Increased stability. Higher radio speeds (2mbps). Soft-acks implemeted to avoid the unreliable hw-acks. No trash messages found during test runs.
This commit is contained in:
Henrik Ekblad
+105
-117
@@ -23,16 +23,17 @@ void Sensor::setupRadio() {
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// Start up the radio library
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RF24::begin();
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RF24::enableDynamicPayloads();
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RF24::setAutoAck(true);
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RF24::setRetries(15, 15);
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//RF24::setChannel(70);
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RF24::setDataRate(RF24_1MBPS);
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RF24::setAutoAck(false);
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RF24::setRetries(15, 15);
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RF24::setPALevel(RF24_PA_MAX);
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//RF24::setChannel(70); // Default 70
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RF24::setDataRate(RF24_2MBPS);
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RF24::setCRCLength(RF24_CRC_16);
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// All (relaying) nodes listen to broadcast pipe (for PING messages)
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RF24::openReadingPipe(BROADCAST_PIPE, BASE_RADIO_ID + BROADCAST_ADDRESS);
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// All repeater nodes and gateway listen to broadcast pipe (for PING messages)
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if (isRelay) {
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RF24::openReadingPipe(BROADCAST_PIPE, TO_ADDR(BROADCAST_ADDRESS));
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}
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}
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void Sensor::begin(uint8_t _radioId) {
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@@ -55,7 +56,7 @@ void Sensor::begin(uint8_t _radioId) {
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initializeRadioId();
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// Open reading pipe for messages directed to this node
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RF24::openReadingPipe(CURRENT_NODE_PIPE, BASE_RADIO_ID+radioId);
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RF24::openReadingPipe(CURRENT_NODE_PIPE, TO_ADDR(radioId));
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// Send presentation for this radio node
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sendSensorPresentation(NODE_CHILD_ID, isRelay? S_ARDUINO_RELAY : S_ARDUINO_NODE);
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@@ -85,7 +86,7 @@ void Sensor::initializeRadioId() {
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// No radio id has been fetched yet ant EEPROM is unwritten.
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// Request new id from sensor net gateway. Use radioId 4095 temporarily
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// to be able to receive my correct nodeId.
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RF24::openReadingPipe(CURRENT_NODE_PIPE, BASE_RADIO_ID+radioId);
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RF24::openReadingPipe(CURRENT_NODE_PIPE, TO_ADDR(radioId));
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radioId = atoi(getInternal(I_REQUEST_ID));
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// Write id to EEPROM
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if (radioId == AUTO) { // sensor net gateway will return max id if all sensor id are taken
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@@ -112,7 +113,7 @@ void Sensor::findRelay() {
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// Open a reading pipe for current radioId (if it differs from broadcast)
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if (radioId != BROADCAST_PIPE) {
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RF24::openReadingPipe(CURRENT_NODE_PIPE, BASE_RADIO_ID+radioId);
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RF24::openReadingPipe(CURRENT_NODE_PIPE, TO_ADDR(radioId));
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debug(PSTR("Open ping reading pipe: %d\n"), radioId);
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}
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distance = 255;
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@@ -156,10 +157,6 @@ void Sensor::findRelay() {
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EEPROM.write(EEPROM_RELAY_ID_ADDRESS, relayId);
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EEPROM.write(EEPROM_DISTANCE_ADDRESS, distance);
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}
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// Always listen to relay pipe (relay broadcasts messages that might be for this
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// nodes children)
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RF24::openReadingPipe(RELAY_PIPE, BASE_RADIO_ID + relayId);
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}
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@@ -205,7 +202,7 @@ boolean Sensor::send(message_s message, int length) {
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if (!ok && radioId != GATEWAY_ADDRESS) {
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// Failure when sending to relay node. The relay node might be down and we
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// need to find another route to gateway. Max 20 retries before giving up.
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if (failedTransmissions>20) {
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if (failedTransmissions > FIND_RELAY_RETRIES) {
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findRelay();
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}
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failedTransmissions++;
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@@ -217,27 +214,45 @@ boolean Sensor::send(message_s message, int length) {
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boolean Sensor::sendWrite(uint8_t dest, message_s message, int length) {
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// Add current radioId to last-field and calculate crc
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message.header.last = radioId;
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message.header.crc = crc8Message(message);
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debug(PSTR("Tx: f=%d,t=%d,p=%d,n=%d,c=%d,mt=%d,t=%d,x=%d: %s\n"),
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message.header.from,message.header.to, message.header.last, dest, message.header.childId, message.header.messageType, message.header.type, message.header.crc, message.data);
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message.header.last = radioId;
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message.header.crc = crc8Message(message, length);
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debug(PSTR("Tx: fr=%d,to=%d,la=%d,ne=%d,ci=%d,mt=%d,ty=%d,cr=%d: %s\n"),
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message.header.from,message.header.to, message.header.last, dest, message.header.childId, message.header.messageType, message.header.type, message.header.crc, message.data);
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bool ok = true;
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bool broadcast = message.header.messageType == M_INTERNAL && message.header.type == I_PING;
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int retry = WRITE_RETRY;
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RF24::stopListening();
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bool ok = false;
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RF24::openWritingPipe(BASE_RADIO_ID+ dest);
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int retry = 5;
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do {
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ok = RF24::write(&message, min(MAX_MESSAGE_LENGTH, sizeof(message.header) + length));
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}
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while ( !ok && --retry );
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RF24::openWritingPipe(TO_ADDR(dest));
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RF24::write(&message, min(MAX_MESSAGE_LENGTH, sizeof(message.header) + length), broadcast);
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RF24::startListening();
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// RF24::openReadingPipe(CURRENT_NODE_PIPE, BASE_RADIO_ID+radioId);
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RF24::closeReadingPipe(WRITE_PIPE); // Stop listening to write-pipe after transmit
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if (!broadcast) {
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// ---------------- WAIT FOR ACK ------------------
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unsigned long startedWaiting = millis();
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bool timeout = false;
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// Wait max 100 ms
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while ( !RF24::available() && !timeout ) {
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if (millis() - startedWaiting > 100 ) {
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timeout = true;
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ok = false;
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}
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}
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// Check payload size and content
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if ( !timeout && RF24::getDynamicPayloadSize()==sizeof(uint8_t)) {
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uint8_t idest;
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RF24::read( &idest, sizeof(uint8_t));
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if (dest != idest) { ok == false; }
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} else { ok = false; }
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//--------------------
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}
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if (ok) {
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debug(PSTR("Sent successfully\n"));
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} else {
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debug(PSTR("Send failed. No ack received.\n"));
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debug(PSTR("Send failed.\n"));
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}
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return ok;
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}
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@@ -381,9 +396,7 @@ boolean Sensor::messageAvailable() {
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if (available && pipe<7) {
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readMessage();
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boolean ok = validate() == VALIDATE_OK;
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debug(PSTR("Mess crc %s.\n"),ok?"ok":"error");
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boolean ok = readMessage();
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if (ok && msg.header.to == radioId) {
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// This message is addressed to this node
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debug(PSTR("Message addressed for this node.\n"));
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@@ -414,106 +427,81 @@ message_s Sensor::getMessage() {
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}
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message_s Sensor::readMessage() {
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boolean Sensor::readMessage() {
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uint8_t len = RF24::getDynamicPayloadSize();
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bool done = RF24::read(&msg, len);
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// Make sure string gets terminated ok.
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boolean done = RF24::read(&msg, len);
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if (!(msg.header.messageType==M_INTERNAL && msg.header.type == I_PING_ACK)) {
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RF24::stopListening();
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RF24::openWritingPipe(TO_ADDR(msg.header.last));
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RF24::write(&radioId, sizeof(uint8_t));
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RF24::startListening();
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RF24::closeReadingPipe(WRITE_PIPE); // Stop listening to write-pipe after transmit
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}
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uint8_t cb = msg.header.crc;
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uint8_t valid = validate(len-sizeof(header_s));
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boolean ok = valid == VALIDATE_OK;
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// Make sure string gets terminated ok for full sized messages.
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msg.data[len - sizeof(header_s) ] = '\0';
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debug(PSTR("Rx: f=%d,t=%d,l=%d,c=%d,mt=%d,t=%d,x=%d: %s\n"),
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msg.header.from,msg.header.to, msg.header.last, msg.header.childId, msg.header.messageType, msg.header.type,msg.header.crc, msg.data);
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return msg;
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debug(PSTR("Rx: fr=%d,to=%d,la=%d,ci=%d,mt=%d,t=%d,cr=%d(%s): %s\n"),
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msg.header.from,msg.header.to, msg.header.last, msg.header.childId, msg.header.messageType, msg.header.type, msg.header.crc, valid==0?"ok":valid==1?"ec":"ev", msg.data);
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return ok;
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}
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/*
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* raw CRC 8 bit calculation
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*/
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uint8_t Sensor::crc8Raw ( uint8_t *data_in, uint8_t number_of_bytes_to_read )
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{
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uint8_t crc;
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uint8_t loop_count;
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uint8_t bit_counter;
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uint8_t data;
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uint8_t feedback_bit;
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crc = CRC8INIT;
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for (loop_count = 0; loop_count != number_of_bytes_to_read; loop_count++)
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{
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data = data_in[loop_count];
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bit_counter = 8;
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do {
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feedback_bit = (crc ^ data) & 0x01;
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if ( feedback_bit == 0x01 ) {
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crc = crc ^ CRC8POLY;
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}
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crc = (crc >> 1) & 0x7F;
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if ( feedback_bit == 0x01 ) {
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crc = crc | 0x80;
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}
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data = data >> 1;
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bit_counter--;
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} while (bit_counter > 0);
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}
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return crc;
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}
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/*
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* calculate CRC8 on message_s data taking care of data structure and protocol version
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*/
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uint8_t Sensor::crc8Message(message_s var_msg) {
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uint8_t Sensor::crc8Message(message_s var_msg, uint8_t len) {
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uint8_t crc = 0x00;
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uint8_t loop_count;
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uint8_t bit_counter;
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uint8_t data;
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uint8_t feedback_bit;
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uint8_t number_of_bytes_to_read = (uint8_t)sizeof(var_msg);
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// Must set crc to a constant value.
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var_msg.header.crc = 0;
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// fill unused space by zeroes for string data only
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if(!var_msg.header.binary) {
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uint8_t len = strlen(var_msg.data);
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if(len < sizeof(var_msg.data)-1) {
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memset(&var_msg.data[len], 0, sizeof(var_msg.data) - 1 - len);
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}
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if(len>=0 && len < sizeof(var_msg.data)-1) {
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memset(&var_msg.data[len], 0, sizeof(var_msg.data) - 1 - len);
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}
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return crc8Raw((uint8_t*)&var_msg, (uint8_t)sizeof(var_msg));
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for (loop_count = 0; loop_count != number_of_bytes_to_read; loop_count++)
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{
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data = ((uint8_t*)&var_msg)[loop_count];
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bit_counter = 8;
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do {
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feedback_bit = (crc ^ data) & 0x01;
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if ( feedback_bit == 0x01 ) {
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crc = crc ^ 0x18; //0X18 = X^8+X^5+X^4+X^0
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}
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crc = (crc >> 1) & 0x7F;
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if ( feedback_bit == 0x01 ) {
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crc = crc | 0x80;
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}
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data = data >> 1;
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bit_counter--;
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} while (bit_counter > 0);
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}
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return crc;
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}
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/*
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uint8_t Sensor::crc8Message(message_s var_msg) {
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struct {
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message_s msg;
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uint8_t protocol_version;
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} crc_data;
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memcpy(&crc_data, &var_msg, sizeof(var_msg));
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crc_data.protocol_version = PROTOCOL_VERSION;
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// some clean up needed for repeated result
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crc_data.msg.header.crc = 0;
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// fill unused space by zeroes for string data only
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if(!crc_data.msg.header.binary) {
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uint8_t len = strlen(crc_data.msg.data);
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if(len < sizeof(crc_data.msg.data)-1) {
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memset(&crc_data.msg.data[len], 0, sizeof(crc_data.msg.data) - 1 - len);
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}
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}
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return crc8Raw((uint8_t*)&crc_data, (uint8_t)sizeof(crc_data));
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} */
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uint8_t Sensor::validate(uint8_t length) {
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uint8_t oldCrc = msg.header.crc;
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uint8_t newCrc = crc8Message(msg, length);
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if(!(msg.header.version == PROTOCOL_VERSION)) return VALIDATE_BAD_VERSION;
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/*
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* true if message is consistent *
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*/
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bool Sensor::checkCRC(message_s var_msg) {
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uint8_t oldCrc = var_msg.header.crc;
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//debug(PSTR("CRC: in %d, calc %d\n"),oldCrc, crc8Message(var_msg));
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return (oldCrc == crc8Message(var_msg))?true:false;
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}
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uint8_t Sensor::validate() {
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bool crc_check = checkCRC(msg);
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bool version_check = (msg.header.version == PROTOCOL_VERSION);
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if(!version_check) return VALIDATE_BAD_VERSION;
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if(!crc_check) return VALIDATE_BAD_CRC;
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if(!(oldCrc == newCrc)) return VALIDATE_BAD_CRC;
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return VALIDATE_OK;
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}
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