david.tahir/QuadMeUp_Crossbow
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Reworked radio handling to early reject false packets

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This commit is contained in:
Pawel Spychalski (DzikuVx)
2017-11-15 18:53:31 +01:00
parent 149aac3d70
commit 36dc76db0d
6 changed files with 108 additions and 98 deletions
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2
.vscode/arduino.json vendored
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@@ -1,6 +1,6 @@
{
"board": "bsfrance:avr:lora32u4",
"sketch": "crossbow.ino",
"port": "COM15",
"port": "COM17",
"output": "./build"
}

137
crossbow.ino
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@@ -1,15 +1,16 @@
// #define DEVICE_MODE_TX
#define DEVICE_MODE_RX
#define DEVICE_MODE_TX
// #define DEVICE_MODE_RX
#define FEATURE_TX_OLED
#define FORCE_TX_WITHOUT_INPUT
// #define DEBUG_SERIAL
// #define DEBUG_PING_PONG
// #define DEBUG_LED
// #define WAIT_FOR_SERIAL
#include <LoRa.h>
#include "variables.h"
#include "main_variables.h"
#include "qsp.h"
int ppm[16] = {0};
@@ -59,13 +60,11 @@ uint32_t lastOledTaskTime = 0;
QspConfiguration_t qsp = {};
RxDeviceState_t rxDeviceState = {};
TxDeviceState_t txDeviceState = {};
volatile bool doReadPacket = false;
volatile RadioState_t radioState;
uint8_t getRadioRssi(void)
{
//Map from -164:0 to 0:255
return map(constrain(LoRa.packetRssi() * -1, 0, 164), 0, 164, 255, 0);
return 164 - constrain(LoRa.packetRssi() * -1, 0, 164);
}
uint8_t getRadioSnr(void)
@@ -73,18 +72,6 @@ uint8_t getRadioSnr(void)
return (uint8_t) constrain(LoRa.packetSnr(), 0, 255);
}
void radioPacketStart(void)
{
LoRa.beginPacket();
}
void radioPacketEnd(void)
{
LoRa.endPacket();
//After ending packet, put device into receive mode again
LoRa.receive();
}
void writeToRadio(uint8_t dataByte, QspConfiguration_t *qsp)
{
//Compute CRC
@@ -108,12 +95,6 @@ void setup(void)
qsp.deviceState = DEVICE_STATE_OK;
#endif
#ifdef WAIT_FOR_SERIAL
while (!Serial) {
; // wait for serial port to connect. Needed for native USB
}
#endif
/*
* Setup hardware
*/
@@ -123,7 +104,7 @@ void setup(void)
LORA32U4_DI0_PIN
);
if (!LoRa.begin(870E6))
if (!LoRa.begin(radioState.frequency))
{
#ifdef DEBUG_SERIAL
Serial.println("LoRa init failed. Check your connections.");
@@ -131,9 +112,9 @@ void setup(void)
while (true);
}
LoRa.setSignalBandwidth(250E3);
LoRa.setSpreadingFactor(7);
LoRa.setCodingRate4(6);
LoRa.setSignalBandwidth(radioState.loraBandwidth);
LoRa.setSpreadingFactor(radioState.loraSpreadingFactor);
LoRa.setCodingRate4(radioState.loraCodingRate);
LoRa.enableCrc();
LoRa.onReceive(onReceive);
LoRa.receive();
@@ -187,44 +168,6 @@ void setup(void)
}
int8_t txSendSequence[16] = {
QSP_FRAME_PING,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA
};
int8_t rxSendSequence[16] = {
QSP_FRAME_RX_HEALTH,
-1,
-1,
-1,
QSP_FRAME_RX_HEALTH,
-1,
-1,
-1,
QSP_FRAME_RX_HEALTH,
-1,
-1,
-1,
QSP_FRAME_RX_HEALTH,
-1,
-1,
-1
};
uint8_t currentSequenceIndex = 0;
#define TRANSMIT_SEQUENCE_COUNT 16
@@ -271,21 +214,13 @@ int8_t getFrameToTransmit(QspConfiguration_t *qsp) {
void loop(void)
{
if (doReadPacket) {
int incomingByte;
while (incomingByte = LoRa.read(), incomingByte > -1)
{
qspDecodeIncomingFrame(&qsp, incomingByte, ppm, &rxDeviceState, &txDeviceState);
if (radioState.bytesToRead != NO_DATA_TO_READ) {
for (uint8_t i = 0; i < radioState.bytesToRead; i++) {
qspDecodeIncomingFrame(&qsp, radioState.data[i], ppm, &rxDeviceState, &txDeviceState);
}
#ifdef DEVICE_MODE_TX
txDeviceState.rssi = getRadioRssi();
txDeviceState.snr = getRadioSnr();
#endif
#ifdef DEVICE_MODE_RX
rxDeviceState.rssi = getRadioRssi();
rxDeviceState.snr = getRadioSnr();
#endif
doReadPacket = false;
radioState.bytesToRead = NO_DATA_TO_READ;
}
uint32_t currentMillis = millis();
@@ -310,10 +245,12 @@ void loop(void)
int8_t frameToSend = getFrameToTransmit(&qsp);
#ifndef FORCE_TX_WITHOUT_INPUT
if (frameToSend == QSP_FRAME_RC_DATA && !ppmReader.isReceiving()) {
frameToSend = -1;
//FIXME uncomment to enable full Failsafe
}
#endif
if (frameToSend > -1) {
@@ -346,7 +283,7 @@ void loop(void)
if (lastRxStateTaskTime + RX_TASK_HEALTH < currentMillis) {
lastRxStateTaskTime = currentMillis;
updateRxDeviceState(&rxDeviceState);
ppm[RSSI_CHANNEL - 1] = map(rxDeviceState.rssi, 0, 255, 1000, 2000);
ppm[RSSI_CHANNEL - 1] = map(rxDeviceState.rssi, 0, 164, 1000, 2000);
if (qsp.deviceState == DEVICE_STATE_FAILSAFE) {
digitalWrite(LED_BUILTIN, HIGH);
} else {
@@ -375,7 +312,7 @@ void loop(void)
break;
case QSP_FRAME_RX_HEALTH:
encodeRxHealthPayload(&qsp, &rxDeviceState);
encodeRxHealthPayload(&qsp, &rxDeviceState, &radioState);
break;
}
@@ -400,9 +337,11 @@ void loop(void)
if (qsp.canTransmit && transmitPayload)
{
radioPacketStart();
LoRa.beginPacket();
qspEncodeFrame(&qsp);
radioPacketEnd();
LoRa.endPacket();
//After ending packet, put device into receive mode again
LoRa.receive();
transmitPayload = false;
}
@@ -445,9 +384,9 @@ 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 && txDeviceState.rssi < 100) {
} else if (txDeviceState.isReceiving && radioState.rssi < 100) {
buzzerContinousMode(BUZZER_MODE_DOUBLE_CHIRP, &buzzer);
} else if (txDeviceState.isReceiving && txDeviceState.rssi < 128) {
} else if (txDeviceState.isReceiving && radioState.rssi < 128) {
buzzerContinousMode(BUZZER_MODE_CHIRP, &buzzer);
} else {
buzzerContinousMode(BUZZER_MODE_OFF, &buzzer);
@@ -464,15 +403,15 @@ void loop(void)
display.setTextColor(WHITE, BLACK);
display.setCursor(0, 0);
display.setTextSize(3);
display.print(map(txDeviceState.rssi, 0, 255, 0, 164));
display.print(radioState.rssi);
display.setCursor(18, 28);
display.setTextSize(2);
display.print(txDeviceState.snr);
display.print(radioState.snr);
display.setCursor(74, 0);
display.setTextSize(3);
display.print(map(rxDeviceState.rssi, 0, 255, 0, 164));
display.print(rxDeviceState.rssi);
display.setCursor(92, 28);
display.setTextSize(2);
@@ -496,5 +435,21 @@ void onReceive(int packetSize)
if (packetSize == 0)
return;
doReadPacket = true;
if (packetSize >= MIN_PACKET_SIZE && packetSize <= MAX_PACKET_SIZE) {
//We have a packet candidate that might contain a valid QSP packet
radioState.bytesToRead = packetSize;
for (int i = 0; i < packetSize; i++) {
radioState.data[i] = LoRa.read();
}
radioState.rssi = getRadioRssi();
radioState.snr = getRadioSnr();
}
/*
If data has been read from radio, flush whetever else there might be left
Including packets that are not valid by putting rafio to sleep and then to
recive mode again
*/
LoRa.sleep();
LoRa.receive();
}

39
main_variables.h Normal file
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@@ -0,0 +1,39 @@
#include "variables.h"
int8_t txSendSequence[16] = {
QSP_FRAME_PING,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA
};
int8_t rxSendSequence[16] = {
QSP_FRAME_RX_HEALTH,
-1,
-1,
-1,
QSP_FRAME_RX_HEALTH,
-1,
-1,
-1,
QSP_FRAME_RX_HEALTH,
-1,
-1,
-1,
QSP_FRAME_RX_HEALTH,
-1,
-1,
-1
};

6
qsp.cpp
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@@ -54,9 +54,9 @@ void qspComputeCrc(QspConfiguration_t *qsp, uint8_t dataByte)
qsp->crc ^= dataByte;
}
void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState) {
qsp->payload[0] = rxDeviceState->rssi;
qsp->payload[1] = rxDeviceState->snr;
void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState, RadioState_t *radioState) {
qsp->payload[0] = radioState->rssi;
qsp->payload[1] = radioState->snr;
qsp->payload[2] = rxDeviceState->rxVoltage;
qsp->payload[3] = rxDeviceState->a1Voltage;
qsp->payload[4] = rxDeviceState->a2Voltage;

2
qsp.h
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@@ -7,7 +7,7 @@ void decodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSta
uint8_t get10bitHighShift(uint8_t channel);
uint8_t get10bitLowShift(uint8_t channel);
void qspComputeCrc(QspConfiguration_t *qsp, uint8_t dataByte);
void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState);
void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState, RadioState_t *radioState);
void encodeRcDataPayload(QspConfiguration_t *qsp, PPMReader *ppmSource, uint8_t noOfChannels);
void qspDecodeIncomingFrame(
QspConfiguration_t *qsp,

20
variables.h
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@@ -1,3 +1,5 @@
#include "Arduino.h"
#pragma once
#define OLED_UPDATE_RATE 750
@@ -67,6 +69,22 @@ enum debugConfigFlags {
#define PPM_SIGNAL_POSITIVE_STATE 1 //set polarity of the pulses: 1 is positive, 0 is negative
#define PPM_OUTPUT_PIN 10 //set PPM signal output pin on the arduino
#define MIN_PACKET_SIZE 3 //Min theorethical size of valid packet
#define MAX_PACKET_SIZE 20 //Max theorethical size of valid packet
#define NO_DATA_TO_READ -1
struct RadioState_t {
uint32_t frequency = 867000000;
uint32_t loraBandwidth = 250000;
uint8_t loraSpreadingFactor = 7;
uint8_t loraCodingRate = 6;
int8_t bytesToRead = -1;
uint8_t rssi = 0;
uint8_t snr = 0;
uint8_t data[20] = {0}; //Max size of packet that can be processed in QSP
};
struct QspConfiguration_t {
uint8_t protocolState = QSP_STATE_IDLE;
uint8_t crc = 0;
@@ -86,8 +104,6 @@ struct QspConfiguration_t {
};
struct TxDeviceState_t {
uint8_t rssi = 0;
uint8_t snr = 0;
uint8_t flags = 0;
uint32_t roundtrip = 0;
bool isReceiving = false; //Indicates that TX module is receiving frames from RX module