RFDesign RFD900x Multipoint User Manual V1
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www.rfdesign.com.au RFD900x Multipoint firmware User Manual Configuration and usage guide Flash Programmer User Manual Last update 06/12/2016 RFD900x Data Sheet www.rfdesign.com.au RFDesign Pty Ltd 7/1 Stockwell Place Archerfield, QLD 4108 rfdesign.com.au Table of contents Table of contents .................................................................................................................................... 1 1 Introduction .................................................................................................................................... 2 2 Software/GCS Support .................................................................................................................... 3 3 AT commands.................................................................................................................................. 4 4 5 3.1 Setting up data encryption ..................................................................................................... 8 3.2 Setting the air data rate .......................................................................................................... 8 Multipoint Network ........................................................................................................................ 9 Frequently asked questions (FAQ) ................................................................................................ 12 How many antennas do I need to use? ............................................................................................ 13 How do I connect the FTDI cable to the modem? ............................................................................ 13 What do I need to upload the firmware or to change the modem configuration?.......................... 13 What should I do if the Flash Programmer keeps displaying error messages? ................................ 13 I upgraded to multipoint firmware and the modems don't connect anymore? .............................. 13 6 Useful links .................................................................................................................................... 14 1 Document revision history ............................................................................................................ 15 1 Last update 06/12/2016 RFD900x Data Sheet www.rfdesign.com.au 1 Introduction The RFD900x radio modem can be loaded with three official firmware releases to achieve different communication architectures and node topologies. So far, the available firmware versions are: • • • Peer-to-peer (P2P) Multipoint network Asynchronous mesh This document describes the configuration of the Multipoint network release. This firmware version is not loaded in the RFD900x radio modem by default. This means, you must download it from the website and flash it to the radio. The download link can be found in section “Useful links”. The modems feature a boot loader to facilitate field upgrade of the modem firmware via the serial port. This is most easily performed by using the latest version RFD Modem tools (see “Useful links”) Figure 1-1 pictures a generic multipoint network. The network requires that one of the devices assumes a master role to control the timeslot distribution of the surrounding radios. Node 1 Commented [S1]: If one the nodes is out of the base’s range, communication is still possible if the parameter SyncAny is properly set. (Is syncany actually working on this firmware?) Within master node range Master Node 2 Node 3 Node 4 Figure 1-1: Multipoint network architecture As depicted in Figure 1-1, the multipoint network allows each node to be addressed individually. However, after receiving data it is not possible to identify which node it came from. Note: Due to the limited number of channels available on the 868 MHz band this firmware may not operate as intended and is not recommended for 868X modems or reduced band settings less than 915-928MHz on 900X modems Note: For more reliable operation use of flow control is recommended. 2 Last update 06/12/2016 RFD900x Data Sheet www.rfdesign.com.au 2 Software/GCS Support The Multipoint network firmware is currently only configurable using AT Commands support for managing settings using the RFD tools may be added later. Default serial port settings are as follows: • • • • 57600 baud rate No parity 8 data bits 1 stop bit The RFD900x Radio Modem has many software features including: • • • • • • • • Frequency Hopping Spread Spectrum Transparent Serial Link Configuration by simple AT commands for local radio, RT Commands for remote radio User configurable serial data rates and air data rates Error correction routines, MAVLink protocol framing (user selectable) MAVLink radio status reporting (Local RSSI, Remote RSSI, Local Noise, Remote Noise) Automatic antenna diversity switching on a packet basis in real-time Automatic duty cycle throttling based on radio temperature to avoid overheating 3 Last update 06/12/2016 RFD900x Data Sheet www.rfdesign.com.au 3 AT commands The RFD900x modem can support the Hayes ‘AT’ modem command set for configuration. The AT command mode can be entered by using the ‘+++’ sequence in a serial terminal connected to the radio. When doing this, you must allow at least 1 second after any data is sent to be ensure the request for command mode is not interpreted as data. When you are successfully in the AT command mode, an ‘OK’ prompt will be displayed on the screen and the RFD900x modem will stop displaying incoming data from the remote modem. Whilst in command mode, you can use the AT commands to control the local RFD900x modem or the RT commands to control the remote modem. To set certain registers to a value, follow these steps: 1. Use the command ATSn=X where n is the register number and X is the actual value. 2. Use the command AT&W to save the new values to the RFD900x modem. 3. Use the command ATZ to reboot the RFD900x modem for changes to take effect. Table 3-1 shows a gives a list of AT commands and their description. AT Command ATI ATI2 ATI3 ATI4 ATI5 ATI5? ATI6 ATI7 ATI8 ATI9 ATO ATSn? ATSn=X ATRn? ATRn=X ATZ AT&F AT&W AT&UPDATE AT&P AT&T AT&T=RSSI AT&T=TDM AT&E=X AT&E? ATPP ATPO=X ATPI=X ATPM=X Description Shows the radio version Shows the board type Shows board frequency Shows board version Shows all user settable EEPROM parameters and their values Shows all user settable EEPROM parameters and their possible range Displays TDM timing report Displays RSSI signal report Display Device 64-bit unique ID Display node ID [multipoint only] Exits AT command mode Displays radio 'S' parameter number ‘n’ Sets radio 'S' parameter number ‘n’ to ‘X’ Displays radio 'R' parameter number ‘n’ Sets radio 'R' parameter number ‘n’ to ‘X’ Reboots the radio Resets all parameters to factory defaults Writes current parameters to EEPROM Reset and enter boot mode Change TDM phase (debug only) Disables debugging report Enables RSSI debugging report Enables TDM debugging report Set new encryption key (128-bit AES in 16 hex bytes 5A02D5BB...) Shows current encryption key Shows GPIO configuration and state Sets GPIO X to output Sets GPIO X to input Sets input GPIO pin to mirror on remote radio (local GPIO must be set to input and remote GPIO pin must be set to output) Commented [S2]: Add AT&M and other new commands to the list 4 Last update 06/12/2016 RFD900x Data Sheet www.rfdesign.com.au ATPR=X Shows GPIO input state ATPC=X,S Sets output GPIO X to state S AT&M? AT&MX=A,B Current master node settings Describes the network configuration. Only set this on master node(NETID=0, NODEID=1). X is the network number (note must start with 0 as this is the synchronising network). A is the start channel ID of the network (this also starts at 0 and can have values 0,7 or 13). B is the nodecount of the network (i.e. the number of nodes on the network including the master) Commented [S3]: Is this correct? Table 3-1: AT Commands and their description RT commands are terminal commands that take effect on a remote node. They allow the user to set or get a remote node’s parameter, for instance, as if they were being set locally. Table 10-2 lists the RT commands and their respective descriptions. RT Command RTI,[x] RTI2,[x] RTI3,[x] RTI4,[x] RTI5,[x] RTI5?,[x] RTI6,[x] RTI7,[x] RTI8,[x] RTI9,[x] RTO,[x] RTSn?,[x] RTSn=X,[x] RTRn?,[x] RTRn=X,[x] RTZ,[x] RT&F,[x] RT&W,[x] RT&UPDATE,[x] RT&P,[x] RT&T,[x] RT&T=RSSI,[x] RT&T=TDM,[x] RT&E=X,[x] RT&E?,[x] RTPP,[x] RTPO=X,[x] RTPI=X,[x] RTPM=X,[x] RTPR=X,[x] RTPC=X,S,[x] Description Shows the radio version Shows the board type Shows board frequency Shows board version Shows all user settable EEPROM parameters and their values Shows all user settable EEPROM parameters and their possible range Displays TDM timing report Displays RSSI signal report Display Device 64-bit unique ID Display node ID [multipoint only] Exits AT command mode Displays radio 'S' parameter number ‘n’ Sets radio 'S' parameter number ‘n’ to ‘X’ Displays radio 'R' parameter number ‘n’ Sets radio 'R' parameter number ‘n’ to ‘X’ Reboots the radio Resets all parameters to factory defaults Writes current parameters to EEPROM Reset and enter boot mode Change TDM phase (debug only) Disables debugging report Enables RSSI debugging report Enables TDM debugging report Set new encryption key (128-bit AES in 16 hex bytes e.g. 5A02D5BB...) Shows current encryption key Shows GPIO configuration and state Sets GPIO X to output Sets GPIO X to input Sets input GPIO pin to mirror on remote radio (local GPIO must be set to input and remote GPIO pin must be set to output) Shows GPIO input state Sets output GPIO X to state S Figure 3-2: RT Commands and their description 5 Last update 06/12/2016 RFD900x Data Sheet www.rfdesign.com.au Issuing a RT, command will take effect only in the remote node in a peer-to-peer configuration, which if a very useful feature if you have a remote node that is hard to access. Just make sure to keep the parameters compatible, whenever changing a parameter in the remote node. RT commands on multipoint network will solicit a response from all available nodes on the network unless addressed to an individual node. This can be done by setting the destination ID of the sending node to match the desired node or by appending ,[x] to the RT command as per the examples below. This example describes how to get the radio version of the remote node 1 in a multipoint network (append,[x] where x is desired node to RTI command): RTI,1 If the local parameter NODEDESTINATION (refer to table 3-3 for parameter usage and description) is already set to 1, the following RT command will also retrieve the remote node’s version number: RTI Table 3-3 shows more details about the parameters that can be set in the RFD900x modem. Reg # S0 S Register Description FORMAT This is for EEPROM version, it should not be changed S1 AIR_SPEED Air data rate in one-byte form S3 NETID Network ID. It should be the same on all modems of the network S4 TXPOWER Transmit power in dBm. Maximum is 30dBm S5 RXFRAME Sets the data type for the modem. 0=Raw, 1=Mavlink3, 2 = SAS S7 Minimum Value Must be the same at both ends of the link? 69 N/A N/A No 57 460 1 No 64 250 12 Yes 0 7,131 0 Yes 27 30 0 No 0 1 0 Yes 1 2 0 No 0 0 0 No Commented [S4]: Max setting from ATI5? Is 20 not 30. Serialbreakms10 also has max listed as 20 is this correct? ECC2 Enables or disables the Golay error correcting code. When enabled, it doubles the over-the-air data usage S6 Maximum Value SERIAL_SPEED Serial speed in ‘one-byte form’. Accepted values are 1, 2, 4, 9, 19, 38, 57, 115, 230, 460,1000 corresponding to 1200bps, 2400bps, 4800bps, 9600bps, 19200bps, 38400bps, 57600bps, 115200bps, 230400bps, 460800bps, and 1000000bps respectively. S2 Default Value OP_RESEND4 Deprecated. Has no effect. 6 Last update 06/12/2016 RFD900x Data Sheet S8 MIN_FREQ 915000 927000 902000 Yes 928000 928000 903000 Yes 21 50 1 Yes 100 100 10 No Listen before talk threshold (This parameter shouldn’t be changed) 0 220 25 Yes RTSCTS 0 1 0 No 80 400 20 Yes 0 1 0 Yes 0 3 0 No 0 1 0 No 2 15 1 N/A 255 255 1 No 1 105 1 Yes 0 20 0 No 255 50 255 No 20 50 No Min frequency in KHz S9 MAX_FREQ Max frequency in KHz S10 NUM_CHANNELS Number of frequency hopping channels. Do not change as this will affect the spectrum separation of the nodes S11 DUTY_CYCLE The percentage of time to allow transmit S12 S13 LBT_RSSI Ready-to-send and Clear-to-send. S14 Max Window Max transit window size used to limit max time/latency if required otherwise will be set automatically S15 Encryption Level Encryption level 0=off, 1=128bit S16 ANT Mode Set antenna port function. 0= Diversity, 1=A1 only, 2=A2 only, 3= A1 TX and A2 RX S17 STATUS GPIO1.3 Set GPIO 1.3 to behave the same as the status LED allowing link lock status to read from the I/O pin S18 NODEID Node ID. One node must be acting as a master (NODEID 1, NETID 0) for a multipoint environment to work. S19 NODEDESTINATION Remote node ID to communicate with. Set the value to 255 to broadcast to all nodes. Cannot be the same as NODEID. S20 NETCOUNT The total number of networks on the one master node. Not applicable to nonmaster nodes. S21 SERBREAKDETECTMS10 R0 TARGET_RSSI x10 to give time in ms units for break detection. Set to 0 to turn this feature off Optimal RSSI value to try to sustain (255 disables the feature) R1 www.rfdesign.com.au HYSTERESIS_RSSI 50 Amount of change before power levels altered Table 3-3: RFD900x parameters 7 Last update 06/12/2016 RFD900x Data Sheet www.rfdesign.com.au Notes: 1 2 3 4 5 To ensure the correct channel separation between networks this should only take the values 0,7 or 13 ECC - Software Detection and correction, extra packet information, twice the packet length, is sent to allow the recovery of corrupted packets. This increases the data usage of the link. Injects RSSI packet when MAVLink protocol used and heartbeat packet detected. Opportunistic resend allows the node to resend packets if it has spare bandwidth. Not recommended to use more then 3 networks as there may not be enough channel separation to prevent interference between modems 3.1 Setting up data encryption The 128-bit AES data encryption may be set, enabled and disabled using the AT commands (see Table 2.1). The encryption key can be any 32-character hexadecimal string. Data encryption is essential for the separation of different networks. To encrypt a device, the encryption mode must first be enabled by typing ‘ATS15=1’ in the command terminal. Once the encryption mode is active, an encryption key may be set after typing ‘AT&E’ into the command terminal. The encryption key may be of any 32-character hexadecimal string of the users choosing. Any devices with different encryption settings will not communicate. After entering command mode, send the following commands to set encryption on using an arbitrary 16-byte key: ATS15=1 AT&E=5AEEF103125C0AA233678909160111CA AT&W ATZ 3.2 Setting the air data rate An air speed of 64kps will allow for 3 networks of 4 nodes. If the air speed is set to be lower, the range of the wireless link increases but the amount of data that you can send will be limited and the number of nodes that can be supported will also decrease. If set higher the greater throughput allows for more nodes but reduces range. The air data rate is chosen depending on: • • • • • • The range that you need How many nodes you want on each network The data rate that you will be sending Whether you send data in one direction or both Whether you have enabled ECC or not Whether you have APM firmware with adaptive flow control It is important to note that the board’s data rate must be set to a higher value then the air data rate (when flow control is enabled) to prevent bottlenecking and data loss. To set a 250kbps air data rate, for instance, enter command mode and issue: ATS2=250 AT&W ATZ 8 Last update 06/12/2016 RFD900x Data Sheet www.rfdesign.com.au 4 Multipoint Network The multipoint mode requires the firmware to be loaded into the all network radios. Check section “Useful links” for the download link and refer to section “RFD900x Flash Programmer tool” to flash the multipoint firmware. After flashing the device, you are required to choose a master node that will control the radio timeslot allocations. Node 1 Within master node range Master Node 2 Node 3 Node 4 Figure 4-2: multipoint network diagram example At this time the multipoint firmware settings are not supported by the RFD modem tools. Therefore, all settings must be made by AT commands via a terminal programme. The list of AT commands can be found in section three of this manual. To set up the multipoint network, each device must be assigned a unique Node ID on its network. A device set as master is also mandatory. By default, the nodes are configured to address all the other nodes in broadcast mode. To address a specific node, you must set the Node Destination parameter. For example, to address the data to node 1, you must send the following commands in command mode: ATS19=1 AT&W ATZ A few notes on the multipoint network (see Figure 1-2): • Based on the topology depicted in Figure 1-2, for Node 3 to communicate with Node 2, Node 1 (the base) and Node 2 must be within the RF range, and • More nodes will reduce the bandwidth. 4.1 Example network configurations This section will cover the modem settings for some of the network types that may be desired. As a general rule lower airspeed will allow for more range but limit the amount of data that can be transferred. 9 Last update 06/12/2016 RFD900x Data Sheet www.rfdesign.com.au 64kbps Airspeed Networks Single network (Maximum 3 non-master nodes) Parrameter Value S1 57 S2 64 S3 0 S4 30* S5 0 S6 1** S7 0 S8 915000 S9 928000 S10 21 S11 100 S12 0 S13 1 S14 80 S15 0 S16 0 S17 0 S18 x S19 y*** S20 1**** S21 0 * Dependent on range and power requirements. Lower power generally lowers range. ** For sending mavlink data *** Depends on the network structure. Master node (1) must be set to broadcast (255). Most commonly nodes will address the master (1) **** Master node only. This value is not applicable to the network nodes x = the node number starting with the master (1) with a maximum in this case of (4) in a three node one master configuration Master node specific settings Parrameter Value S20 1 AT&M0= 0, Z where Z is the maximum NodeID used e.g. (4) in a three node one master configuration. Single network with relay node Example network path. Note that the master node has been set as the relay node as all nodes must be able to see the master and that Vehicle1 will always send messages via the relay even if it is in range to receive them direct from the GCS Node name Vehicle1 → Relay → GCS GCS → Relay → Vehicle1 NodeID 3→1→2 2→1→3 10 Last update 06/12/2016 RFD900x Data Sheet GCS → Vehicle1 Vehicle2 → GCS GCS → Vehicle2 www.rfdesign.com.au 2 ->3 (When in range) 4→2 2→4 Settings as for single network with the following exceptions NodeID 1 (aka Relay) Parrameter S19 S13 Value 255 0 NodeID 2 (aka GCS) Parrameter S19 Value 255 NodeID 3 (aka Vehicle1) Parrameter S19 Value 1 NodeID 4 (aka Vehicle2) Parrameter S19 Value 2 Note that for the master (aka relay) only the flow control is disabled. This node also requires that the RX and TX pin of the UART (aka pin 7 and 9) must be wired together. 128kbps Airspeed Networks Single network (Maximum 7 non-master nodes) Parrameter S1 S2 S3 S4 S5 S6 S7 S8 S9 S10 S11 S12 S13 S14 S15 S16 S17 S18 S19 Value 115 125 0 30* 0 1** 0 915000 928000 21 100 0 1 40 0 0 0 x y*** 11 Last update 06/12/2016 RFD900x Data Sheet www.rfdesign.com.au S20 1**** S21 0 * Dependent on range and power requirements. Lower power generally lowers range. ** For sending mavlink data *** Depends on the network structure. Master node (1) must be set to broadcast (255). Most commonly nodes will address the master (1) **** Master node only. This value is not applicable to the network nodes x = the node number starting with the master (1) with a maximum in this case of (8) in a seven node one master configuration. Master node specific settings Parrameter Value S20 1 AT&M0= 0, Z where Z is the maximum NodeID used e.g. (8) in a seven node one master configuration. Multiple Networks It is possible to run up to three networks of the same configuration at the same time to enable support for more nodes. There will still only be one master node (network 0, node 1) and all nodes will need to be in range of the master for synchronisation. Node 1 on network 7 or 13 will act as normal nodes. Nodes will only see other nodes on the same NetworkID. The valid NetworkID values are 0,7 and 13 The following settings will be needed for the master node. Parrameter S20 Value A Where A is the number of networks AT&M0= 0, Z0 where Z0 is the maximum NodeID used in NetworkID 0 AT&M1= 7, Z1 where Z1 is the maximum NodeID used in NetworkID 7 AT&M2= 13, Z2 where Z2 is the maximum NodeID used in NetworkID 13 12 Last update 06/12/2016 RFD900x Data Sheet www.rfdesign.com.au 5 Frequently asked questions (FAQ) How many antennas do I need to use? One is the minimum. Two is recommended. How do I connect the FTDI cable to the modem? The black cable of the FTDI (pin 1) should connect to pin 1 on the modem as shown in Figure 13-1. Figure 5-2: An FTDI cable connected to the RFD900x modem What do I need to upload the firmware or to change the modem configuration? Download the latest firmware (see “Useful Links”). Download the RFD900x Modem Tools (see “Useful Links”). Connect the FTDI cable to the modem and to a computer. Use the RFD900x Modem Tools to upload the latest firmware or to change the modem configuration (see “RFD900x Modem Tools User Manual”). What should I do if the Flash Programmer keeps displaying error messages? Make sure to connect the FTDI cable firmly into the modem. Make sure you choose the correct COM port from the COM dropdown box and the correct baud rate. Try for two more trials and if it still doesn’t work, disconnect and reconnect the modem. I upgraded to multipoint firmware and the modems don't connect anymore? The default setting for a modem is to have a NODEID set to 1. A network must have one node set to 0 to be the base. The base node defines the synchronisation for the whole network of nodes. 13 Last update 06/12/2016 RFD900x Data Sheet www.rfdesign.com.au 6 Useful links RFD900x Firmware http://rfdesign.com.au/firmware/ RFD SiK firmware is standard SiK (open source) RFD Multipoint firmware is multipoint SiK (MP SiK) RFD900x Flash Programmer http://rfdesign.com.au/downloads/ FTDI Cable documentation http://www.ftdichip.com/Support/Documents/DataSheets/Cables/DS_TTL-232R_CABLES.pdf 14 Last update 06/12/2016 RFD900x Data Sheet www.rfdesign.com.au 1 Document revision history Version 1.0 Date 20/08/18 Changes Release document 15 Last update 06/12/2016
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