david.tahir/QuadMeUp_Crossbow
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This commit is contained in:
Pawel Spychalski
2018-05-16 11:01:00 +02:00
parent 24efa929ca
commit a48497365d
6 changed files with 125 additions and 85 deletions
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62
crossbow/crossbow.ino
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@@ -13,6 +13,7 @@ Copyright (c) 20xx, MPL Contributor1 contrib1@example.net
#include "main_variables.h"
#include "qsp.h"
#include "sbus.h"
#include "radio_node.h"
#ifdef ARDUINO_AVR_FEATHER32U4
#define LORA_SS_PIN 8
@@ -32,6 +33,8 @@ Copyright (c) 20xx, MPL Contributor1 contrib1@example.net
#error please select hardware
#endif
volatile RadioNode radioNode;
/*
* Main defines for device working in TX mode
*/
@@ -87,57 +90,18 @@ volatile RadioState_t radioState = {};
uint8_t tmpBuffer[MAX_PACKET_SIZE];
uint8_t getRadioRssi(void)
{
return 164 - constrain(LoRa.packetRssi() * -1, 0, 164);
}
uint8_t getRadioSnr(void)
{
return (uint8_t) constrain(LoRa.packetSnr(), 0, 255);
}
uint32_t getFrequencyForChannel(uint8_t channel) {
return RADIO_FREQUENCY_MIN + (RADIO_CHANNEL_WIDTH * channel);
}
uint8_t getNextChannel(uint8_t channel) {
return (channel + RADIO_HOP_OFFSET) % RADIO_CHANNEL_COUNT;
}
uint8_t getPrevChannel(uint8_t channel) {
return (RADIO_CHANNEL_COUNT + channel - RADIO_HOP_OFFSET) % RADIO_CHANNEL_COUNT;
}
void hopFrequency(volatile RadioState_t *radioState, bool forward, uint8_t fromChannel, uint32_t timestamp) {
radioState->channelEntryMillis = timestamp;
if (forward) {
radioState->channel = getNextChannel(fromChannel);
} else {
radioState->channel = getPrevChannel(fromChannel);
}
// And set hardware
LoRa.sleep();
LoRa.setFrequency(
getFrequencyForChannel(radioState->channel)
);
LoRa.idle();
}
void onQspSuccess(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDeviceState_t *rxDeviceState, volatile RadioState_t *radioState) {
//If recide received a valid frame, that means it can start to talk
qsp->canTransmit = true;
radioState->rssi = getRadioRssi();
radioState->snr = getRadioSnr();
radioState->rssi = radioNode.getRadioRssi();
radioState->snr = radioNode.getRadioSnr();
/*
* RX module hops to next channel after frame has been received
*/
#ifdef DEVICE_MODE_RX
hopFrequency(radioState, true, radioState->lastReceivedChannel, millis());
radioNode.hopFrequency(true, radioState->lastReceivedChannel, millis());
radioState->failedDwellsCount = 0; // We received a frame, so we can just reset this counter
LoRa.receive(); //Put radio back into receive mode
#endif
@@ -206,7 +170,7 @@ void setup(void)
LORA_DI0_PIN
);
if (!LoRa.begin(getFrequencyForChannel(radioState.channel))) {
if (!LoRa.begin(radioNode.getFrequencyForChannel(radioNode.getChannel()))) {
while (true);
}
@@ -384,15 +348,15 @@ void loop(void)
#ifdef DEVICE_MODE_RX
//In the beginning just keep jumping forward and try to resync over lost single frames
if (radioState.failedDwellsCount < 6 && radioState.channelEntryMillis + RX_CHANNEL_DWELL_TIME < currentMillis) {
if (radioState.failedDwellsCount < 6 && radioNode.getChannelEntryMillis() + RX_CHANNEL_DWELL_TIME < currentMillis) {
radioState.failedDwellsCount++;
hopFrequency(&radioState, true, radioState.channel, radioState.channelEntryMillis + RX_CHANNEL_DWELL_TIME);
radioNode.hopFrequency(true, radioNode.getChannel(), radioNode.getChannelEntryMillis() + RX_CHANNEL_DWELL_TIME);
LoRa.receive();
}
// If we are loosing more frames, start jumping in the opposite direction since probably we are completely out of sync now
if (radioState.failedDwellsCount >= 6 && radioState.channelEntryMillis + (RX_CHANNEL_DWELL_TIME * 5) < currentMillis) {
hopFrequency(&radioState, false, radioState.channel, radioState.channelEntryMillis + RX_CHANNEL_DWELL_TIME); //Start jumping in opposite direction to resync
if (radioState.failedDwellsCount >= 6 && radioNode.getChannelEntryMillis() + (RX_CHANNEL_DWELL_TIME * 5) < currentMillis) {
radioNode.hopFrequency(false, radioNode.getChannel(), radioNode.getChannelEntryMillis() + RX_CHANNEL_DWELL_TIME); //Start jumping in opposite direction to resync
LoRa.receive();
}
@@ -412,7 +376,7 @@ void loop(void)
* In case of TX module, hop right now
*/
#ifdef DEVICE_MODE_TX
hopFrequency(&radioState, true, radioState.channel, millis());
radioNode.hopFrequency(true, radioNode.getChannel(), millis());
#endif
LoRa.receive();
@@ -566,7 +530,7 @@ void loop(void)
uint8_t size;
LoRa.beginPacket();
//Prepare packet
qspEncodeFrame(&qsp, &radioState, tmpBuffer, &size);
qspEncodeFrame(&qsp, &radioState, tmpBuffer, &size, radioNode.getChannel());
//Sent it to radio in one SPI transaction
LoRa.write(tmpBuffer, size);
LoRa.endPacketAsync();