olliw.eu +//******************************************************* +// ARQ Transmit/Receive +//******************************************************* +#ifndef ARQ_H +#define ARQ_H +#pragma once + + +#if 0 + +//------------------------------------------------------- +// Transmit +//------------------------------------------------------- + +class tTransmitArq +{ + public: + void Init(void); + + typedef enum { + ARQ_TX_IDLE = 0, + ARQ_TX_FRAME_MISSED, + ARQ_TX_NACK, + ARQ_TX_ACK, + } ARQ_TX_ENUM; + + void Disconnected(void); + void FrameMissed(void); + void NAck(void); + void Ack(void); + + void Clear(void); + bool GetFreshPayload(void); + void PutC(char c); + uint8_t SeqNo(void); + + uint8_t status; + + uint8_t payload_seq_no; // the seq_no associated to this payload + uint8_t bytes_in_payload; + uint8_t payload[FRAME_RX_PAYLOAD_LEN]; + + uint8_t payload_len; // not necessarily the same as bytes_in_payload +}; + + +void tTransmitArq::Init(void) +{ + status = ARQ_TX_IDLE; + + payload_seq_no = 0; + bytes_in_payload = 0; + + payload_len = 0; +} + + +void tTransmitArq::Disconnected(void) +{ + status = ARQ_TX_IDLE; +} + + +void tTransmitArq::FrameMissed(void) +{ + status = ARQ_TX_FRAME_MISSED; +} + + +void tTransmitArq::NAck(void) +{ + status = ARQ_TX_NACK; +} + + +void tTransmitArq::Ack(void) +{ + status = ARQ_TX_ACK; +} + + +void tTransmitArq::Clear(void) +{ + payload_len = 0; +} + + +bool tTransmitArq::GetFreshPayload(void) +{ + //return true; + + if (status == ARQ_TX_IDLE) { while(1); } // must not happen, should have been called after Missed,NAck,Ack + + if (status == ARQ_TX_ACK) { + payload_seq_no++; // give this payload the next seq_no + bytes_in_payload = 0; // to prepare for PutC() + return true; + } + + return false; +} + + +void tTransmitArq::PutC(char c) +{ + payload[bytes_in_payload++] = c; + payload_len = bytes_in_payload; +} + + + +uint8_t tTransmitArq::SeqNo(void) +{ + return payload_seq_no; +} + + +//------------------------------------------------------- +// Receive +//------------------------------------------------------- + +class tReceiveArq +{ + public: + void Init(void); + + typedef enum { + ARQ_RX_IDLE = 0, + ARQ_RX_FRAME_MISSED, + ARQ_RX_RECEIVED_WAS_IDLE, + ARQ_RX_RECEIVED, + } ARQ_RX_ENUM; + + void Disconnected(void); + void FrameMissed(void); + void Received(uint8_t _seq_no); + bool AcceptPayload(void); + + uint8_t Ack(void); + + uint8_t status; + uint8_t status_last; + uint8_t received_seq_no_last; + uint8_t received_seq_no; + uint8_t ack; +}; + + +void tReceiveArq::Init(void) +{ + status = ARQ_RX_IDLE; + + received_seq_no = 0; + received_seq_no_last = 0; + + ack = 1; +} + + +void tReceiveArq::Disconnected(void) +{ + status = ARQ_RX_IDLE; +} + + +void tReceiveArq::FrameMissed(void) +{ + status = ARQ_RX_FRAME_MISSED; + ack = 0; // AcceptPayload() is not called if FRAME_MISSED +} + + +void tReceiveArq::Received(uint8_t _seq_no) +{ + received_seq_no = _seq_no; + status = (status == ARQ_RX_IDLE) ? ARQ_RX_RECEIVED_WAS_IDLE : ARQ_RX_RECEIVED; + // AcceptPayload() is called +} + + +bool tReceiveArq::AcceptPayload(void) +{ + return true; + + if (status == ARQ_RX_IDLE) { while(1); } // must not happen, should have been called after Missed,Received + + switch (status) { + case ARQ_RX_RECEIVED_WAS_IDLE: + ack = 1; + received_seq_no_last = received_seq_no; + return true; + case ARQ_RX_RECEIVED: + ack = 1; // we always need to ack when we received a frame, to tell sender we want a new frame + if (received_seq_no == received_seq_no_last) { // that's the same as before, reject + return false; + } + received_seq_no_last = received_seq_no; + return true; + case ARQ_RX_FRAME_MISSED: // is not called if FRAME_MISSED !! + default: + ack = 0; // respond with NAck + return false; + } +} + + +uint8_t tReceiveArq::Ack(void) +{ + return ack; +} + + +#else +// these should be nfc, i.e., result in exactly the same behavior as before + +class tTransmitArq +{ + public: + void Init(void) { seq_no = 0; } + + void Disconnected(void) {} + void FrameMissed(void) {} + void NAck(void) {} + void Ack(void) {} + + void Clear(void) { payload_len = 0; } + bool GetFreshPayload(void) { return true; } + void PutC(char c) { payload[payload_len++] = c; } + uint8_t SeqNo(void) { seq_no++; return seq_no; } + + uint8_t payload_len; + uint8_t payload[FRAME_RX_PAYLOAD_LEN]; + uint8_t seq_no; +}; + + +class tReceiveArq +{ + public: + void Init(void) {} + + void Disconnected(void) {} + void FrameMissed(void) {} + void Received(uint8_t _seq_no) {} + bool AcceptPayload(void) { return true; } + + uint8_t Ack(void) { return 1; } +}; + +#endif + +#endif // ARQ_H diff --git a/mLRS/Common/common_stats.h b/mLRS/Common/common_stats.h index da46c6888..eb46a1e38 100644 --- a/mLRS/Common/common_stats.h +++ b/mLRS/Common/common_stats.h @@ -53,10 +53,7 @@ class Stats uint8_t received_transmit_antenna; // transmission/retransmission handling - uint8_t received_seq_no; - uint8_t received_ack; uint8_t transmit_seq_no; // seq no in the last transmitted frame - uint8_t retransmit_cnt; void Init(void) { @@ -90,10 +87,7 @@ class Stats received_antenna = UINT8_MAX; received_transmit_antenna = UINT8_MAX; - received_seq_no = UINT8_MAX; - received_ack = 0; transmit_seq_no = 0; - retransmit_cnt = 0; } void Update1Hz(void) diff --git a/mLRS/CommonRx/mlrs-rx.cpp b/mLRS/CommonRx/mlrs-rx.cpp index 0f68aa95c..f7255e386 100644 --- a/mLRS/CommonRx/mlrs-rx.cpp +++ b/mLRS/CommonRx/mlrs-rx.cpp @@ -94,6 +94,7 @@ #include "../Common/setup.h" #include "../Common/common.h" #include "../Common/diversity.h" +#include "../Common/arq.h" //#include "../Common/test.h" // un-comment if you want to compile for board test #include "rxstats.h" @@ -105,6 +106,7 @@ PowerupCounterBase powerup; tRxStats rxstats; tRDiversity rdiversity; tTDiversity tdiversity; +tTransmitArq tarq; // is required in bind.h @@ -274,25 +276,42 @@ void pack_rxcmdframe(tRxFrame* frame, tFrameStats* frame_stats) //-- normal Tx, Rx frames handling - -void prepare_transmit_frame(uint8_t antenna, uint8_t ack) +// receive +// isr: -> irq2_status +// isr loop: -> do_receive() +// -> link_rx1_status +// post loop: -> handle_receive() or handle_receive_none() +// if valid -> process_received_frame() +// transmit +// -> do_transmit() +// -> prepare_transmit_frame() + +void prepare_transmit_frame(uint8_t antenna) { -uint8_t payload[FRAME_RX_PAYLOAD_LEN]; -uint8_t payload_len = 0; +//uint8_t payload[FRAME_RX_PAYLOAD_LEN]; +//uint8_t payload_len = 0; + tarq.Clear(); if (transmit_frame_type == TRANSMIT_FRAME_TYPE_NORMAL) { // read data from serial if (connected()) { + +if (tarq.GetFreshPayload()) { + for (uint8_t i = 0; i < FRAME_RX_PAYLOAD_LEN; i++) { if (!sx_serial.available()) break; - payload[payload_len] = sx_serial.getc(); + //payload[payload_len] = sx_serial.getc(); //dbg.putc(payload[payload_len]); - payload_len++; + //payload_len++; + tarq.PutC(sx_serial.getc()); } - stats.bytes_transmitted.Add(payload_len); + //stats.bytes_transmitted.Add(payload_len); + stats.bytes_transmitted.Add(tarq.payload_len); stats.serial_data_transmitted.Inc(); +} + } else { sx_serial.flush(); } @@ -301,8 +320,8 @@ uint8_t payload_len = 0; stats.last_transmit_antenna = antenna; tFrameStats frame_stats; - frame_stats.seq_no = stats.transmit_seq_no; - frame_stats.ack = ack; + frame_stats.seq_no = tarq.SeqNo(); + frame_stats.ack = 1; // TODO frame_stats.antenna = stats.last_antenna; frame_stats.transmit_antenna = antenna; frame_stats.rssi = stats.GetLastRssi(); @@ -310,7 +329,8 @@ uint8_t payload_len = 0; frame_stats.LQ_serial = rxstats.GetLQ_serial(); if (transmit_frame_type == TRANSMIT_FRAME_TYPE_NORMAL) { - pack_rxframe(&rxFrame, &frame_stats, payload, payload_len); + //pack_rxframe(&rxFrame, &frame_stats, payload, payload_len); + pack_rxframe(&rxFrame, &frame_stats, tarq.payload, tarq.payload_len); } else { pack_rxcmdframe(&rxFrame, &frame_stats); } @@ -358,7 +378,7 @@ void process_received_frame(bool do_payload, tTxFrame* frame) //-- receive/transmit handling api -void handle_receive(uint8_t antenna) +void handle_receive(uint8_t antenna) // RX_STATUS_INVALID, RX_STATUS_CRC1_VALID, RX_STATUS_VALID { uint8_t rx_status; tTxFrame* frame; @@ -380,6 +400,13 @@ tTxFrame* frame; FAIL_WSTATE(BLINK_4, "rx_status failure", 0,0, link_rx1_status, link_rx2_status); } + // transmit ARQ + if (rx_status == RX_STATUS_VALID) { + if (frame->status.ack) tarq.Ack(); else tarq.NAck(); + } else { + tarq.FrameMissed(); + } + if (rx_status > RX_STATUS_INVALID) { // RX_STATUS_CRC1_VALID, RX_STATUS_VALID bool do_payload = (rx_status == RX_STATUS_VALID); @@ -389,12 +416,12 @@ tTxFrame* frame; rxstats.doValidCrc1FrameReceived(); if (rx_status == RX_STATUS_VALID) rxstats.doValidFrameReceived(); // should we count valid payload only if tx frame ? - stats.received_seq_no = frame->status.seq_no; - stats.received_ack = frame->status.ack; + //stats.received_seq_no = frame->status.seq_no; + //stats.received_ack = frame->status.ack; } else { // RX_STATUS_INVALID - stats.received_seq_no = UINT8_MAX; - stats.received_ack = 0; + //stats.received_seq_no = UINT8_MAX; + //stats.received_ack = 0; } // we set it for all received frames @@ -407,23 +434,23 @@ tTxFrame* frame; void handle_receive_none(void) // RX_STATUS_NONE { - stats.received_seq_no = UINT8_MAX; - stats.received_ack = 0; + //stats.received_seq_no = UINT8_MAX; + //stats.received_ack = 0; + + tarq.FrameMissed(); } void do_transmit(uint8_t antenna) // we send a frame to transmitter { -uint8_t ack = 1; - if (bind.IsInBind()) { bind.do_transmit(antenna); return; } - stats.transmit_seq_no++; + //stats.transmit_seq_no++; - prepare_transmit_frame(antenna, ack); + prepare_transmit_frame(antenna); // to test asymmetric connection, fake rxFrame, to no send doesn't work as it blocks the sx sxSendFrame(antenna, &rxFrame, FRAME_TX_RX_LEN, SEND_FRAME_TMO_MS); // 10ms tmo @@ -537,6 +564,7 @@ RESTARTCONTROLLER rxstats.Init(Config.LQAveragingPeriod); rdiversity.Init(); tdiversity.Init(Config.frame_rate_ms); + tarq.Init(); out.Configure(Setup.Rx.OutMode); mavlink.Init(); @@ -795,6 +823,8 @@ dbg.puts(s8toBCD_s(stats.last_rssi2));*/ sx2.SetToIdle(); } + if (!connected()) tarq.Disconnected(); + DECc(tick_1hz_commensurate, Config.frame_rate_hz); if (!tick_1hz_commensurate) { rxstats.Update1Hz(); diff --git a/mLRS/CommonTx/mlrs-tx.cpp b/mLRS/CommonTx/mlrs-tx.cpp index cffd4d9ef..4c699eace 100644 --- a/mLRS/CommonTx/mlrs-tx.cpp +++ b/mLRS/CommonTx/mlrs-tx.cpp @@ -74,6 +74,7 @@ #include "../Common/common.h" #include "../Common/channel_order.h" #include "../Common/diversity.h" +#include "../Common/arq.h" //#include "../Common/test.h" // un-comment if you want to compile for board test #include "txstats.h" @@ -87,6 +88,7 @@ tTxStats txstats; tRDiversity rdiversity; tTDiversity tdiversity; +tReceiveArq rarq; ChannelOrder channelOrder(ChannelOrder::DIRECTION_TX_TO_MLRS); tConfigId config_id; tTxCli cli; @@ -400,8 +402,17 @@ void pack_txcmdframe(tTxFrame* frame, tFrameStats* frame_stats, tRcData* rc) //-- normal Tx, Rx frames handling - -void prepare_transmit_frame(uint8_t antenna, uint8_t ack) +// transmit +// -> do_transmit() +// -> prepare_transmit_frame() +// receive +// isr: -> irq2_status +// isr loop: -> do_receive() +// -> link_rx1_status +// post loop: -> handle_receive() or handle_receive_none() +// if valid -> process_received_frame() + +void prepare_transmit_frame(uint8_t antenna) { uint8_t payload[FRAME_TX_PAYLOAD_LEN]; uint8_t payload_len = 0; @@ -429,7 +440,7 @@ uint8_t payload_len = 0; tFrameStats frame_stats; frame_stats.seq_no = stats.transmit_seq_no; - frame_stats.ack = ack; + frame_stats.ack = rarq.Ack(); frame_stats.antenna = stats.last_antenna; frame_stats.transmit_antenna = antenna; frame_stats.rssi = stats.GetLastRssi(); @@ -459,6 +470,8 @@ void process_received_frame(bool do_payload, tRxFrame* frame) return; } +if (rarq.AcceptPayload()) { + // output data on serial if (sx_serial.IsEnabled()) { for (uint8_t i = 0; i < frame->status.payload_len; i++) { @@ -469,12 +482,14 @@ void process_received_frame(bool do_payload, tRxFrame* frame) stats.bytes_received.Add(frame->status.payload_len); stats.serial_data_received.Inc(); + +} } //-- receive/transmit handling api -void handle_receive(uint8_t antenna) +void handle_receive(uint8_t antenna) // RX_STATUS_INVALID, RX_STATUS_VALID { uint8_t rx_status; tRxFrame* frame; @@ -496,6 +511,13 @@ tRxFrame* frame; FAIL_WSTATE(BLINK_4, "rx_status failure", 0,0, link_rx1_status, link_rx2_status); } + // receive ARQ, must come before process_received_frame() + if (rx_status == RX_STATUS_VALID) { + rarq.Received(frame->status.seq_no); + } else { + rarq.FrameMissed(); + } + if (rx_status > RX_STATUS_INVALID) { // RX_STATUS_VALID bool do_payload = true; @@ -503,12 +525,12 @@ tRxFrame* frame; txstats.doValidFrameReceived(); // should we count valid payload only if rx frame ? - stats.received_seq_no = frame->status.seq_no; - stats.received_ack = frame->status.ack; + //stats.received_seq_no = frame->status.seq_no; + //stats.received_ack = frame->status.ack; } else { // RX_STATUS_INVALID - stats.received_seq_no = UINT8_MAX; - stats.received_ack = 0; + //stats.received_seq_no = UINT8_MAX; + //stats.received_ack = 0; } // we set it for all received frames @@ -521,15 +543,15 @@ tRxFrame* frame; void handle_receive_none(void) // RX_STATUS_NONE { - stats.received_seq_no = UINT8_MAX; - stats.received_ack = 0; + //stats.received_seq_no = UINT8_MAX; + //stats.received_ack = 0; + + rarq.FrameMissed(); } void do_transmit(uint8_t antenna) // we send a TX frame to receiver { -uint8_t ack = 1; - if (bind.IsInBind()) { bind.do_transmit(antenna); return; @@ -537,7 +559,7 @@ uint8_t ack = 1; stats.transmit_seq_no++; - prepare_transmit_frame(antenna, ack); + prepare_transmit_frame(antenna); sxSendFrame(antenna, &txFrame, FRAME_TX_RX_LEN, SEND_FRAME_TMO_MS); // 10 ms tmo } @@ -649,6 +671,7 @@ RESTARTCONTROLLER txstats.Init(Config.LQAveragingPeriod); rdiversity.Init(); tdiversity.Init(Config.frame_rate_ms); + rarq.Init(); in.Configure(Setup.Tx[Config.ConfigId].InMode); mavlink.Init(&serial, &mbridge, &serial2); // ports selected by SerialDestination, ChannelsSource @@ -913,6 +936,8 @@ IF_SX2( link_rx1_status = RX_STATUS_NONE; link_rx2_status = RX_STATUS_NONE; + if (!connected()) rarq.Disconnected(); + if (connect_state == CONNECT_STATE_LISTEN) { link_task_reset(); // to ensure that the following set is enforced link_task_set(LINK_TASK_TX_GET_RX_SETUPDATA); From d07e8e31aeae3202d87485f0b2459c865dac5d4c Mon Sep 17 00:00:00 2001 From: olliw42 Date: Fri, 24 May 2024 18:16:24 +0200 Subject: [PATCH 02/51] 2nd, seems ok --- mLRS/Common/arq.h | 10 +++---- mLRS/CommonRx/mlrs-rx.cpp | 61 +++++++++++++++++++++++---------------- mLRS/CommonTx/mlrs-tx.cpp | 57 ++++++++++++++++++++++++------------ 3 files changed, 78 insertions(+), 50 deletions(-) diff --git a/mLRS/Common/arq.h b/mLRS/Common/arq.h index 14689d078..51c9d3d79 100644 --- a/mLRS/Common/arq.h +++ b/mLRS/Common/arq.h @@ -10,8 +10,11 @@ #define ARQ_H #pragma once +#define USE_ARQ +#define USE_ARQ_TX_SIM_MISS 0 //9 +#define USE_ARQ_RX_SIM_MISS 0 //5 -#if 0 +#ifdef USE_ARQ //------------------------------------------------------- // Transmit @@ -92,8 +95,6 @@ void tTransmitArq::Clear(void) bool tTransmitArq::GetFreshPayload(void) { - //return true; - if (status == ARQ_TX_IDLE) { while(1); } // must not happen, should have been called after Missed,NAck,Ack if (status == ARQ_TX_ACK) { @@ -144,7 +145,6 @@ class tReceiveArq uint8_t Ack(void); uint8_t status; - uint8_t status_last; uint8_t received_seq_no_last; uint8_t received_seq_no; uint8_t ack; @@ -185,8 +185,6 @@ void tReceiveArq::Received(uint8_t _seq_no) bool tReceiveArq::AcceptPayload(void) { - return true; - if (status == ARQ_RX_IDLE) { while(1); } // must not happen, should have been called after Missed,Received switch (status) { diff --git a/mLRS/CommonRx/mlrs-rx.cpp b/mLRS/CommonRx/mlrs-rx.cpp index f7255e386..346caf98f 100644 --- a/mLRS/CommonRx/mlrs-rx.cpp +++ b/mLRS/CommonRx/mlrs-rx.cpp @@ -288,8 +288,6 @@ void pack_rxcmdframe(tRxFrame* frame, tFrameStats* frame_stats) void prepare_transmit_frame(uint8_t antenna) { -//uint8_t payload[FRAME_RX_PAYLOAD_LEN]; -//uint8_t payload_len = 0; tarq.Clear(); if (transmit_frame_type == TRANSMIT_FRAME_TYPE_NORMAL) { @@ -297,20 +295,22 @@ void prepare_transmit_frame(uint8_t antenna) // read data from serial if (connected()) { -if (tarq.GetFreshPayload()) { + if (tarq.GetFreshPayload()) { - for (uint8_t i = 0; i < FRAME_RX_PAYLOAD_LEN; i++) { - if (!sx_serial.available()) break; - //payload[payload_len] = sx_serial.getc(); -//dbg.putc(payload[payload_len]); - //payload_len++; - tarq.PutC(sx_serial.getc()); - } +#ifdef USE_ARQ +dbg.puts("TRUE "); +#endif - //stats.bytes_transmitted.Add(payload_len); - stats.bytes_transmitted.Add(tarq.payload_len); - stats.serial_data_transmitted.Inc(); -} + for (uint8_t i = 0; i < FRAME_RX_PAYLOAD_LEN; i++) { + if (!sx_serial.available()) break; + uint8_t c = sx_serial.getc(); + tarq.PutC(c); +//dbg.putc(c); + } + + stats.bytes_transmitted.Add(tarq.payload_len); + stats.serial_data_transmitted.Inc(); + } } else { sx_serial.flush(); @@ -329,11 +329,15 @@ if (tarq.GetFreshPayload()) { frame_stats.LQ_serial = rxstats.GetLQ_serial(); if (transmit_frame_type == TRANSMIT_FRAME_TYPE_NORMAL) { - //pack_rxframe(&rxFrame, &frame_stats, payload, payload_len); pack_rxframe(&rxFrame, &frame_stats, tarq.payload, tarq.payload_len); } else { pack_rxcmdframe(&rxFrame, &frame_stats); } + +#ifdef USE_ARQ +dbg.puts("\ntrs seq "); +dbg.puts(u8toBCD_s(rxFrame.status.seq_no)); +#endif } @@ -407,6 +411,13 @@ tTxFrame* frame; tarq.FrameMissed(); } +#ifdef USE_ARQ +dbg.puts("\nrec "); +if(tarq.status==tTransmitArq::ARQ_TX_FRAME_MISSED) dbg.puts("FM "); else +if(tarq.status==tTransmitArq::ARQ_TX_NACK) dbg.puts("NACK"); else +if(tarq.status==tTransmitArq::ARQ_TX_ACK) dbg.puts("ACK "); +#endif + if (rx_status > RX_STATUS_INVALID) { // RX_STATUS_CRC1_VALID, RX_STATUS_VALID bool do_payload = (rx_status == RX_STATUS_VALID); @@ -416,12 +427,7 @@ tTxFrame* frame; rxstats.doValidCrc1FrameReceived(); if (rx_status == RX_STATUS_VALID) rxstats.doValidFrameReceived(); // should we count valid payload only if tx frame ? - //stats.received_seq_no = frame->status.seq_no; - //stats.received_ack = frame->status.ack; - } else { // RX_STATUS_INVALID - //stats.received_seq_no = UINT8_MAX; - //stats.received_ack = 0; } // we set it for all received frames @@ -434,10 +440,11 @@ tTxFrame* frame; void handle_receive_none(void) // RX_STATUS_NONE { - //stats.received_seq_no = UINT8_MAX; - //stats.received_ack = 0; - tarq.FrameMissed(); + +#ifdef USE_ARQ +dbg.puts("\nrec FMISSED"); +#endif } @@ -448,8 +455,6 @@ void do_transmit(uint8_t antenna) // we send a frame to transmitter return; } - //stats.transmit_seq_no++; - prepare_transmit_frame(antenna); // to test asymmetric connection, fake rxFrame, to no send doesn't work as it blocks the sx @@ -715,6 +720,12 @@ IF_SX2( if (doPostReceive) { doPostReceive = false; +#if USE_ARQ_RX_SIM_MISS > 0 && defined USE_ARQ +static uint8_t miss_cnt = 0; +DECc(miss_cnt,USE_ARQ_RX_SIM_MISS); +if(!miss_cnt) { link_rx1_status = link_rx2_status = RX_STATUS_NONE; } +#endif + bool frame_received, valid_frame_received, invalid_frame_received; if (USE_ANTENNA1 && USE_ANTENNA2) { frame_received = (link_rx1_status > RX_STATUS_NONE) || (link_rx2_status > RX_STATUS_NONE); diff --git a/mLRS/CommonTx/mlrs-tx.cpp b/mLRS/CommonTx/mlrs-tx.cpp index 4c699eace..a152ef741 100644 --- a/mLRS/CommonTx/mlrs-tx.cpp +++ b/mLRS/CommonTx/mlrs-tx.cpp @@ -438,6 +438,11 @@ uint8_t payload_len = 0; stats.last_transmit_antenna = antenna; +#ifdef USE_ARQ +dbg.puts("\ntrs "); +dbg.puts((rarq.Ack()) ? "ack" : "NACK"); +#endif + tFrameStats frame_stats; frame_stats.seq_no = stats.transmit_seq_no; frame_stats.ack = rarq.Ack(); @@ -470,20 +475,23 @@ void process_received_frame(bool do_payload, tRxFrame* frame) return; } -if (rarq.AcceptPayload()) { + if (rarq.AcceptPayload()) { - // output data on serial - if (sx_serial.IsEnabled()) { - for (uint8_t i = 0; i < frame->status.payload_len; i++) { - uint8_t c = frame->payload[i]; - sx_serial.putc(c); - } - } +#ifdef USE_ARQ +dbg.puts(" TRUE"); +#endif - stats.bytes_received.Add(frame->status.payload_len); - stats.serial_data_received.Inc(); + // output data on serial + if (sx_serial.IsEnabled()) { + for (uint8_t i = 0; i < frame->status.payload_len; i++) { + uint8_t c = frame->payload[i]; + sx_serial.putc(c); + } + } -} + stats.bytes_received.Add(frame->status.payload_len); + stats.serial_data_received.Inc(); + } } @@ -518,6 +526,15 @@ tRxFrame* frame; rarq.FrameMissed(); } +#ifdef USE_ARQ +dbg.puts("\nrec "); +if(rarq.status==tReceiveArq::ARQ_RX_FRAME_MISSED) dbg.puts("FM"); else +if(rarq.status==tReceiveArq::ARQ_RX_RECEIVED_WAS_IDLE) dbg.puts("RI"); else +if(rarq.status==tReceiveArq::ARQ_RX_RECEIVED) dbg.puts("R "); +dbg.puts(" seq_last ");dbg.puts(u8toBCD_s(rarq.received_seq_no_last)); +dbg.puts(" seq ");dbg.puts(u8toBCD_s(rarq.received_seq_no)); +#endif + if (rx_status > RX_STATUS_INVALID) { // RX_STATUS_VALID bool do_payload = true; @@ -525,12 +542,7 @@ tRxFrame* frame; txstats.doValidFrameReceived(); // should we count valid payload only if rx frame ? - //stats.received_seq_no = frame->status.seq_no; - //stats.received_ack = frame->status.ack; - } else { // RX_STATUS_INVALID - //stats.received_seq_no = UINT8_MAX; - //stats.received_ack = 0; } // we set it for all received frames @@ -543,10 +555,11 @@ tRxFrame* frame; void handle_receive_none(void) // RX_STATUS_NONE { - //stats.received_seq_no = UINT8_MAX; - //stats.received_ack = 0; - rarq.FrameMissed(); + +#ifdef USE_ARQ +dbg.puts("\nrec FMISSED"); +#endif } @@ -848,6 +861,12 @@ IF_SX2( sx.SetToIdle(); sx2.SetToIdle(); +#if USE_ARQ_TX_SIM_MISS > 0 && defined USE_ARQ +static uint8_t miss_cnt = 0; +DECc(miss_cnt,USE_ARQ_TX_SIM_MISS); +if(!miss_cnt) { link_rx1_status = link_rx2_status = RX_STATUS_NONE; } +#endif + bool frame_received, valid_frame_received; if (USE_ANTENNA1 && USE_ANTENNA2) { frame_received = (link_rx1_status > RX_STATUS_NONE) || (link_rx2_status > RX_STATUS_NONE); From 062b73a1264ba2af2b502eadc56ef7c0eb50ccb8 Mon Sep 17 00:00:00 2001 From: olliw42 Date: Fri, 24 May 2024 18:40:34 +0200 Subject: [PATCH 03/51] nfc --- mLRS/Common/arq.h | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/mLRS/Common/arq.h b/mLRS/Common/arq.h index 51c9d3d79..12639139e 100644 --- a/mLRS/Common/arq.h +++ b/mLRS/Common/arq.h @@ -55,10 +55,8 @@ class tTransmitArq void tTransmitArq::Init(void) { status = ARQ_TX_IDLE; - payload_seq_no = 0; bytes_in_payload = 0; - payload_len = 0; } @@ -114,7 +112,6 @@ void tTransmitArq::PutC(char c) } - uint8_t tTransmitArq::SeqNo(void) { return payload_seq_no; @@ -145,8 +142,10 @@ class tReceiveArq uint8_t Ack(void); uint8_t status; + uint8_t received_seq_no_last; uint8_t received_seq_no; + uint8_t ack; }; @@ -154,10 +153,8 @@ class tReceiveArq void tReceiveArq::Init(void) { status = ARQ_RX_IDLE; - received_seq_no = 0; received_seq_no_last = 0; - ack = 1; } From f43d2246fc6653638cbf57c6dbbb4a44319d7aae Mon Sep 17 00:00:00 2001 From: olliw42 Date: Mon, 27 May 2024 22:26:21 +0200 Subject: [PATCH 04/51] change to ack with last received seq no --- mLRS/Common/arq.h | 105 +++++++++++++++++--------------------- mLRS/CommonRx/mlrs-rx.cpp | 34 ++++++------ mLRS/CommonTx/mlrs-tx.cpp | 53 +++++++++---------- 3 files changed, 90 insertions(+), 102 deletions(-) diff --git a/mLRS/Common/arq.h b/mLRS/Common/arq.h index 12639139e..54d535231 100644 --- a/mLRS/Common/arq.h +++ b/mLRS/Common/arq.h @@ -11,8 +11,8 @@ #pragma once #define USE_ARQ -#define USE_ARQ_TX_SIM_MISS 0 //9 -#define USE_ARQ_RX_SIM_MISS 0 //5 +#define USE_ARQ_TX_SIM_MISS 9 //9 +#define USE_ARQ_RX_SIM_MISS 5 //5 #ifdef USE_ARQ @@ -28,35 +28,32 @@ class tTransmitArq typedef enum { ARQ_TX_IDLE = 0, ARQ_TX_FRAME_MISSED, - ARQ_TX_NACK, - ARQ_TX_ACK, + ARQ_TX_RECEIVED, } ARQ_TX_ENUM; void Disconnected(void); void FrameMissed(void); - void NAck(void); - void Ack(void); + void Received(uint8_t seq_no); - void Clear(void); bool GetFreshPayload(void); + void Clear(void); void PutC(char c); + uint8_t SeqNo(void); uint8_t status; - + uint8_t received_seq_no; // attention: is 0/1 only, 0 = even, 1 = odd uint8_t payload_seq_no; // the seq_no associated to this payload - uint8_t bytes_in_payload; - uint8_t payload[FRAME_RX_PAYLOAD_LEN]; - uint8_t payload_len; // not necessarily the same as bytes_in_payload + uint8_t payload[FRAME_RX_PAYLOAD_LEN]; // should be the larger of the two ! }; void tTransmitArq::Init(void) { status = ARQ_TX_IDLE; + received_seq_no = 0; payload_seq_no = 0; - bytes_in_payload = 0; payload_len = 0; } @@ -73,31 +70,20 @@ void tTransmitArq::FrameMissed(void) } -void tTransmitArq::NAck(void) -{ - status = ARQ_TX_NACK; -} - - -void tTransmitArq::Ack(void) -{ - status = ARQ_TX_ACK; -} - - -void tTransmitArq::Clear(void) +void tTransmitArq::Received(uint8_t seq_no) { - payload_len = 0; + received_seq_no = seq_no; // not really used, Q: what should we do if this isn't the expected? Maybe IDLE to recover? + status = ARQ_TX_RECEIVED; } +// called at begin of prepare_transmit_frame() bool tTransmitArq::GetFreshPayload(void) { - if (status == ARQ_TX_IDLE) { while(1); } // must not happen, should have been called after Missed,NAck,Ack + //if (status == ARQ_TX_IDLE) { while(1); } // must not happen, should have been called after Missed,NAck,Ack - if (status == ARQ_TX_ACK) { + if (status == ARQ_TX_RECEIVED || status == ARQ_TX_IDLE) { payload_seq_no++; // give this payload the next seq_no - bytes_in_payload = 0; // to prepare for PutC() return true; } @@ -105,16 +91,22 @@ bool tTransmitArq::GetFreshPayload(void) } +// call before PutC() +void tTransmitArq::Clear(void) +{ + payload_len = 0; +} + + void tTransmitArq::PutC(char c) { - payload[bytes_in_payload++] = c; - payload_len = bytes_in_payload; + payload[payload_len++] = c; } uint8_t tTransmitArq::SeqNo(void) { - return payload_seq_no; + return payload_seq_no; // will be converted by 3 bit to 0...7 } @@ -136,17 +128,16 @@ class tReceiveArq void Disconnected(void); void FrameMissed(void); - void Received(uint8_t _seq_no); + void Received(uint8_t seq_no); + bool AcceptPayload(void); - uint8_t Ack(void); + uint8_t AckSeqNo(void); uint8_t status; - - uint8_t received_seq_no_last; + uint8_t received_seq_no_last; // attention: the seq no here are all 3 bit, 0..7 uint8_t received_seq_no; - - uint8_t ack; + uint8_t ack_seq_no; }; @@ -155,7 +146,7 @@ void tReceiveArq::Init(void) status = ARQ_RX_IDLE; received_seq_no = 0; received_seq_no_last = 0; - ack = 1; + ack_seq_no = 0; } @@ -168,13 +159,12 @@ void tReceiveArq::Disconnected(void) void tReceiveArq::FrameMissed(void) { status = ARQ_RX_FRAME_MISSED; - ack = 0; // AcceptPayload() is not called if FRAME_MISSED } -void tReceiveArq::Received(uint8_t _seq_no) +void tReceiveArq::Received(uint8_t seq_no) { - received_seq_no = _seq_no; + received_seq_no = seq_no; status = (status == ARQ_RX_IDLE) ? ARQ_RX_RECEIVED_WAS_IDLE : ARQ_RX_RECEIVED; // AcceptPayload() is called } @@ -185,28 +175,26 @@ bool tReceiveArq::AcceptPayload(void) if (status == ARQ_RX_IDLE) { while(1); } // must not happen, should have been called after Missed,Received switch (status) { - case ARQ_RX_RECEIVED_WAS_IDLE: - ack = 1; + case ARQ_RX_RECEIVED_WAS_IDLE: { + bool accept = true; received_seq_no_last = received_seq_no; - return true; - case ARQ_RX_RECEIVED: - ack = 1; // we always need to ack when we received a frame, to tell sender we want a new frame - if (received_seq_no == received_seq_no_last) { // that's the same as before, reject - return false; - } + ack_seq_no = received_seq_no; + return accept; } + case ARQ_RX_RECEIVED: { + bool accept = (received_seq_no != received_seq_no_last); // new seq no received, so accept it received_seq_no_last = received_seq_no; - return true; - case ARQ_RX_FRAME_MISSED: // is not called if FRAME_MISSED !! + ack_seq_no = received_seq_no; + return accept; } + case ARQ_RX_FRAME_MISSED: // is not called if handle_receive_none(), RX_STATUS_NONE ! default: - ack = 0; // respond with NAck return false; } } -uint8_t tReceiveArq::Ack(void) +uint8_t tReceiveArq::AckSeqNo(void) { - return ack; + return ack_seq_no; // will be converted by 1 bit to 0/1 } @@ -220,11 +208,10 @@ class tTransmitArq void Disconnected(void) {} void FrameMissed(void) {} - void NAck(void) {} - void Ack(void) {} + void Received(uint8_t seq_no) {} - void Clear(void) { payload_len = 0; } bool GetFreshPayload(void) { return true; } + void Clear(void) { payload_len = 0; } void PutC(char c) { payload[payload_len++] = c; } uint8_t SeqNo(void) { seq_no++; return seq_no; } @@ -244,7 +231,7 @@ class tReceiveArq void Received(uint8_t _seq_no) {} bool AcceptPayload(void) { return true; } - uint8_t Ack(void) { return 1; } + uint8_t AckSeqNo(void) { return 1; } }; #endif diff --git a/mLRS/CommonRx/mlrs-rx.cpp b/mLRS/CommonRx/mlrs-rx.cpp index 346caf98f..0c2fb1280 100644 --- a/mLRS/CommonRx/mlrs-rx.cpp +++ b/mLRS/CommonRx/mlrs-rx.cpp @@ -288,19 +288,13 @@ void pack_rxcmdframe(tRxFrame* frame, tFrameStats* frame_stats) void prepare_transmit_frame(uint8_t antenna) { - tarq.Clear(); + bool get_fresh_payload = tarq.GetFreshPayload(); + if (get_fresh_payload) tarq.Clear(); if (transmit_frame_type == TRANSMIT_FRAME_TYPE_NORMAL) { - // read data from serial if (connected()) { - - if (tarq.GetFreshPayload()) { - -#ifdef USE_ARQ -dbg.puts("TRUE "); -#endif - + if (get_fresh_payload) { for (uint8_t i = 0; i < FRAME_RX_PAYLOAD_LEN; i++) { if (!sx_serial.available()) break; uint8_t c = sx_serial.getc(); @@ -331,10 +325,17 @@ dbg.puts("TRUE "); if (transmit_frame_type == TRANSMIT_FRAME_TYPE_NORMAL) { pack_rxframe(&rxFrame, &frame_stats, tarq.payload, tarq.payload_len); } else { - pack_rxcmdframe(&rxFrame, &frame_stats); + if (get_fresh_payload) { + pack_rxcmdframe(&rxFrame, &frame_stats); + tarq.Clear(); + for (uint8_t i = 0; i < rxFrame.status.payload_len; i++) tarq.PutC(rxFrame.payload[i]); + } else { + pack_rxframe(&rxFrame, &frame_stats, tarq.payload, tarq.payload_len); + } } #ifdef USE_ARQ +dbg.puts(get_fresh_payload?" TRUE":" FALSE"); dbg.puts("\ntrs seq "); dbg.puts(u8toBCD_s(rxFrame.status.seq_no)); #endif @@ -404,18 +405,17 @@ tTxFrame* frame; FAIL_WSTATE(BLINK_4, "rx_status failure", 0,0, link_rx1_status, link_rx2_status); } - // transmit ARQ - if (rx_status == RX_STATUS_VALID) { - if (frame->status.ack) tarq.Ack(); else tarq.NAck(); + // handle transmit ARQ + if (rx_status > RX_STATUS_INVALID) { // RX_STATUS_CRC1_VALID, RX_STATUS_VALID: we have valid information on ack + tarq.Received(frame->status.ack); } else { tarq.FrameMissed(); } #ifdef USE_ARQ -dbg.puts("\nrec "); -if(tarq.status==tTransmitArq::ARQ_TX_FRAME_MISSED) dbg.puts("FM "); else -if(tarq.status==tTransmitArq::ARQ_TX_NACK) dbg.puts("NACK"); else -if(tarq.status==tTransmitArq::ARQ_TX_ACK) dbg.puts("ACK "); +dbg.puts("\nrec"); +if(tarq.status==tTransmitArq::ARQ_TX_FRAME_MISSED) dbg.puts(" FM"); else +if(tarq.status==tTransmitArq::ARQ_TX_RECEIVED) { dbg.puts(" RC "); dbg.puts(u8toBCD_s(tarq.received_seq_no)); } #endif if (rx_status > RX_STATUS_INVALID) { // RX_STATUS_CRC1_VALID, RX_STATUS_VALID diff --git a/mLRS/CommonTx/mlrs-tx.cpp b/mLRS/CommonTx/mlrs-tx.cpp index a152ef741..96a7b8c1b 100644 --- a/mLRS/CommonTx/mlrs-tx.cpp +++ b/mLRS/CommonTx/mlrs-tx.cpp @@ -438,14 +438,9 @@ uint8_t payload_len = 0; stats.last_transmit_antenna = antenna; -#ifdef USE_ARQ -dbg.puts("\ntrs "); -dbg.puts((rarq.Ack()) ? "ack" : "NACK"); -#endif - tFrameStats frame_stats; frame_stats.seq_no = stats.transmit_seq_no; - frame_stats.ack = rarq.Ack(); + frame_stats.ack = rarq.AckSeqNo(); frame_stats.antenna = stats.last_antenna; frame_stats.transmit_antenna = antenna; frame_stats.rssi = stats.GetLastRssi(); @@ -457,41 +452,47 @@ dbg.puts((rarq.Ack()) ? "ack" : "NACK"); } else { pack_txcmdframe(&txFrame, &frame_stats, &rcData); } + +#ifdef USE_ARQ +dbg.puts("\ntrs "); +dbg.puts(u8toBCD_s(rarq.AckSeqNo())); +#endif } void process_received_frame(bool do_payload, tRxFrame* frame) { + bool accept_payload = rarq.AcceptPayload(); + +#ifdef USE_ARQ +dbg.puts(accept_payload?" TRUE":" FALSE"); +#endif + stats.received_antenna = frame->status.antenna; stats.received_transmit_antenna = frame->status.transmit_antenna; stats.received_rssi = rssi_i8_from_u7(frame->status.rssi_u7); stats.received_LQ_rc = frame->status.LQ_rc; stats.received_LQ_serial = frame->status.LQ_serial; - if (!do_payload) return; + if (!do_payload) return; // always true + + if (!accept_payload) return; if (frame->status.frame_type == FRAME_TYPE_TX_RX_CMD) { process_received_rxcmdframe(frame); return; } - if (rarq.AcceptPayload()) { - -#ifdef USE_ARQ -dbg.puts(" TRUE"); -#endif - - // output data on serial - if (sx_serial.IsEnabled()) { - for (uint8_t i = 0; i < frame->status.payload_len; i++) { - uint8_t c = frame->payload[i]; - sx_serial.putc(c); - } + // output data on serial + if (sx_serial.IsEnabled()) { + for (uint8_t i = 0; i < frame->status.payload_len; i++) { + uint8_t c = frame->payload[i]; + sx_serial.putc(c); } - - stats.bytes_received.Add(frame->status.payload_len); - stats.serial_data_received.Inc(); } + + stats.bytes_received.Add(frame->status.payload_len); + stats.serial_data_received.Inc(); } @@ -527,10 +528,10 @@ tRxFrame* frame; } #ifdef USE_ARQ -dbg.puts("\nrec "); -if(rarq.status==tReceiveArq::ARQ_RX_FRAME_MISSED) dbg.puts("FM"); else -if(rarq.status==tReceiveArq::ARQ_RX_RECEIVED_WAS_IDLE) dbg.puts("RI"); else -if(rarq.status==tReceiveArq::ARQ_RX_RECEIVED) dbg.puts("R "); +dbg.puts("\nrec"); +if(rarq.status==tReceiveArq::ARQ_RX_FRAME_MISSED) dbg.puts(" FM"); else +if(rarq.status==tReceiveArq::ARQ_RX_RECEIVED_WAS_IDLE) dbg.puts(" RI"); else +if(rarq.status==tReceiveArq::ARQ_RX_RECEIVED) dbg.puts(" R"); dbg.puts(" seq_last ");dbg.puts(u8toBCD_s(rarq.received_seq_no_last)); dbg.puts(" seq ");dbg.puts(u8toBCD_s(rarq.received_seq_no)); #endif From 67e45e5bd7b6bf4ec6df1aa252b99981884047db Mon Sep 17 00:00:00 2001 From: olliw42 Date: Mon, 27 May 2024 22:45:44 +0200 Subject: [PATCH 05/51] ups --- mLRS/Common/arq.h | 19 +++++++++++++------ 1 file changed, 13 insertions(+), 6 deletions(-) diff --git a/mLRS/Common/arq.h b/mLRS/Common/arq.h index 54d535231..1c96f3c15 100644 --- a/mLRS/Common/arq.h +++ b/mLRS/Common/arq.h @@ -44,7 +44,7 @@ class tTransmitArq uint8_t status; uint8_t received_seq_no; // attention: is 0/1 only, 0 = even, 1 = odd uint8_t payload_seq_no; // the seq_no associated to this payload - uint8_t payload_len; // not necessarily the same as bytes_in_payload + uint8_t payload_len; uint8_t payload[FRAME_RX_PAYLOAD_LEN]; // should be the larger of the two ! }; @@ -72,7 +72,7 @@ void tTransmitArq::FrameMissed(void) void tTransmitArq::Received(uint8_t seq_no) { - received_seq_no = seq_no; // not really used, Q: what should we do if this isn't the expected? Maybe IDLE to recover? + received_seq_no = seq_no; status = ARQ_TX_RECEIVED; } @@ -80,13 +80,20 @@ void tTransmitArq::Received(uint8_t seq_no) // called at begin of prepare_transmit_frame() bool tTransmitArq::GetFreshPayload(void) { - //if (status == ARQ_TX_IDLE) { while(1); } // must not happen, should have been called after Missed,NAck,Ack + switch (status) { + case ARQ_TX_IDLE: + payload_seq_no++; + return true; + case ARQ_TX_RECEIVED: + // keep previous payload if received_seq_no != payload_seq_no + // attention: received_seq_no is 1 bit! + if ((received_seq_no & 0x01) != (payload_seq_no & 0x01)) return false; - if (status == ARQ_TX_RECEIVED || status == ARQ_TX_IDLE) { payload_seq_no++; // give this payload the next seq_no return true; + case ARQ_TX_FRAME_MISSED: + return false; } - return false; } @@ -186,9 +193,9 @@ bool tReceiveArq::AcceptPayload(void) ack_seq_no = received_seq_no; return accept; } case ARQ_RX_FRAME_MISSED: // is not called if handle_receive_none(), RX_STATUS_NONE ! - default: return false; } + return false; } From 19c54022b8311089bfe4e3d91632057ee3d9d5ef Mon Sep 17 00:00:00 2001 From: olliw42 Date: Tue, 28 May 2024 07:45:44 +0200 Subject: [PATCH 06/51] rx, previous frame handling corrected --- mLRS/Common/arq.h | 22 ---------------- mLRS/Common/frames.h | 21 +++++++++++++++ mLRS/CommonRx/mlrs-rx.cpp | 54 ++++++++++++++++++++++++++------------- 3 files changed, 57 insertions(+), 40 deletions(-) diff --git a/mLRS/Common/arq.h b/mLRS/Common/arq.h index 1c96f3c15..ce8fbcb0b 100644 --- a/mLRS/Common/arq.h +++ b/mLRS/Common/arq.h @@ -36,16 +36,12 @@ class tTransmitArq void Received(uint8_t seq_no); bool GetFreshPayload(void); - void Clear(void); - void PutC(char c); uint8_t SeqNo(void); uint8_t status; uint8_t received_seq_no; // attention: is 0/1 only, 0 = even, 1 = odd uint8_t payload_seq_no; // the seq_no associated to this payload - uint8_t payload_len; - uint8_t payload[FRAME_RX_PAYLOAD_LEN]; // should be the larger of the two ! }; @@ -54,7 +50,6 @@ void tTransmitArq::Init(void) status = ARQ_TX_IDLE; received_seq_no = 0; payload_seq_no = 0; - payload_len = 0; } @@ -98,19 +93,6 @@ bool tTransmitArq::GetFreshPayload(void) } -// call before PutC() -void tTransmitArq::Clear(void) -{ - payload_len = 0; -} - - -void tTransmitArq::PutC(char c) -{ - payload[payload_len++] = c; -} - - uint8_t tTransmitArq::SeqNo(void) { return payload_seq_no; // will be converted by 3 bit to 0...7 @@ -218,12 +200,8 @@ class tTransmitArq void Received(uint8_t seq_no) {} bool GetFreshPayload(void) { return true; } - void Clear(void) { payload_len = 0; } - void PutC(char c) { payload[payload_len++] = c; } uint8_t SeqNo(void) { seq_no++; return seq_no; } - uint8_t payload_len; - uint8_t payload[FRAME_RX_PAYLOAD_LEN]; uint8_t seq_no; }; diff --git a/mLRS/Common/frames.h b/mLRS/Common/frames.h index b780abe76..d4ef29bbc 100644 --- a/mLRS/Common/frames.h +++ b/mLRS/Common/frames.h @@ -157,6 +157,27 @@ void rcdata_from_txframe(tRcData* rc, tTxFrame* frame) } +void _update_rxframe_stats(tRxFrame* frame, tFrameStats* frame_stats) +{ +uint16_t crc; + + frame->sync_word = Config.FrameSyncWord; + // keep !! frame->status.seq_no = frame_stats->seq_no; + frame->status.ack = frame_stats->ack; + // keep !! frame->status.frame_type = type; // FRAME_TYPE_RX, FRAME_TYPE_TX_RX_CMD + frame->status.antenna = frame_stats->antenna; + frame->status.transmit_antenna = frame_stats->transmit_antenna; + frame->status.rssi_u7 = rssi_u7_from_i8(frame_stats->rssi); + frame->status.LQ_rc = frame_stats->LQ_rc; + frame->status.LQ_serial = frame_stats->LQ_serial; + // keep !! frame->status.payload_len = payload_len; + + fmav_crc_init(&crc); + fmav_crc_accumulate_buf(&crc, (uint8_t*)frame, FRAME_TX_RX_LEN - 2); + frame->crc = crc; +} + + void _pack_rxframe_w_type(tRxFrame* frame, uint8_t type, tFrameStats* frame_stats, uint8_t* payload, uint8_t payload_len) { uint16_t crc; diff --git a/mLRS/CommonRx/mlrs-rx.cpp b/mLRS/CommonRx/mlrs-rx.cpp index 0c2fb1280..9bb8fea90 100644 --- a/mLRS/CommonRx/mlrs-rx.cpp +++ b/mLRS/CommonRx/mlrs-rx.cpp @@ -288,24 +288,26 @@ void pack_rxcmdframe(tRxFrame* frame, tFrameStats* frame_stats) void prepare_transmit_frame(uint8_t antenna) { +uint8_t payload[FRAME_RX_PAYLOAD_LEN]; +uint8_t payload_len = 0; +static bool rxFrame_valid = false; + bool get_fresh_payload = tarq.GetFreshPayload(); - if (get_fresh_payload) tarq.Clear(); + +if (get_fresh_payload) { if (transmit_frame_type == TRANSMIT_FRAME_TYPE_NORMAL) { // read data from serial if (connected()) { - if (get_fresh_payload) { - for (uint8_t i = 0; i < FRAME_RX_PAYLOAD_LEN; i++) { - if (!sx_serial.available()) break; - uint8_t c = sx_serial.getc(); - tarq.PutC(c); + for (uint8_t i = 0; i < FRAME_RX_PAYLOAD_LEN; i++) { + if (!sx_serial.available()) break; + uint8_t c = sx_serial.getc(); + payload[payload_len++] = c; //dbg.putc(c); - } - - stats.bytes_transmitted.Add(tarq.payload_len); - stats.serial_data_transmitted.Inc(); } + stats.bytes_transmitted.Add(payload_len); + stats.serial_data_transmitted.Inc(); } else { sx_serial.flush(); } @@ -323,17 +325,33 @@ void prepare_transmit_frame(uint8_t antenna) frame_stats.LQ_serial = rxstats.GetLQ_serial(); if (transmit_frame_type == TRANSMIT_FRAME_TYPE_NORMAL) { - pack_rxframe(&rxFrame, &frame_stats, tarq.payload, tarq.payload_len); + pack_rxframe(&rxFrame, &frame_stats, payload, payload_len); } else { - if (get_fresh_payload) { - pack_rxcmdframe(&rxFrame, &frame_stats); - tarq.Clear(); - for (uint8_t i = 0; i < rxFrame.status.payload_len; i++) tarq.PutC(rxFrame.payload[i]); - } else { - pack_rxframe(&rxFrame, &frame_stats, tarq.payload, tarq.payload_len); - } + pack_rxcmdframe(&rxFrame, &frame_stats); } + rxFrame_valid = true; + +} else { + + // rxFrame should still hold the previous data + + if (!rxFrame_valid) while(1){} // should not happen + + stats.last_transmit_antenna = antenna; + + tFrameStats frame_stats; + frame_stats.seq_no = tarq.SeqNo(); // should be equal to rxFrame_last.status.seq_no + frame_stats.ack = 1; // TODO + frame_stats.antenna = stats.last_antenna; + frame_stats.transmit_antenna = antenna; + frame_stats.rssi = stats.GetLastRssi(); + frame_stats.LQ_rc = rxstats.GetLQ_rc(); + frame_stats.LQ_serial = rxstats.GetLQ_serial(); + + _update_rxframe_stats(&rxFrame, &frame_stats); +} + #ifdef USE_ARQ dbg.puts(get_fresh_payload?" TRUE":" FALSE"); dbg.puts("\ntrs seq "); From 197c44dfaa6d08f37336e4cd6d77e8fdd34598ca Mon Sep 17 00:00:00 2001 From: olliw42 Date: Tue, 28 May 2024 22:50:17 +0200 Subject: [PATCH 07/51] tx, correct mavlink parser reset --- mLRS/Common/arq.h | 3 ++- mLRS/CommonTx/mlrs-tx.cpp | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/mLRS/Common/arq.h b/mLRS/Common/arq.h index ce8fbcb0b..b5f4c163d 100644 --- a/mLRS/Common/arq.h +++ b/mLRS/Common/arq.h @@ -11,7 +11,7 @@ #pragma once #define USE_ARQ -#define USE_ARQ_TX_SIM_MISS 9 //9 +#define USE_ARQ_TX_SIM_MISS 4 //9 #define USE_ARQ_RX_SIM_MISS 5 //5 #ifdef USE_ARQ @@ -82,6 +82,7 @@ bool tTransmitArq::GetFreshPayload(void) case ARQ_TX_RECEIVED: // keep previous payload if received_seq_no != payload_seq_no // attention: received_seq_no is 1 bit! + // next = (received_seq_no & 0x01) == (payload_seq_no & 0x01) if ((received_seq_no & 0x01) != (payload_seq_no & 0x01)) return false; payload_seq_no++; // give this payload the next seq_no diff --git a/mLRS/CommonTx/mlrs-tx.cpp b/mLRS/CommonTx/mlrs-tx.cpp index 96a7b8c1b..9c0aea17f 100644 --- a/mLRS/CommonTx/mlrs-tx.cpp +++ b/mLRS/CommonTx/mlrs-tx.cpp @@ -902,7 +902,7 @@ if(!miss_cnt) { link_rx1_status = link_rx2_status = RX_STATUS_NONE; } // serial data is received if !IsInBind() && RX_STATUS_VALID && !FRAME_TYPE_TX_RX_CMD && sx_serial.IsEnabled() if (!valid_frame_received) { - mavlink.FrameLost(); +// mavlink.FrameLost(); // TODO: we need to get proper info from ARQ, when we don't do infinite retransmissions !! } txstats.fhss_curr_i = fhss.CurrI(); From 4ea70ddc971c0ba67aa548ad7e3dde75f8e2afa7 Mon Sep 17 00:00:00 2001 From: olliw42 Date: Wed, 29 May 2024 08:38:00 +0200 Subject: [PATCH 08/51] some streamlining, preperation --- mLRS/Common/arq.h | 88 +++++++++++++++++++++++++++++---------- mLRS/CommonRx/mlrs-rx.cpp | 6 +-- mLRS/CommonTx/mlrs-tx.cpp | 14 ++++--- 3 files changed, 77 insertions(+), 31 deletions(-) diff --git a/mLRS/Common/arq.h b/mLRS/Common/arq.h index b5f4c163d..eacaa4a79 100644 --- a/mLRS/Common/arq.h +++ b/mLRS/Common/arq.h @@ -11,8 +11,9 @@ #pragma once #define USE_ARQ -#define USE_ARQ_TX_SIM_MISS 4 //9 -#define USE_ARQ_RX_SIM_MISS 5 //5 +#define USE_ARQ_DBG +#define USE_ARQ_TX_SIM_MISS 4 //9 // 0 = off +#define USE_ARQ_RX_SIM_MISS 5 //5 // 0 = off #ifdef USE_ARQ @@ -53,6 +54,12 @@ void tTransmitArq::Init(void) } +// methods called upon receive or expected receive (in doPostReceive) +// the calling sequence is: +// 1. Received(seq_no) or FrameMissed() (in handle_receive() or handle_receive_none()) +// 2. GetFreshPayload() (in prepare_transmit_frame()) +// 3. Disconnected() + void tTransmitArq::Disconnected(void) { status = ARQ_TX_IDLE; @@ -67,7 +74,7 @@ void tTransmitArq::FrameMissed(void) void tTransmitArq::Received(uint8_t seq_no) { - received_seq_no = seq_no; + received_seq_no = seq_no; // is 0/1 status = ARQ_TX_RECEIVED; } @@ -94,9 +101,11 @@ bool tTransmitArq::GetFreshPayload(void) } +// methods called for transmit + uint8_t tTransmitArq::SeqNo(void) { - return payload_seq_no; // will be converted by 3 bit to 0...7 + return payload_seq_no; // will be converted to 3 bit or 0...7 } @@ -121,13 +130,18 @@ class tReceiveArq void Received(uint8_t seq_no); bool AcceptPayload(void); + bool FrameLost(void); uint8_t AckSeqNo(void); uint8_t status; - uint8_t received_seq_no_last; // attention: the seq no here are all 3 bit, 0..7 + uint8_t received_seq_no_last; // all seq_no here are 3 bit, 0..7 uint8_t received_seq_no; uint8_t ack_seq_no; + bool accept_received_payload; // maybe a state? + bool frame_lost; // maybe a state? + + void spin(void); }; @@ -136,19 +150,55 @@ void tReceiveArq::Init(void) status = ARQ_RX_IDLE; received_seq_no = 0; received_seq_no_last = 0; + accept_received_payload = false; + frame_lost = false; ack_seq_no = 0; } +// methods called upon receive or expected receive (in doPreTransmit) +// the calling sequence is: +// 1. Received(seq_no) or FrameMissed() (in handle_receive() or handle_receive_none()) +// 2. AcceptPayload() (in process_received_frame()) +// 3. FrameLost() +// 4. Disconnected() + void tReceiveArq::Disconnected(void) { status = ARQ_RX_IDLE; } +void tReceiveArq::spin(void) +{ + if (status == ARQ_RX_IDLE) { while(1); } // must not happen, should have been called after Missed,Received + + switch (status) { + case ARQ_RX_RECEIVED_WAS_IDLE: + accept_received_payload = true; + received_seq_no_last = received_seq_no; + ack_seq_no = received_seq_no; + break; + case ARQ_RX_RECEIVED: + accept_received_payload = (received_seq_no != received_seq_no_last); // new seq no received, so accept it + received_seq_no_last = received_seq_no; + ack_seq_no = received_seq_no; + break; + case ARQ_RX_FRAME_MISSED: // is not called if handle_receive_none(), RX_STATUS_NONE ! + accept_received_payload = false; + break; + default: + accept_received_payload = false; + } + + frame_lost = false; +} + + void tReceiveArq::FrameMissed(void) { status = ARQ_RX_FRAME_MISSED; + spin(); } @@ -156,32 +206,24 @@ void tReceiveArq::Received(uint8_t seq_no) { received_seq_no = seq_no; status = (status == ARQ_RX_IDLE) ? ARQ_RX_RECEIVED_WAS_IDLE : ARQ_RX_RECEIVED; - // AcceptPayload() is called + spin(); } bool tReceiveArq::AcceptPayload(void) { - if (status == ARQ_RX_IDLE) { while(1); } // must not happen, should have been called after Missed,Received + return accept_received_payload; +} - switch (status) { - case ARQ_RX_RECEIVED_WAS_IDLE: { - bool accept = true; - received_seq_no_last = received_seq_no; - ack_seq_no = received_seq_no; - return accept; } - case ARQ_RX_RECEIVED: { - bool accept = (received_seq_no != received_seq_no_last); // new seq no received, so accept it - received_seq_no_last = received_seq_no; - ack_seq_no = received_seq_no; - return accept; } - case ARQ_RX_FRAME_MISSED: // is not called if handle_receive_none(), RX_STATUS_NONE ! - return false; - } - return false; + +bool tReceiveArq::FrameLost(void) // called to check if parsers need to be reset +{ + return frame_lost; } +// methods called for transmit + uint8_t tReceiveArq::AckSeqNo(void) { return ack_seq_no; // will be converted by 1 bit to 0/1 @@ -216,10 +258,12 @@ class tReceiveArq void FrameMissed(void) {} void Received(uint8_t _seq_no) {} bool AcceptPayload(void) { return true; } + bool FrameLost(void) { return false; } uint8_t AckSeqNo(void) { return 1; } }; +#undef USE_ARQ_DBG #endif #endif // ARQ_H diff --git a/mLRS/CommonRx/mlrs-rx.cpp b/mLRS/CommonRx/mlrs-rx.cpp index 8166ed347..23e7eca1d 100644 --- a/mLRS/CommonRx/mlrs-rx.cpp +++ b/mLRS/CommonRx/mlrs-rx.cpp @@ -351,7 +351,7 @@ if (get_fresh_payload) { _update_rxframe_stats(&rxFrame, &frame_stats); } -#ifdef USE_ARQ +#ifdef USE_ARQ_DBG dbg.puts(get_fresh_payload?" TRUE":" FALSE"); dbg.puts("\ntrs seq "); dbg.puts(u8toBCD_s(rxFrame.status.seq_no)); @@ -429,7 +429,7 @@ tTxFrame* frame; tarq.FrameMissed(); } -#ifdef USE_ARQ +#ifdef USE_ARQ_DBG dbg.puts("\nrec"); if(tarq.status==tTransmitArq::ARQ_TX_FRAME_MISSED) dbg.puts(" FM"); else if(tarq.status==tTransmitArq::ARQ_TX_RECEIVED) { dbg.puts(" RC "); dbg.puts(u8toBCD_s(tarq.received_seq_no)); } @@ -459,7 +459,7 @@ void handle_receive_none(void) // RX_STATUS_NONE { tarq.FrameMissed(); -#ifdef USE_ARQ +#ifdef USE_ARQ_DBG dbg.puts("\nrec FMISSED"); #endif } diff --git a/mLRS/CommonTx/mlrs-tx.cpp b/mLRS/CommonTx/mlrs-tx.cpp index 9c0aea17f..c6a031a26 100644 --- a/mLRS/CommonTx/mlrs-tx.cpp +++ b/mLRS/CommonTx/mlrs-tx.cpp @@ -453,7 +453,7 @@ uint8_t payload_len = 0; pack_txcmdframe(&txFrame, &frame_stats, &rcData); } -#ifdef USE_ARQ +#ifdef USE_ARQ_DBG dbg.puts("\ntrs "); dbg.puts(u8toBCD_s(rarq.AckSeqNo())); #endif @@ -464,7 +464,7 @@ void process_received_frame(bool do_payload, tRxFrame* frame) { bool accept_payload = rarq.AcceptPayload(); -#ifdef USE_ARQ +#ifdef USE_ARQ_DBG dbg.puts(accept_payload?" TRUE":" FALSE"); #endif @@ -527,7 +527,7 @@ tRxFrame* frame; rarq.FrameMissed(); } -#ifdef USE_ARQ +#ifdef USE_ARQ_DBG dbg.puts("\nrec"); if(rarq.status==tReceiveArq::ARQ_RX_FRAME_MISSED) dbg.puts(" FM"); else if(rarq.status==tReceiveArq::ARQ_RX_RECEIVED_WAS_IDLE) dbg.puts(" RI"); else @@ -558,7 +558,7 @@ void handle_receive_none(void) // RX_STATUS_NONE { rarq.FrameMissed(); -#ifdef USE_ARQ +#ifdef USE_ARQ_DBG dbg.puts("\nrec FMISSED"); #endif } @@ -901,8 +901,10 @@ if(!miss_cnt) { link_rx1_status = link_rx2_status = RX_STATUS_NONE; } } // serial data is received if !IsInBind() && RX_STATUS_VALID && !FRAME_TYPE_TX_RX_CMD && sx_serial.IsEnabled() - if (!valid_frame_received) { -// mavlink.FrameLost(); // TODO: we need to get proper info from ARQ, when we don't do infinite retransmissions !! + // valid_frame/frame lost logic is modified by ARQ, so get proper info from ARQ + // rarq.FrameLost() + if (rarq.FrameLost()) { + mavlink.FrameLost(); } txstats.fhss_curr_i = fhss.CurrI(); From d83bb71c049cb36a92926eb762be71a2f418cd5c Mon Sep 17 00:00:00 2001 From: olliw42 Date: Wed, 29 May 2024 08:56:36 +0200 Subject: [PATCH 09/51] more --- mLRS/Common/arq.h | 32 ++++++++++++++++++++------------ mLRS/CommonRx/mlrs-rx.cpp | 8 ++++++-- 2 files changed, 26 insertions(+), 14 deletions(-) diff --git a/mLRS/Common/arq.h b/mLRS/Common/arq.h index eacaa4a79..9fc17bcd1 100644 --- a/mLRS/Common/arq.h +++ b/mLRS/Common/arq.h @@ -34,31 +34,32 @@ class tTransmitArq void Disconnected(void); void FrameMissed(void); - void Received(uint8_t seq_no); + void Received(uint8_t ack_seq_no); bool GetFreshPayload(void); - uint8_t SeqNo(void); + void SetRetryCnt(uint8_t retry_cnt); uint8_t status; - uint8_t received_seq_no; // attention: is 0/1 only, 0 = even, 1 = odd + uint8_t received_ack_seq_no; // attention: is 0/1 only, 0 = even, 1 = odd uint8_t payload_seq_no; // the seq_no associated to this payload + uint8_t payload_retry_cnt; // the retry counts for this payload }; void tTransmitArq::Init(void) { status = ARQ_TX_IDLE; - received_seq_no = 0; + received_ack_seq_no = 0; payload_seq_no = 0; + payload_retry_cnt = UINT8_MAX; // 255 = infinite } // methods called upon receive or expected receive (in doPostReceive) // the calling sequence is: // 1. Received(seq_no) or FrameMissed() (in handle_receive() or handle_receive_none()) -// 2. GetFreshPayload() (in prepare_transmit_frame()) -// 3. Disconnected() +// 2. Disconnected() void tTransmitArq::Disconnected(void) { @@ -72,13 +73,15 @@ void tTransmitArq::FrameMissed(void) } -void tTransmitArq::Received(uint8_t seq_no) +void tTransmitArq::Received(uint8_t ack_seq_no) { - received_seq_no = seq_no; // is 0/1 + received_ack_seq_no = ack_seq_no; // is 0/1 status = ARQ_TX_RECEIVED; } +// methods called for transmit + // called at begin of prepare_transmit_frame() bool tTransmitArq::GetFreshPayload(void) { @@ -90,7 +93,7 @@ bool tTransmitArq::GetFreshPayload(void) // keep previous payload if received_seq_no != payload_seq_no // attention: received_seq_no is 1 bit! // next = (received_seq_no & 0x01) == (payload_seq_no & 0x01) - if ((received_seq_no & 0x01) != (payload_seq_no & 0x01)) return false; + if ((received_ack_seq_no & 0x01) != (payload_seq_no & 0x01)) return false; payload_seq_no++; // give this payload the next seq_no return true; @@ -101,14 +104,18 @@ bool tTransmitArq::GetFreshPayload(void) } -// methods called for transmit - uint8_t tTransmitArq::SeqNo(void) { return payload_seq_no; // will be converted to 3 bit or 0...7 } +void tTransmitArq::SetRetryCnt(uint8_t retry_cnt) +{ + payload_retry_cnt = UINT8_MAX; // 255 = infinite +} + + //------------------------------------------------------- // Receive //------------------------------------------------------- @@ -240,10 +247,11 @@ class tTransmitArq void Disconnected(void) {} void FrameMissed(void) {} - void Received(uint8_t seq_no) {} + void Received(uint8_t ack_seq_no) {} bool GetFreshPayload(void) { return true; } uint8_t SeqNo(void) { seq_no++; return seq_no; } + void SetRetryCnt(uint8_t retry_cnt) {} uint8_t seq_no; }; diff --git a/mLRS/CommonRx/mlrs-rx.cpp b/mLRS/CommonRx/mlrs-rx.cpp index 23e7eca1d..1021336bd 100644 --- a/mLRS/CommonRx/mlrs-rx.cpp +++ b/mLRS/CommonRx/mlrs-rx.cpp @@ -328,9 +328,10 @@ if (get_fresh_payload) { } else { pack_rxcmdframe(&rxFrame, &frame_stats); } - rxFrame_valid = true; + tarq.SetRetryCnt(1); + } else { // rxFrame should still hold the previous data @@ -349,6 +350,9 @@ if (get_fresh_payload) { frame_stats.LQ_serial = rxstats.GetLQ_serial(); _update_rxframe_stats(&rxFrame, &frame_stats); + rxFrame_valid = true; + + tarq.SetRetryCnt(1); } #ifdef USE_ARQ_DBG @@ -432,7 +436,7 @@ tTxFrame* frame; #ifdef USE_ARQ_DBG dbg.puts("\nrec"); if(tarq.status==tTransmitArq::ARQ_TX_FRAME_MISSED) dbg.puts(" FM"); else -if(tarq.status==tTransmitArq::ARQ_TX_RECEIVED) { dbg.puts(" RC "); dbg.puts(u8toBCD_s(tarq.received_seq_no)); } +if(tarq.status==tTransmitArq::ARQ_TX_RECEIVED) { dbg.puts(" RC "); dbg.puts(u8toBCD_s(tarq.received_ack_seq_no)); } #endif if (rx_status > RX_STATUS_INVALID) { // RX_STATUS_CRC1_VALID, RX_STATUS_VALID From 5e0f0c788601f70fa874d3014f22d996ffb4b304 Mon Sep 17 00:00:00 2001 From: olliw42 Date: Thu, 30 May 2024 08:42:05 +0200 Subject: [PATCH 10/51] separate out error simulator --- mLRS/Common/arq.h | 30 ++++++++++++++++++++++++++++++ mLRS/CommonRx/mlrs-rx.cpp | 6 ++---- mLRS/CommonTx/mlrs-tx.cpp | 6 ++---- 3 files changed, 34 insertions(+), 8 deletions(-) diff --git a/mLRS/Common/arq.h b/mLRS/Common/arq.h index 9fc17bcd1..8188e12d5 100644 --- a/mLRS/Common/arq.h +++ b/mLRS/Common/arq.h @@ -44,6 +44,8 @@ class tTransmitArq uint8_t received_ack_seq_no; // attention: is 0/1 only, 0 = even, 1 = odd uint8_t payload_seq_no; // the seq_no associated to this payload uint8_t payload_retry_cnt; // the retry counts for this payload + + bool SimulateMiss(void); }; @@ -116,6 +118,19 @@ void tTransmitArq::SetRetryCnt(uint8_t retry_cnt) } +// miscellaneous + +bool tTransmitArq::SimulateMiss(void) +{ +#if USE_ARQ_RX_SIM_MISS + static uint8_t miss_cnt = 0; + DECc(miss_cnt, USE_ARQ_RX_SIM_MISS); + return (miss_cnt == 0) ? true : false; +#endif + return false; +} + + //------------------------------------------------------- // Receive //------------------------------------------------------- @@ -149,6 +164,8 @@ class tReceiveArq bool frame_lost; // maybe a state? void spin(void); + + bool SimulateMiss(void); }; @@ -237,6 +254,19 @@ uint8_t tReceiveArq::AckSeqNo(void) } +// miscellaneous + +bool tReceiveArq::SimulateMiss(void) +{ +#if USE_ARQ_TX_SIM_MISS + static uint8_t miss_cnt = 0; + DECc(miss_cnt, USE_ARQ_TX_SIM_MISS); + return (miss_cnt == 0) ? true : false; +#endif + return false; +} + + #else // these should be nfc, i.e., result in exactly the same behavior as before diff --git a/mLRS/CommonRx/mlrs-rx.cpp b/mLRS/CommonRx/mlrs-rx.cpp index 1021336bd..a338be9ee 100644 --- a/mLRS/CommonRx/mlrs-rx.cpp +++ b/mLRS/CommonRx/mlrs-rx.cpp @@ -741,10 +741,8 @@ IF_SX2( if (doPostReceive) { doPostReceive = false; -#if USE_ARQ_RX_SIM_MISS > 0 && defined USE_ARQ -static uint8_t miss_cnt = 0; -DECc(miss_cnt,USE_ARQ_RX_SIM_MISS); -if(!miss_cnt) { link_rx1_status = link_rx2_status = RX_STATUS_NONE; } +#ifdef USE_ARQ +if (tarq.SimulateMiss()) { link_rx1_status = link_rx2_status = RX_STATUS_NONE; } #endif bool frame_received, valid_frame_received, invalid_frame_received; diff --git a/mLRS/CommonTx/mlrs-tx.cpp b/mLRS/CommonTx/mlrs-tx.cpp index c6a031a26..30828ea61 100644 --- a/mLRS/CommonTx/mlrs-tx.cpp +++ b/mLRS/CommonTx/mlrs-tx.cpp @@ -862,10 +862,8 @@ IF_SX2( sx.SetToIdle(); sx2.SetToIdle(); -#if USE_ARQ_TX_SIM_MISS > 0 && defined USE_ARQ -static uint8_t miss_cnt = 0; -DECc(miss_cnt,USE_ARQ_TX_SIM_MISS); -if(!miss_cnt) { link_rx1_status = link_rx2_status = RX_STATUS_NONE; } +#ifdef USE_ARQ +if (rarq.SimulateMiss()) { link_rx1_status = link_rx2_status = RX_STATUS_NONE; } #endif bool frame_received, valid_frame_received; From fecd1d5ee7d8af4f6b86a5f3a712fb618d4399db Mon Sep 17 00:00:00 2001 From: olliw42 Date: Thu, 30 May 2024 09:53:32 +0200 Subject: [PATCH 11/51] attempt at retry cnt --- mLRS/Common/arq.h | 63 +++++++++++++++++++++++++++++++++++++++++------ 1 file changed, 56 insertions(+), 7 deletions(-) diff --git a/mLRS/Common/arq.h b/mLRS/Common/arq.h index 8188e12d5..c8b831d91 100644 --- a/mLRS/Common/arq.h +++ b/mLRS/Common/arq.h @@ -6,11 +6,18 @@ //******************************************************* // ARQ Transmit/Receive //******************************************************* +/* TODOs: + - how does it behave with approaching link loss? + - all well with flow control? + - double check that it doesn't break TRANSMIT_FRAME_TYPE_CMD communication + - is rxLQ correct? +*/ #ifndef ARQ_H #define ARQ_H #pragma once #define USE_ARQ +#define USE_ARQ_RETRY_CNT 1 // -1: set by SetRetryCnt(), 0 = off, 255 = infinite, #define USE_ARQ_DBG #define USE_ARQ_TX_SIM_MISS 4 //9 // 0 = off #define USE_ARQ_RX_SIM_MISS 5 //5 // 0 = off @@ -43,7 +50,8 @@ class tTransmitArq uint8_t status; uint8_t received_ack_seq_no; // attention: is 0/1 only, 0 = even, 1 = odd uint8_t payload_seq_no; // the seq_no associated to this payload - uint8_t payload_retry_cnt; // the retry counts for this payload + uint8_t payload_retry_cnt; // retry count for this payload + uint8_t payload_retries; // number of retries for this payload bool SimulateMiss(void); }; @@ -54,7 +62,8 @@ void tTransmitArq::Init(void) status = ARQ_TX_IDLE; received_ack_seq_no = 0; payload_seq_no = 0; - payload_retry_cnt = UINT8_MAX; // 255 = infinite + payload_retry_cnt = UINT8_MAX; // 0 = off, 255 = infinite + payload_retries = 0; } @@ -87,21 +96,53 @@ void tTransmitArq::Received(uint8_t ack_seq_no) // called at begin of prepare_transmit_frame() bool tTransmitArq::GetFreshPayload(void) { + if (payload_retry_cnt == 0) { // ARQ disabled, new payload each time + payload_seq_no++; + payload_retries = 0; + return true; + } + switch (status) { case ARQ_TX_IDLE: + // send new payload payload_seq_no++; + payload_retries = 0; return true; + case ARQ_TX_RECEIVED: // keep previous payload if received_seq_no != payload_seq_no // attention: received_seq_no is 1 bit! // next = (received_seq_no & 0x01) == (payload_seq_no & 0x01) - if ((received_ack_seq_no & 0x01) != (payload_seq_no & 0x01)) return false; - + if ((received_ack_seq_no & 0x01) != (payload_seq_no & 0x01)) { + if (payload_retry_cnt == UINT8_MAX) { // ARQ with infinite retries, so never next + payload_retries = 0; + return false; + } else { // ARQ with finite retries + payload_retries++; + if (payload_retries <= payload_retry_cnt) { // we still can retry + return false; + } + } + } payload_seq_no++; // give this payload the next seq_no + payload_retries = 0; return true; + case ARQ_TX_FRAME_MISSED: + if (payload_retry_cnt == UINT8_MAX) { // ARQ with infinite retries, so never next + payload_retries = 0; + return false; + } else { // ARQ with finite retries + payload_retries++; + if (payload_retries > payload_retry_cnt) { // no further retry, send new payload + payload_seq_no++; + payload_retries = 0; + return true; + } + } return false; } + return false; } @@ -114,7 +155,12 @@ uint8_t tTransmitArq::SeqNo(void) void tTransmitArq::SetRetryCnt(uint8_t retry_cnt) { - payload_retry_cnt = UINT8_MAX; // 255 = infinite +#if USE_ARQ_RETRY_CNT < 0 + payload_retry_cnt = retry_cnt; +#else + payload_retry_cnt = USE_ARQ_RETRY_CNT; +#endif + // payload_retries = 0; ?? I think to better not do this, allows to shorten retry cnt and the ARQ to react immediately } @@ -125,7 +171,7 @@ bool tTransmitArq::SimulateMiss(void) #if USE_ARQ_RX_SIM_MISS static uint8_t miss_cnt = 0; DECc(miss_cnt, USE_ARQ_RX_SIM_MISS); - return (miss_cnt == 0) ? true : false; + if (miss_cnt == 0) return true; #endif return false; } @@ -203,14 +249,17 @@ void tReceiveArq::spin(void) received_seq_no_last = received_seq_no; ack_seq_no = received_seq_no; break; + case ARQ_RX_RECEIVED: accept_received_payload = (received_seq_no != received_seq_no_last); // new seq no received, so accept it received_seq_no_last = received_seq_no; ack_seq_no = received_seq_no; break; + case ARQ_RX_FRAME_MISSED: // is not called if handle_receive_none(), RX_STATUS_NONE ! accept_received_payload = false; break; + default: accept_received_payload = false; } @@ -261,7 +310,7 @@ bool tReceiveArq::SimulateMiss(void) #if USE_ARQ_TX_SIM_MISS static uint8_t miss_cnt = 0; DECc(miss_cnt, USE_ARQ_TX_SIM_MISS); - return (miss_cnt == 0) ? true : false; + if (miss_cnt == 0) return true; #endif return false; } From 19d4fe74cd26f6b2da0dc2406fd59c2c028265ea Mon Sep 17 00:00:00 2001 From: olliw42 Date: Thu, 30 May 2024 10:01:16 +0200 Subject: [PATCH 12/51] comment, nfc --- mLRS/Common/arq.h | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/mLRS/Common/arq.h b/mLRS/Common/arq.h index c8b831d91..62140003d 100644 --- a/mLRS/Common/arq.h +++ b/mLRS/Common/arq.h @@ -6,11 +6,14 @@ //******************************************************* // ARQ Transmit/Receive //******************************************************* -/* TODOs: +/* +TODOs: - how does it behave with approaching link loss? - all well with flow control? - double check that it doesn't break TRANSMIT_FRAME_TYPE_CMD communication - is rxLQ correct? +Notes: + - Lua script load/reload leads to few packet losses with 1/4/5 */ #ifndef ARQ_H #define ARQ_H From f0204e1797485b2d121fb6cb8a12c13215037ec4 Mon Sep 17 00:00:00 2001 From: olliw42 Date: Fri, 31 May 2024 12:31:36 +0200 Subject: [PATCH 13/51] that's strange, memset seems to fail if not unit8/char --- mLRS/Common/bind.h | 4 ++-- mLRS/Common/frames.h | 4 ++-- mLRS/Common/setup.h | 2 +- mLRS/Common/thirdparty/mavlinkx.h | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/mLRS/Common/bind.h b/mLRS/Common/bind.h index ddd420bd1..4903ae292 100644 --- a/mLRS/Common/bind.h +++ b/mLRS/Common/bind.h @@ -206,7 +206,7 @@ void BindBase::handle_receive(uint8_t antenna, uint8_t rx_status) void BindBase::do_transmit(uint8_t antenna) { - memset(&txBindFrame, 0, sizeof(txBindFrame)); + memset((uint8_t*)&txBindFrame, 0, sizeof(txBindFrame)); txBindFrame.bind_signature = TxSignature; txBindFrame.connected = connected(); @@ -258,7 +258,7 @@ void BindBase::handle_receive(uint8_t antenna, uint8_t rx_status) void BindBase::do_transmit(uint8_t antenna) { - memset(&rxBindFrame, 0, sizeof(rxBindFrame)); + memset((uint8_t*)&rxBindFrame, 0, sizeof(rxBindFrame)); rxBindFrame.bind_signature = RxSignature; rxBindFrame.connected = connected(); diff --git a/mLRS/Common/frames.h b/mLRS/Common/frames.h index d4ef29bbc..7ea097edf 100644 --- a/mLRS/Common/frames.h +++ b/mLRS/Common/frames.h @@ -37,7 +37,7 @@ uint16_t crc; if (payload_len > FRAME_TX_PAYLOAD_LEN) payload_len = FRAME_TX_PAYLOAD_LEN; // should never occur, but play it safe - memset(frame, 0, sizeof(tTxFrame)); + memset((uint8_t*)frame, 0, sizeof(tTxFrame)); // generate header frame->sync_word = Config.FrameSyncWord; @@ -184,7 +184,7 @@ uint16_t crc; if (payload_len > FRAME_RX_PAYLOAD_LEN) payload_len = FRAME_RX_PAYLOAD_LEN; // should never occur, but play it safe - memset(frame, 0, sizeof(tRxFrame)); + memset((uint8_t*)frame, 0, sizeof(tRxFrame)); frame->sync_word = Config.FrameSyncWord; frame->status.seq_no = frame_stats->seq_no; diff --git a/mLRS/Common/setup.h b/mLRS/Common/setup.h index 419cf684b..2e5bfbb82 100644 --- a/mLRS/Common/setup.h +++ b/mLRS/Common/setup.h @@ -756,7 +756,7 @@ void setup_configure_config(uint8_t config_id) void setup_clear(void) { - memset(&Setup, 0xff, sizeof(tSetup)); + memset((uint8_t*)&Setup, 0xff, sizeof(tSetup)); } diff --git a/mLRS/Common/thirdparty/mavlinkx.h b/mLRS/Common/thirdparty/mavlinkx.h index c782d8b04..5f596ca75 100644 --- a/mLRS/Common/thirdparty/mavlinkx.h +++ b/mLRS/Common/thirdparty/mavlinkx.h @@ -167,7 +167,7 @@ void _fmavX_payload_decompress(uint8_t* payload_out, uint8_t* len_out, uint8_t l // call it once before using the library FASTMAVLINK_FUNCTION_DECORATOR void fmavX_init(void) { - memset(&fmavx_status, 0, sizeof(fmavx_status)); + memset((uint8_t*)&fmavx_status, 0, sizeof(fmavx_status)); fmavx_config_g.compression_enabled = 0; // disable it per default } From dab11683fe0555620b5c20845dad400de2ce6947 Mon Sep 17 00:00:00 2001 From: olliw42 Date: Fri, 31 May 2024 12:44:33 +0200 Subject: [PATCH 14/51] rx, slight rearrangment, tidies --- mLRS/Common/frames.h | 13 +------- mLRS/CommonRx/mlrs-rx.cpp | 68 ++++++++++++++++----------------------- mLRS/CommonTx/mlrs-tx.cpp | 1 - 3 files changed, 29 insertions(+), 53 deletions(-) diff --git a/mLRS/Common/frames.h b/mLRS/Common/frames.h index 7ea097edf..919c1c8a8 100644 --- a/mLRS/Common/frames.h +++ b/mLRS/Common/frames.h @@ -157,7 +157,7 @@ void rcdata_from_txframe(tRcData* rc, tTxFrame* frame) } -void _update_rxframe_stats(tRxFrame* frame, tFrameStats* frame_stats) +void update_rxframe_stats(tRxFrame* frame, tFrameStats* frame_stats) { uint16_t crc; @@ -354,17 +354,6 @@ tTxCmdFrameRxParams rx_params = {}; #endif #ifdef DEVICE_IS_RECEIVER -// Rx: send cmd to Tx -void pack_rxcmdframe_cmd(tRxFrame* frame, tFrameStats* frame_stats, uint8_t cmd) -{ -uint8_t payload[1]; - - payload[0] = cmd; - - _pack_rxframe_w_type(frame, FRAME_TYPE_TX_RX_CMD, frame_stats, payload, 1); -} - - // Rx: send FRAME_CMD_RX_SETUPDATA to Tx void pack_rxcmdframe_rxsetupdata(tRxFrame* frame, tFrameStats* frame_stats) { diff --git a/mLRS/CommonRx/mlrs-rx.cpp b/mLRS/CommonRx/mlrs-rx.cpp index a338be9ee..5b0c02f0a 100644 --- a/mLRS/CommonRx/mlrs-rx.cpp +++ b/mLRS/CommonRx/mlrs-rx.cpp @@ -294,21 +294,21 @@ static bool rxFrame_valid = false; bool get_fresh_payload = tarq.GetFreshPayload(); -if (get_fresh_payload) { + if (get_fresh_payload) { + if (transmit_frame_type == TRANSMIT_FRAME_TYPE_NORMAL) { + // read data from serial + if (connected()) { + for (uint8_t i = 0; i < FRAME_RX_PAYLOAD_LEN; i++) { + if (!sx_serial.available()) break; + payload[payload_len] = sx_serial.getc(); + payload_len++; + } - if (transmit_frame_type == TRANSMIT_FRAME_TYPE_NORMAL) { - // read data from serial - if (connected()) { - for (uint8_t i = 0; i < FRAME_RX_PAYLOAD_LEN; i++) { - if (!sx_serial.available()) break; - payload[payload_len] = sx_serial.getc(); - payload_len++; + stats.bytes_transmitted.Add(payload_len); + stats.serial_data_transmitted.Inc(); + } else { + sx_serial.flush(); } - - stats.bytes_transmitted.Add(payload_len); - stats.serial_data_transmitted.Inc(); - } else { - sx_serial.flush(); } } @@ -323,37 +323,25 @@ if (get_fresh_payload) { frame_stats.LQ_rc = rxstats.GetLQ_rc(); frame_stats.LQ_serial = rxstats.GetLQ_serial(); - if (transmit_frame_type == TRANSMIT_FRAME_TYPE_NORMAL) { - pack_rxframe(&rxFrame, &frame_stats, payload, payload_len); - } else { - pack_rxcmdframe(&rxFrame, &frame_stats); - } - rxFrame_valid = true; - - tarq.SetRetryCnt(1); - -} else { - - // rxFrame should still hold the previous data + if (get_fresh_payload) { + if (transmit_frame_type == TRANSMIT_FRAME_TYPE_NORMAL) { + pack_rxframe(&rxFrame, &frame_stats, payload, payload_len); + } else { + pack_rxcmdframe(&rxFrame, &frame_stats); + } + rxFrame_valid = true; - if (!rxFrame_valid) while(1){} // should not happen + tarq.SetRetryCnt(1); - stats.last_transmit_antenna = antenna; - - tFrameStats frame_stats; - frame_stats.seq_no = tarq.SeqNo(); // should be equal to rxFrame_last.status.seq_no - frame_stats.ack = 1; // TODO - frame_stats.antenna = stats.last_antenna; - frame_stats.transmit_antenna = antenna; - frame_stats.rssi = stats.GetLastRssi(); - frame_stats.LQ_rc = rxstats.GetLQ_rc(); - frame_stats.LQ_serial = rxstats.GetLQ_serial(); + } else { + // rxFrame should still hold the previous data + if (!rxFrame_valid) while(1){} // should not happen - _update_rxframe_stats(&rxFrame, &frame_stats); - rxFrame_valid = true; + update_rxframe_stats(&rxFrame, &frame_stats); + rxFrame_valid = true; - tarq.SetRetryCnt(1); -} + tarq.SetRetryCnt(1); + } #ifdef USE_ARQ_DBG dbg.puts(get_fresh_payload?" TRUE":" FALSE"); diff --git a/mLRS/CommonTx/mlrs-tx.cpp b/mLRS/CommonTx/mlrs-tx.cpp index 30828ea61..226318f4d 100644 --- a/mLRS/CommonTx/mlrs-tx.cpp +++ b/mLRS/CommonTx/mlrs-tx.cpp @@ -418,7 +418,6 @@ uint8_t payload[FRAME_TX_PAYLOAD_LEN]; uint8_t payload_len = 0; if (transmit_frame_type == TRANSMIT_FRAME_TYPE_NORMAL) { - // read data from serial port if (connected()) { if (sx_serial.IsEnabled()) { From 2a42d4df58e896c3d9803e7c6dcc9612775c55d2 Mon Sep 17 00:00:00 2001 From: olliw42 Date: Mon, 3 Jun 2024 08:28:28 +0200 Subject: [PATCH 15/51] rx, let flow control respect frame transmission rate, rx, adjust arq retry cnt --- mLRS/Common/arq.h | 17 +++++++++++---- mLRS/Common/libs/filters.cpp | 28 ++++++++++++++++++++++++ mLRS/Common/libs/filters.h | 16 ++++++++++++++ mLRS/CommonRx/mavlink_interface_rx.h | 19 ++++++++++++++--- mLRS/CommonRx/mlrs-rx.cpp | 10 +++++++-- mLRS/CommonRx/rxstats.h | 32 ++++++++++++++++++++++++++++ 6 files changed, 113 insertions(+), 9 deletions(-) diff --git a/mLRS/Common/arq.h b/mLRS/Common/arq.h index 62140003d..9c5ef26bb 100644 --- a/mLRS/Common/arq.h +++ b/mLRS/Common/arq.h @@ -20,10 +20,10 @@ #pragma once #define USE_ARQ -#define USE_ARQ_RETRY_CNT 1 // -1: set by SetRetryCnt(), 0 = off, 255 = infinite, -#define USE_ARQ_DBG -#define USE_ARQ_TX_SIM_MISS 4 //9 // 0 = off -#define USE_ARQ_RX_SIM_MISS 5 //5 // 0 = off +#define USE_ARQ_RETRY_CNT -1 // -1: set by SetRetryCnt(), 0 = off, 255 = infinite, +//#define USE_ARQ_DBG +//#define USE_ARQ_TX_SIM_MISS 4 //9 // 0 = off +//#define USE_ARQ_RX_SIM_MISS 3 //5 //5 // 0 = off #ifdef USE_ARQ @@ -50,6 +50,8 @@ class tTransmitArq uint8_t SeqNo(void); void SetRetryCnt(uint8_t retry_cnt); + void SetRetryCntAuto(int32_t _frame_cnt); + uint8_t status; uint8_t received_ack_seq_no; // attention: is 0/1 only, 0 = even, 1 = odd uint8_t payload_seq_no; // the seq_no associated to this payload @@ -167,6 +169,12 @@ void tTransmitArq::SetRetryCnt(uint8_t retry_cnt) } +void tTransmitArq::SetRetryCntAuto(int32_t _frame_cnt) +{ + SetRetryCnt((_frame_cnt >= 800) ? 2 : 1); +} + + // miscellaneous bool tTransmitArq::SimulateMiss(void) @@ -334,6 +342,7 @@ class tTransmitArq bool GetFreshPayload(void) { return true; } uint8_t SeqNo(void) { seq_no++; return seq_no; } void SetRetryCnt(uint8_t retry_cnt) {} + void SetRetryCntAuto(int32_t _frame_cnt) {} uint8_t seq_no; }; diff --git a/mLRS/Common/libs/filters.cpp b/mLRS/Common/libs/filters.cpp index e9e2d24e5..a5b279f18 100644 --- a/mLRS/Common/libs/filters.cpp +++ b/mLRS/Common/libs/filters.cpp @@ -43,3 +43,31 @@ void tLPFilterRate::Update(int32_t tnow_ms, int32_t x, int32_t T_ms) tlast_ms = tnow_ms; } + +//-- simple LPF filter + +void tLpFilter::Init(uint32_t _T_ms, int32_t _dt_ms, int32_t _yn_start) +{ + alpha = (float)_dt_ms / (float)(_T_ms + _dt_ms); + yn_start = _yn_start; + yn = yn_start; +} + + +void tLpFilter::Clear(void) +{ + yn = yn_start; +}; + + +void tLpFilter::Put(int32_t x) +{ + yn += alpha * ((float)x - yn); +} + + +int32_t tLpFilter::Get(void) +{ + return (int32_t)(yn + 0.5f); +} + diff --git a/mLRS/Common/libs/filters.h b/mLRS/Common/libs/filters.h index 5367757f8..a3c123e36 100644 --- a/mLRS/Common/libs/filters.h +++ b/mLRS/Common/libs/filters.h @@ -30,4 +30,20 @@ class tLPFilterRate }; +// simple LPF filter + +class tLpFilter +{ + public: + void Init(uint32_t _T_ms, int32_t _dt_ms, int32_t _yn_start = 0); + void Clear(void); + void Put(int32_t x); + int32_t Get(void); + + float alpha; + int32_t yn_start; + float yn; +}; + + #endif // FILTERS_H diff --git a/mLRS/CommonRx/mavlink_interface_rx.h b/mLRS/CommonRx/mavlink_interface_rx.h index 6254fae36..66f444383 100644 --- a/mLRS/CommonRx/mavlink_interface_rx.h +++ b/mLRS/CommonRx/mavlink_interface_rx.h @@ -490,9 +490,22 @@ bool tRxMavlink::handle_txbuf_ardupilot(uint32_t tnow_ms) // method C, with improvements // assumes 1 sec delta time - uint32_t rate_max = ((uint32_t)1000 * FRAME_RX_PAYLOAD_LEN) / Config.frame_rate_ms; // theoretical rate, bytes per sec + // was uint32_t rate_max = ((uint32_t)1000 * FRAME_RX_PAYLOAD_LEN) / Config.frame_rate_ms; // theoretical rate, bytes per sec + int32_t frame_cnt_filtered = rxstats.cntFrameGet(); + static int32_t frame_cnt = 0; + static int32_t hysteresis = 10; + if ((frame_cnt_filtered - frame_cnt) < -hysteresis || (frame_cnt_filtered - frame_cnt) > hysteresis) { + frame_cnt = frame_cnt_filtered; + hysteresis = 10; + } else if (hysteresis > 0) { + hysteresis--; + } + if (frame_cnt < 500) frame_cnt = 500; + uint32_t rate_max = (frame_cnt * FRAME_RX_PAYLOAD_LEN) / Config.frame_rate_ms; // theoretical rate, bytes per sec uint32_t rate_percentage = (bytes_link_out * 100) / rate_max; +dbg.puts("\nMa: ");dbg.puts(u16toBCD_s(frame_cnt_filtered));dbg.puts(" , ");dbg.puts(u16toBCD_s(frame_cnt)); + // https://github.com/ArduPilot/ardupilot/blob/fa6441544639bd5dc84c3e6e3d2f7bfd2aecf96d/libraries/GCS_MAVLink/GCS_Common.cpp#L782-L801 // aim at 75%..85% rate usage in steady state if (rate_percentage > 95) { @@ -655,9 +668,9 @@ if(txbuf<25) dbg.puts("*0.8 "); else if(txbuf<35) dbg.puts("*0.975 "); else if(txbuf>50) dbg.puts("*1.025 "); else dbg.puts("*1 "); #endif - // increase rate faster after transient traffic since PX4 currently has no fast recovery. Could also try 100ms + // increase rate faster after transient traffic since PX4 currently has no fast recovery. Could also try 100 ms if ((txbuf_state == TXBUF_STATE_NORMAL) && (txbuf == 100)) { - radio_status_tlast_ms -= 800; // do again in 200ms + radio_status_tlast_ms -= 800; // do again in 200 ms bytes_link_out = (bytes_link_out * 4)/5; // rolling average } else { bytes_link_out = 0; // reset, to restart rate measurement diff --git a/mLRS/CommonRx/mlrs-rx.cpp b/mLRS/CommonRx/mlrs-rx.cpp index 732562ad1..8b4387cc5 100644 --- a/mLRS/CommonRx/mlrs-rx.cpp +++ b/mLRS/CommonRx/mlrs-rx.cpp @@ -331,7 +331,10 @@ static bool rxFrame_valid = false; } rxFrame_valid = true; - tarq.SetRetryCnt(1); + //tarq.SetRetryCnt(1); + tarq.SetRetryCntAuto(rxstats.cntFrameGet()); + + rxstats.cntFrameTransmitted(); } else { // rxFrame should still hold the previous data @@ -340,7 +343,10 @@ static bool rxFrame_valid = false; update_rxframe_stats(&rxFrame, &frame_stats); rxFrame_valid = true; - tarq.SetRetryCnt(1); + //tarq.SetRetryCnt(1); + tarq.SetRetryCntAuto(rxstats.cntFrameGet()); + + rxstats.cntFrameSkipped(); } #ifdef USE_ARQ_DBG diff --git a/mLRS/CommonRx/rxstats.h b/mLRS/CommonRx/rxstats.h index f18928603..472344c52 100644 --- a/mLRS/CommonRx/rxstats.h +++ b/mLRS/CommonRx/rxstats.h @@ -10,6 +10,7 @@ #define RXSTATS_H #pragma once +#include "../Common/libs/filters.h" extern tStats stats; static inline bool connected(void); @@ -38,6 +39,33 @@ class tRxStats // tLqCounterBase LQma_received; // tLqCounterBase LQma_valid_crc1; // tLqCounterBase LQma_valid; + + + public: + // statistics for ARQ + // TODO: once proven out move it to tStats class + + tLpFilter cnt_frame; + + void cntFrameTransmitted(void) + { + cnt_frame.Put(1000); +//dbg.puts("1"); + } + + void cntFrameSkipped(void) + { + cnt_frame.Put(0); +//dbg.puts("0"); + } + + int32_t cntFrameGet(void) + { +//dbg.puts("!");dbg.puts(u32toBCD_s(cnt_frame.Get()));dbg.puts("!"); + + int32_t fn = cnt_frame.Get(); + return (fn < 0) ? 0 : (fn > 1000) ? 1000 : fn; // limit to [0, 1000] + } }; @@ -45,6 +73,8 @@ void tRxStats::Init(uint8_t _maverage_period, uint16_t _frame_rate_hz) { stats.Init(_frame_rate_hz); + cnt_frame.Init(2000, Config.frame_rate_ms, 500); + // LQma_valid_crc1.Init(_maverage_period); // LQma_valid.Init(_maverage_period); // LQma_received.Init(_maverage_period); @@ -69,6 +99,8 @@ void tRxStats::Clear(void) { stats.Clear(); + cnt_frame.Clear(); + // LQma_valid_crc1.Reset(); // start with 100% if not connected // LQma_valid.Reset(); // LQma_received.Reset(); From f8636d12109e2d84a6694995587c54517cef6a04 Mon Sep 17 00:00:00 2001 From: olliw42 Date: Wed, 5 Jun 2024 08:15:09 +0200 Subject: [PATCH 16/51] tx, mavlink, add seq-based LQ metric --- mLRS/CommonTx/crsf_interface_tx.h | 3 ++ mLRS/CommonTx/mavlink_interface_tx.h | 56 +++++++++++++++++++++++++++- mLRS/CommonTx/mlrs-tx.cpp | 1 + mLRS/CommonTx/txstats.h | 4 ++ 4 files changed, 62 insertions(+), 2 deletions(-) diff --git a/mLRS/CommonTx/crsf_interface_tx.h b/mLRS/CommonTx/crsf_interface_tx.h index 6b39c5828..b75f3b000 100644 --- a/mLRS/CommonTx/crsf_interface_tx.h +++ b/mLRS/CommonTx/crsf_interface_tx.h @@ -851,6 +851,9 @@ tCrsfLinkStatistics clstats; clstats.downlink_LQ = txstats.GetLQ_serial(); // OpenTx -> "TQly" clstats.downlink_snr = stats.GetLastSnr(); // OpenTx -> "TSNR" + // misuse it + clstats.uplink_rssi2 = txstats.mav_msg_seq_lq; + send_frame(CRSF_FRAME_ID_LINK_STATISTICS, &clstats, CRSF_LINK_STATISTICS_LEN); } diff --git a/mLRS/CommonTx/mavlink_interface_tx.h b/mLRS/CommonTx/mavlink_interface_tx.h index 8366abd01..8772c8183 100644 --- a/mLRS/CommonTx/mavlink_interface_tx.h +++ b/mLRS/CommonTx/mavlink_interface_tx.h @@ -25,6 +25,7 @@ extern volatile uint32_t millis32(void); static inline bool connected_and_rx_setup_available(void); +extern tTxStats txstats; #define RADIO_STATUS_SYSTEM_ID 51 // SiK uses 51, 68 @@ -45,6 +46,8 @@ class tTxMavlink uint8_t getc(void); void flush(void); + void StatsUpdate1Hz(void); + private: void send_msg_fifo_link_out(fmav_result_t* result, uint8_t* buf_in); void handle_msg_serial_out(fmav_message_t* msg); @@ -80,6 +83,13 @@ class tTxMavlink uint8_t vehicle_flight_mode; uint8_t _buf[MAVLINK_BUF_SIZE]; // temporary working buffer, to not burden stack + + // MissonPlanner style link quality + bool msg_seq_initialized; + uint32_t msg_received_cnt; + uint32_t msg_received_in_seq_cnt; + uint8_t msg_seq_last; + void msg_seq_reset(void); }; @@ -130,6 +140,8 @@ void tTxMavlink::Init(tSerialBase* _serialport, tSerialBase* _mbridge, tSerialBa vehicle_is_flying = UINT8_MAX; vehicle_type = UINT8_MAX; vehicle_flight_mode = UINT8_MAX; + + msg_seq_reset(); } @@ -161,6 +173,7 @@ void tTxMavlink::Do(void) #ifdef USE_FEATURE_MAVLINKX fifo_link_out.Flush(); #endif + msg_seq_reset(); } if (!SERIAL_LINK_MODE_IS_MAVLINK(Setup.Rx.SerialLinkMode)) return; @@ -392,13 +405,52 @@ void tTxMavlink::handle_msg_serial_out(fmav_message_t* msg) if (!vehicle_sysid) return; + // continue only for autopilot + if (msg->sysid != vehicle_sysid || msg->compid != MAV_COMP_ID_AUTOPILOT1) return; + switch (msg->msgid) { - case FASTMAVLINK_MSG_ID_EXTENDED_SYS_STATE:{ + case FASTMAVLINK_MSG_ID_EXTENDED_SYS_STATE: { fmav_extended_sys_state_t payload; fmav_msg_extended_sys_state_decode(&payload, msg); vehicle_is_flying = (payload.landed_state == MAV_LANDED_STATE_IN_AIR) ? 1 : 0; - }break; + } break; + } + + // MissonPlanner style link quality, for autopilot only + if (msg_seq_initialized) { + msg_received_cnt++; + uint8_t seq_expected = msg_seq_last + 1; + if (seq_expected == msg->seq) msg_received_in_seq_cnt++; + } + msg_seq_initialized = true; + msg_seq_last = msg->seq; +} + + +//------------------------------------------------------- +// MAVLink Stats +//------------------------------------------------------- + +void tTxMavlink::msg_seq_reset(void) +{ + msg_seq_initialized = false; + msg_received_cnt = 0; + msg_received_in_seq_cnt = 0; + msg_seq_last = 0; + + txstats.mav_msg_seq_lq = 0; +} + + +void tTxMavlink::StatsUpdate1Hz(void) +{ + txstats.mav_msg_seq_lq = 0; + if (connected_and_rx_setup_available() && msg_seq_initialized) { + txstats.mav_msg_seq_lq = (msg_received_in_seq_cnt * 100) / msg_received_cnt; } + + msg_received_cnt = 0; + msg_received_in_seq_cnt = 0; } diff --git a/mLRS/CommonTx/mlrs-tx.cpp b/mLRS/CommonTx/mlrs-tx.cpp index 3f1fde997..a7e1de58a 100644 --- a/mLRS/CommonTx/mlrs-tx.cpp +++ b/mLRS/CommonTx/mlrs-tx.cpp @@ -968,6 +968,7 @@ if (rarq.SimulateMiss()) { link_rx1_status = link_rx2_status = RX_STATUS_NONE; } DECc(tick_1hz_commensurate, Config.frame_rate_hz); if (!tick_1hz_commensurate) { txstats.Update1Hz(); + mavlink.StatsUpdate1Hz(); } txstats.Next(); if (!connected()) txstats.Clear(); diff --git a/mLRS/CommonTx/txstats.h b/mLRS/CommonTx/txstats.h index 17361d57b..1e1c6e9db 100644 --- a/mLRS/CommonTx/txstats.h +++ b/mLRS/CommonTx/txstats.h @@ -37,6 +37,8 @@ class tTxStats bool rx2_valid; uint8_t fhss_curr_i; + uint8_t mav_msg_seq_lq; + private: // tLqCounterBase LQma_received; // tLqCounterBase LQma_valid; @@ -51,6 +53,8 @@ void tTxStats::Init(uint8_t _maverage_period, uint16_t _frame_rate_hz) rx2_valid = false; fhss_curr_i = UINT8_MAX; + mav_msg_seq_lq = 0; + // LQma_received.Init(_maverage_period); // LQma_valid.Init(_maverage_period); } From 2988cf56b9ed11db45b16898cdc1c45ac2cb69d9 Mon Sep 17 00:00:00 2001 From: olliw42 Date: Fri, 7 Jun 2024 09:35:39 +0200 Subject: [PATCH 17/51] rx, arq, more retries for 111Hz mode --- mLRS/Common/arq.h | 24 ++++++++++++++++++++---- mLRS/CommonRx/mlrs-rx.cpp | 4 ++-- 2 files changed, 22 insertions(+), 6 deletions(-) diff --git a/mLRS/Common/arq.h b/mLRS/Common/arq.h index 9c5ef26bb..8c2537641 100644 --- a/mLRS/Common/arq.h +++ b/mLRS/Common/arq.h @@ -50,7 +50,7 @@ class tTransmitArq uint8_t SeqNo(void); void SetRetryCnt(uint8_t retry_cnt); - void SetRetryCntAuto(int32_t _frame_cnt); + void SetRetryCntAuto(int32_t _frame_cnt, uint8_t mode); uint8_t status; uint8_t received_ack_seq_no; // attention: is 0/1 only, 0 = even, 1 = odd @@ -169,9 +169,25 @@ void tTransmitArq::SetRetryCnt(uint8_t retry_cnt) } -void tTransmitArq::SetRetryCntAuto(int32_t _frame_cnt) +void tTransmitArq::SetRetryCntAuto(int32_t _frame_cnt, uint8_t mode) { - SetRetryCnt((_frame_cnt >= 800) ? 2 : 1); + switch (mode) { + case MODE_FLRC_111HZ: + if (_frame_cnt >= 800) { + SetRetryCnt(3); + } else if (_frame_cnt >= 700) { + SetRetryCnt(2); + } else { + SetRetryCnt(1); + } + break; + case MODE_FSK_50HZ: + case MODE_50HZ: + case MODE_31HZ: + case MODE_19HZ: + SetRetryCnt((_frame_cnt >= 800) ? 2 : 1); + } + SetRetryCnt(1); } @@ -342,7 +358,7 @@ class tTransmitArq bool GetFreshPayload(void) { return true; } uint8_t SeqNo(void) { seq_no++; return seq_no; } void SetRetryCnt(uint8_t retry_cnt) {} - void SetRetryCntAuto(int32_t _frame_cnt) {} + void SetRetryCntAuto(int32_t _frame_cnt, uint8_t mode) {} uint8_t seq_no; }; diff --git a/mLRS/CommonRx/mlrs-rx.cpp b/mLRS/CommonRx/mlrs-rx.cpp index f8b1fc336..1d76e1d3d 100644 --- a/mLRS/CommonRx/mlrs-rx.cpp +++ b/mLRS/CommonRx/mlrs-rx.cpp @@ -330,7 +330,7 @@ static bool rxFrame_valid = false; rxFrame_valid = true; //tarq.SetRetryCnt(1); - tarq.SetRetryCntAuto(stats.cntFrameGet()); + tarq.SetRetryCntAuto(stats.cntFrameGet(), Config.Mode); stats.cntFrameTransmitted(); @@ -342,7 +342,7 @@ static bool rxFrame_valid = false; rxFrame_valid = true; //tarq.SetRetryCnt(1); - tarq.SetRetryCntAuto(stats.cntFrameGet()); + tarq.SetRetryCntAuto(stats.cntFrameGet(), Config.Mode); stats.cntFrameSkipped(); } From e2e0d7f734b5b5f2a0220f5485d4dbbfd9281772 Mon Sep 17 00:00:00 2001 From: olliw42 Date: Fri, 7 Jun 2024 10:00:58 +0200 Subject: [PATCH 18/51] add compiled binaries --- ...t-wle5cc-400-v1.2.05-dev-arq-@2988cf56.hex | 3250 +++++++++ ...5cc-400-xtal-v1.2.05-dev-arq-@2988cf56.hex | 3249 +++++++++ ...t-wle5cc-900-v1.2.05-dev-arq-@2988cf56.hex | 3262 +++++++++ ...5cc-900-xtal-v1.2.05-dev-arq-@2988cf56.hex | 3261 +++++++++ ...RM303-f072cb-v1.2.05-dev-arq-@2988cf56.hex | 2679 ++++++++ ...3c8-elrs-bl-v1.2.05-dev-arq-@2988cf56.elrs | Bin 0 -> 49708 bytes ...x-R9M-f103c8-v1.2.05-dev-arq-@2988cf56.hex | 3099 +++++++++ ...o-v15-f303cc-v1.2.05-dev-arq-@2988cf56.hex | 2966 ++++++++ ...3rb-elrs-bl-v1.2.05-dev-arq-@2988cf56.elrs | Bin 0 -> 47652 bytes ...-R9MM-f103rb-v1.2.05-dev-arq-@2988cf56.hex | 2970 ++++++++ ...3cb-elrs-bl-v1.2.05-dev-arq-@2988cf56.elrs | Bin 0 -> 48464 bytes ...-R9MX-l433cb-v1.2.05-dev-arq-@2988cf56.hex | 3021 +++++++++ ...Grove-wle5jc-v1.2.05-dev-arq-@2988cf56.hex | 3139 +++++++++ ...-Mini-wle5jc-v1.2.05-dev-arq-@2988cf56.hex | 3290 +++++++++ ...nano-pro-900-v1.2.05-dev-arq-@2988cf56.bin | Bin 0 -> 317328 bytes ...-superd-2400-v1.2.05-dev-arq-@2988cf56.bin | Bin 0 -> 347744 bytes ...ev-900-esp32-v1.2.05-dev-arq-@2988cf56.bin | Bin 0 -> 331136 bytes ...-900-esp8266-v1.2.05-dev-arq-@2988cf56.bin | Bin 0 -> 322480 bytes ...cc-diversity-v1.2.05-dev-arq-@2988cf56.hex | 3395 ++++++++++ ...versity-xtal-v1.2.05-dev-arq-@2988cf56.hex | 3394 ++++++++++ ...5cc-dualband-v1.2.05-dev-arq-@2988cf56.hex | 3399 ++++++++++ ...ualband-xtal-v1.2.05-dev-arq-@2988cf56.hex | 3398 ++++++++++ ...-dual-wle5cc-v1.2.05-dev-arq-@2988cf56.hex | 3256 +++++++++ ...-wle5cc-xtal-v1.2.05-dev-arq-@2988cf56.hex | 3255 +++++++++ ...lband-wle5cc-v1.2.05-dev-arq-@2988cf56.hex | 3558 ++++++++++ ...-wle5cc-xtal-v1.2.05-dev-arq-@2988cf56.hex | 3557 ++++++++++ ...ic-2400-d-pa-v1.2.05-dev-arq-@2988cf56.bin | Bin 0 -> 318144 bytes ...2400-pa-dcdc-v1.2.05-dev-arq-@2988cf56.bin | Bin 0 -> 318224 bytes ...eric-2400-pa-v1.2.05-dev-arq-@2988cf56.bin | Bin 0 -> 318176 bytes ...c-2400-td-pa-v1.2.05-dev-arq-@2988cf56.bin | Bin 0 -> 347712 bytes ...generic-2400-v1.2.05-dev-arq-@2988cf56.bin | Bin 0 -> 318064 bytes ...neric-900-pa-v1.2.05-dev-arq-@2988cf56.bin | Bin 0 -> 317328 bytes ...ic-900-td-pa-v1.2.05-dev-arq-@2988cf56.bin | Bin 0 -> 346752 bytes ...-generic-900-v1.2.05-dev-arq-@2988cf56.bin | Bin 0 -> 317312 bytes ...ht-elrs-2400-v1.2.05-dev-arq-@2988cf56.bin | Bin 0 -> 318176 bytes ...elrs-td-2400-v1.2.05-dev-arq-@2988cf56.bin | Bin 0 -> 347776 bytes ...ster-br3-900-v1.2.05-dev-arq-@2988cf56.bin | Bin 0 -> 317376 bytes ...r-rp4td-2400-v1.2.05-dev-arq-@2988cf56.bin | Bin 0 -> 348800 bytes ...ee-nano-2400-v1.2.05-dev-arq-@2988cf56.bin | Bin 0 -> 318176 bytes ...t-wle5cc-400-v1.2.05-dev-arq-@2988cf56.hex | 4919 ++++++++++++++ ...5cc-400-xtal-v1.2.05-dev-arq-@2988cf56.hex | 4918 ++++++++++++++ ...t-wle5cc-900-v1.2.05-dev-arq-@2988cf56.hex | 4931 ++++++++++++++ ...5cc-900-xtal-v1.2.05-dev-arq-@2988cf56.hex | 4930 ++++++++++++++ ...-f072cb-oled-v1.2.05-dev-arq-@2988cf56.hex | 6020 +++++++++++++++++ ...3-f072cb-usb-v1.2.05-dev-arq-@2988cf56.hex | 5120 ++++++++++++++ ...3c8-elrs-bl-v1.2.05-dev-arq-@2988cf56.elrs | Bin 0 -> 76820 bytes ...x-R9M-f103c8-v1.2.05-dev-arq-@2988cf56.hex | 4795 +++++++++++++ ...3cb-elrs-bl-v1.2.05-dev-arq-@2988cf56.elrs | Bin 0 -> 54352 bytes ...-R9MX-l433cb-v1.2.05-dev-arq-@2988cf56.hex | 3388 ++++++++++ ...le5jc-sdiode-v1.2.05-dev-arq-@2988cf56.hex | 4918 ++++++++++++++ ...-Mini-wle5jc-v1.2.05-dev-arq-@2988cf56.hex | 4989 ++++++++++++++ ...cc-diversity-v1.2.05-dev-arq-@2988cf56.hex | 5052 ++++++++++++++ ...versity-xtal-v1.2.05-dev-arq-@2988cf56.hex | 5051 ++++++++++++++ ...5cc-dualband-v1.2.05-dev-arq-@2988cf56.hex | 5058 ++++++++++++++ ...ualband-xtal-v1.2.05-dev-arq-@2988cf56.hex | 5057 ++++++++++++++ ...-dual-wle5cc-v1.2.05-dev-arq-@2988cf56.hex | 4929 ++++++++++++++ ...-wle5cc-xtal-v1.2.05-dev-arq-@2988cf56.hex | 4928 ++++++++++++++ ...lband-wle5cc-v1.2.05-dev-arq-@2988cf56.hex | 5215 ++++++++++++++ ...-wle5cc-xtal-v1.2.05-dev-arq-@2988cf56.hex | 5214 ++++++++++++++ 59 files changed, 150830 insertions(+) create mode 100644 firmware/rx-E77-MBLKit-wle5cc-400-v1.2.05-dev-arq-@2988cf56.hex create mode 100644 firmware/rx-E77-MBLKit-wle5cc-400-xtal-v1.2.05-dev-arq-@2988cf56.hex create mode 100644 firmware/rx-E77-MBLKit-wle5cc-900-v1.2.05-dev-arq-@2988cf56.hex create mode 100644 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