david.tahir/QuadMeUp_Crossbow
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This commit is contained in:
Pawel Spychalski
2018-05-16 13:07:12 +02:00
parent 3766948329
commit 0079264128
10 changed files with 63 additions and 57 deletions
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39
crossbow/crossbow.ino
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@@ -90,19 +90,21 @@ volatile RadioState_t radioState = {};
uint8_t tmpBuffer[MAX_PACKET_SIZE];
void onQspSuccess(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDeviceState_t *rxDeviceState, volatile RadioState_t *radioState) {
void onQspSuccess(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDeviceState_t *rxDeviceState, uint8_t receivedChannel) {
//If recide received a valid frame, that means it can start to talk
radioNode.lastReceivedChannel = receivedChannel;
qsp->canTransmit = true;
radioState->rssi = radioNode.getRadioRssi();
radioState->snr = radioNode.getRadioSnr();
radioNode.readRssi();
radioNode.readSnr();
/*
* RX module hops to next channel after frame has been received
*/
#ifdef DEVICE_MODE_RX
radioNode.hopFrequency(true, radioState->lastReceivedChannel, millis());
radioState->failedDwellsCount = 0; // We received a frame, so we can just reset this counter
radioNode.hopFrequency(true, radioNode.lastReceivedChannel, millis());
radioNode.failedDwellsCount = 0; // We received a frame, so we can just reset this counter
LoRa.receive(); //Put radio back into receive mode
#endif
@@ -142,7 +144,7 @@ void onQspSuccess(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDev
qsp->transmitWindowOpen = true;
}
void onQspFailure(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDeviceState_t *rxDeviceState, volatile RadioState_t *radioState) {
void onQspFailure(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDeviceState_t *rxDeviceState) {
}
@@ -346,20 +348,7 @@ void loop(void)
* This routine handles resync of TX/RX while hoppping frequencies
*/
#ifdef DEVICE_MODE_RX
//In the beginning just keep jumping forward and try to resync over lost single frames
if (radioState.failedDwellsCount < 6 && radioNode.getChannelEntryMillis() + RX_CHANNEL_DWELL_TIME < currentMillis) {
radioState.failedDwellsCount++;
radioNode.hopFrequency(true, radioNode.getChannel(), radioNode.getChannelEntryMillis() + RX_CHANNEL_DWELL_TIME);
LoRa.receive();
}
// If we are loosing more frames, start jumping in the opposite direction since probably we are completely out of sync now
if (radioState.failedDwellsCount >= 6 && radioNode.getChannelEntryMillis() + (RX_CHANNEL_DWELL_TIME * 5) < currentMillis) {
radioNode.hopFrequency(false, radioNode.getChannel(), radioNode.getChannelEntryMillis() + RX_CHANNEL_DWELL_TIME); //Start jumping in opposite direction to resync
LoRa.receive();
}
radioNode.handleChannelDwell();
#endif
/*
@@ -456,7 +445,7 @@ void loop(void)
lastRxStateTaskTime = currentMillis;
updateRxDeviceState(&rxDeviceState);
uint8_t output = constrain(radioState.rssi - 40, 0, 100);
uint8_t output = constrain(radioNode.rssi - 40, 0, 100);
rxDeviceState.indicatedRssi = (output * 10) + 1000;
if (qsp.deviceState == DEVICE_STATE_FAILSAFE) {
@@ -487,7 +476,7 @@ void loop(void)
break;
case QSP_FRAME_RX_HEALTH:
encodeRxHealthPayload(&qsp, &rxDeviceState, &radioState);
encodeRxHealthPayload(&qsp, &rxDeviceState, radioNode.rssi, radioNode.snr);
break;
}
@@ -507,7 +496,7 @@ void loop(void)
if (qsp.lastFrameReceivedAt[QSP_FRAME_RC_DATA] + RX_FAILSAFE_DELAY < currentMillis) {
qsp.deviceState = DEVICE_STATE_FAILSAFE;
rxDeviceState.indicatedRssi = 0;
radioState.rssi = 0;
radioNode.rssi = 0;
} else {
qsp.deviceState = DEVICE_STATE_OK;
}
@@ -569,9 +558,9 @@ void loop(void)
} else if (txDeviceState.isReceiving && (rxDeviceState.flags & 0x1) == 1) {
//Failsafe reported by RX module
buzzerContinousMode(BUZZER_MODE_SLOW_BEEP, &buzzer);
} else if (txDeviceState.isReceiving && radioState.rssi < 45) {
} else if (txDeviceState.isReceiving && radioNode.rssi < 45) {
buzzerContinousMode(BUZZER_MODE_DOUBLE_CHIRP, &buzzer); // RSSI below 45dB // Critical state
} else if (txDeviceState.isReceiving && radioState.rssi < 55) {
} else if (txDeviceState.isReceiving && radioNode.rssi < 55) {
buzzerContinousMode(BUZZER_MODE_CHIRP, &buzzer); // RSSI below 55dB // Warning state
} else {
buzzerContinousMode(BUZZER_MODE_OFF, &buzzer);