david.tahir/QuadMeUp_Crossbow
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This commit is contained in:
Pawel Spychalski (DzikuVx)
2017-10-22 20:14:28 +02:00
parent 08b16b4cea
commit 0a1b5feecd
3 changed files with 14 additions and 0 deletions
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10
crossbow.ino
View File

@@ -307,6 +307,16 @@ void loop(void)
uint32_t currentMillis = millis(); uint32_t currentMillis = millis();
bool transmitPayload = false; bool transmitPayload = false;
/*
* Watchdog for frame decoding stuck somewhere in the middle of a process
*/
if (
qsp.protocolState != QSP_STATE_IDLE &&
abs(millis() - qsp.frameDecodingStartedAt) > QSP_MAX_FRAME_DECODE_TIME
) {
qsp.protocolState = QSP_STATE_IDLE;
}
if ( if (
qsp.forcePongFrame && qsp.forcePongFrame &&
!transmitPayload && !transmitPayload &&

1
qsp.cpp
View File

@@ -154,6 +154,7 @@ void qspDecodeIncomingFrame(QspConfiguration_t *qsp, uint8_t incomingByte, int p
//If in IDLE and correct preamble comes, start to decode frame //If in IDLE and correct preamble comes, start to decode frame
qsp->protocolState = QSP_STATE_PREAMBLE_RECEIVED; qsp->protocolState = QSP_STATE_PREAMBLE_RECEIVED;
qsp->crc = 0 ^ incomingByte; qsp->crc = 0 ^ incomingByte;
qsp->frameDecodingStartedAt = millis();
} }
else if (qsp->protocolState == QSP_STATE_PREAMBLE_RECEIVED) else if (qsp->protocolState == QSP_STATE_PREAMBLE_RECEIVED)
{ {

3
variables.h
View File

@@ -16,6 +16,8 @@
#define QSP_PREAMBLE 0x51 #define QSP_PREAMBLE 0x51
#define QSP_PAYLOAD_LENGTH 32 #define QSP_PAYLOAD_LENGTH 32
#define QSP_MAX_FRAME_DECODE_TIME 50 //max time that frame can be decoded in ms
#define QSP_FRAME_RC_DATA 0x0 #define QSP_FRAME_RC_DATA 0x0
#define QSP_FRAME_RX_HEALTH 0x1 #define QSP_FRAME_RX_HEALTH 0x1
#define QSP_FRAME_GET_RX_CONFIG 0x2 #define QSP_FRAME_GET_RX_CONFIG 0x2
@@ -72,6 +74,7 @@ struct QspConfiguration_t {
bool canTransmit = false; bool canTransmit = false;
bool forcePongFrame = false; bool forcePongFrame = false;
uint8_t debugConfig = 0; uint8_t debugConfig = 0;
uint32_t frameDecodingStartedAt = 0;
}; };
struct RxDeviceState_t { struct RxDeviceState_t {