Callback for QSP decoding

crossbow.ino

@@ -1,5 +1,5 @@
-// #define DEVICE_MODE_TX
+#define DEVICE_MODE_TX
-#define DEVICE_MODE_RX
+// #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;

qsp.cpp

@@ -160,7 +160,8 @@ void qspDecodeIncomingFrame(
     QspConfiguration_t *qsp, 
     uint8_t incomingByte, 
     RxDeviceState_t *rxDeviceState, 
-    TxDeviceState_t *txDeviceState
+    TxDeviceState_t *txDeviceState,
+    RadioState_t *radioState
 ) {
     static uint8_t frameId;
     static uint8_t payloadLength;
@@ -189,7 +190,7 @@ void qspDecodeIncomingFrame(
         //Frame ID and payload length
         qspComputeCrc(qsp, incomingByte);
 
-        frameId = (incomingByte >> 4) & 0x0f;
+        qsp->frameId = (incomingByte >> 4) & 0x0f;
         payloadLength = incomingByte & 0x0f;
         
         qsp->protocolState = QSP_STATE_FRAME_TYPE_RECEIVED;
@@ -216,49 +217,9 @@ void qspDecodeIncomingFrame(
     {
         if (qsp->crc == incomingByte) {
             //CRC is correct
-
+            qsp->onSuccessCallback(qsp, txDeviceState, rxDeviceState, radioState);
-            //If devide received a valid frame, that means it can start to talk
+        } else {
-            qsp->canTransmit = true;
+            qsp->onFailureCallback(qsp, txDeviceState, rxDeviceState, radioState);
-
-            //Store the last timestamp when frame was received
-            if (frameId < QSP_FRAME_COUNT) {
-                qsp->lastFrameReceivedAt[frameId] = millis();
-            }
-            qsp->anyFrameRecivedAt = millis();
-            switch (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;
-        }
-        else
-        {
-            //CRC failed, frame has to be rejected
-            //TODO do something in this case or something
         }
 
         // In both cases switch to listening for next preamble

qsp.h

@@ -13,7 +13,8 @@ void qspDecodeIncomingFrame(
     QspConfiguration_t *qsp, 
     uint8_t incomingByte, 
     RxDeviceState_t *rxDeviceState,
-    TxDeviceState_t *txDeviceState
+    TxDeviceState_t *txDeviceState,
+    RadioState_t *radioState
 );
 void qspClearPayload(QspConfiguration_t *qsp);
 void qspEncodeFrame(QspConfiguration_t *qsp);

variables.h

@@ -85,24 +85,6 @@ struct RadioState_t {
     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;
-    uint8_t payload[QSP_PAYLOAD_LENGTH] = {0};
-    uint8_t payloadLength = 0;
-    uint8_t frameToSend = 0;
-    uint32_t lastFrameReceivedAt[QSP_FRAME_COUNT] = {0};
-    uint32_t anyFrameRecivedAt = 0;
-    uint8_t deviceState = DEVICE_STATE_UNDETERMINED;
-    void (* hardwareWriteFunction)(uint8_t, QspConfiguration_t*);
-    bool canTransmit = false;
-    bool forcePongFrame = false;
-    uint8_t debugConfig = 0;
-    uint32_t frameDecodingStartedAt = 0;
-    uint32_t lastTxSlotTimestamp = 0;
-    bool transmitWindowOpen = false;
-};
-
 struct TxDeviceState_t {
     uint8_t flags = 0;
     uint32_t roundtrip = 0;
@@ -118,3 +100,24 @@ struct RxDeviceState_t {
     uint8_t flags = 0;
     int16_t channels[16] = {};
 };
+
+struct QspConfiguration_t {
+    uint8_t protocolState = QSP_STATE_IDLE;
+    uint8_t crc = 0;
+    uint8_t payload[QSP_PAYLOAD_LENGTH] = {0};
+    uint8_t payloadLength = 0;
+    uint8_t frameToSend = 0;
+    uint8_t frameId = 0;
+    uint32_t lastFrameReceivedAt[QSP_FRAME_COUNT] = {0};
+    uint32_t anyFrameRecivedAt = 0;
+    uint8_t deviceState = DEVICE_STATE_UNDETERMINED;
+    void (* hardwareWriteFunction)(uint8_t, QspConfiguration_t*);
+    void (* onSuccessCallback)(QspConfiguration_t*, TxDeviceState_t*, RxDeviceState_t*, RadioState_t*);
+    void (* onFailureCallback)(QspConfiguration_t*, TxDeviceState_t*, RxDeviceState_t*, RadioState_t*);    
+    bool canTransmit = false;
+    bool forcePongFrame = false;
+    uint8_t debugConfig = 0;
+    uint32_t frameDecodingStartedAt = 0;
+    uint32_t lastTxSlotTimestamp = 0;
+    bool transmitWindowOpen = false;
+};