dev ARQ (retransmit)

mLRS/Common/arq.h

@@ -11,7 +11,7 @@
 #pragma once
 
 #define USE_ARQ // just for the moment, eventually should go
-//#define USE_ARQ_DBG
+#define USE_ARQ_DBG
 #define USE_ARQ_RETRY_CNT     -1 // -1: set by SetRetryCnt(), 0 = off, 255 = infinite,
 #define USE_ARQ_TX_SIM_MISS   4 //9 // 0 = off
 #define USE_ARQ_RX_SIM_MISS   3 //5 //5 // 0 = off
@@ -177,6 +177,9 @@ uint8_t tTransmitArq::SeqNo(void)
 
 void tTransmitArq::SetRetryCnt(uint8_t retry_cnt)
 {
+//payload_retry_cnt = 0; return;
+payload_retry_cnt = UINT8_MAX; return;
+
 #ifndef USE_ARQ_DBG
     payload_retry_cnt = retry_cnt;
 #else
@@ -416,3 +419,26 @@ class tReceiveArq
 #endif
 
 #endif // ARQ_H
+
+/* some sort of documentation
+for the Rx -> Tx transmission direction:
+
+Tx                                      Rx
+rarq                                    tarq
+
+prepare_transmit_frame()                prepare_transmit_frame()
+    ack = AckSeqNo()                        get_fresh_payload = GetFreshPayload()
+                                            seq_no = SeqNo()
+                                            SetRetryCntAuto()
+process_received_frame()
+    accept_payload = AcceptPayload()
+
+handle_receive()                        handle_receive()
+    Received()                              AckReceived()
+    or FrameMissed()                        or FrameMissed()
+    FrameLost() -> reset parsers
+
+handle_receive_none()                   handle_receive_none()
+    FrameMissed()                           FrameMissed()
+
+*/

mLRS/Common/frames.h

@@ -31,6 +31,48 @@ typedef enum {
 } CHECK_ENUM;
 
 
+// update header info and rcdata with new data, keep payload
+void update_txframe_stats_and_rcdata(tTxFrame* frame, tFrameStats* frame_stats, tRcData* rc)
+{
+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_TX, 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;
+
+      frame->rc1.ch0  = rc->ch[0]; // 0 .. 1024 .. 2047, 11 bits
+      frame->rc1.ch1  = rc->ch[1];
+      frame->rc1.ch2  = rc->ch[2];
+      frame->rc1.ch3  = rc->ch[3];
+      frame->rc2.ch4  = rc->ch[4]; // 0 .. 1024 .. 2047, 11 bits
+      frame->rc2.ch5  = rc->ch[5];
+      frame->rc2.ch6  = rc->ch[6];
+      frame->rc2.ch7  = rc->ch[7];
+      frame->rc2.ch8  = rc->ch[8] / 8; // 0 .. 128 .. 255, 8 bits
+      frame->rc2.ch9  = rc->ch[9] / 8;
+      frame->rc2.ch10 = rc->ch[10] / 8;
+      frame->rc2.ch11 = rc->ch[11] / 8;
+      frame->rc1.ch12 = (rc->ch[12] >= 1536) ? 2 : ((rc->ch[12] <= 512) ? 0 : 1); // 0 .. 1 .. 2, bits, 3-way
+      frame->rc1.ch13 = (rc->ch[13] >= 1536) ? 2 : ((rc->ch[13] <= 512) ? 0 : 1);
+      frame->rc2.ch14 = (rc->ch[14] >= 1536) ? 2 : ((rc->ch[14] <= 512) ? 0 : 1);
+      frame->rc2.ch15 = (rc->ch[15] >= 1536) ? 2 : ((rc->ch[15] <= 512) ? 0 : 1);
+
+      fmav_crc_init(&crc);
+      fmav_crc_accumulate_buf(&crc, (uint8_t*)frame, FRAME_TX_RX_HEADER_LEN + FRAME_TX_RCDATA1_LEN);
+      frame->crc1 = crc;
+
+      fmav_crc_accumulate_buf(&crc, (uint8_t*)frame + FRAME_TX_RX_HEADER_LEN + FRAME_TX_RCDATA1_LEN, FRAME_TX_RX_LEN - FRAME_TX_RX_HEADER_LEN - FRAME_TX_RCDATA1_LEN - 2);
+      frame->crc = crc;
+}
+
+
 void _pack_txframe_w_type(tTxFrame* frame, uint8_t type, tFrameStats* frame_stats, tRcData* rc, uint8_t* payload, uint8_t payload_len)
 {
 uint16_t crc;

mLRS/CommonRx/mlrs-rx.cpp

@@ -104,7 +104,7 @@ tRxClock rxclock;
 tPowerupCounter powerup;
 tRDiversity rdiversity;
 tTDiversity tdiversity;
-tTransmitArq tarq;
+tReceiveArq rarq;
 
 
 // is required in bind.h
@@ -288,9 +288,7 @@ void prepare_transmit_frame(uint8_t antenna)
 uint8_t payload[FRAME_RX_PAYLOAD_LEN];
 uint8_t payload_len = 0;
 
-    bool get_fresh_payload = tarq.GetFreshPayload();
 
-    if (get_fresh_payload) {
         if (transmit_frame_type == TRANSMIT_FRAME_TYPE_NORMAL) {
             // read data from serial
             if (connected()) {
@@ -306,41 +304,24 @@ uint8_t payload_len = 0;
                 sx_serial.flush();
             }
         }
-    }
 
     stats.last_transmit_antenna = antenna;
 
     tFrameStats frame_stats;
-    frame_stats.seq_no = tarq.SeqNo();
-    frame_stats.ack = 1; // TODO
+    frame_stats.seq_no = stats.transmit_seq_no; // tarq.SeqNo();
+    frame_stats.ack = rarq.AckSeqNo();
     frame_stats.antenna = stats.last_antenna;
     frame_stats.transmit_antenna = antenna;
     frame_stats.rssi = stats.GetLastRssi();
     frame_stats.LQ_rc = stats.GetLQ_rc();
     frame_stats.LQ_serial = stats.GetLQ_serial();
 
-    static bool rxFrame_valid = false; // just for now
-    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;
-
-        stats.cntFrameTransmitted();
-        tarq.SetRetryCntAuto(stats.GetFrameCnt(), Config.Mode);
-
-    } 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;
-
-        stats.cntFrameSkipped();
-        tarq.SetRetryCntAuto(stats.GetFrameCnt(), Config.Mode);
-    }
 }
 
 
@@ -361,6 +342,9 @@ void process_received_frame(bool do_payload, tTxFrame* frame)
 
     rcdata_from_txframe(&rcData, frame);
 
+    bool accept_payload = rarq.AcceptPayload();
+    if (!accept_payload) return; // frame has no fresh payload
+
     // handle cmd frame
     if (frame->status.frame_type == FRAME_TYPE_TX_RX_CMD) {
         process_received_txcmdframe(frame);
@@ -405,11 +389,15 @@ tTxFrame* frame;
         FAIL_WSTATE(BLINK_4, "rx_status failure", 0,0, link_rx1_status, link_rx2_status);
     }
 
-    // handle transmit ARQ
-    if (rx_status > RX_STATUS_INVALID) { // RX_STATUS_CRC1_VALID, RX_STATUS_VALID: we have valid information on ack
-        tarq.AckReceived(frame->status.ack);
+    // handle receive ARQ, must come before process_received_frame()
+    if (rx_status == RX_STATUS_VALID) {
+        rarq.Received(frame->status.seq_no);
     } else {
-        tarq.FrameMissed();
+        rarq.FrameMissed();
+    }
+    // check this before received data may be passed to parsers
+    if (rarq.FrameLost()) {
+        mavlink.FrameLost();
     }
 
     if (rx_status > RX_STATUS_INVALID) { // RX_STATUS_CRC1_VALID, RX_STATUS_VALID
@@ -434,7 +422,11 @@ tTxFrame* frame;
 
 void handle_receive_none(void) // RX_STATUS_NONE
 {
-    tarq.FrameMissed();
+    rarq.FrameMissed();
+
+#ifdef USE_ARQ_DBG
+dbg.puts("\nrec FMISSED");
+#endif
 }
 
 
@@ -445,6 +437,8 @@ 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
@@ -559,7 +553,7 @@ RESTARTCONTROLLER
     stats.Init(Config.LQAveragingPeriod, Config.frame_rate_hz, Config.frame_rate_ms);
     rdiversity.Init();
     tdiversity.Init(Config.frame_rate_ms);
-    tarq.Init();
+    rarq.Init();
 
     out.Configure(Setup.Rx.OutMode);
     mavlink.Init();
@@ -710,6 +704,10 @@ IF_SX2(
     if (doPostReceive) {
         doPostReceive = false;
 
+#ifdef USE_ARQ
+if (rarq.SimulateMiss()) { 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);
@@ -818,7 +816,7 @@ dbg.puts(s8toBCD_s(stats.last_rssi2));*/
             sx2.SetToIdle();
         }
 
-        if (!connected()) tarq.Disconnected();
+        if (!connected()) rarq.Disconnected();
 
         DECc(tick_1hz_commensurate, Config.frame_rate_hz);
         if (!tick_1hz_commensurate) {