david.tahir/QuadMeUp_Crossbow
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This commit is contained in:
Pawel Spychalski
2018-05-17 14:42:26 +02:00
parent 5ff36034b8
commit a30c14b92c
8 changed files with 50 additions and 46 deletions
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4
crossbow/config.h
View File

@@ -15,8 +15,8 @@
* DEVICE_MODE_TX
* DEVICE_MODE_RX
*/
#define DEVICE_MODE_TX
// #define DEVICE_MODE_RX
// #define DEVICE_MODE_TX
#define DEVICE_MODE_RX
#define FEATURE_TX_OLED
// #define FORCE_TX_WITHOUT_INPUT

55
crossbow/crossbow.ino
View File

@@ -155,9 +155,9 @@ void setup(void)
qsp.onFailureCallback = onQspFailure;
#ifdef DEVICE_MODE_RX
qsp.deviceState = DEVICE_STATE_FAILSAFE;
platformNode.platformState = DEVICE_STATE_FAILSAFE;
#else
qsp.deviceState = DEVICE_STATE_OK;
platformNode.platformState = DEVICE_STATE_OK;
#endif
radioNode.init(LORA_SS_PIN, LORA_RST_PIN, LORA_DI0_PIN, onReceive);
@@ -213,10 +213,10 @@ void setup(void)
/*
* Setup salt bind key
*/
qsp.bindKey[0] = 0x12;
qsp.bindKey[1] = 0x0a;
qsp.bindKey[2] = 0x36;
qsp.bindKey[3] = 0xa7;
platformNode.bindKey[0] = 0x12;
platformNode.bindKey[1] = 0x0a;
platformNode.bindKey[2] = 0x36;
platformNode.bindKey[3] = 0xa7;
}
@@ -340,7 +340,7 @@ void loop(void)
txInput.loop();
if (
radioNode.deviceState == RADIO_STATE_RX &&
radioNode.radioState == RADIO_STATE_RX &&
qsp.protocolState == QSP_STATE_IDLE &&
qsp.lastTxSlotTimestamp + TX_TRANSMIT_SLOT_RATE < currentMillis
) {
@@ -391,11 +391,6 @@ void loop(void)
uint8_t output = constrain(radioNode.rssi - 40, 0, 100);
rxDeviceState.indicatedRssi = (output * 10) + 1000;
if (qsp.deviceState == DEVICE_STATE_FAILSAFE) {
digitalWrite(LED_BUILTIN, HIGH);
} else {
digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
}
}
/*
@@ -431,17 +426,17 @@ void loop(void)
if (currentMillis > sbusTime) {
platformNode.setRcChannel(RSSI_CHANNEL - 1, rxDeviceState.indicatedRssi, 0);
sbusPreparePacket(sbusPacket, false, (qsp.deviceState == DEVICE_STATE_FAILSAFE));
sbusPreparePacket(sbusPacket, false, (platformNode.platformState == DEVICE_STATE_FAILSAFE));
Serial1.write(sbusPacket, SBUS_PACKET_LENGTH);
sbusTime = currentMillis + SBUS_UPDATE_RATE;
}
if (qsp.lastFrameReceivedAt[QSP_FRAME_RC_DATA] + RX_FAILSAFE_DELAY < currentMillis) {
qsp.deviceState = DEVICE_STATE_FAILSAFE;
platformNode.platformState = DEVICE_STATE_FAILSAFE;
rxDeviceState.indicatedRssi = 0;
radioNode.rssi = 0;
} else {
qsp.deviceState = DEVICE_STATE_OK;
platformNode.platformState = DEVICE_STATE_OK;
}
#endif
@@ -461,7 +456,7 @@ void loop(void)
//TX module started to receive data
buzzerSingleMode(BUZZER_MODE_DOUBLE_CHIRP, &buzzer);
txDeviceState.isReceiving = true;
qsp.deviceState = DEVICE_STATE_OK;
platformNode.platformState = DEVICE_STATE_OK;
}
//Here we detect failsafe state on TX module
@@ -477,14 +472,14 @@ void loop(void)
rxDeviceState.snr = 0;
rxDeviceState.flags = 0;
txDeviceState.roundtrip = 0;
qsp.deviceState = DEVICE_STATE_FAILSAFE;
platformNode.platformState = DEVICE_STATE_FAILSAFE;
qsp.anyFrameRecivedAt = 0;
}
//FIXME rxDeviceState should be resetted also in RC_HEALT frame is not received in a long period
//Handle audible alarms
if (qsp.deviceState == DEVICE_STATE_FAILSAFE) {
if (platformNode.platformState == DEVICE_STATE_FAILSAFE) {
//Failsafe detected by TX
buzzerContinousMode(BUZZER_MODE_SLOW_BEEP, &buzzer);
} else if (txDeviceState.isReceiving && (rxDeviceState.flags & 0x1) == 1) {
@@ -498,24 +493,32 @@ void loop(void)
buzzerContinousMode(BUZZER_MODE_OFF, &buzzer);
}
#endif
/*
* Handle LED updates
*/
if (txDeviceState.nextLedUpdate < currentMillis) {
if (platformNode.nextLedUpdate < currentMillis) {
#ifdef DEVICE_MODE_TX
if (txDeviceState.isReceiving) {
digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
txDeviceState.nextLedUpdate = currentMillis + 300;
platformNode.nextLedUpdate = currentMillis + 300;
} else if (txInput.isReceiving()) {
digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
txDeviceState.nextLedUpdate = currentMillis + 100;
platformNode.nextLedUpdate = currentMillis + 100;
} else {
digitalWrite(LED_BUILTIN, HIGH);
txDeviceState.nextLedUpdate = currentMillis + 200;
platformNode.nextLedUpdate = currentMillis + 200;
}
#else
platformNode.nextLedUpdate = currentMillis + 200;
if (platformNode.platformState == DEVICE_STATE_FAILSAFE) {
digitalWrite(LED_BUILTIN, HIGH);
} else {
digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
}
}
#endif
}
}
@@ -536,7 +539,7 @@ void onReceive(int packetSize)
*/
LoRa.sleep();
LoRa.receive();
radioNode.deviceState = RADIO_STATE_RX;
radioNode.radioState = RADIO_STATE_RX;
}
}
}

9
crossbow/platform_node.h
View File

@@ -9,12 +9,21 @@
#define PLATFORM_CHANNEL_COUNT 10
#define PLATFORM_DEFAULT_CHANNEL_VALUE 1000
enum deviceStates {
DEVICE_STATE_OK,
DEVICE_STATE_FAILSAFE,
DEVICE_STATE_UNDETERMINED
};
class PlatformNode {
public:
PlatformNode(void);
int getRcChannel(uint8_t channel);
void setRcChannel(uint8_t channel, int value, int offset);
uint8_t bindKey[4];
uint32_t nextLedUpdate = 0;
uint8_t platformState = DEVICE_STATE_UNDETERMINED;
private:
volatile int _channels[PLATFORM_TOTAL_CHANNEL_COUNT];
};

4
crossbow/qsp.cpp
View File

@@ -50,7 +50,7 @@ void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSta
uint8_t flags = 0;
if (qsp->deviceState == DEVICE_STATE_FAILSAFE) {
if (platformNode.platformState == DEVICE_STATE_FAILSAFE) {
flags |= 0x01 << 0;
}
@@ -136,7 +136,7 @@ void qspClearPayload(QspConfiguration_t *qsp)
void qspInitCrc(QspConfiguration_t *qsp) {
qsp->crc = 0;
for (uint8_t i = 0; i < 4; i++) {
qspComputeCrc(qsp, qsp->bindKey[i]);
qspComputeCrc(qsp, platformNode.bindKey[i]);
}
}

10
crossbow/radio_node.cpp
View File

@@ -41,7 +41,7 @@ void RadioNode::init(uint8_t ss, uint8_t rst, uint8_t di0, void(*callback)(int))
//Setup ISR callback and start receiving
LoRa.onReceive(callback);
LoRa.receive();
deviceState = RADIO_STATE_RX;
radioState = RADIO_STATE_RX;
}
void RadioNode::readRssi(void)
@@ -82,7 +82,7 @@ void RadioNode::readAndDecode(
LoRa.sleep();
LoRa.receive();
deviceState = RADIO_STATE_RX;
radioState = RADIO_STATE_RX;
bytesToRead = NO_DATA_TO_READ;
}
}
@@ -124,7 +124,7 @@ void RadioNode::handleTxDoneState(bool hop) {
if (
currentMillis > nextTxCheckMillis &&
deviceState == RADIO_STATE_TX &&
radioState == RADIO_STATE_TX &&
!LoRa.isTransmitting()
) {
@@ -136,7 +136,7 @@ void RadioNode::handleTxDoneState(bool hop) {
}
LoRa.receive();
deviceState = RADIO_STATE_RX;
radioState = RADIO_STATE_RX;
nextTxCheckMillis = currentMillis + 1; //We check of TX done every 1ms
}
}
@@ -158,5 +158,5 @@ void RadioNode::handleTx(QspConfiguration_t *qsp) {
LoRa.endPacketAsync();
//Set state to be able to detect the moment when TX is done
deviceState = RADIO_STATE_TX;
radioState = RADIO_STATE_TX;
}

2
crossbow/radio_node.h
View File

@@ -33,7 +33,7 @@ class RadioNode {
void handleTxDoneState(bool hop);
void handleTx(QspConfiguration_t *qsp);
volatile int8_t bytesToRead = -1;
volatile uint8_t deviceState = RADIO_STATE_RX;
volatile uint8_t radioState = RADIO_STATE_RX;
uint8_t rssi = 0;
uint8_t snr = 0;
uint8_t lastReceivedChannel = 0;

9
crossbow/variables.h
View File

@@ -60,12 +60,6 @@ enum dataStates {
QSP_STATE_CRC_RECEIVED
};
enum deviceStates {
DEVICE_STATE_OK,
DEVICE_STATE_FAILSAFE,
DEVICE_STATE_UNDETERMINED
};
#define PPM_INPUT_PIN 0 // Has to be one of Interrupt pins
#define PPM_INPUT_CHANNEL_COUNT 10
@@ -88,7 +82,6 @@ struct TxDeviceState_t {
uint8_t flags = 0;
uint32_t roundtrip = 0;
bool isReceiving = false; //Indicates that TX module is receiving frames from RX module
uint32_t nextLedUpdate = 0;
};
struct RxDeviceState_t {
@@ -102,7 +95,6 @@ struct RxDeviceState_t {
};
struct QspConfiguration_t {
uint8_t bindKey[4] = {0, 0, 0, 0};
uint8_t protocolState = QSP_STATE_IDLE;
uint8_t crc = 0;
uint8_t payload[QSP_PAYLOAD_LENGTH] = {0};
@@ -111,7 +103,6 @@ struct QspConfiguration_t {
uint8_t frameId = 0;
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*, uint8_t receivedChannel);
void (* onFailureCallback)(QspConfiguration_t*, TxDeviceState_t*, RxDeviceState_t*);
bool forcePongFrame = false;