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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4
.vscode/settings.json vendored
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@@ -1,7 +1,9 @@
{
"files.associations": {
"variables.h": "c",
"arduino.h": "c"
"arduino.h": "c",
"algorithm": "cpp",
"random": "cpp"
},
"files.exclude": {
"**/build": true

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;
}
}
}

1
crossbow/qsp.h
View File

@@ -1,4 +1,5 @@
#include "Arduino.h"
#include "variables.h"
void qspDecodeRcDataFrame(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSate);
void decodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState);

26
crossbow/radio_node.cpp
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@@ -35,6 +35,32 @@ static uint8_t RadioNode::getPrevChannel(uint8_t channel) {
return (RADIO_CHANNEL_COUNT + channel - RADIO_HOP_OFFSET) % RADIO_CHANNEL_COUNT;
}
void RadioNode::readAndDecode(
volatile RadioState_t *radioState,
QspConfiguration_t *qsp,
RxDeviceState_t *rxDeviceState,
TxDeviceState_t *txDeviceState
) {
uint8_t tmpBuffer[MAX_PACKET_SIZE];
/*
* There is data to be read from radio!
*/
if (bytesToRead != NO_DATA_TO_READ) {
LoRa.read(tmpBuffer, bytesToRead);
for (int i = 0; i < 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();
deviceState = RADIO_STATE_RX;
bytesToRead = NO_DATA_TO_READ;
}
}
void RadioNode::hopFrequency(bool forward, uint8_t fromChannel, uint32_t timestamp) {
_channelEntryMillis = timestamp;

37
crossbow/radio_node.h
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@@ -1,17 +1,7 @@
#pragma once
#include "Arduino.h"
#ifndef RADIO_NODE_H
#define RADIO_NODE_H
#define RADIO_STATE_TX 1
#define RADIO_STATE_RX 2
#define TX_TRANSMIT_SLOT_RATE 67 //ms
#define RX_CHANNEL_DWELL_TIME (TX_TRANSMIT_SLOT_RATE + 10) //Dwell on a channel slightly longer
#define RX_FAILSAFE_DELAY (TX_TRANSMIT_SLOT_RATE * 8)
#define TX_FAILSAFE_DELAY (RX_FAILSAFE_DELAY * 4)
#include "qsp.h"
#define RADIO_FREQUENCY_MIN 868000000
#define RADIO_FREQUENCY_MAX 870000000
@@ -20,21 +10,10 @@
#define RADIO_CHANNEL_COUNT 9 // 9 channels in 2MHz range (RADIO_FREQUENCY_RANGE/RADIO_CHANNEL_WIDTH) + 1
#define RADIO_HOP_OFFSET 5
struct RadioState_t {
uint32_t loraBandwidth = 250000;
uint8_t loraSpreadingFactor = 7;
uint8_t loraCodingRate = 6;
uint8_t loraTxPower = 17; // Defines output power of TX, defined in dBm range from 2-17
int8_t bytesToRead = -1;
uint8_t rssi = 0;
uint8_t snr = 0;
uint8_t deviceState = RADIO_STATE_RX;
uint32_t nextTxCheckMillis = 0;
#ifndef RADIO_NODE_H
#define RADIO_NODE_H
const uint32_t dwellTime = TX_TRANSMIT_SLOT_RATE * 2;
uint8_t lastReceivedChannel = 0;
uint8_t failedDwellsCount = 0;
};
#include "variables.h"
class RadioNode {
public:
@@ -45,8 +24,16 @@ class RadioNode {
static uint8_t getNextChannel(uint8_t channel);
static uint8_t getPrevChannel(uint8_t channel);
void hopFrequency(bool forward, uint8_t fromChannel, uint32_t timestamp);
void readAndDecode(
volatile RadioState_t *radioState,
QspConfiguration_t *qsp,
RxDeviceState_t *rxDeviceState,
TxDeviceState_t *txDeviceState
);
uint8_t getChannel(void);
uint32_t getChannelEntryMillis(void);
int8_t bytesToRead = -1;
uint8_t deviceState = RADIO_STATE_RX;
private:
uint8_t _channel = 0;
uint32_t _channelEntryMillis = 0;

27
crossbow/variables.h
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@@ -3,6 +3,17 @@
#pragma once
#ifndef VARIABLES_H
#define VARIABLES_H
#define RADIO_STATE_TX 1
#define RADIO_STATE_RX 2
#define TX_TRANSMIT_SLOT_RATE 67 //ms
#define RX_CHANNEL_DWELL_TIME (TX_TRANSMIT_SLOT_RATE + 10) //Dwell on a channel slightly longer
#define RX_FAILSAFE_DELAY (TX_TRANSMIT_SLOT_RATE * 8)
#define TX_FAILSAFE_DELAY (RX_FAILSAFE_DELAY * 4)
#define OLED_UPDATE_RATE 750
#define SBUS_UPDATE_RATE 15 //ms
@@ -79,6 +90,20 @@ enum debugConfigFlags {
#define NO_DATA_TO_READ -1
struct RadioState_t {
uint32_t loraBandwidth = 250000;
uint8_t loraSpreadingFactor = 7;
uint8_t loraCodingRate = 6;
uint8_t loraTxPower = 17; // Defines output power of TX, defined in dBm range from 2-17
uint8_t rssi = 0;
uint8_t snr = 0;
uint32_t nextTxCheckMillis = 0;
const uint32_t dwellTime = TX_TRANSMIT_SLOT_RATE * 2;
uint8_t lastReceivedChannel = 0;
uint8_t failedDwellsCount = 0;
};
struct TxDeviceState_t {
uint8_t flags = 0;
uint32_t roundtrip = 0;
@@ -117,3 +142,5 @@ struct QspConfiguration_t {
uint32_t lastTxSlotTimestamp = 0;
bool transmitWindowOpen = false;
};
#endif