david.tahir/QuadMeUp_Crossbow
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Slots for transmitting on RX side close #8

Browse Source
This commit is contained in:
Pawel Spychalski (DzikuVx)
2017-10-26 20:03:20 +02:00
parent 9e0f425ee9
commit 9ea446de79
4 changed files with 84 additions and 96 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
README.md
View File

@@ -25,8 +25,8 @@ Development, not yet functional
| 0010 | 0x2 | Request receiver configuration | TX -> RX |
| 0011 | 0x3 | Receiver configuration | RX -> TX |
| 0100 | 0x4 | Set receiver configuration | TX -> RX |
| 0101 | 0x5 | PING frame | TX -> RX |
| 0110 | 0x6 | PONG frame | RX -> TX |
| 0101 | 0x5 | PING frame, uses 9 byte payload | TX -> RX |
| 0110 | 0x6 | PONG frame, the same payload as PING | RX -> TX |
### `RC_DATA` frame format

149
crossbow.ino
View File

@@ -1,11 +1,11 @@
#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_SERIAL
// #define DEBUG_PING_PONG
// #define DEBUG_LED
// #define WAIT_FOR_SERIAL
@@ -63,7 +63,7 @@ uint8_t getRadioRssi(void)
return map(constrain(LoRa.packetRssi() * -1, 0, 164), 0, 164, 255, 0);
}
float getRadioSnr(void)
uint8_t getRadioSnr(void)
{
return (uint8_t) constrain(LoRa.packetSnr(), 0, 255);
}
@@ -209,7 +209,7 @@ int8_t rxSendSequence[16] = {
-1,
-1,
-1,
-1,
QSP_FRAME_RX_HEALTH,
-1,
-1,
-1,
@@ -217,7 +217,7 @@ int8_t rxSendSequence[16] = {
-1,
-1,
-1,
-1,
QSP_FRAME_RX_HEALTH,
-1,
-1,
-1
@@ -236,7 +236,13 @@ void updateRxDeviceState(RxDeviceState_t *rxDeviceState) {
rxDeviceState->snr = getRadioSnr();
}
int8_t getFrameToTransmit() {
int8_t getFrameToTransmit(QspConfiguration_t *qsp) {
if (qsp->forcePongFrame) {
qsp->forcePongFrame = false;
return QSP_FRAME_PONG;
}
int8_t retVal = rxSendSequence[currentSequenceIndex];
currentSequenceIndex++;
@@ -250,7 +256,7 @@ int8_t getFrameToTransmit() {
#endif
#ifdef DEVICE_MODE_TX
int8_t getFrameToTransmit() {
int8_t getFrameToTransmit(QspConfiguration_t *qsp) {
int8_t retVal = txSendSequence[currentSequenceIndex];
currentSequenceIndex++;
@@ -284,7 +290,7 @@ void loop(void)
qsp.protocolState == QSP_STATE_IDLE
) {
int8_t frameToSend = getFrameToTransmit();
int8_t frameToSend = getFrameToTransmit(&qsp);
if (frameToSend == QSP_FRAME_RC_DATA && !ppmReader.isReceiving()) {
frameToSend = -1;
@@ -313,17 +319,70 @@ void loop(void)
#endif
// if (
// qsp.forcePongFrame &&
// !transmitPayload &&
// qsp.protocolState == QSP_STATE_IDLE
// )
// {
// qsp.forcePongFrame = false;
// qsp.frameToSend = QSP_FRAME_PONG;
// transmitPayload = true;
// }
#ifdef DEVICE_MODE_RX
/*
* This routine updates RX device state and updates one of radio channels with RSSI value
*/
if (abs(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));
}
}
/*
* Main routine to answer to TX module
*/
if (qsp.transmitWindowOpen && qsp.protocolState == QSP_STATE_IDLE) {
qsp.transmitWindowOpen = false;
int8_t frameToSend = getFrameToTransmit(&qsp);
if (frameToSend > -1) {
qsp.frameToSend = frameToSend;
if (frameToSend != QSP_FRAME_PONG) {
qspClearPayload(&qsp);
}
switch (qsp.frameToSend) {
case QSP_FRAME_PONG:
/*
* Pong frame just responses with received payload
*/
break;
case QSP_FRAME_RX_HEALTH:
encodeRxHealthPayload(&qsp, &rxDeviceState);
break;
}
transmitPayload = true;
}
}
if (currentMillis > sbusTime) {
sbusPreparePacket(sbusPacket, ppm, false, (qsp.deviceState == DEVICE_STATE_FAILSAFE));
Serial1.write(sbusPacket, SBUS_PACKET_LENGTH);
sbusTime = currentMillis + SBUS_UPDATE_RATE;
}
if (abs(currentMillis - qsp.lastFrameReceivedAt[QSP_FRAME_RC_DATA]) > RX_FAILSAFE_DELAY) {
qsp.deviceState = DEVICE_STATE_FAILSAFE;
} else {
qsp.deviceState = DEVICE_STATE_OK;
}
#endif
#ifdef DEVICE_MODE_TX
@@ -363,48 +422,6 @@ void loop(void)
#endif
// #ifdef DEVICE_MODE_RX
// if (currentMillis > sbusTime) {
// sbusPreparePacket(sbusPacket, ppm, false, (qsp.deviceState == DEVICE_STATE_FAILSAFE));
// Serial1.write(sbusPacket, SBUS_PACKET_LENGTH);
// sbusTime = currentMillis + SBUS_UPDATE_RATE;
// }
// /*
// * 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
// )
// {
// qspClearPayload(&qsp);
// encodeRxHealthPayload(&qsp, &rxDeviceState);
// qsp.frameToSend = QSP_FRAME_RX_HEALTH;
// transmitPayload = true;
// }
// #endif
if (qsp.canTransmit && transmitPayload)
{
radioPacketStart();
@@ -413,16 +430,6 @@ void loop(void)
transmitPayload = false;
}
/*
* Here we do state handling and similar operations
*/
#ifdef DEVICE_MODE_RX
if (abs(currentMillis - qsp.lastFrameReceivedAt[QSP_FRAME_RC_DATA]) > RX_FAILSAFE_DELAY) {
qsp.deviceState = DEVICE_STATE_FAILSAFE;
} else {
qsp.deviceState = DEVICE_STATE_OK;
}
#endif
}
#ifdef LORA_HARDWARE_SPI

21
qsp.cpp
View File

@@ -204,19 +204,6 @@ void qspDecodeIncomingFrame(QspConfiguration_t *qsp, uint8_t incomingByte, int p
qsp->lastFrameReceivedAt[frameId] = millis();
}
if (qsp->debugConfig & DEBUG_FLAG_SERIAL) {
Serial.print("Frame ");
Serial.print(frameId);
Serial.println(" received");
}
if (qsp->debugConfig & DEBUG_FLAG_LED) {
digitalWrite(LED_BUILTIN, HIGH);
delay(10);
digitalWrite(LED_BUILTIN, LOW);
delay(100);
}
switch (frameId) {
case QSP_FRAME_RC_DATA:
qspDecodeRcDataFrame(qsp, ppm);
@@ -224,12 +211,6 @@ void qspDecodeIncomingFrame(QspConfiguration_t *qsp, uint8_t incomingByte, int p
case QSP_FRAME_RX_HEALTH:
decodeRxHealthPayload(qsp, rxDeviceState);
if (qsp->debugConfig & DEBUG_FLAG_SERIAL) {
Serial.print("RX RSSI: ");
Serial.println(rxDeviceState->rssi);
Serial.print("RX SNR: ");
Serial.println(rxDeviceState->snr);
}
break;
case QSP_FRAME_PING:
@@ -251,6 +232,8 @@ void qspDecodeIncomingFrame(QspConfiguration_t *qsp, uint8_t incomingByte, int p
//TODO do something in this case
break;
}
qsp->transmitWindowOpen = true;
}
else
{

4
variables.h
View File

@@ -11,12 +11,9 @@
#define RX_TASK_HEALTH 200 //5Hz should be enough
#define RSSI_CHANNEL 11
#define RX_RX_HEALTH_FRAME_RATE 503
#define TX_TRANSMIT_SLOT_RATE 57 //ms
#define RX_FAILSAFE_DELAY (TX_TRANSMIT_SLOT_RATE * 8)
#define TX_PING_RATE 2007
#define CHANNEL_ID 0x01
#define QSP_PREAMBLE 0x51
#define QSP_PAYLOAD_LENGTH 32
@@ -82,6 +79,7 @@ struct QspConfiguration_t {
uint8_t debugConfig = 0;
uint32_t frameDecodingStartedAt = 0;
uint32_t lastTxSlotTimestamp = 0;
bool transmitWindowOpen = false;
};
struct RxDeviceState_t {