All processing moved from ISR to main loop

crossbow.ino

@@ -12,7 +12,7 @@
 #include "variables.h"
 #include "qsp.h"
 
-volatile int ppm[16] = {0};
+int ppm[16] = {0};
 
 // LoRa32u4 ports
 #define LORA32U4_SS_PIN     8
@@ -56,10 +56,11 @@ uint32_t lastOledTaskTime = 0;
 /*
  * Start of QSP protocol implementation
  */
-volatile QspConfiguration_t qsp = {};
-volatile RxDeviceState_t rxDeviceState = {};
-volatile TxDeviceState_t txDeviceState = {};
+QspConfiguration_t qsp = {};
+RxDeviceState_t rxDeviceState = {};
+TxDeviceState_t txDeviceState = {};
 
+volatile bool doReadPacket = false;
 
 uint8_t getRadioRssi(void)
 {
@@ -270,22 +271,25 @@ int8_t getFrameToTransmit(QspConfiguration_t *qsp) {
 void loop(void)
 {
 
-#ifdef DEVICE_MODE_TX
-    if (txDeviceState.readPacket) {
+    if (doReadPacket) {
         int incomingByte;
         while (incomingByte = LoRa.read(), incomingByte > -1)
         {
             qspDecodeIncomingFrame(&qsp, incomingByte, ppm, &rxDeviceState, &txDeviceState);
         }
+    #ifdef DEVICE_MODE_TX
         txDeviceState.rssi = getRadioRssi();
         txDeviceState.snr = getRadioSnr();
-        txDeviceState.readPacket = false;
+    #endif
+    #ifdef DEVICE_MODE_RX
+        rxDeviceState.rssi = getRadioRssi();
+        rxDeviceState.snr = getRadioSnr();
+    #endif
+        doReadPacket = false;
     }
-#endif
 
     uint32_t currentMillis = millis();
     bool transmitPayload = false;
-    static uint32_t previousAnyFrameReceivedAt = 0;
 
     /*
      * Watchdog for frame decoding stuck somewhere in the middle of a process
@@ -307,7 +311,7 @@ void loop(void)
         int8_t frameToSend = getFrameToTransmit(&qsp);
 
         if (frameToSend == QSP_FRAME_RC_DATA && !ppmReader.isReceiving()) {
-            frameToSend = -1;
+            // frameToSend = -1;
             //FIXME uncomment to enable full Failsafe
         }
 
@@ -492,20 +496,5 @@ void onReceive(int packetSize)
     if (packetSize == 0)
         return;
 
-#ifdef DEVICE_MODE_TX
-    txDeviceState.readPacket = true;
-#endif
-
-#ifdef DEVICE_MODE_RX
-
-    int incomingByte;
-
-    while (incomingByte = LoRa.read(), incomingByte > -1)
-    {
-        qspDecodeIncomingFrame(&qsp, incomingByte, ppm, &rxDeviceState, &txDeviceState);
-    }
-
-    rxDeviceState.rssi = getRadioRssi();
-    rxDeviceState.snr = getRadioSnr();
-#endif
+    doReadPacket = true;
 }

qsp.cpp

@@ -179,7 +179,7 @@ void qspDecodeIncomingFrame(
 
         frameId = (incomingByte >> 4) & 0x0f;
         payloadLength = incomingByte & 0x0f;
-
+        
         qsp->protocolState = QSP_STATE_FRAME_TYPE_RECEIVED;
     }
     else if (qsp->protocolState == QSP_STATE_FRAME_TYPE_RECEIVED)
@@ -213,7 +213,6 @@ void qspDecodeIncomingFrame(
                 qsp->lastFrameReceivedAt[frameId] = millis();
             }
             qsp->anyFrameRecivedAt = millis();
-
             switch (frameId) {
                 case QSP_FRAME_RC_DATA:
                     qspDecodeRcDataFrame(qsp, ppm);
@@ -234,7 +233,6 @@ void qspDecodeIncomingFrame(
                     txDeviceState->roundtrip += (uint32_t) qsp->payload[3] << 24;
 
                     txDeviceState->roundtrip = (micros() - txDeviceState->roundtrip) / 1000;
-
                     break;
 
                 default:

variables.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#define OLED_UPDATE_RATE 500
+#define OLED_UPDATE_RATE 750
 
 #define SBUS_UPDATE_RATE 15 //ms
 #define SBUS_PACKET_LENGTH 25
@@ -18,7 +18,7 @@
 #define CHANNEL_ID 0x01
 #define QSP_PAYLOAD_LENGTH 32
 
-#define QSP_MAX_FRAME_DECODE_TIME 5 //max time that frame can be decoded in ms
+#define QSP_MAX_FRAME_DECODE_TIME 10 //max time that frame can be decoded in ms
 
 #define QSP_FRAME_RC_DATA 0x0
 #define QSP_FRAME_RX_HEALTH 0x1
@@ -90,7 +90,6 @@ struct TxDeviceState_t {
     uint8_t snr = 0;
     uint8_t flags = 0;
     uint32_t roundtrip = 0;
-    bool readPacket = false;
     bool isReceiving = false; //Indicates that TX module is receiving frames from RX module
 };