problem description
-------------------
-Today, Both command line code, xbee char reception and callout events
+Today, both command line code, xbee char reception and callout events
are handled in the main loop, with the lowest priority. Therefore, the
command line cannot block, else the timers + xbee rx won't be executed.
+A typical example where the command line blocks is the completion with
+many choices.
+
solution
--------
- Events, called from timer interrupt after a call to sei():
- LED_PRIO: led blink
- - TIME_PRIO: monitor time
- BEEP_PRIO: process beep requests and modifies the beep_mask
- SPI_PRIO: send and receive SPI data to the atmega168p
- CS_PRIO: do the control system of the wing, reading infos from a
Calling a xbee function needs to set prio to XBEE_PRIO only.
Calling i2c_send_command must be done from a lower prio than I2C_PRIO.
+
+libxbee / xbee module
+=====================
+
+Library
+-------
+
+xbee_dev = structure describing an xbee device
+xbee_channel = structure describing a channel, used to associates a req
+ with its answer
+
+xbee.[ch]: main interface to libxbee, creation of dev, registeration of channels
+xbee_atcmd.[ch]: get an AT command from its name or small id string
+xbee_buf.[ch]: not used
+xbee_neighbor.[ch]: helper to add/delete neighbors, use malloc()/free()
+xbee_rxtx.[ch]: parse rx frames, provides xbee_proto_xmit()
+xbee_stats.[ch]: helper to maintain stats
+
+App
+---
+
+move this in library ?
+
+xbeeapp_send(addr, data, len, timeout, cb, arg)
+XXX to detail
+
+Timeout for xbee commands
+=========================
+
+- send_atcmd or send_msg (xbee_prio)
+
+ - allocate a channel and a context
+ - fill the context with info
+ - send the message
+ - load a timeout (xbee_prio)
+
+- on timeout (xbee_prio)
+
+ - log error
+ - call the cb with retcode == TIMEOUT
+ - unregister channel
+ - remove timer
+ - this could be a critical error
+ - if it's a comm error, it's ok
+ - but if the channel is registered again and 1st callback finally occurs...
+
+- on rx (xbee_prio)
+
+ - if there is a context, it's related to a query:
+ - remove the timeout
+ - unregister channel
+ - do basic checks on the frame
+ - log (hexdump)
+ - the frame must be checked in the cb, we can provide helpers
+
+Tests to do
+===========
+
+::
+
+ Radio Controller ))) xbee ((( WING
+ /
+ /
+ PC with command line
+ (through serial)
+
+Test 1: send data, unidirectional
+---------------------------------
+
+Periodically send data from RC to WING (every 20 to 100 ms). The WING sends its
+statistics every second.
+
+Variables:
+
+- period: from 20ms to 200ms
+- packet size: from 1 byte to 20 bytes
+- total number of packets: 1K for short tests, 100K for robustness
+
+If the test is long, take care about maximum duty cycles (10%).
+
+Output:
+
+- local and peer statistics for each test (packet size, pps, number of packets)
+- at the end we will know what is the highest speed we can support for a given
+ packet size, and how reliable is the xbee
+
+Test 2: send data, bidirectional
+--------------------------------
+
+Same than above, except that the WING replies to each received packet with a
+packet of same size.
+
+Same kind of output, ans also measure latency.
+
+Test 3: test wing control on ground
+-----------------------------------
+
+On the ground, try to control the wing with the RC board. We also use the 2.4
+Ghz controller as a fallback (bypass mode).
+
+Check that the bypass mode is enabled when we ask it (for instance on the
+channnel 5 switch) or when we switch off the RC board.
+
+Test 4: embed in WING and send hello
+------------------------------------
+
+The WING board is embeded during a flight. The RC board sends hello message at a
+specified rate (choosen from results of test 1 and 2). The WING sends
+statistics.
+
+Check how the wing distance impacts:
+- the statistics
+- the RX DB
+
+Maybe check with and without the 433Mhz beacon.
+
+Test 5: embed in WING and send dummy servo commands
+---------------------------------------------------
+
+Test in real conditions: the WING board is embeded during a flight. The RC board
+sends dummy servo values at a specified rate (choosen from results of test 1 and
+2). The WING sends statistics and "power probes" allowing the RC board to choose
+its tx power level.
+
+Check how the wing distance impacts:
+- the tx power level of the RC board
+- the statistics
+- the RX DB
+
+Maybe check with and without the 433Mhz beacon.
+
+Output:
+
+After this test, we should be confident that xbee is useable in real conditions.
+
+Test 6: control the wing with the RC board
+------------------------------------------
+
+Same than test 3, but in real flight conditions.
+
+
+-----------------------
+
+test report
+===========
+
+test1
+=====
+
+no stats sent from wing (except if contrary specified)
+don't forget to run read duty-cycle
+to reset duty-cycle, use "write soft-reset"
+
+Be careful, some packets are dropped even with power level = 0 due to over
+power. Need to use a faraday cage.
+
+50ms
+-------
+
+1 byte per msg
+20B/s (160b/s) of useful bandwidth
+mainboard > rc_proto_hello wing 50 1000 x
+ 1000/1000
+ 1000/1000
+ 1000/1000
+
+each test (50s) eats ~5% of duty cycle
+
+10 bytes per msg
+200B/s (1.6Kb/s) of useful bandwidth
+mainboard > rc_proto_hello wing 50 1000 0123456789
+with stats send every second:
+ 950/1000
+ 994/1000
+ 950/1000
+ 1000/1000
+ 999/1000
+without stats:
+ 1000/1000
+ 1000/1000
+ 1000/1000
+
+20 bytes per msg
+400B/s (3.2Kb/s) of useful bandwidth
+mainboard > rc_proto_hello wing 50 1000 01234567890123456789
+ 1000/1000
+ 1000/1000
+
+40 ms
+-------
+
+1 byte per msg
+25B/s (200b/s) of useful bandwidth
+mainboard > rc_proto_hello wing 40 1000 x
+ 1000/1000
+ 1000/1000
+ 1000/1000
+
+10 bytes per msg
+250B/s (2Kb/s) of useful bandwidth
+mainboard > rc_proto_hello wing 40 1000 0123456789
+ 998/1000
+ 1000/1000
+ 1000/1000
+
+20 bytes per msg
+500B/s (4Kb/s) of useful bandwidth
+mainboard > rc_proto_hello wing 40 1000 01234567890123456789
+ 1000/1000
+ 1000/1000
+ 1000/1000
+
+30 ms
+-------
+
+1 byte per msg
+33B/s (300b/s) of useful bandwidth
+mainboard > rc_proto_hello wing 30 1000 x
+ 1000/1000
+ 1000/1000
+ 1000/1000
+
+10 bytes per msg
+333B/s (3Kb/s) of useful bandwidth
+mainboard > rc_proto_hello wing 30 1000 0123456789
+ 1000/1000
+ 1000/1000
+ 1000/1000
+
+20 bytes per msg
+666B/s (6Kb/s) of useful bandwidth
+mainboard > rc_proto_hello wing 30 1000 01234567890123456789
+ 1000/1000
+ 1000/1000
+ 1000/1000
+
+20 ms
+-------
+
+1 byte per msg
+50B/s (400b/s) of useful bandwidth
+mainboard > rc_proto_hello wing 20 1000 x
+ 991/1000
+ 991/1000
+ 991/1000
+
+10 bytes per msg
+500B/s (4Kb/s) of useful bandwidth
+mainboard > rc_proto_hello wing 20 1000 0123456789
+ 863/1000
+ 864/1000
+ 864/1000
+
+20 bytes per msg
+1000B/s (8Kb/s) of useful bandwidth
+mainboard > rc_proto_hello wing 20 1000 01234567890123456789
+ 763/1000
+ 763/1000
+ 763/1000
+
+25 ms
+-------
+
+1 byte per msg
+40B/s (320b/s) of useful bandwidth
+mainboard > rc_proto_hello wing 25 1000 x
+ 1000/1000
+ 1000/1000
+ 1000/1000
+
+10 bytes per msg
+400B/s (3.2Kb/s) of useful bandwidth
+mainboard > rc_proto_hello wing 25 1000 0123456789
+ 1000/1000
+ 1000/1000
+ 1000/1000
+
+20 bytes per msg
+800B/s (6.4Kb/s) of useful bandwidth
+mainboard > rc_proto_hello wing 25 1000 01234567890123456789
+ 950/1000
+ 950/1000
+ 950/1000
+
+
+With stats
+===============
+
+25 ms
+-------
+
+1 byte per msg
+40B/s (320b/s) of useful bandwidth
+mainboard > rc_proto_hello wing 25 1000 x
+ 1000/1000
+ 952/1000
+ 1000/1000
+
+10 bytes per msg
+400B/s (3.2Kb/s) of useful bandwidth
+mainboard > rc_proto_hello wing 25 1000 0123456789
+ 966/1000
+ 974/1000
+ 964/1000
+
+20 bytes per msg
+800B/s (6.4Kb/s) of useful bandwidth
+mainboard > rc_proto_hello wing 25 1000 01234567890123456789
+ 898/1000
+ 898/1000
git.droids-corp.org / protos / xbee-avr.git / blobdiff