david.tahir/QuadMeUp_Crossbow
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Sloted approach on TX side

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This commit is contained in:
Pawel Spychalski (DzikuVx)
2017-10-26 16:16:21 +02:00
parent a800031b0a
commit 9e0f425ee9
2 changed files with 149 additions and 106 deletions
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249
crossbow.ino
View File

@@ -1,12 +1,12 @@
#define LORA_HARDWARE_SPI
// #define DEVICE_MODE_TX
#define DEVICE_MODE_RX
#define DEVICE_MODE_TX
// #define DEVICE_MODE_RX
#define FEATURE_TX_OLED
// #define DEBUG_SERIAL
#define DEBUG_PING_PONG
#define DEBUG_SERIAL
// #define DEBUG_PING_PONG
// #define DEBUG_LED
// #define WAIT_FOR_SERIAL
@@ -91,14 +91,6 @@ void writeToRadio(uint8_t dataByte, QspConfiguration_t *qsp)
#endif
/*
display.clearDisplay();
display.setCursor(0,0);
display.print("Lat:");
display.print(remoteData.latitude);
display.display();
*/
void setup(void)
{
#ifdef DEBUG_SERIAL
@@ -193,6 +185,47 @@ void setup(void)
}
int8_t txSendSequence[16] = {
QSP_FRAME_PING,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA,
QSP_FRAME_RC_DATA
};
int8_t rxSendSequence[16] = {
QSP_FRAME_RX_HEALTH,
-1,
-1,
-1,
-1,
-1,
-1,
-1,
QSP_FRAME_RX_HEALTH,
-1,
-1,
-1,
-1,
-1,
-1,
-1
};
uint8_t currentSequenceIndex = 0;
#define TRANSMIT_SEQUENCE_COUNT 16
#ifdef DEVICE_MODE_RX
void updateRxDeviceState(RxDeviceState_t *rxDeviceState) {
@@ -203,6 +236,30 @@ void updateRxDeviceState(RxDeviceState_t *rxDeviceState) {
rxDeviceState->snr = getRadioSnr();
}
int8_t getFrameToTransmit() {
int8_t retVal = rxSendSequence[currentSequenceIndex];
currentSequenceIndex++;
if (currentSequenceIndex >= TRANSMIT_SEQUENCE_COUNT) {
currentSequenceIndex = 0;
}
return retVal;
}
#endif
#ifdef DEVICE_MODE_TX
int8_t getFrameToTransmit() {
int8_t retVal = txSendSequence[currentSequenceIndex];
currentSequenceIndex++;
if (currentSequenceIndex >= TRANSMIT_SEQUENCE_COUNT) {
currentSequenceIndex = 0;
}
return retVal;
}
#endif
void loop(void)
@@ -220,18 +277,53 @@ void loop(void)
qsp.protocolState = QSP_STATE_IDLE;
}
#ifdef DEVICE_MODE_TX
if (
qsp.forcePongFrame &&
!transmitPayload &&
abs(currentMillis - qsp.lastTxSlotTimestamp) > TX_TRANSMIT_SLOT_RATE &&
qsp.protocolState == QSP_STATE_IDLE
)
{
qsp.forcePongFrame = false;
qsp.lastFrameTransmitedAt[QSP_FRAME_PONG] = currentMillis;
qsp.frameToSend = QSP_FRAME_PONG;
transmitPayload = true;
) {
int8_t frameToSend = getFrameToTransmit();
if (frameToSend == QSP_FRAME_RC_DATA && !ppmReader.isReceiving()) {
frameToSend = -1;
}
if (frameToSend > -1) {
qsp.frameToSend = frameToSend;
qspClearPayload(&qsp);
switch (qsp.frameToSend) {
case QSP_FRAME_PING:
encodePingPayload(&qsp, micros());
break;
case QSP_FRAME_RC_DATA:
encodeRcDataPayload(&qsp, &ppmReader, PPM_INPUT_CHANNEL_COUNT);
break;
}
transmitPayload = true;
}
qsp.lastTxSlotTimestamp = currentMillis;
}
#endif
// if (
// qsp.forcePongFrame &&
// !transmitPayload &&
// qsp.protocolState == QSP_STATE_IDLE
// )
// {
// qsp.forcePongFrame = false;
// qsp.frameToSend = QSP_FRAME_PONG;
// transmitPayload = true;
// }
#ifdef DEVICE_MODE_TX
@@ -269,104 +361,55 @@ void loop(void)
}
#endif
#ifdef DEBUG_PING_PONG
//PING frame
if (
currentMillis - qsp.lastFrameTransmitedAt[QSP_FRAME_PING] > TX_PING_RATE &&
!transmitPayload &&
qsp.protocolState == QSP_STATE_IDLE
)
{
qsp.lastFrameTransmitedAt[QSP_FRAME_PING] = currentMillis;
qspClearPayload(&qsp);
encodePingPayload(&qsp, micros());
qsp.frameToSend = QSP_FRAME_PING;
transmitPayload = true;
}
#endif
/*
* RC_DATA QSP frame
*/
if (
currentMillis - qsp.lastFrameTransmitedAt[QSP_FRAME_RC_DATA] > TX_RC_FRAME_RATE &&
!transmitPayload &&
qsp.protocolState == QSP_STATE_IDLE &&
ppmReader.isReceiving()
)
{
qsp.lastFrameTransmitedAt[QSP_FRAME_RC_DATA] = currentMillis;
// #ifdef DEVICE_MODE_RX
qspClearPayload(&qsp);
encodeRcDataPayload(&qsp, &ppmReader, PPM_INPUT_CHANNEL_COUNT);
qsp.frameToSend = QSP_FRAME_RC_DATA;
// if (currentMillis > sbusTime) {
// sbusPreparePacket(sbusPacket, ppm, false, (qsp.deviceState == DEVICE_STATE_FAILSAFE));
// Serial1.write(sbusPacket, SBUS_PACKET_LENGTH);
transmitPayload = true;
}
// sbusTime = currentMillis + SBUS_UPDATE_RATE;
// }
#endif
// /*
// * This routine updates RX device state and updates one of radio channels with RSSI value
// */
// if (currentMillis - lastRxStateTaskTime > RX_TASK_HEALTH) {
// lastRxStateTaskTime = currentMillis;
// updateRxDeviceState(&rxDeviceState);
// ppm[RSSI_CHANNEL - 1] = map(rxDeviceState.rssi, 0, 255, 1000, 2000);
#ifdef DEVICE_MODE_RX
// if (qsp.deviceState == DEVICE_STATE_FAILSAFE) {
// digitalWrite(LED_BUILTIN, HIGH);
// } else {
// digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
// }
if (currentMillis > sbusTime) {
sbusPreparePacket(sbusPacket, ppm, false, (qsp.deviceState == DEVICE_STATE_FAILSAFE));
Serial1.write(sbusPacket, SBUS_PACKET_LENGTH);
// }
sbusTime = currentMillis + SBUS_UPDATE_RATE;
}
// /*
// * RX_HEALTH QSP frame
// */
// if (
// currentMillis - qsp.lastFrameTransmitedAt[QSP_FRAME_RX_HEALTH] > RX_RX_HEALTH_FRAME_RATE &&
// !transmitPayload &&
// qsp.protocolState == QSP_STATE_IDLE
// )
// {
// qspClearPayload(&qsp);
// encodeRxHealthPayload(&qsp, &rxDeviceState);
// qsp.frameToSend = QSP_FRAME_RX_HEALTH;
/*
* This routine updates RX device state and updates one of radio channels with RSSI value
*/
if (currentMillis - lastRxStateTaskTime > RX_TASK_HEALTH) {
lastRxStateTaskTime = currentMillis;
updateRxDeviceState(&rxDeviceState);
ppm[RSSI_CHANNEL - 1] = map(rxDeviceState.rssi, 0, 255, 1000, 2000);
if (qsp.deviceState == DEVICE_STATE_FAILSAFE) {
digitalWrite(LED_BUILTIN, HIGH);
} else {
digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
}
}
/*
* RX_HEALTH QSP frame
*/
if (
currentMillis - qsp.lastFrameTransmitedAt[QSP_FRAME_RX_HEALTH] > RX_RX_HEALTH_FRAME_RATE &&
!transmitPayload &&
qsp.protocolState == QSP_STATE_IDLE
)
{
qsp.lastFrameTransmitedAt[QSP_FRAME_RX_HEALTH] = currentMillis;
qspClearPayload(&qsp);
encodeRxHealthPayload(&qsp, &rxDeviceState);
qsp.frameToSend = QSP_FRAME_RX_HEALTH;
transmitPayload = true;
}
#endif
// transmitPayload = true;
// }
// #endif
if (qsp.canTransmit && transmitPayload)
{
radioPacketStart();
qspEncodeFrame(&qsp);
radioPacketEnd();
#ifdef DEBUG_LED
digitalWrite(LED_BUILTIN, HIGH);
delay(10);
digitalWrite(LED_BUILTIN, LOW);
delay(70);
digitalWrite(LED_BUILTIN, HIGH);
delay(10);
digitalWrite(LED_BUILTIN, LOW);
#endif
transmitPayload = false;
}

6
variables.h
View File

@@ -12,8 +12,8 @@
#define RSSI_CHANNEL 11
#define RX_RX_HEALTH_FRAME_RATE 503
#define TX_RC_FRAME_RATE 50 //ms
#define RX_FAILSAFE_DELAY (TX_RC_FRAME_RATE * 8)
#define TX_TRANSMIT_SLOT_RATE 57 //ms
#define RX_FAILSAFE_DELAY (TX_TRANSMIT_SLOT_RATE * 8)
#define TX_PING_RATE 2007
@@ -75,13 +75,13 @@ struct QspConfiguration_t {
uint8_t payloadLength = 0;
uint8_t frameToSend = 0;
uint32_t lastFrameReceivedAt[QSP_FRAME_COUNT] = {0};
uint32_t lastFrameTransmitedAt[QSP_FRAME_COUNT] = {0};
uint8_t deviceState = DEVICE_STATE_OK;
void (* hardwareWriteFunction)(uint8_t, QspConfiguration_t*);
bool canTransmit = false;
bool forcePongFrame = false;
uint8_t debugConfig = 0;
uint32_t frameDecodingStartedAt = 0;
uint32_t lastTxSlotTimestamp = 0;
};
struct RxDeviceState_t {