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RC_DATA frame encoded

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This commit is contained in:
Pawel Spychalski (DzikuVx)
2017-09-24 12:05:21 +02:00
parent 6f375eafb6
commit b338ba959a
3 changed files with 91 additions and 31 deletions
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14
README.md
View File

@@ -14,13 +14,13 @@ Cheap DIY RC link based on LoRa 868MHz modules
## Frame types
| Value | Description | Direction |
| ---- | ---- | ---- |
| 000 | RC channels data `RC_DATA` | TX -> RX |
| 001 | Receiver health and basic telemetry `RX_HEALTH` | RX -> TX |
| 010 | Request receiver configuration | TX -> RX |
| 011 | Receiver configuration | RX -> TX |
| 100 | Set receiver configuration | TX -> RX |
| Value | Value hex | Description | Direction |
| ---- | ---- |---- | ---- |
| 0000 | 0x0 | RC channels data `RC_DATA` | TX -> RX |
| 0001 | 0x1 | Receiver health and basic telemetry `RX_HEALTH` | RX -> TX |
| 0010 | 0x2 | Request receiver configuration | TX -> RX |
| 0011 | 0x3 | Receiver configuration | RX -> TX |
| 0100 | 0x4 | Set receiver configuration | TX -> RX |
### `RC_DATA` frame format

11
common.h
View File

@@ -1,12 +1,23 @@
//Only for UART connected radio modules
#define UART_SPEED 57600
#define E45_TTL_100_UART_DOWNTIME 30
#define PPM_CHANNEL_COUNT 10
#define TX_RC_FRAME_RATE 100 //ms
#define CHANNEL_ID 0x01
#define QSP_PREAMBLE 0x51
#define QSP_PAYLOAD_LENGTH 32
#define QSP_FRAME_RC_DATA 0x0
#define QSP_FRAME_RX_HEALTH 0x1
#define PIN_LED 13
enum dataStates {
IDLE,
PREAMBLE_RECEIVED,

97
crossbow.ino
View File

@@ -1,11 +1,10 @@
// #define DEVICE_MODE_TX
#define DEVICE_MODE_RX
#ifdef DEVICE_MODE_TX
#define DEVICE_MODE_TX
// #define DEVICE_MODE_RX
/*
* Main defines for device working in TX mode
*/
#ifdef DEVICE_MODE_TX
#include <PPMReader.h>
@@ -14,8 +13,13 @@
PPMReader ppmReader(PPM_INPUT_PIN, PPM_INPUT_INTERRUPT);
static uint32_t lastRcFrameTransmit = 0;
#endif
/*
* Main defines for device working in RX mode
*/
#ifdef DEVICE_MODE_RX
#include <Adafruit_SSD1306.h>
@@ -92,34 +96,25 @@ void decodeIncomingQspFrame(uint8_t incomingByte) {
} else if (protocolState == PAYLOAD_RECEIVED) {
if (qspCrc == incomingByte) {
display.clearDisplay();
display.setCursor(0, 0);
display.print(qspPayload[0]);
display.setCursor(0, 10);
display.print(qspPayload[1]);
display.setCursor(0, 20);
display.print(qspPayload[2]);
display.setCursor(0, 30);
display.print(qspPayload[3]);
display.display();
//CRC is correct
} else {
display.clearDisplay();
display.setCursor(0, 0);
display.print("CRC failed");
display.display();
//CRC failed, frame has to be rejected
}
// In both cases switch to listening for next preamble
protocolState = IDLE;
}
}
/*
display.clearDisplay();
display.setCursor(0,0);
display.print("Lat:");
display.print(remoteData.latitude);
display.display();
*/
uint8_t getPacketId() {
return packetId++;
}
@@ -171,6 +166,59 @@ void setup(void) {
void loop(void) {
#ifdef DEVICE_MODE_TX
uint32_t currentMillis = millis();
if (currentMillis - lastRcFrameTransmit > TX_RC_FRAME_RATE) {
lastRcFrameTransmit = currentMillis;
uint8_t payloadBit = 0;
uint8_t bitsToMove = 0;
for (uint8_t i = 0; i < QSP_PAYLOAD_LENGTH; i++) {
qspPayload[i] = 0;
}
for (uint8_t i = 0; i < PPM_CHANNEL_COUNT; i++) {
uint16_t channelValue10 = map(ppmReader.get(i), 1000, 2000, 0, 1000) & 0x03ff;
uint8_t channelValue8 = map(ppmReader.get(i), 1000, 2000, 0, 255) & 0xff;
uint8_t channelValue4 = map(ppmReader.get(i), 1000, 2000, 0, 15) & 0x0f;
if (i == 0) {
qspPayload[0] |= (channelValue10 >> 2) & B11111111; //255
qspPayload[1] |= (channelValue10 << 6) & B11000000; //192
} else if (i == 1) {
qspPayload[1] |= (channelValue10 >> 4) & B00111111; //63
qspPayload[2] |= (channelValue10 << 4) & B11110000; //240
} else if (i == 2) {
qspPayload[2] |= (channelValue10 >> 6) & B00001111; //15
qspPayload[3] |= (channelValue10 << 2) & B11111100; //252
} else if (i == 3) {
qspPayload[3] |= (channelValue10 >> 8) & B00000011; //3
qspPayload[4] |= channelValue10 & B11111111; //255
} else if (i == 4) {
qspPayload[5] |= channelValue8;
} else if (i == 5) {
qspPayload[6] |= channelValue8;
} else if (i == 6) {
qspPayload[7] |= (channelValue4 << 4) & B11110000;
} else if (i == 7) {
qspPayload[7] |= channelValue4 & B00001111;
} else if (i == 8) {
qspPayload[8] |= (channelValue4 << 4) & B11110000;
} else if (i == 9) {
qspPayload[8] |= channelValue4 & B00001111;
}
}
//TODO RC_DATA frame length is just now hardcoded
encodeQspFrame(QSP_FRAME_RC_DATA, 9, qspPayload);
Serial.end();
delay(E45_TTL_100_UART_DOWNTIME);
Serial.begin(UART_SPEED);
}
/*
uint8_t pp[4] = {0x41, 0x42, 0x43, 0x44};
encodeQspFrame(0x01, 0x04, pp);
@@ -179,6 +227,7 @@ void loop(void) {
delay(30);
Serial.begin(UART_SPEED);
delay(1000);
*/
#endif
#ifdef DEVICE_MODE_RX