Merge pull request #41 from DzikuVx/tx-non-blocking

Non-blocking (async) LoRa end Packet

.vscode/arduino.json

@@ -1,6 +1,6 @@
 {
     "board": "bsfrance:avr:lora32u4",
     "sketch": "crossbow.ino",
-    "port": "COM4",
+    "port": "COM3",
-    "output": "./build"
+    "output": "../build"
 }

.vscode/c_cpp_properties.json

@@ -3,13 +3,17 @@
         {
             "name": "Win32",
             "includePath": [
-                "C:\\Users\\pspyc\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.6.19\\cores\\arduino",
+                "${workspaceRoot}",
+                "C:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino",
+                "C:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\libraries",
+                "C:\\Users\\pspyc\\Documents\\Arduino\\libraries",
                 "C:\\Users\\pspyc\\Documents\\Arduino\\libraries\\PPMReader"
             ],
             "browse": {
                 "limitSymbolsToIncludedHeaders": false,
                 "path": [
-                    "C:\\Users\\pspyc\\AppData\\Local\\Arduino15\\packages\\arduino\\hardware\\avr\\1.6.19\\cores\\arduino",
+                    "C:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino",
+                    "C:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\libraries",
                     "${workspaceRoot}",
                     "C:\\Users\\pspyc\\Documents\\Arduino\\libraries"
                 ]

crossbow.ino

@@ -1,10 +1,10 @@
-// #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
 
-// #define DEBUG_SERIAL
+#define DEBUG_SERIAL
 // #define DEBUG_PING_PONG
 // #define DEBUG_LED
 
@@ -58,7 +58,7 @@ uint32_t lastOledTaskTime = 0;
 QspConfiguration_t qsp = {};
 RxDeviceState_t rxDeviceState = {};
 TxDeviceState_t txDeviceState = {};
-volatile RadioState_t radioState;
+volatile RadioState_t radioState = {};
 
 uint8_t tmpBuffer[MAX_PACKET_SIZE];
 
@@ -72,7 +72,7 @@ uint8_t getRadioSnr(void)
     return (uint8_t) constrain(LoRa.packetSnr(), 0, 255);
 }
 
-void onQspSuccess(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDeviceState_t *rxDeviceState, RadioState_t *radioState) {
+void onQspSuccess(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDeviceState_t *rxDeviceState, volatile RadioState_t *radioState) {
     //If devide received a valid frame, that means it can start to talk
     qsp->canTransmit = true;
 
@@ -112,7 +112,7 @@ void onQspSuccess(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDev
     qsp->transmitWindowOpen = true;
 }
 
-void onQspFailure(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDeviceState_t *rxDeviceState, RadioState_t *radioState) {
+void onQspFailure(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDeviceState_t *rxDeviceState, volatile RadioState_t *radioState) {
 
 }
 
@@ -158,6 +158,7 @@ void setup(void)
     //Setup ISR callback and start receiving
     LoRa.onReceive(onReceive);
     LoRa.receive();
+    radioState.deviceState = RADIO_STATE_RX;
 
 #ifdef DEVICE_MODE_RX
     //initiallize default ppm values
@@ -251,9 +252,30 @@ int8_t getFrameToTransmit(QspConfiguration_t *qsp) {
 }
 #endif
 
+/*
+ * 
+ * Main loop starts here!
+ * 
+ */
 void loop(void)
 {
 
+    uint32_t currentMillis = millis();
+
+    /*
+     * Detect the moment when radio module stopped transmittig and put it
+     * back in to receive state
+     */
+    if (
+        currentMillis > radioState.nextTxCheckMillis &&
+        radioState.deviceState == RADIO_STATE_TX && 
+        !LoRa.isTransmitting()
+    ) {
+        LoRa.receive();
+        radioState.deviceState = RADIO_STATE_RX;
+        radioState.nextTxCheckMillis = currentMillis + 1; //We check of TX done every 1ms
+    }
+
     if (radioState.bytesToRead != NO_DATA_TO_READ) {
         LoRa.read(tmpBuffer, radioState.bytesToRead);
 
@@ -267,11 +289,11 @@ void loop(void)
         //After reading, flush radio buffer, we have no need for whatever might be over there
         LoRa.sleep();
         LoRa.receive();
+        radioState.deviceState = RADIO_STATE_RX;
 
         radioState.bytesToRead = NO_DATA_TO_READ;
     }
 
-    uint32_t currentMillis = millis();
     bool transmitPayload = false;
 
     /*
@@ -287,6 +309,7 @@ void loop(void)
 #ifdef DEVICE_MODE_TX
 
     if (
+        radioState.deviceState == RADIO_STATE_RX &&
         qsp.protocolState == QSP_STATE_IDLE &&
         qsp.lastTxSlotTimestamp + TX_TRANSMIT_SLOT_RATE < currentMillis
     ) {
@@ -394,9 +417,11 @@ void loop(void)
         qspEncodeFrame(&qsp, tmpBuffer, &size);
         //Sent it to radio in one SPI transaction
         LoRa.write(tmpBuffer, size);
-        LoRa.endPacket();
+        LoRa.endPacketAsync();
-        //After ending packet, put device into receive mode again
+
-        LoRa.receive();
+        //Set state to be able to detect the moment when TX is done
+        radioState.deviceState = RADIO_STATE_TX;
+
         transmitPayload = false;
     }
 
@@ -487,9 +512,6 @@ void loop(void)
 
 void onReceive(int packetSize)
 {
-    if (packetSize == 0)
-        return;
-
     /*
      * We can start reading only when radio is not reading.
      * If not reading, then we might start
@@ -505,6 +527,7 @@ void onReceive(int packetSize)
             */
             LoRa.sleep();
             LoRa.receive();
+            radioState.deviceState = RADIO_STATE_RX;
         }
     }
 }

lora.cpp

@@ -153,6 +153,29 @@ int LoRaClass::endPacket()
   return 1;
 }
 
+//https://github.com/sandeepmistry/arduino-LoRa/pull/62/files
+void LoRaClass::endPacketAsync()
+{
+  // put in TX mode
+  writeRegister(REG_OP_MODE, MODE_LONG_RANGE_MODE | MODE_TX);
+
+  // apparently this grace time is required for the radio
+  delayMicroseconds(150);
+}
+
+//https://github.com/sandeepmistry/arduino-LoRa/pull/62/files
+bool LoRaClass::isTransmitting()
+{
+  if ((readRegister(REG_OP_MODE) & MODE_TX) == MODE_TX)
+    return true;
+
+  if (!(readRegister(REG_IRQ_FLAGS) & IRQ_TX_DONE_MASK) == 0)
+    // clear IRQ's
+    writeRegister(REG_IRQ_FLAGS, IRQ_TX_DONE_MASK);
+
+  return false;
+} 
+
 int LoRaClass::parsePacket(int size)
 {
   int packetLength = 0;

lora.h

@@ -26,6 +26,9 @@ public:
   int beginPacket(int implicitHeader = false);
   int endPacket();
 
+  void endPacketAsync();
+  bool isTransmitting();
+
   int parsePacket(int size = 0);
   int packetRssi();
   float packetSnr();

qsp.cpp

@@ -67,7 +67,7 @@ void qspComputeCrc(QspConfiguration_t *qsp, uint8_t dataByte)
     qsp->crc = crc8_dvb_s2(qsp->crc, dataByte);
 }
 
-void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState, RadioState_t *radioState) {
+void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState, volatile RadioState_t *radioState) {
     qsp->payload[0] = radioState->rssi;
     qsp->payload[1] = radioState->snr;
     qsp->payload[2] = rxDeviceState->rxVoltage;
@@ -161,7 +161,7 @@ void qspDecodeIncomingFrame(
     uint8_t incomingByte, 
     RxDeviceState_t *rxDeviceState, 
     TxDeviceState_t *txDeviceState,
-    RadioState_t *radioState
+    volatile RadioState_t *radioState
 ) {
     static uint8_t frameId;
     static uint8_t payloadLength;

qsp.h

@@ -7,14 +7,14 @@ 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, RadioState_t *radioState);
+void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState, volatile RadioState_t *radioState);
 void encodeRcDataPayload(QspConfiguration_t *qsp, PPMReader *ppmSource, uint8_t noOfChannels);
 void qspDecodeIncomingFrame(
     QspConfiguration_t *qsp, 
     uint8_t incomingByte, 
     RxDeviceState_t *rxDeviceState,
     TxDeviceState_t *txDeviceState,
-    RadioState_t *radioState
+    volatile RadioState_t *radioState
 );
 void qspClearPayload(QspConfiguration_t *qsp);
 void qspEncodeFrame(QspConfiguration_t *qsp, uint8_t buffer[], uint8_t *size);

variables.h

@@ -74,6 +74,9 @@ enum debugConfigFlags {
 
 #define NO_DATA_TO_READ -1
 
+#define RADIO_STATE_TX 1
+#define RADIO_STATE_RX 2
+
 struct RadioState_t {
     uint32_t frequency = 867000000;
     uint32_t loraBandwidth = 250000;
@@ -83,6 +86,8 @@ struct RadioState_t {
     int8_t bytesToRead = -1;
     uint8_t rssi = 0;
     uint8_t snr = 0;
+    uint8_t deviceState = RADIO_STATE_RX;
+    uint32_t nextTxCheckMillis = 0;
 };
 
 struct TxDeviceState_t {
@@ -111,8 +116,8 @@ struct QspConfiguration_t {
     uint32_t lastFrameReceivedAt[QSP_FRAME_COUNT] = {0};
     uint32_t anyFrameRecivedAt = 0;
     uint8_t deviceState = DEVICE_STATE_UNDETERMINED;
-    void (* onSuccessCallback)(QspConfiguration_t*, TxDeviceState_t*, RxDeviceState_t*, RadioState_t*);
+    void (* onSuccessCallback)(QspConfiguration_t*, TxDeviceState_t*, RxDeviceState_t*, volatile RadioState_t*);
-    void (* onFailureCallback)(QspConfiguration_t*, TxDeviceState_t*, RxDeviceState_t*, RadioState_t*);    
+    void (* onFailureCallback)(QspConfiguration_t*, TxDeviceState_t*, RxDeviceState_t*, volatile RadioState_t*);    
     bool canTransmit = false;
     bool forcePongFrame = false;
     uint8_t debugConfig = 0;