This was one of my main jobs from the start of 2013 throughout to mid-2015, while I worked for the AMORES project. I was developing the software of a small embedded device, the Texas Instruments CC430 (a SoC containing an MSP430 μC and a digital sub-1 GHz radio module). This device was used as the hardware platform of our working group’s telemetry radio. We were doing R&D in UAV (Unmanned Aerial Vehicle) a.k.a. ‘drone’ technology, and a good telemetry modem was something everybody knew we needed.
We decided that we wanted to have a mostly ‘dumb’ over-the-air duplex serial connection, with an UART interface connecting the radio module to the ground station on one end and to the flight computer on the other. This provided compatibility with most existing commercially available options. All design aspects beyond this vision were my responsibility.
For several months (while waiting for a hardware prototype) I worked with Texas evaluation kits of the CC430 chip. I acquainted myself with general development for the MSP430 processor and implemented a Makefile-driven toolchain on Linux, ditching the Eclipse-based Windows-only IDE from Texas.
Then I designed a sophisticated scheme of selective packet acknowledge and retransmit, later carefully tuned and tested to provide the highest possible payload throughput over the air. The available air/modem (gross) speeds were carefully matched to correspond to standard UART (net payload) speeds. I changed the over-the-air packet format several times during development to accommodate features such as true diversity support and forward error correction. Several radio speed options were available to the user, who could configure the device and set several configuration parameters stored in persistent FLASH.
The diversity support was in fact interesting, because after some false starts and further research, I managed to implement it in the “best way”. On the reception of each individual packet, the signal strength was measured on both antennas during the preamble. Then, the payload of the packet was received on the antenna that gave the better signal. (Timing issues posed a certain challenge, as the preamble had to be lengthened to allow enough time for the RSSI measurement circuits to settle.)
Since at the higher speed settings the UART itself generated a lot of high-priority interrupts, the code path had to be carefully tuned to be interruptible without negatively affecting the radio part (which itself heavily depended on low latency interrupt servicing). I managed to enable the highest throughput with minimal latency, even at a payload baudrate of 115,200. I remember completely rewriting the UART interrupt service routines at least twice. I thought that was something so trivial that I could fully understand from the outset, and also something not worth too much attention. I was proven wrong in both aspects.
What I did anticipate was that I would literally spend several weeks tuning internal parameters of the radio core in order to get the best possible AGC performance and sensitivity characteristics. That looked like a tricky problem from the outset (partly because a few aspects of the chip were like a black box – even the datasheet referred to registers like internal parameter XYZ with no further explanation). I remember getting to the point where I could recite the hexadecimal values of several important registers for the most common settings.
Right from the start of development, I embedded a complete diagnostic sub-mode into the software. This grew organically with the “main” codebase and provided an alternative mode of operation. A pair of devices, when configured to operate in this diagnostic mode, would generate test traffic between them and continuously evaluate several parameters regarding the link quality and performance. Among others, payload throughput rates, packet error rates, antenna usage shares (diversity decisions) and signal strength statistics were dumped once per second to a dumb terminal connected to the UART.
Then I decided to have a little fun, and implemented link distance estimation based on measuring the signal propagation delay. Or, to be more exact, the time from the very end of the transmitted packet to the start of the incoming ACK. For this to work, the critical code path needed to be carefully tuned so that all conditional branches took the same time to execute – putting some NOPs to good use. Eventually I achieved an accuracy of about 100 meters, which was a reasonable margin of error given the low precision of the main oscillator (furthered by temperature drift) and a timer resolution of 0.2 μs. I still employed a table of radio mode-dependent compensation constants carefully tuned to give the most accurate results.
At this point I think it is worth mentioning that the CC430 I used had exactly 4 kB of RAM. Compared to this, I was spoiled with 64 kB of FLASH memory. As a consequence, I used constant lookup tables for computations and conversions everywhere I could.
In the inevitably painful process of productification I eventually devised a clever scheme to be able to do in-field firmware upgrades via the single UART normally used for data communications, and ditched the proprietary Texas MSP430 programmer. The programmer stub was selected via shorting a jumper on the circuit board during power-up. This way the chance of a software error accidentally causing the device to (re)boot into waiting for being reprogrammed while in the air could be eliminated. (The watchdog reset was disabled in this case.)
During the research part of this phase I gained intimate knowledge about the MSP430 bootloader, in fact much more intimate than I ever desired. I wrote a separate host application written in Python that contained the firmware images of all versions of the product, and the user could choose which one should be flashed to the connected device. This Python application was then bundled into a self-extracting executable that could run anywhere. Everything magically worked. Needless to say that this programmer application was itself an interesting activity.
In the end, the development project was a great success – at least from a technical point of view. During our last shoot-out using a real drone flying a test-course of 15 kilometers, the link was continuously maintained at a payload speed sufficient to control and monitor the telemetry of an off-the-shelf MAVLink-based drone. With a radio transmit power of 400 mW, maintaining a radio link between a moving endpoint over uneven terrain from over ten kilometers was considered a nontrivial achievement.
I authored the following two documents concerning the product.