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Merge pull request #64 from DzikuVx/binding-hell-yeah

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Receiver binding
This commit is contained in:
Paweł Spychalski
2018-05-31 17:55:03 +02:00
committed by GitHub
parent d8f6be36e5 c297a99f77
commit 3c5e83a6eb
19 changed files with 347 additions and 88 deletions
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2
.vscode/arduino.json vendored
View File

@@ -1,6 +1,6 @@
{
"board": "bsfrance:avr:lora32u4",
"sketch": "crossbow/crossbow.ino",
"port": "COM5",
"port": "COM7",
"output": "../build"
}

19
.vscode/settings.json vendored
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@@ -10,7 +10,24 @@
"__locale": "c",
"string": "c",
"ios": "cpp",
"locale": "cpp"
"locale": "cpp",
"functional": "cpp",
"numeric": "cpp",
"*.tcc": "cpp",
"bitset": "cpp",
"set": "cpp",
"array": "cpp",
"utility": "cpp",
"__bit_reference": "cpp",
"__functional_base": "cpp",
"atomic": "cpp",
"chrono": "cpp",
"limits": "cpp",
"memory": "cpp",
"ratio": "cpp",
"system_error": "cpp",
"tuple": "cpp",
"vector": "cpp"
},
"files.exclude": {
"**/build": true

24
README.md
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@@ -47,6 +47,7 @@ CRC is computed using `crc8_dvb_s2` method. Initial CRC value for each frame CRC
| 0100 | 0x4 | Set receiver configuration | TX -> RX | no used |
| 0101 | 0x5 | PING frame, uses 9 byte payload | TX -> RX | 4 |
| 0110 | 0x6 | PONG frame, the same payload as PING | RX -> TX | 4 |
| 0111 | 0x7 | `BIND` frame, transmitted by TX only during binding | TX -> RX | 4 |
### `RC_DATA` frame format
@@ -82,6 +83,15 @@ Total length of `RC_DATA` payload is 9 bytes
**TX** sends `PING` frame with curent `micros`. If **RX** receives `PING` frame, it respons
its payload as `PONG` frame.
### `BIND` frame format
| Byte | Description |
| ---- | ---- |
| 1 | Bind key byte 0 |
| 2 | Bind key byte 1 |
| 3 | Bind key byte 2 |
| 4 | Bind key byte 3 |
# RSSI
1. Receiver RSSI for the last received packet is injected as channel 11
@@ -117,6 +127,20 @@ That mean the following:
* On F3 or F7 boards flight controller has to be configured not to use inverted SBUS (refer to flight controller docs)
* On F4 flight controllers inverios has to be configured only when using dedicated SBUS serial port
# Manual
## Binding
After flashing TX and RX, binding is required.
1. Power up TX module
1. Navigate using button #1 to "Bind" option
1. Long press button #2 to enter _Bind Mode_
1. Power up RX
1. RX LED flashes quickly when in bind mode
1. After RX receives bind packet, LED goes to constanly _ON_ state
1. When RX LED is solid _ON_, leave bind mode by long pressing button #2
# TX module connection diagram
![Diagram](docs/TX_module_schem.png)

4
crossbow/config.h
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@@ -15,8 +15,8 @@
* DEVICE_MODE_TX
* DEVICE_MODE_RX
*/
#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

2
crossbow/configurations/config_tx_sbus.h
View File

@@ -1,7 +1,7 @@
#ifndef CONFIG_H
#define CONFIG_H
#define DEVICE_MODE TX
#define DEVICE_MODE_TX
#define FEATURE_TX_OLED
#define FEATURE_TX_INPUT_SBUS

118
crossbow/crossbow.ino
View File

@@ -100,9 +100,12 @@ void onQspSuccess(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDev
* RX module hops to next channel after frame has been received
*/
#ifdef DEVICE_MODE_RX
radioNode.hopFrequency(true, radioNode.lastReceivedChannel, millis());
radioNode.failedDwellsCount = 0; // We received a frame, so we can just reset this counter
LoRa.receive(); //Put radio back into receive mode
if (!platformNode.isBindMode) {
//We do not hop frequency in bind mode!
radioNode.hopFrequency(true, radioNode.lastReceivedChannel, millis());
radioNode.failedDwellsCount = 0; // We received a frame, so we can just reset this counter
LoRa.receive(); //Put radio back into receive mode
}
#endif
//Store the last timestamp when frame was received
@@ -123,6 +126,20 @@ void onQspSuccess(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDev
qsp->forcePongFrame = true;
break;
case QSP_FRAME_BIND:
#ifdef DEVICE_MODE_RX
if (platformNode.isBindMode) {
platformNode.bindKey[0] = qsp->payload[0];
platformNode.bindKey[1] = qsp->payload[1];
platformNode.bindKey[2] = qsp->payload[2];
platformNode.bindKey[3] = qsp->payload[3];
platformNode.saveBindKey(platformNode.bindKey);
platformNode.leaveBindMode();
}
#endif
break;
case QSP_FRAME_PONG:
txDeviceState->roundtrip = qsp->payload[0];
txDeviceState->roundtrip += (uint32_t) qsp->payload[1] << 8;
@@ -145,6 +162,16 @@ void onQspFailure(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDev
}
//I do not get function pointers to object methods, no way...
int getRcChannel_wrapper(uint8_t channel) {
return platformNode.getRcChannel(channel);
}
//Same here, wrapper just works
void setRcChannel_wrapper(uint8_t channel, int value, int offset) {
platformNode.setRcChannel(channel, value, offset);
}
void setup(void)
{
#ifdef DEBUG_SERIAL
@@ -153,11 +180,16 @@ void setup(void)
qsp.onSuccessCallback = onQspSuccess;
qsp.onFailureCallback = onQspFailure;
qsp.rcChannelGetCallback = getRcChannel_wrapper;
qsp.setRcChannelCallback = setRcChannel_wrapper;
#ifdef DEVICE_MODE_RX
platformNode.platformState = DEVICE_STATE_FAILSAFE;
#else
platformNode.platformState = DEVICE_STATE_OK;
txInput.setRcChannelCallback = setRcChannel_wrapper;
#endif
radioNode.init(LORA_SS_PIN, LORA_RST_PIN, LORA_DI0_PIN, onReceive);
@@ -172,10 +204,16 @@ void setup(void)
* Prepare Serial1 for S.Bus processing
*/
Serial1.begin(100000, SERIAL_8E2);
platformNode.enterBindMode();
LoRa.receive(); //TODO this probably should be moved somewhere....
#endif
#ifdef DEVICE_MODE_TX
randomSeed(analogRead(A4));
platformNode.seed();
#ifdef FEATURE_TX_OLED
oled.init();
oled.page(TX_PAGE_INIT);
@@ -202,18 +240,11 @@ void setup(void)
button0.start();
button1.start();
platformNode.loadBindKey(platformNode.bindKey);
#endif
pinMode(LED_BUILTIN, OUTPUT);
/*
* Setup salt bind key
*/
platformNode.bindKey[0] = 0x12;
platformNode.bindKey[1] = 0x0a;
platformNode.bindKey[2] = 0x36;
platformNode.bindKey[3] = 0xa7;
}
uint8_t currentSequenceIndex = 0;
@@ -248,6 +279,11 @@ int8_t getFrameToTransmit(QspConfiguration_t *qsp) {
#ifdef DEVICE_MODE_TX
int8_t getFrameToTransmit(QspConfiguration_t *qsp) {
if (platformNode.isBindMode) {
return QSP_FRAME_BIND;
}
int8_t retVal = txSendSequence[currentSequenceIndex];
currentSequenceIndex++;
@@ -267,13 +303,24 @@ int8_t getFrameToTransmit(QspConfiguration_t *qsp) {
void loop(void)
{
static uint32_t nextKey = millis();
uint32_t currentMillis = millis();
#ifdef DEVICE_MODE_RX
//Make sure to leave bind mode when binding is done
if (platformNode.isBindMode && millis() > platformNode.bindModeExitMillis) {
platformNode.leaveBindMode();
}
/*
* This routine handles resync of TX/RX while hoppping frequencies
* When not in bind mode. Bind mode is single frequency operation
*/
radioNode.handleChannelDwell();
if (!platformNode.isBindMode) {
radioNode.handleChannelDwell();
}
/*
* Detect the moment when radio module stopped transmittig and put it
@@ -305,13 +352,14 @@ void loop(void)
serialRestartMillis = currentMillis;
}
radioNode.handleTxDoneState(true);
radioNode.handleTxDoneState(!platformNode.isBindMode);
#endif
radioNode.readAndDecode(
&qsp,
&rxDeviceState,
&txDeviceState
&txDeviceState,
platformNode.bindKey
);
bool transmitPayload = false;
@@ -361,6 +409,18 @@ void loop(void)
case QSP_FRAME_RC_DATA:
encodeRcDataPayload(&qsp, PLATFORM_CHANNEL_COUNT);
break;
case QSP_FRAME_BIND:
/*
* Key to be transmitted is stored in EEPROM
* During binding different key is used
*/
uint8_t key[4];
platformNode.loadBindKey(key);
encodeBindPayload(&qsp, key);
break;
}
transmitPayload = true;
@@ -405,7 +465,13 @@ void loop(void)
break;
case QSP_FRAME_RX_HEALTH:
encodeRxHealthPayload(&qsp, &rxDeviceState, radioNode.rssi, radioNode.snr);
encodeRxHealthPayload(
&qsp,
&rxDeviceState,
radioNode.rssi,
radioNode.snr,
(platformNode.platformState == DEVICE_STATE_FAILSAFE)
);
break;
}
@@ -417,7 +483,7 @@ void loop(void)
if (currentMillis > sbusTime) {
platformNode.setRcChannel(RSSI_CHANNEL - 1, rxDeviceState.indicatedRssi, 0);
sbusPreparePacket(sbusPacket, false, (platformNode.platformState == DEVICE_STATE_FAILSAFE));
sbusPreparePacket(sbusPacket, false, (platformNode.platformState == DEVICE_STATE_FAILSAFE), getRcChannel_wrapper);
Serial1.write(sbusPacket, SBUS_PACKET_LENGTH);
sbusTime = currentMillis + SBUS_UPDATE_RATE;
}
@@ -434,7 +500,7 @@ void loop(void)
if (transmitPayload)
{
radioNode.handleTx(&qsp);
radioNode.handleTx(&qsp, platformNode.bindKey);
}
#ifdef DEVICE_MODE_TX
@@ -502,11 +568,18 @@ void loop(void)
platformNode.nextLedUpdate = currentMillis + 200;
}
#else
platformNode.nextLedUpdate = currentMillis + 200;
if (platformNode.platformState == DEVICE_STATE_FAILSAFE) {
digitalWrite(LED_BUILTIN, HIGH);
} else {
if (platformNode.isBindMode) {
platformNode.nextLedUpdate = currentMillis + 50;
digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
} else {
platformNode.nextLedUpdate = currentMillis + 200;
if (platformNode.platformState == DEVICE_STATE_FAILSAFE) {
digitalWrite(LED_BUILTIN, HIGH);
} else {
digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
}
}
#endif
}
@@ -520,7 +593,6 @@ void onReceive(int packetSize)
* If not reading, then we might start
*/
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
radioNode.bytesToRead = packetSize;

57
crossbow/platform_node.cpp
View File

@@ -6,6 +6,38 @@ PlatformNode::PlatformNode(void) {
}
}
/**
* Return true if new bind key was generated
*/
void PlatformNode::seed(void) {
uint8_t val;
val = EEPROM.read(EEPROM_ADDRESS_BIND_KEY_SEEDED);
if (val != 0xf1) {
EEPROM.write(EEPROM_ADDRESS_BIND_0, random(1, 255)); //Yes, from 1 to 254
EEPROM.write(EEPROM_ADDRESS_BIND_1, random(1, 255)); //Yes, from 1 to 254
EEPROM.write(EEPROM_ADDRESS_BIND_2, random(1, 255)); //Yes, from 1 to 254
EEPROM.write(EEPROM_ADDRESS_BIND_3, random(1, 255)); //Yes, from 1 to 254
EEPROM.write(EEPROM_ADDRESS_BIND_KEY_SEEDED, 0xf1);
}
}
void PlatformNode::loadBindKey(uint8_t key[]) {
key[0] = EEPROM.read(EEPROM_ADDRESS_BIND_0);
key[1] = EEPROM.read(EEPROM_ADDRESS_BIND_1);
key[2] = EEPROM.read(EEPROM_ADDRESS_BIND_2);
key[3] = EEPROM.read(EEPROM_ADDRESS_BIND_3);
}
void PlatformNode::saveBindKey(uint8_t key[]) {
EEPROM.write(EEPROM_ADDRESS_BIND_0, key[0]);
EEPROM.write(EEPROM_ADDRESS_BIND_1, key[1]);
EEPROM.write(EEPROM_ADDRESS_BIND_2, key[2]);
EEPROM.write(EEPROM_ADDRESS_BIND_3, key[3]);
EEPROM.write(EEPROM_ADDRESS_BIND_KEY_SEEDED, 0xf1);
}
int PlatformNode::getRcChannel(uint8_t channel) {
if (channel < PLATFORM_TOTAL_CHANNEL_COUNT) {
return _channels[channel];
@@ -19,3 +51,28 @@ void PlatformNode::setRcChannel(uint8_t channel, int value, int offset) {
_channels[channel] = value + offset;
}
}
void PlatformNode::enterBindMode(void) {
isBindMode = true;
// Set temporary bind mode
bindKey[0] = 0xf1;
bindKey[1] = 0x1e;
bindKey[2] = 0x07;
bindKey[3] = 0x42;
radioNode.set(
0, // Minimum power
125000, // 125kHz bandwidth
6, // low spreading factor, we do not need high RX sensitivity
5, // same for coding rate
868000000 //Fixed frequency while binding
);
bindModeExitMillis = millis() + 1000; //This happens only on RX
}
void PlatformNode::leaveBindMode(void) {
isBindMode = false;
loadBindKey(bindKey);
radioNode.reset();
}

20
crossbow/platform_node.h
View File

@@ -1,6 +1,8 @@
#pragma once
#include "Arduino.h"
#include "radio_node.h"
#include <EEPROM.h>
#ifndef PLATFORM_NODE_H
#define PLATFORM_NODE_H
@@ -9,21 +11,39 @@
#define PLATFORM_CHANNEL_COUNT 10
#define PLATFORM_DEFAULT_CHANNEL_VALUE 1000
extern RadioNode radioNode;
enum deviceStates {
DEVICE_STATE_OK,
DEVICE_STATE_FAILSAFE,
DEVICE_STATE_UNDETERMINED
};
enum platformConfigMemoryLayout {
EEPROM_ADDRESS_BIND_KEY_SEEDED = 0x00,
EEPROM_ADDRESS_BIND_0,
EEPROM_ADDRESS_BIND_1,
EEPROM_ADDRESS_BIND_2,
EEPROM_ADDRESS_BIND_3,
PLATFORM_CONFIG_LAST_BYTE
};
class PlatformNode {
public:
PlatformNode(void);
int getRcChannel(uint8_t channel);
void setRcChannel(uint8_t channel, int value, int offset);
void enterBindMode(void);
void leaveBindMode(void);
void seed(void);
void loadBindKey(uint8_t key[]);
void saveBindKey(uint8_t key[]);
uint8_t bindKey[4];
uint32_t nextLedUpdate = 0;
uint8_t platformState = DEVICE_STATE_UNDETERMINED;
bool isBindMode = false;
uint32_t bindModeExitMillis;
private:
volatile int _channels[PLATFORM_TOTAL_CHANNEL_COUNT];
};

54
crossbow/qsp.cpp
View File

@@ -3,16 +3,16 @@
void qspDecodeRcDataFrame(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSate) {
platformNode.setRcChannel(0, (uint16_t) (((uint16_t) qsp->payload[0] << 2) & 0x3fc) | ((qsp->payload[1] >> 6) & 0x03), 1000);
platformNode.setRcChannel(1, (uint16_t) (((uint16_t) qsp->payload[1] << 4) & 0x3f0) | ((qsp->payload[2] >> 4) & 0x0F), 1000);
platformNode.setRcChannel(2, (uint16_t) (((uint16_t) qsp->payload[2] << 6) & 0x3c0) | ((qsp->payload[3] >> 2) & 0x3F), 1000);
platformNode.setRcChannel(3, (uint16_t) (((uint16_t) qsp->payload[3] << 8) & 0x300) | ((qsp->payload[4]) & 0xFF), 1000);
platformNode.setRcChannel(4, ((int) qsp->payload[5]) << 2, 1000);
platformNode.setRcChannel(5, ((int) qsp->payload[6]) << 2, 1000);
platformNode.setRcChannel(6, ((int) ((qsp->payload[7] >> 4) & 0b00001111)) << 6, 1000);
platformNode.setRcChannel(7, ((int) (qsp->payload[7] & 0b00001111)) << 6, 1000);
platformNode.setRcChannel(8, ((int) ((qsp->payload[8] >> 4) & 0b00001111)) << 6, 1000);
platformNode.setRcChannel(9, ((int) (qsp->payload[8] & 0b00001111)) << 6, 1000);
qsp->setRcChannelCallback(0, (uint16_t) (((uint16_t) qsp->payload[0] << 2) & 0x3fc) | ((qsp->payload[1] >> 6) & 0x03), 1000);
qsp->setRcChannelCallback(1, (uint16_t) (((uint16_t) qsp->payload[1] << 4) & 0x3f0) | ((qsp->payload[2] >> 4) & 0x0F), 1000);
qsp->setRcChannelCallback(2, (uint16_t) (((uint16_t) qsp->payload[2] << 6) & 0x3c0) | ((qsp->payload[3] >> 2) & 0x3F), 1000);
qsp->setRcChannelCallback(3, (uint16_t) (((uint16_t) qsp->payload[3] << 8) & 0x300) | ((qsp->payload[4]) & 0xFF), 1000);
qsp->setRcChannelCallback(4, ((int) qsp->payload[5]) << 2, 1000);
qsp->setRcChannelCallback(5, ((int) qsp->payload[6]) << 2, 1000);
qsp->setRcChannelCallback(6, ((int) ((qsp->payload[7] >> 4) & 0b00001111)) << 6, 1000);
qsp->setRcChannelCallback(7, ((int) (qsp->payload[7] & 0b00001111)) << 6, 1000);
qsp->setRcChannelCallback(8, ((int) ((qsp->payload[8] >> 4) & 0b00001111)) << 6, 1000);
qsp->setRcChannelCallback(9, ((int) (qsp->payload[8] & 0b00001111)) << 6, 1000);
}
uint8_t get10bitHighShift(uint8_t channel) {
@@ -41,7 +41,7 @@ void qspComputeCrc(QspConfiguration_t *qsp, uint8_t dataByte)
qsp->crc = crc8_dvb_s2(qsp->crc, dataByte);
}
void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState, uint8_t rssi, uint8_t snr) {
void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState, uint8_t rssi, uint8_t snr, bool isFailsafe) {
qsp->payload[0] = rssi;
qsp->payload[1] = snr;
qsp->payload[2] = rxDeviceState->rxVoltage;
@@ -50,7 +50,7 @@ void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSta
uint8_t flags = 0;
if (platformNode.platformState == DEVICE_STATE_FAILSAFE) {
if (isFailsafe) {
flags |= 0x01 << 0;
}
@@ -75,7 +75,7 @@ void encodeRcDataPayload(QspConfiguration_t *qsp, uint8_t noOfChannels)
{
for (uint8_t i = 0; i < noOfChannels; i++)
{
int cV = constrain(platformNode.getRcChannel(i), 1000, 2000) - 1000;
int cV = constrain(qsp->rcChannelGetCallback(i), 1000, 2000) - 1000;
uint16_t channelValue10 = cV & 0x03ff;
uint8_t channelValue8 = (cV >> 2) & 0xff;
@@ -133,10 +133,10 @@ void qspClearPayload(QspConfiguration_t *qsp)
/**
* Init CRC with salt based on 4 byte bind key
*/
void qspInitCrc(QspConfiguration_t *qsp) {
void qspInitCrc(QspConfiguration_t *qsp, uint8_t bindKey[]) {
qsp->crc = 0;
for (uint8_t i = 0; i < 4; i++) {
qspComputeCrc(qsp, platformNode.bindKey[i]);
qspComputeCrc(qsp, bindKey[i]);
}
}
@@ -144,7 +144,8 @@ void qspDecodeIncomingFrame(
QspConfiguration_t *qsp,
uint8_t incomingByte,
RxDeviceState_t *rxDeviceState,
TxDeviceState_t *txDeviceState
TxDeviceState_t *txDeviceState,
uint8_t bindKey[]
) {
static uint8_t frameId;
static uint8_t payloadLength;
@@ -153,7 +154,7 @@ void qspDecodeIncomingFrame(
if (qsp->protocolState == QSP_STATE_IDLE)
{
qspInitCrc(qsp);
qspInitCrc(qsp, bindKey);
qspClearPayload(qsp);
receivedPayload = 0;
qsp->frameDecodingStartedAt = millis();
@@ -201,9 +202,15 @@ void qspDecodeIncomingFrame(
/**
* Encode frame is corrent format and write to hardware
*/
void qspEncodeFrame(QspConfiguration_t *qsp, uint8_t buffer[], uint8_t *size, uint8_t radioChannel) {
void qspEncodeFrame(
QspConfiguration_t *qsp,
uint8_t buffer[],
uint8_t *size,
uint8_t radioChannel,
uint8_t bindKey[]
) {
//Salt CRC with bind key
qspInitCrc(qsp);
qspInitCrc(qsp, bindKey);
//Write frame type and length
// We are no longer sending payload length, so 4 bits are now free for other usages
@@ -231,3 +238,12 @@ void encodePingPayload(QspConfiguration_t *qsp, uint32_t currentMicros) {
qsp->payloadLength = qspFrameLengths[QSP_FRAME_PING];
}
void encodeBindPayload(QspConfiguration_t *qsp, uint8_t bindKey[]) {
for (uint8_t i = 0; i < qspFrameLengths[QSP_FRAME_PING]; i++) {
qsp->payload[i] = bindKey[i];
}
qsp->payloadLength = qspFrameLengths[QSP_FRAME_PING];
}

12
crossbow/qsp.h
View File

@@ -1,9 +1,5 @@
#include "Arduino.h"
#include "variables.h"
#include "radio_node.h"
#include "platform_node.h"
extern PlatformNode platformNode;
void qspDecodeRcDataFrame(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSate);
void decodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState);
@@ -11,15 +7,17 @@ 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, uint8_t rssi, uint8_t snr);
void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState, uint8_t rssi, uint8_t snr, bool isFailsafe);
void encodeRcDataPayload(QspConfiguration_t *qsp, uint8_t noOfChannels);
void qspDecodeIncomingFrame(
QspConfiguration_t *qsp,
uint8_t incomingByte,
RxDeviceState_t *rxDeviceState,
TxDeviceState_t *txDeviceState
TxDeviceState_t *txDeviceState,
uint8_t bindKey[]
);
void qspClearPayload(QspConfiguration_t *qsp);
void qspEncodeFrame(QspConfiguration_t *qsp, uint8_t buffer[], uint8_t *size, uint8_t radioChannel);
void qspEncodeFrame(QspConfiguration_t *qsp, uint8_t buffer[], uint8_t *size, uint8_t radioChannel, uint8_t bindKey[]);
void encodePingPayload(QspConfiguration_t *qsp, uint32_t currentMicros);
void encodeBindPayload(QspConfiguration_t *qsp, uint8_t bindKey[]);

42
crossbow/radio_node.cpp
View File

@@ -17,6 +17,16 @@ RadioNode::RadioNode(void) {
}
void RadioNode::reset(void) {
set(
loraTxPower,
loraBandwidth,
loraSpreadingFactor,
loraCodingRate,
getFrequencyForChannel(getChannel())
);
}
void RadioNode::init(uint8_t ss, uint8_t rst, uint8_t di0, void(*callback)(int)) {
/*
* Setup hardware
@@ -31,11 +41,7 @@ void RadioNode::init(uint8_t ss, uint8_t rst, uint8_t di0, void(*callback)(int))
while (true);
}
//Configure LoRa module
LoRa.setSignalBandwidth(loraBandwidth);
LoRa.setSpreadingFactor(loraSpreadingFactor);
LoRa.setCodingRate4(loraCodingRate);
LoRa.setTxPower(loraTxPower);
reset();
LoRa.enableCrc();
//Setup ISR callback and start receiving
@@ -65,7 +71,8 @@ uint32_t RadioNode::getChannelEntryMillis(void) {
void RadioNode::readAndDecode(
QspConfiguration_t *qsp,
RxDeviceState_t *rxDeviceState,
TxDeviceState_t *txDeviceState
TxDeviceState_t *txDeviceState,
uint8_t bindKey[]
) {
uint8_t tmpBuffer[MAX_PACKET_SIZE];
/*
@@ -75,7 +82,7 @@ void RadioNode::readAndDecode(
LoRa.read(tmpBuffer, bytesToRead);
for (int i = 0; i < bytesToRead; i++) {
qspDecodeIncomingFrame(qsp, tmpBuffer[i], rxDeviceState, txDeviceState);
qspDecodeIncomingFrame(qsp, tmpBuffer[i], rxDeviceState, txDeviceState, bindKey);
}
//After reading, flush radio buffer, we have no need for whatever might be over there
@@ -141,7 +148,7 @@ void RadioNode::handleTxDoneState(bool hop) {
}
}
void RadioNode::handleTx(QspConfiguration_t *qsp) {
void RadioNode::handleTx(QspConfiguration_t *qsp, uint8_t bindKey[]) {
if (!canTransmit) {
return;
@@ -152,7 +159,7 @@ void RadioNode::handleTx(QspConfiguration_t *qsp) {
LoRa.beginPacket();
//Prepare packet
qspEncodeFrame(qsp, tmpBuffer, &size, getChannel());
qspEncodeFrame(qsp, tmpBuffer, &size, getChannel(), bindKey);
//Sent it to radio in one SPI transaction
LoRa.write(tmpBuffer, size);
LoRa.endPacketAsync();
@@ -160,3 +167,20 @@ void RadioNode::handleTx(QspConfiguration_t *qsp) {
//Set state to be able to detect the moment when TX is done
radioState = RADIO_STATE_TX;
}
void RadioNode::set(
uint8_t power,
long bandwidth,
uint8_t spreadingFactor,
uint8_t codingRate,
long frequency
) {
LoRa.sleep();
LoRa.setTxPower(power);
LoRa.setSignalBandwidth(bandwidth);
LoRa.setCodingRate4(codingRate);
LoRa.setFrequency(frequency);
LoRa.idle();
}

18
crossbow/radio_node.h
View File

@@ -1,8 +1,5 @@
#pragma once
#include "Arduino.h"
#include "qsp.h"
#define RADIO_FREQUENCY_MIN 868000000
#define RADIO_FREQUENCY_MAX 870000000
#define RADIO_FREQUENCY_RANGE (RADIO_FREQUENCY_MAX-RADIO_FREQUENCY_MIN)
@@ -13,6 +10,8 @@
#ifndef RADIO_NODE_H
#define RADIO_NODE_H
#include "Arduino.h"
#include "qsp.h"
#include "variables.h"
class RadioNode {
@@ -25,13 +24,22 @@ class RadioNode {
void readAndDecode(
QspConfiguration_t *qsp,
RxDeviceState_t *rxDeviceState,
TxDeviceState_t *txDeviceState
TxDeviceState_t *txDeviceState,
uint8_t bindKey[]
);
uint8_t getChannel(void);
uint32_t getChannelEntryMillis(void);
void handleChannelDwell(void);
void handleTxDoneState(bool hop);
void handleTx(QspConfiguration_t *qsp);
void handleTx(QspConfiguration_t *qsp, uint8_t bindKey[]);
void set(
uint8_t power,
long bandwidth,
uint8_t spreadingFactor,
uint8_t codingRate,
long frequency
);
void reset(void);
volatile int8_t bytesToRead = -1;
volatile uint8_t radioState = RADIO_STATE_RX;
uint8_t rssi = 0;

27
crossbow/sbus.cpp
View File

@@ -1,5 +1,4 @@
#include "Arduino.h"
#include "variables.h"
#include "sbus.h"
#define SBUS_MIN_OFFSET 173
@@ -31,7 +30,7 @@ int mapSbusToChannel(int in) {
return (((long) in - 173l) * 1020l / 1638l) + 990;
}
void sbusPreparePacket(uint8_t packet[], bool isSignalLoss, bool isFailsafe){
void sbusPreparePacket(uint8_t packet[], bool isSignalLoss, bool isFailsafe, int (* rcChannelGetCallback)(uint8_t)) {
int output[SBUS_CHANNEL_NUMBER];
@@ -40,7 +39,7 @@ void sbusPreparePacket(uint8_t packet[], bool isSignalLoss, bool isFailsafe){
* 173-1811 with middle at 992 S.BUS protocol requires
*/
for (uint8_t i = 0; i < SBUS_CHANNEL_NUMBER; i++) {
output[i] = mapChannelToSbus(platformNode.getRcChannel(i));
output[i] = mapChannelToSbus(rcChannelGetCallback(i));
}
uint8_t stateByte = 0x00;
@@ -115,18 +114,18 @@ void SbusInput::recoverStuckFrames(void)
}
}
void sbusToChannels(byte buffer[]) {
void SbusInput::sbusToChannels(byte buffer[]) {
platformNode.setRcChannel(0, mapSbusToChannel((buffer[1] | buffer[2]<<8) & 0x07FF), 0);
platformNode.setRcChannel(1, mapSbusToChannel((buffer[2]>>3 | buffer[3]<<5) & 0x07FF), 0);
platformNode.setRcChannel(2, mapSbusToChannel((buffer[3]>>6 | buffer[4]<<2 | buffer[5]<<10) & 0x07FF), 0);
platformNode.setRcChannel(3, mapSbusToChannel((buffer[5]>>1 | buffer[6]<<7) & 0x07FF), 0);
platformNode.setRcChannel(4, mapSbusToChannel((buffer[6]>>4 | buffer[7]<<4) & 0x07FF), 0);
platformNode.setRcChannel(5, mapSbusToChannel((buffer[7]>>7 | buffer[8]<<1 |buffer[9]<<9) & 0x07FF), 0);
platformNode.setRcChannel(6, mapSbusToChannel((buffer[9]>>2 | buffer[10]<<6) & 0x07FF), 0);
platformNode.setRcChannel(7, mapSbusToChannel((buffer[10]>>5 | buffer[11]<<3) & 0x07FF), 0);
platformNode.setRcChannel(8, mapSbusToChannel((buffer[12] | buffer[13]<<8) & 0x07FF), 0);
platformNode.setRcChannel(9, mapSbusToChannel((buffer[13]>>3 | buffer[14]<<5) & 0x07FF), 0);
setRcChannelCallback(0, mapSbusToChannel((buffer[1] | buffer[2]<<8) & 0x07FF), 0);
setRcChannelCallback(1, mapSbusToChannel((buffer[2]>>3 | buffer[3]<<5) & 0x07FF), 0);
setRcChannelCallback(2, mapSbusToChannel((buffer[3]>>6 | buffer[4]<<2 | buffer[5]<<10) & 0x07FF), 0);
setRcChannelCallback(3, mapSbusToChannel((buffer[5]>>1 | buffer[6]<<7) & 0x07FF), 0);
setRcChannelCallback(4, mapSbusToChannel((buffer[6]>>4 | buffer[7]<<4) & 0x07FF), 0);
setRcChannelCallback(5, mapSbusToChannel((buffer[7]>>7 | buffer[8]<<1 |buffer[9]<<9) & 0x07FF), 0);
setRcChannelCallback(6, mapSbusToChannel((buffer[9]>>2 | buffer[10]<<6) & 0x07FF), 0);
setRcChannelCallback(7, mapSbusToChannel((buffer[10]>>5 | buffer[11]<<3) & 0x07FF), 0);
setRcChannelCallback(8, mapSbusToChannel((buffer[12] | buffer[13]<<8) & 0x07FF), 0);
setRcChannelCallback(9, mapSbusToChannel((buffer[13]>>3 | buffer[14]<<5) & 0x07FF), 0);
//We use only 10 channels, so the reset can be just ignored
}

6
crossbow/sbus.h
View File

@@ -19,15 +19,17 @@ class SbusInput : public TxInput
void loop(void);
bool isReceiving(void);
void recoverStuckFrames(void);
void (* setRcChannelCallback)(uint8_t channel, int value, int offset);
private:
HardwareSerial &_serial;
uint32_t _frameDecodingStartedAt = 0;
uint32_t _frameDecodingEndedAt = 0 ;
uint8_t _protocolState = SBUS_DECODING_STATE_IDLE;
void sbusRead(void);
void sbusRead(void);
void sbusToChannels(byte buffer[]);
};
void sbusPreparePacket(uint8_t packet[], bool isSignalLoss, bool isFailsafe);
void sbusPreparePacket(uint8_t packet[], bool isSignalLoss, bool isFailsafe, int (* rcChannelGetCallback)(uint8_t));
#endif

19
crossbow/tx_oled.cpp
View File

@@ -22,6 +22,18 @@ void TxOled::loop() {
//Second button has notthing to do over here
break;
case TX_PAGE_BIND:
if (button1.getState() == TACTILE_STATE_LONG_PRESS) {
if (!platformNode.isBindMode) {
platformNode.enterBindMode();
} else {
platformNode.leaveBindMode();
}
update = true;
}
break;
case TX_PAGE_STATS:
//Second button refreshes this page
if (button1.getState() == TACTILE_STATE_SHORT_PRESS) {
@@ -93,7 +105,12 @@ void TxOled::renderPageBind() {
_display.clear();
_display.draw1x2String(0, 0, "Bind");
snprintf(buf, OLED_COL_COUNT, "Bind?");
if (platformNode.isBindMode) {
snprintf(buf, OLED_COL_COUNT, "Binding!!");
} else {
snprintf(buf, OLED_COL_COUNT, "Bind?");
}
_display.draw1x2String(0, 4, buf);
}

2
crossbow/tx_oled.h
View File

@@ -8,8 +8,10 @@
#include "variables.h"
#include "tactile.h"
#include "radio_node.h"
#include "platform_node.h"
extern RadioNode radioNode;
extern PlatformNode platformNode;
extern RxDeviceState_t rxDeviceState;
extern TxDeviceState_t txDeviceState;
extern Tactile button0;

7
crossbow/variables.h
View File

@@ -1,5 +1,4 @@
#include "Arduino.h"
#include "radio_node.h"
#pragma once
@@ -34,7 +33,8 @@
#define QSP_FRAME_SET_RX_CONFIG 0x4
#define QSP_FRAME_PING 0x5
#define QSP_FRAME_PONG 0x6
#define QSP_FRAME_COUNT 0x7
#define QSP_FRAME_BIND 0x7
#define QSP_FRAME_COUNT 0x8
static const uint8_t qspFrameLengths[QSP_FRAME_COUNT] = {
9, //QSP_FRAME_RC_DATA
@@ -44,6 +44,7 @@ static const uint8_t qspFrameLengths[QSP_FRAME_COUNT] = {
0, //QSP_FRAME_SET_RX_CONFIG -> Not used
4, //QSP_FRAME_PING
4, //QSP_FRAME_PONG
4 //QSP_FRAME_BIND
};
#define RX_ADC_PIN_1 A0
@@ -99,6 +100,8 @@ struct QspConfiguration_t {
uint32_t anyFrameRecivedAt = 0;
void (* onSuccessCallback)(QspConfiguration_t*, TxDeviceState_t*, RxDeviceState_t*, uint8_t receivedChannel);
void (* onFailureCallback)(QspConfiguration_t*, TxDeviceState_t*, RxDeviceState_t*);
int (* rcChannelGetCallback)(uint8_t);
void (* setRcChannelCallback)(uint8_t channel, int value, int offset);
bool forcePongFrame = false;
uint32_t frameDecodingStartedAt = 0;
uint32_t lastTxSlotTimestamp = 0;

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