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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3
.vscode/settings.json vendored
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@@ -9,7 +9,8 @@
"rope": "c", "rope": "c",
"__locale": "c", "__locale": "c",
"string": "c", "string": "c",
"ios": "cpp" "ios": "cpp",
"locale": "cpp"
}, },
"files.exclude": { "files.exclude": {
"**/build": true "**/build": true

4
crossbow/config.h
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@@ -15,8 +15,8 @@
* DEVICE_MODE_TX * DEVICE_MODE_TX
* DEVICE_MODE_RX * DEVICE_MODE_RX
*/ */
#define DEVICE_MODE_TX // #define DEVICE_MODE_TX
// #define DEVICE_MODE_RX #define DEVICE_MODE_RX
#define FEATURE_TX_OLED #define FEATURE_TX_OLED
// #define FORCE_TX_WITHOUT_INPUT // #define FORCE_TX_WITHOUT_INPUT

53
crossbow/crossbow.ino
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@@ -155,9 +155,9 @@ void setup(void)
qsp.onFailureCallback = onQspFailure; qsp.onFailureCallback = onQspFailure;
#ifdef DEVICE_MODE_RX #ifdef DEVICE_MODE_RX
qsp.deviceState = DEVICE_STATE_FAILSAFE; platformNode.platformState = DEVICE_STATE_FAILSAFE;
#else #else
qsp.deviceState = DEVICE_STATE_OK; platformNode.platformState = DEVICE_STATE_OK;
#endif #endif
radioNode.init(LORA_SS_PIN, LORA_RST_PIN, LORA_DI0_PIN, onReceive); radioNode.init(LORA_SS_PIN, LORA_RST_PIN, LORA_DI0_PIN, onReceive);
@@ -213,10 +213,10 @@ void setup(void)
/* /*
* Setup salt bind key * Setup salt bind key
*/ */
qsp.bindKey[0] = 0x12; platformNode.bindKey[0] = 0x12;
qsp.bindKey[1] = 0x0a; platformNode.bindKey[1] = 0x0a;
qsp.bindKey[2] = 0x36; platformNode.bindKey[2] = 0x36;
qsp.bindKey[3] = 0xa7; platformNode.bindKey[3] = 0xa7;
} }
@@ -340,7 +340,7 @@ void loop(void)
txInput.loop(); txInput.loop();
if ( if (
radioNode.deviceState == RADIO_STATE_RX && radioNode.radioState == RADIO_STATE_RX &&
qsp.protocolState == QSP_STATE_IDLE && qsp.protocolState == QSP_STATE_IDLE &&
qsp.lastTxSlotTimestamp + TX_TRANSMIT_SLOT_RATE < currentMillis qsp.lastTxSlotTimestamp + TX_TRANSMIT_SLOT_RATE < currentMillis
) { ) {
@@ -391,11 +391,6 @@ void loop(void)
uint8_t output = constrain(radioNode.rssi - 40, 0, 100); uint8_t output = constrain(radioNode.rssi - 40, 0, 100);
rxDeviceState.indicatedRssi = (output * 10) + 1000; 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) { if (currentMillis > sbusTime) {
platformNode.setRcChannel(RSSI_CHANNEL - 1, rxDeviceState.indicatedRssi, 0); 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); Serial1.write(sbusPacket, SBUS_PACKET_LENGTH);
sbusTime = currentMillis + SBUS_UPDATE_RATE; sbusTime = currentMillis + SBUS_UPDATE_RATE;
} }
if (qsp.lastFrameReceivedAt[QSP_FRAME_RC_DATA] + RX_FAILSAFE_DELAY < currentMillis) { if (qsp.lastFrameReceivedAt[QSP_FRAME_RC_DATA] + RX_FAILSAFE_DELAY < currentMillis) {
qsp.deviceState = DEVICE_STATE_FAILSAFE; platformNode.platformState = DEVICE_STATE_FAILSAFE;
rxDeviceState.indicatedRssi = 0; rxDeviceState.indicatedRssi = 0;
radioNode.rssi = 0; radioNode.rssi = 0;
} else { } else {
qsp.deviceState = DEVICE_STATE_OK; platformNode.platformState = DEVICE_STATE_OK;
} }
#endif #endif
@@ -461,7 +456,7 @@ void loop(void)
//TX module started to receive data //TX module started to receive data
buzzerSingleMode(BUZZER_MODE_DOUBLE_CHIRP, &buzzer); buzzerSingleMode(BUZZER_MODE_DOUBLE_CHIRP, &buzzer);
txDeviceState.isReceiving = true; txDeviceState.isReceiving = true;
qsp.deviceState = DEVICE_STATE_OK; platformNode.platformState = DEVICE_STATE_OK;
} }
//Here we detect failsafe state on TX module //Here we detect failsafe state on TX module
@@ -477,14 +472,14 @@ void loop(void)
rxDeviceState.snr = 0; rxDeviceState.snr = 0;
rxDeviceState.flags = 0; rxDeviceState.flags = 0;
txDeviceState.roundtrip = 0; txDeviceState.roundtrip = 0;
qsp.deviceState = DEVICE_STATE_FAILSAFE; platformNode.platformState = DEVICE_STATE_FAILSAFE;
qsp.anyFrameRecivedAt = 0; qsp.anyFrameRecivedAt = 0;
} }
//FIXME rxDeviceState should be resetted also in RC_HEALT frame is not received in a long period //FIXME rxDeviceState should be resetted also in RC_HEALT frame is not received in a long period
//Handle audible alarms //Handle audible alarms
if (qsp.deviceState == DEVICE_STATE_FAILSAFE) { if (platformNode.platformState == DEVICE_STATE_FAILSAFE) {
//Failsafe detected by TX //Failsafe detected by TX
buzzerContinousMode(BUZZER_MODE_SLOW_BEEP, &buzzer); buzzerContinousMode(BUZZER_MODE_SLOW_BEEP, &buzzer);
} else if (txDeviceState.isReceiving && (rxDeviceState.flags & 0x1) == 1) { } else if (txDeviceState.isReceiving && (rxDeviceState.flags & 0x1) == 1) {
@@ -498,24 +493,32 @@ void loop(void)
buzzerContinousMode(BUZZER_MODE_OFF, &buzzer); buzzerContinousMode(BUZZER_MODE_OFF, &buzzer);
} }
#endif
/* /*
* Handle LED updates * Handle LED updates
*/ */
if (txDeviceState.nextLedUpdate < currentMillis) { if (platformNode.nextLedUpdate < currentMillis) {
#ifdef DEVICE_MODE_TX
if (txDeviceState.isReceiving) { if (txDeviceState.isReceiving) {
digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN)); digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
txDeviceState.nextLedUpdate = currentMillis + 300; platformNode.nextLedUpdate = currentMillis + 300;
} else if (txInput.isReceiving()) { } else if (txInput.isReceiving()) {
digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN)); digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
txDeviceState.nextLedUpdate = currentMillis + 100; platformNode.nextLedUpdate = currentMillis + 100;
} else { } else {
digitalWrite(LED_BUILTIN, HIGH); 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 #endif
}
} }
@@ -536,7 +539,7 @@ void onReceive(int packetSize)
*/ */
LoRa.sleep(); LoRa.sleep();
LoRa.receive(); LoRa.receive();
radioNode.deviceState = RADIO_STATE_RX; radioNode.radioState = RADIO_STATE_RX;
} }
} }
} }

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

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

10
crossbow/radio_node.cpp
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@@ -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 //Setup ISR callback and start receiving
LoRa.onReceive(callback); LoRa.onReceive(callback);
LoRa.receive(); LoRa.receive();
deviceState = RADIO_STATE_RX; radioState = RADIO_STATE_RX;
} }
void RadioNode::readRssi(void) void RadioNode::readRssi(void)
@@ -82,7 +82,7 @@ void RadioNode::readAndDecode(
LoRa.sleep(); LoRa.sleep();
LoRa.receive(); LoRa.receive();
deviceState = RADIO_STATE_RX; radioState = RADIO_STATE_RX;
bytesToRead = NO_DATA_TO_READ; bytesToRead = NO_DATA_TO_READ;
} }
} }
@@ -124,7 +124,7 @@ void RadioNode::handleTxDoneState(bool hop) {
if ( if (
currentMillis > nextTxCheckMillis && currentMillis > nextTxCheckMillis &&
deviceState == RADIO_STATE_TX && radioState == RADIO_STATE_TX &&
!LoRa.isTransmitting() !LoRa.isTransmitting()
) { ) {
@@ -136,7 +136,7 @@ void RadioNode::handleTxDoneState(bool hop) {
} }
LoRa.receive(); LoRa.receive();
deviceState = RADIO_STATE_RX; radioState = RADIO_STATE_RX;
nextTxCheckMillis = currentMillis + 1; //We check of TX done every 1ms nextTxCheckMillis = currentMillis + 1; //We check of TX done every 1ms
} }
} }
@@ -158,5 +158,5 @@ void RadioNode::handleTx(QspConfiguration_t *qsp) {
LoRa.endPacketAsync(); LoRa.endPacketAsync();
//Set state to be able to detect the moment when TX is done //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
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@@ -33,7 +33,7 @@ class RadioNode {
void handleTxDoneState(bool hop); void handleTxDoneState(bool hop);
void handleTx(QspConfiguration_t *qsp); void handleTx(QspConfiguration_t *qsp);
volatile int8_t bytesToRead = -1; 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 rssi = 0;
uint8_t snr = 0; uint8_t snr = 0;
uint8_t lastReceivedChannel = 0; uint8_t lastReceivedChannel = 0;

9
crossbow/variables.h
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@@ -60,12 +60,6 @@ enum dataStates {
QSP_STATE_CRC_RECEIVED 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_PIN 0 // Has to be one of Interrupt pins
#define PPM_INPUT_CHANNEL_COUNT 10 #define PPM_INPUT_CHANNEL_COUNT 10
@@ -88,7 +82,6 @@ struct TxDeviceState_t {
uint8_t flags = 0; uint8_t flags = 0;
uint32_t roundtrip = 0; uint32_t roundtrip = 0;
bool isReceiving = false; //Indicates that TX module is receiving frames from RX module bool isReceiving = false; //Indicates that TX module is receiving frames from RX module
uint32_t nextLedUpdate = 0;
}; };
struct RxDeviceState_t { struct RxDeviceState_t {
@@ -102,7 +95,6 @@ struct RxDeviceState_t {
}; };
struct QspConfiguration_t { struct QspConfiguration_t {
uint8_t bindKey[4] = {0, 0, 0, 0};
uint8_t protocolState = QSP_STATE_IDLE; uint8_t protocolState = QSP_STATE_IDLE;
uint8_t crc = 0; uint8_t crc = 0;
uint8_t payload[QSP_PAYLOAD_LENGTH] = {0}; uint8_t payload[QSP_PAYLOAD_LENGTH] = {0};
@@ -111,7 +103,6 @@ struct QspConfiguration_t {
uint8_t frameId = 0; uint8_t frameId = 0;
uint32_t lastFrameReceivedAt[QSP_FRAME_COUNT] = {0}; uint32_t lastFrameReceivedAt[QSP_FRAME_COUNT] = {0};
uint32_t anyFrameRecivedAt = 0; uint32_t anyFrameRecivedAt = 0;
uint8_t deviceState = DEVICE_STATE_UNDETERMINED;
void (* onSuccessCallback)(QspConfiguration_t*, TxDeviceState_t*, RxDeviceState_t*, uint8_t receivedChannel); void (* onSuccessCallback)(QspConfiguration_t*, TxDeviceState_t*, RxDeviceState_t*, uint8_t receivedChannel);
void (* onFailureCallback)(QspConfiguration_t*, TxDeviceState_t*, RxDeviceState_t*); void (* onFailureCallback)(QspConfiguration_t*, TxDeviceState_t*, RxDeviceState_t*);
bool forcePongFrame = false; bool forcePongFrame = false;