david.tahir/QuadMeUp_Crossbow
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Syncing improvements

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This commit is contained in:
Pawel Spychalski (DzikuVx)
2018-04-19 16:06:54 +02:00
parent feeeb78105
commit 956fe00ccb
1 changed files with 21 additions and 7 deletions
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28
crossbow/crossbow.ino
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@@ -103,8 +103,8 @@ uint8_t getPrevChannel(uint8_t channel) {
return (RADIO_CHANNEL_COUNT + channel - RADIO_HOP_OFFSET) % RADIO_CHANNEL_COUNT; return (RADIO_CHANNEL_COUNT + channel - RADIO_HOP_OFFSET) % RADIO_CHANNEL_COUNT;
} }
void hopFrequency(volatile RadioState_t *radioState, bool forward, uint8_t fromChannel) { void hopFrequency(volatile RadioState_t *radioState, bool forward, uint8_t fromChannel, uint32_t timestamp) {
radioState->channelEntryMillis = millis(); radioState->channelEntryMillis = timestamp;
if (forward) { if (forward) {
radioState->channel = getNextChannel(fromChannel); radioState->channel = getNextChannel(fromChannel);
@@ -128,7 +128,7 @@ void onQspSuccess(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDev
* RX module hops to next channel after frame has been received * RX module hops to next channel after frame has been received
*/ */
#ifdef DEVICE_MODE_RX #ifdef DEVICE_MODE_RX
hopFrequency(radioState, true, radioState->lastReceivedChannel); hopFrequency(radioState, true, radioState->lastReceivedChannel, millis());
radioState->failedDwellsCount = 0; // We received a frame, so we can just reset this counter radioState->failedDwellsCount = 0; // We received a frame, so we can just reset this counter
LoRa.receive(); //Put radio back into receive mode LoRa.receive(); //Put radio back into receive mode
#endif #endif
@@ -333,15 +333,29 @@ void loop(void)
//In the beginning just keep jumping forward and try to resync over lost single frames //In the beginning just keep jumping forward and try to resync over lost single frames
if (radioState.failedDwellsCount < 6 && radioState.channelEntryMillis + RX_CHANNEL_DWELL_TIME < currentMillis) { if (radioState.failedDwellsCount < 6 && radioState.channelEntryMillis + RX_CHANNEL_DWELL_TIME < currentMillis) {
hopFrequency(&radioState, true, radioState.channel);
LoRa.receive();
radioState.failedDwellsCount++; radioState.failedDwellsCount++;
#ifdef DEBUG_SERIAL
Serial.print("Sync forward on ch ");
Serial.print(radioState.channel);
Serial.print(" number ");
Serial.println(radioState.failedDwellsCount);
#endif
hopFrequency(&radioState, true, radioState.channel, radioState.channelEntryMillis + RX_CHANNEL_DWELL_TIME);
LoRa.receive();
} }
// If we are loosing more frames, start jumping in the opposite direction since probably we are completely out of sync now // If we are loosing more frames, start jumping in the opposite direction since probably we are completely out of sync now
if (radioState.failedDwellsCount >= 6 && radioState.channelEntryMillis + (RX_CHANNEL_DWELL_TIME * 5) < currentMillis) { if (radioState.failedDwellsCount >= 6 && radioState.channelEntryMillis + (RX_CHANNEL_DWELL_TIME * 5) < currentMillis) {
hopFrequency(&radioState, false, radioState.channel); //Start jumping in opposite direction to resync hopFrequency(&radioState, false, radioState.channel, radioState.channelEntryMillis + RX_CHANNEL_DWELL_TIME); //Start jumping in opposite direction to resync
LoRa.receive(); LoRa.receive();
#ifdef DEBUG_SERIAL
Serial.println("Sync backward");
#endif
} }
#endif #endif
@@ -360,7 +374,7 @@ void loop(void)
* In case of TX module, hop right now * In case of TX module, hop right now
*/ */
#ifdef DEVICE_MODE_TX #ifdef DEVICE_MODE_TX
hopFrequency(&radioState, true, radioState.channel); hopFrequency(&radioState, true, radioState.channel, millis());
#endif #endif
LoRa.receive(); LoRa.receive();