david.tahir/QuadMeUp_Crossbow
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Callback for QSP decoding

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This commit is contained in:
Pawel Spychalski
2017-11-16 16:12:20 +01:00
parent 9d609dfa77
commit 3778fcd0cd
4 changed files with 78 additions and 67 deletions
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52
crossbow.ino
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@@ -1,5 +1,5 @@
// #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
@@ -79,6 +79,50 @@ void writeToRadio(uint8_t dataByte, QspConfiguration_t *qsp)
LoRa.write(dataByte);
}
void onQspSuccess(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDeviceState_t *rxDeviceState, RadioState_t *radioState) {
//If devide received a valid frame, that means it can start to talk
qsp->canTransmit = true;
//Store the last timestamp when frame was received
if (qsp->frameId < QSP_FRAME_COUNT) {
qsp->lastFrameReceivedAt[qsp->frameId] = millis();
}
qsp->anyFrameRecivedAt = millis();
switch (qsp->frameId) {
case QSP_FRAME_RC_DATA:
qspDecodeRcDataFrame(qsp, rxDeviceState);
break;
case QSP_FRAME_RX_HEALTH:
decodeRxHealthPayload(qsp, rxDeviceState);
break;
case QSP_FRAME_PING:
qsp->forcePongFrame = true;
break;
case QSP_FRAME_PONG:
txDeviceState->roundtrip = qsp->payload[0];
txDeviceState->roundtrip += (uint32_t) qsp->payload[1] << 8;
txDeviceState->roundtrip += (uint32_t) qsp->payload[2] << 16;
txDeviceState->roundtrip += (uint32_t) qsp->payload[3] << 24;
txDeviceState->roundtrip = (micros() - txDeviceState->roundtrip) / 1000;
break;
default:
//Unknown frame
//TODO do something in this case
break;
}
qsp->transmitWindowOpen = true;
}
void onQspFailure(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDeviceState_t *rxDeviceState, RadioState_t *radioState) {
}
void setup(void)
{
#ifdef DEBUG_SERIAL
@@ -86,6 +130,8 @@ void setup(void)
#endif
qsp.hardwareWriteFunction = writeToRadio;
qsp.onSuccessCallback = onQspSuccess;
qsp.onFailureCallback = onQspFailure;
#ifdef DEVICE_MODE_RX
qsp.deviceState = DEVICE_STATE_FAILSAFE;
@@ -215,7 +261,7 @@ void loop(void)
if (radioState.bytesToRead != NO_DATA_TO_READ) {
for (uint8_t i = 0; i < radioState.bytesToRead; i++) {
qspDecodeIncomingFrame(&qsp, radioState.data[i], &rxDeviceState, &txDeviceState);
qspDecodeIncomingFrame(&qsp, radioState.data[i], &rxDeviceState, &txDeviceState, &radioState);
}
radioState.bytesToRead = NO_DATA_TO_READ;