david.tahir/QuadMeUp_Crossbow
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This commit is contained in:
Pawel Spychalski
2018-05-16 11:41:06 +02:00
parent a48497365d
commit 3766948329
6 changed files with 84 additions and 52 deletions
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41
crossbow/crossbow.ino
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@@ -9,11 +9,11 @@ Copyright (c) 20xx, MPL Contributor1 contrib1@example.net
#include "config.h"
#include "lora.h"
#include "radio_node.h"
#include "variables.h"
#include "main_variables.h"
#include "qsp.h"
#include "sbus.h"
#include "radio_node.h"
#ifdef ARDUINO_AVR_FEATHER32U4
#define LORA_SS_PIN 8
@@ -184,7 +184,7 @@ void setup(void)
//Setup ISR callback and start receiving
LoRa.onReceive(onReceive);
LoRa.receive();
radioState.deviceState = RADIO_STATE_RX;
radioNode.deviceState = RADIO_STATE_RX;
#ifdef DEVICE_MODE_RX
//initiallize default ppm values
@@ -368,7 +368,7 @@ void loop(void)
*/
if (
currentMillis > radioState.nextTxCheckMillis &&
radioState.deviceState == RADIO_STATE_TX &&
radioNode.deviceState == RADIO_STATE_TX &&
!LoRa.isTransmitting()
) {
@@ -380,27 +380,16 @@ void loop(void)
#endif
LoRa.receive();
radioState.deviceState = RADIO_STATE_RX;
radioNode.deviceState = RADIO_STATE_RX;
radioState.nextTxCheckMillis = currentMillis + 1; //We check of TX done every 1ms
}
/*
* There is data to be read from radio!
*/
if (radioState.bytesToRead != NO_DATA_TO_READ) {
LoRa.read(tmpBuffer, radioState.bytesToRead);
for (int i = 0; i < radioState.bytesToRead; i++) {
qspDecodeIncomingFrame(&qsp, tmpBuffer[i], &rxDeviceState, &txDeviceState, &radioState);
}
//After reading, flush radio buffer, we have no need for whatever might be over there
LoRa.sleep();
LoRa.receive();
radioState.deviceState = RADIO_STATE_RX;
radioState.bytesToRead = NO_DATA_TO_READ;
}
radioNode.readAndDecode(
&radioState,
&qsp,
&rxDeviceState,
&txDeviceState
);
bool transmitPayload = false;
@@ -419,7 +408,7 @@ void loop(void)
txInput.loop();
if (
radioState.deviceState == RADIO_STATE_RX &&
radioNode.deviceState == RADIO_STATE_RX &&
qsp.protocolState == QSP_STATE_IDLE &&
qsp.lastTxSlotTimestamp + TX_TRANSMIT_SLOT_RATE < currentMillis
) {
@@ -536,7 +525,7 @@ void loop(void)
LoRa.endPacketAsync();
//Set state to be able to detect the moment when TX is done
radioState.deviceState = RADIO_STATE_TX;
radioNode.deviceState = RADIO_STATE_TX;
transmitPayload = false;
}
@@ -615,18 +604,18 @@ void onReceive(int packetSize)
* We can start reading only when radio is not reading.
* If not reading, then we might start
*/
if (radioState.bytesToRead == NO_DATA_TO_READ) {
if (radioNode.bytesToRead == NO_DATA_TO_READ) {
if (packetSize >= MIN_PACKET_SIZE && packetSize <= MAX_PACKET_SIZE) {
//We have a packet candidate that might contain a valid QSP packet
radioState.bytesToRead = packetSize;
radioNode.bytesToRead = packetSize;
} else {
/*
That packet was not very interesting, just flush it, we have no use
*/
LoRa.sleep();
LoRa.receive();
radioState.deviceState = RADIO_STATE_RX;
radioNode.deviceState = RADIO_STATE_RX;
}
}
}