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

progress

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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;
}
}
}