Update at.c

Firmware/radio/at.c

@@ -205,7 +205,7 @@ at_timer(void)
 				at_cmd_ready = true;
 				break;
 			default:
-				// should never happen, but otherwise harmless
+			;	// should never happen, but otherwise harmless
 			}
 		}
 	}
@@ -339,7 +339,7 @@ at_i(void)
     printf("%u\n", g_board_bl_version);
     return;
   case '5':
-    print_ID_vals(' ', PARAM_MAX, param_name, param_get);
+    print_ID_vals('S', PARAM_MAX, param_name, param_get);
     return;
   case '6':
     tdm_report_timing();

Firmware/radio/main.c

@@ -97,7 +97,6 @@ __pdata struct statistics statistics, remote_statistics;
 
 /// optional features
 bool feature_golay;
-bool feature_opportunistic_resend;
 uint8_t feature_mavlink_framing;
 bool feature_rtscts;
 
@@ -121,7 +120,6 @@ main(void)
 
 	// setup boolean features
 	feature_mavlink_framing = param_get(PARAM_MAVLINK);
-	feature_opportunistic_resend = param_get(PARAM_OPPRESEND)?true:false;
 	feature_golay = param_get(PARAM_ECC)?true:false;
 	feature_rtscts = param_get(PARAM_RTSCTS)?true:false;
 

Firmware/radio/mavlink.c

@@ -40,9 +40,6 @@
 extern __xdata uint8_t pbuf[MAX_PACKET_LENGTH];
 static __pdata uint8_t seqnum;
 
-#define MAVLINK_MSG_ID_RADIO 166
-#define MAVLINK_RADIO_CRC_EXTRA 21
-
 // new RADIO_STATUS common message
 #define MAVLINK_MSG_ID_RADIO_STATUS 109
 #define MAVLINK_RADIO_STATUS_CRC_EXTRA 185
@@ -112,17 +109,8 @@ struct mavlink_RADIO_v10 {
 	uint8_t remnoise;
 };
 
-static void swap_bytes(__pdata uint8_t ofs, __pdata uint8_t len)
-{
-	register uint8_t i;
-	for (i=ofs; i<ofs+len; i+=2) {
-		register uint8_t tmp = pbuf[i];
-		pbuf[i] = pbuf[i+1];
-		pbuf[i+1] = tmp;
-	}
-}
-
 /// send a MAVLink status report packet
+/// we always send as MAVLink1 and let the recipient sort it out.
 void MAVLink_report(void)
 {
 	struct mavlink_RADIO_v10 *m = (struct mavlink_RADIO_v10 *)&pbuf[6];
@@ -131,26 +119,15 @@ void MAVLink_report(void)
 	pbuf[2] = seqnum++;
 	pbuf[3] = RADIO_SOURCE_SYSTEM;
 	pbuf[4] = RADIO_SOURCE_COMPONENT;
-	pbuf[5] = MAVLINK_MSG_ID_RADIO;
-
-	m->rxerrors = errors.rx_errors;
-	m->fixed    = errors.corrected_packets;
-	m->txbuf    = serial_read_space();
-	m->rssi     = statistics.average_rssi;
-	m->remrssi  = remote_statistics.average_rssi;
-	m->noise    = statistics.average_noise;
-	m->remnoise = remote_statistics.average_noise;
-	mavlink_crc(MAVLINK_RADIO_CRC_EXTRA);
-
-	if (serial_write_space() < sizeof(struct mavlink_RADIO_v10)+8) {
-		// don't cause an overflow
-		return;
-	}
-
-	serial_write_buf(pbuf, sizeof(struct mavlink_RADIO_v10)+8);
-
-	// now the new RADIO_STATUS common message
 	pbuf[5] = MAVLINK_MSG_ID_RADIO_STATUS;
+
+        m->rxerrors = errors.rx_errors;
+        m->fixed    = errors.corrected_packets;
+        m->txbuf    = serial_read_space();
+        m->rssi     = statistics.average_rssi;
+        m->remrssi  = remote_statistics.average_rssi;
+        m->noise    = statistics.average_noise;
+        m->remnoise = remote_statistics.average_noise;
 	mavlink_crc(MAVLINK_RADIO_STATUS_CRC_EXTRA);
 
 	if (serial_write_space() < sizeof(struct mavlink_RADIO_v10)+8) {

Firmware/radio/packet.c

@@ -80,56 +80,16 @@ bool seen_mavlink;
 // monitoring of link quality
 static void check_heartbeat(__xdata uint8_t * __pdata buf)
 {
-	if (buf[0] == MAVLINK10_STX &&
-		buf[1] == 9 && buf[5] == 0) {
-		// looks like a MAVLink 1.0 heartbeat
+        if ((buf[1] == 9 && buf[0] == MAVLINK10_STX && buf[5] == 0) ||
+            (buf[1] <= 9 && buf[0] == MAVLINK20_STX && buf[7] == 0 && buf[8] == 0 && buf[9] == 0)) {
+		// looks like a MAVLink heartbeat
 		seen_mavlink = true;
 	}
 }
 
 #define MSG_TYP_RC_OVERRIDE 70
 #define MSG_LEN_RC_OVERRIDE (9 * 2)
 
-/// Return the offset of any high priority packet (so we can ensure that this packet goes out in the next
-/// tx window
-static 
-int16_t extract_hipri(uint8_t max_xmit)
-{
-	__xdata uint16_t slen = serial_read_available();
-	__xdata uint16_t offset = 0;
-	__xdata int16_t high_offset = -1;
-
-	// Walk the serial buffer to find the _last_ high pri packet
-	while (slen >= 8) {
-		register uint8_t c = serial_peekx(offset);
-		if (c != MAVLINK10_STX) {
-			// we've lost mavlink framing - stop scanning for this window
-			break;			
-		}
-		c = serial_peekx(offset + 1);
-		if (c >= 255 - 8 || 
-			c+8 > max_xmit - last_sent_len) {
-			// it won't fit
-			break;
-		}
-		if (c+8 > slen) {
-			// we don't have the full MAVLink packet in
-			// the serial buffer
-			break;
-		}
-
-		if(serial_peekx(offset + 5) == MSG_TYP_RC_OVERRIDE && c == MSG_LEN_RC_OVERRIDE) {
-			// if(high_offset != -1) printf("found 2nd\r\n"); else printf("found rc\r\n");
-			high_offset = offset;
-		}
-
-		c += 8;
-		slen -= c;
-		offset += c;
-	}
-
-	return high_offset;
-}
 
 #define MAVLINK_FRAMING_DISABLED 0
 #define MAVLINK_FRAMING_SIMPLE 1
@@ -140,65 +100,52 @@ int16_t extract_hipri(uint8_t max_xmit)
 static 
 uint8_t mavlink_frame(uint8_t max_xmit, __xdata uint8_t * __pdata buf)
 {
-	__data uint16_t slen, offset = 0, high_offset;
+	__data uint16_t slen;
 
-	//
-	// There is already a packet sitting waiting here
-	//
-	// but this optimization is redundant with the loop below.  By letting the very slightly
-	// more expensive version its thing we can ensure we skip _all_ redundant rc_override msgs
-#if 0
-	serial_read_buf(last_sent, mav_pkt_len);
-	last_sent_len = mav_pkt_len;
-	memcpy(buf, last_sent, last_sent_len);
-	check_heartbeat(buf);
-#else
 	last_sent_len = 0;
-#endif
 	mav_pkt_len = 0;
 
-	high_offset = (feature_mavlink_framing == MAVLINK_FRAMING_HIGHPRI) ? extract_hipri(max_xmit) : -1;
-
 	slen = serial_read_available();
 
 	// see if we have more complete MAVLink frames in the serial
 	// buffer that we can fit in this packet
 	while (slen >= 8) {
-		register uint8_t c = serial_peek();
-		if (c != MAVLINK10_STX) {
+		register uint8_t c = serial_peekx(0);
+                register uint8_t extra_len = 8;
+		if (c != MAVLINK10_STX && c != MAVLINK20_STX) {
 			// its not a MAVLink packet
 			return last_sent_len;			
 		}
-		c = serial_peek2();
-		if (c >= 255 - 8 || 
-			c+8 > max_xmit - last_sent_len) {
+                if (c == MAVLINK20_STX) {
+                        extra_len += 4;
+                        if (serial_peekx(2) & 1) {
+                                // signed packet
+                                extra_len += 13;
+                        }
+                }
+                // fetch the length byte
+		c = serial_peekx(1);
+		if (c >= 255 - extra_len || 
+		    c+extra_len > max_xmit - last_sent_len) {
 			// it won't fit
 			break;
 		}
-		if (c+8 > slen) {
+		if (c+extra_len > slen) {
 			// we don't have the full MAVLink packet in
 			// the serial buffer
 			break;
 		}
 
-		// If we are using the special highpri mode, we might skip some override packets
-		if(high_offset != -1 && high_offset != offset && serial_peekx(5) == MSG_TYP_RC_OVERRIDE && c == MSG_LEN_RC_OVERRIDE) {
-			// printf("skipping rc\r\n");
-			c += 8;
-		}
-		else {
-			c += 8;
-
-			// we can add another MAVLink frame to the packet
-			serial_read_buf(&last_sent[last_sent_len], c);
-			memcpy(&buf[last_sent_len], &last_sent[last_sent_len], c);
-
-			check_heartbeat(buf+last_sent_len);
-		}
+                c += extra_len;
 
+                // we can add another MAVLink frame to the packet
+                serial_read_buf(&last_sent[last_sent_len], c);
+                memcpy(&buf[last_sent_len], &last_sent[last_sent_len], c);
+
+                check_heartbeat(buf+last_sent_len);
+
 		last_sent_len += c;
 		slen -= c;
-		offset += c;
 	}
 
 	return last_sent_len;
@@ -270,11 +217,7 @@ packet_get_next(register uint8_t max_xmit, __xdata uint8_t *buf)
 	last_sent_is_injected = false;
 
 	slen = serial_read_available();
-	if (force_resend ||
-			(feature_opportunistic_resend &&
-			 last_sent_is_resend == false && 
-			 last_sent_len != 0 && 
-			 slen < PACKET_RESEND_THRESHOLD)) {
+	if (force_resend) {
 		if (max_xmit < last_sent_len) {
 			return 0;
 		}
@@ -348,8 +291,8 @@ packet_get_next(register uint8_t max_xmit, __xdata uint8_t *buf)
 
 		// We are now looking for a new packet (mav_pkt_len == 0)
 	while (slen > 0) {
-		register uint8_t c = serial_peek();
-		if (c == MAVLINK10_STX) {
+		register uint8_t c = serial_peekx(0);
+		if (c == MAVLINK10_STX || c == MAVLINK20_STX) {
 			if (slen == 1) {
 				// we got a bare MAVLink header byte
 				if (last_sent_len == 0) {
@@ -362,9 +305,9 @@ packet_get_next(register uint8_t max_xmit, __xdata uint8_t *buf)
 				}
 				break;
 			}
-			mav_pkt_len = serial_peek2();
-			if (mav_pkt_len >= 255-8 ||
-			    mav_pkt_len+8 > mav_max_xmit) {
+			mav_pkt_len = serial_peekx(1);
+			if (mav_pkt_len >= 255-(8+4+13) ||
+			    mav_pkt_len+(8+4+13) > mav_max_xmit) {
 				// its too big for us to cope with
 				mav_pkt_len = 0;
 				last_sent[last_sent_len++] = serial_read(); // Send the STX and try again (we will lose framing)
@@ -375,6 +318,13 @@ packet_get_next(register uint8_t max_xmit, __xdata uint8_t *buf)
 			// the length byte doesn't include
 			// the header or CRC
 			mav_pkt_len += 8;
+                        if (c == MAVLINK20_STX) {
+                                mav_pkt_len += 4;
+                                if (slen > 2 && (serial_peekx(2) & 1)) {
+                                        // it is signed
+                                        mav_pkt_len += 13;
+                                }
+                        }
 
 			if (last_sent_len != 0) {
 				// send what we've got so far,

Firmware/radio/packet.h

@@ -70,6 +70,7 @@ extern void packet_set_serial_speed(uint16_t speed);
 ///			
 extern void packet_inject(__xdata uint8_t *buf, __pdata uint8_t len);
 
-// mavlink 1.0 marker
+// mavlink 1.0 and 2.0 markers
 #define MAVLINK10_STX 254
+#define MAVLINK20_STX 253
 

Firmware/radio/parameters.c

@@ -69,9 +69,9 @@ __code const struct parameter_info {
 	{"LBT_RSSI",        0},
 	{"MANCHESTER",      0},
 	{"RTSCTS",          0},
-  {"MAX_WINDOW",    131},
+	{"MAX_WINDOW",    131},
 #ifdef INCLUDE_AES
-  {"ENCRYPTION_LEVEL", 0}, // no Enycryption (0), 128 or 256 bit key
+	{"ENCRYPTION_LEVEL", 0}, // no Enycryption (0), 128 or 256 bit key
 #endif
 };
 
@@ -210,8 +210,6 @@ param_set(__data enum ParamID param, __pdata param_t value)
 		break;
 
 	case PARAM_OPPRESEND:
-		feature_opportunistic_resend = value?true:false;
-		value = feature_opportunistic_resend?1:0;
 		break;
 
 	case PARAM_RTSCTS:

Firmware/radio/parameters.h

@@ -53,7 +53,7 @@ enum ParamID {
 	PARAM_TXPOWER,			// transmit power (dBm)
 	PARAM_ECC,				// ECC using golay encoding
 	PARAM_MAVLINK,			// MAVLink framing, 0=ignore, 1=use, 2=rc-override
-	PARAM_OPPRESEND,		// opportunistic resend
+	PARAM_OPPRESEND,		// opportunistic resend // DISABLED
 	PARAM_MIN_FREQ,			// min frequency in MHz
 	PARAM_MAX_FREQ,			// max frequency in MHz
 	PARAM_NUM_CHANNELS,		// number of hopping channels

Firmware/radio/product.mk

@@ -27,8 +27,8 @@
 # Makefile for the Si1000 radio application
 #
 
-VERSION_MAJOR	 =	1
-VERSION_MINOR	 =	13
+VERSION_MAJOR	 =	2
+VERSION_MINOR	 =	0
 
 PRODUCT		 =	radio~$(BOARD)
 PRODUCT_DIR	:=	$(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))

Firmware/radio/segment.rules

@@ -0,0 +1,46 @@
+# segment.rules files assign source code modules to specific banks
+# These files are only used when we build code with cpu supporting banking
+# The final segment.rules file is constructed from any segment.rules found in
+# the search path, defined in the CPU Makefile
+# When building bankable code, the bank-alloc.py script automatically allocates
+# modules to banks. segment.rules files provide hints, instructing the script
+# as to which files are safe to move around and which files to leave alone
+# In other words, only specify a rule for a file if you need to
+# comments starting with "#" are supported
+# The file spec in rules is actually interpreted as a python regex so you can
+# write a rule that will match multiple files
+#
+# general rules --
+#  SDCC's standard libraries will always go in CSEG - We don't touch them
+#  Interrupt code must be in HOME. Specify all files with an ISR here
+#  All files without an associated rule get allocated to a bank automatically
+
+# Files with ISRs must be in HOME
+BANK3 timer.c
+BANK3 radio.c
+BANK3 serial.c
+HOME main.c
+BANK3 printfl.c
+
+BANK3 rtc.c
+BANK3 pins_user.c
+BANK3 mavlink.c
+
+BANK3 packet.c
+BANK3 golay.c
+BANK3 crc.c
+
+# There is a Parameter shared between these functions and should be in the same bank?
+BANK3 parameters.c
+BANK3 aesEncrypt.c
+BANK3 at.c
+BANK3 main_init.c
+
+# freq_hooping needs to be in the same bank as tdm (due to __nonbanked to save space)
+BANK3 freq_hopping.c
+BANK3 tdm.c
+
+
+# Flash MUST be in bank3 as it needs to read the end of this page
+BANK3 flash.c
+