Some dependency pleanup

.vscode/settings.json

@@ -15,7 +15,19 @@
         "numeric": "cpp",
         "*.tcc": "cpp",
         "bitset": "cpp",
-        "set": "cpp"
+        "set": "cpp",
+        "array": "cpp",
+        "utility": "cpp",
+        "__bit_reference": "cpp",
+        "__functional_base": "cpp",
+        "atomic": "cpp",
+        "chrono": "cpp",
+        "limits": "cpp",
+        "memory": "cpp",
+        "ratio": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "vector": "cpp"
     },
     "files.exclude": {
         "**/build": true

crossbow/crossbow.ino

@@ -150,6 +150,16 @@ void onQspFailure(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDev
 
 }
 
+//I do not get function pointers to object methods, no way...
+int getRcChannel_wrapper(uint8_t channel) {
+    return platformNode.getRcChannel(channel);
+}
+
+//Same here, wrapper just works
+void setRcChannel_wrapper(uint8_t channel, int value, int offset) {
+    platformNode.setRcChannel(channel, value, offset);
+}
+
 void setup(void)
 {
 #ifdef DEBUG_SERIAL
@@ -158,11 +168,16 @@ void setup(void)
 
     qsp.onSuccessCallback = onQspSuccess;
     qsp.onFailureCallback = onQspFailure;
+    qsp.rcChannelGetCallback = getRcChannel_wrapper;
+    qsp.setRcChannelCallback = setRcChannel_wrapper;
 
 #ifdef DEVICE_MODE_RX
     platformNode.platformState = DEVICE_STATE_FAILSAFE;
 #else
     platformNode.platformState = DEVICE_STATE_OK;
+
+    txInput.setRcChannelCallback = setRcChannel_wrapper;
+
 #endif
 
     radioNode.init(LORA_SS_PIN, LORA_RST_PIN, LORA_DI0_PIN, onReceive);
@@ -274,7 +289,7 @@ void loop(void)
      * This routine handles resync of TX/RX while hoppping frequencies
      * When not in bind mode. Bind mode is single frequency operation
      */
-    if (!plaformNode.isBindMode) {
+    if (!platformNode.isBindMode) {
         radioNode.handleChannelDwell();
     }
 
@@ -314,7 +329,8 @@ void loop(void)
     radioNode.readAndDecode(
         &qsp,
         &rxDeviceState,
-        &txDeviceState
+        &txDeviceState,
+        platformNode.bindKey
     );
 
     bool transmitPayload = false;
@@ -408,7 +424,13 @@ void loop(void)
                     break;
 
                 case QSP_FRAME_RX_HEALTH:
-                    encodeRxHealthPayload(&qsp, &rxDeviceState, radioNode.rssi, radioNode.snr);
+                    encodeRxHealthPayload(
+                        &qsp, 
+                        &rxDeviceState, 
+                        radioNode.rssi, 
+                        radioNode.snr, 
+                        platformNode.platformState
+                    );
                     break;
             }
 
@@ -420,7 +442,7 @@ void loop(void)
     if (currentMillis > sbusTime) {
         platformNode.setRcChannel(RSSI_CHANNEL - 1, rxDeviceState.indicatedRssi, 0);
 
-        sbusPreparePacket(sbusPacket, false, (platformNode.platformState == DEVICE_STATE_FAILSAFE));
+        sbusPreparePacket(sbusPacket, false, (platformNode.platformState == DEVICE_STATE_FAILSAFE), getRcChannel_wrapper);
         Serial1.write(sbusPacket, SBUS_PACKET_LENGTH);
         sbusTime = currentMillis + SBUS_UPDATE_RATE;
     }
@@ -437,7 +459,7 @@ void loop(void)
 
     if (transmitPayload)
     {
-        radioNode.handleTx(&qsp);
+        radioNode.handleTx(&qsp, platformNode.bindKey);
     }
 
 #ifdef DEVICE_MODE_TX

crossbow/qsp.cpp

@@ -3,16 +3,16 @@
 
 void qspDecodeRcDataFrame(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSate) {
 
-    platformNode.setRcChannel(0, (uint16_t) (((uint16_t) qsp->payload[0] << 2) & 0x3fc) | ((qsp->payload[1] >> 6) & 0x03), 1000);
+    qsp->setRcChannelCallback(0, (uint16_t) (((uint16_t) qsp->payload[0] << 2) & 0x3fc) | ((qsp->payload[1] >> 6) & 0x03), 1000);
-    platformNode.setRcChannel(1, (uint16_t) (((uint16_t) qsp->payload[1] << 4) & 0x3f0) | ((qsp->payload[2] >> 4) & 0x0F), 1000);
+    qsp->setRcChannelCallback(1, (uint16_t) (((uint16_t) qsp->payload[1] << 4) & 0x3f0) | ((qsp->payload[2] >> 4) & 0x0F), 1000);
-    platformNode.setRcChannel(2, (uint16_t) (((uint16_t) qsp->payload[2] << 6) & 0x3c0) | ((qsp->payload[3] >> 2) & 0x3F), 1000);
+    qsp->setRcChannelCallback(2, (uint16_t) (((uint16_t) qsp->payload[2] << 6) & 0x3c0) | ((qsp->payload[3] >> 2) & 0x3F), 1000);
-    platformNode.setRcChannel(3, (uint16_t) (((uint16_t) qsp->payload[3] << 8) & 0x300) | ((qsp->payload[4]) & 0xFF), 1000);
+    qsp->setRcChannelCallback(3, (uint16_t) (((uint16_t) qsp->payload[3] << 8) & 0x300) | ((qsp->payload[4]) & 0xFF), 1000);
-    platformNode.setRcChannel(4, ((int) qsp->payload[5]) << 2, 1000);
+    qsp->setRcChannelCallback(4, ((int) qsp->payload[5]) << 2, 1000);
-    platformNode.setRcChannel(5, ((int) qsp->payload[6]) << 2, 1000);
+    qsp->setRcChannelCallback(5, ((int) qsp->payload[6]) << 2, 1000);
-    platformNode.setRcChannel(6, ((int) ((qsp->payload[7] >> 4) & 0b00001111)) << 6, 1000);
+    qsp->setRcChannelCallback(6, ((int) ((qsp->payload[7] >> 4) & 0b00001111)) << 6, 1000);
-    platformNode.setRcChannel(7, ((int) (qsp->payload[7] & 0b00001111)) << 6, 1000);
+    qsp->setRcChannelCallback(7, ((int) (qsp->payload[7] & 0b00001111)) << 6, 1000);
-    platformNode.setRcChannel(8, ((int) ((qsp->payload[8] >> 4) & 0b00001111)) << 6, 1000);
+    qsp->setRcChannelCallback(8, ((int) ((qsp->payload[8] >> 4) & 0b00001111)) << 6, 1000);
-    platformNode.setRcChannel(9, ((int) (qsp->payload[8] & 0b00001111)) << 6, 1000);
+    qsp->setRcChannelCallback(9, ((int) (qsp->payload[8] & 0b00001111)) << 6, 1000);
 }
 
 uint8_t get10bitHighShift(uint8_t channel) {
@@ -41,7 +41,7 @@ void qspComputeCrc(QspConfiguration_t *qsp, uint8_t dataByte)
     qsp->crc = crc8_dvb_s2(qsp->crc, dataByte);
 }
 
-void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState, uint8_t rssi, uint8_t snr) {
+void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState, uint8_t rssi, uint8_t snr, uint8_t platformState) {
     qsp->payload[0] = rssi;
     qsp->payload[1] = snr;
     qsp->payload[2] = rxDeviceState->rxVoltage;
@@ -50,7 +50,7 @@ void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSta
 
     uint8_t flags = 0;
 
-    if (platformNode.platformState == DEVICE_STATE_FAILSAFE) {
+    if (platformState == DEVICE_STATE_FAILSAFE) {
         flags |= 0x01 << 0;
     }
 
@@ -75,7 +75,7 @@ void encodeRcDataPayload(QspConfiguration_t *qsp, uint8_t noOfChannels)
 {
     for (uint8_t i = 0; i < noOfChannels; i++)
     {
-        int cV = constrain(platformNode.getRcChannel(i), 1000, 2000) - 1000;
+        int cV = constrain(qsp->rcChannelGetCallback(i), 1000, 2000) - 1000;
 
         uint16_t channelValue10 = cV & 0x03ff;
         uint8_t channelValue8   = (cV >> 2) & 0xff;
@@ -133,10 +133,10 @@ void qspClearPayload(QspConfiguration_t *qsp)
 /**
  * Init CRC with salt based on 4 byte bind key
  */
-void qspInitCrc(QspConfiguration_t *qsp) {
+void qspInitCrc(QspConfiguration_t *qsp, uint8_t bindKey[]) {
     qsp->crc = 0;
     for (uint8_t i = 0; i < 4; i++) {
-        qspComputeCrc(qsp, platformNode.bindKey[i]);
+        qspComputeCrc(qsp, bindKey[i]);
     }
 }
 
@@ -144,7 +144,8 @@ void qspDecodeIncomingFrame(
     QspConfiguration_t *qsp, 
     uint8_t incomingByte, 
     RxDeviceState_t *rxDeviceState, 
-    TxDeviceState_t *txDeviceState
+    TxDeviceState_t *txDeviceState,
+    uint8_t bindKey[]
 ) {
     static uint8_t frameId;
     static uint8_t payloadLength;
@@ -153,7 +154,7 @@ void qspDecodeIncomingFrame(
 
     if (qsp->protocolState == QSP_STATE_IDLE)
     {
-        qspInitCrc(qsp);
+        qspInitCrc(qsp, bindKey);
         qspClearPayload(qsp);
         receivedPayload = 0;
         qsp->frameDecodingStartedAt = millis();
@@ -201,9 +202,15 @@ void qspDecodeIncomingFrame(
 /**
  * Encode frame is corrent format and write to hardware
  */
-void qspEncodeFrame(QspConfiguration_t *qsp, uint8_t buffer[], uint8_t *size, uint8_t radioChannel) {
+void qspEncodeFrame(
+    QspConfiguration_t *qsp, 
+    uint8_t buffer[], 
+    uint8_t *size, 
+    uint8_t radioChannel,
+    uint8_t bindKey[]
+) {
     //Salt CRC with bind key
-    qspInitCrc(qsp);
+    qspInitCrc(qsp, bindKey);
 
     //Write frame type and length
     // We are no longer sending payload length, so 4 bits are now free for other usages

crossbow/qsp.h

@@ -1,9 +1,6 @@
 #include "Arduino.h"
 #include "variables.h"
 #include "radio_node.h"
-#include "platform_node.h"
-
-extern PlatformNode platformNode;
 
 void qspDecodeRcDataFrame(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSate);
 void decodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState);
@@ -11,15 +8,16 @@ void decodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSta
 uint8_t get10bitHighShift(uint8_t channel);
 uint8_t get10bitLowShift(uint8_t channel);
 void qspComputeCrc(QspConfiguration_t *qsp, uint8_t dataByte);
-void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState, uint8_t rssi, uint8_t snr);
+void encodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState, uint8_t rssi, uint8_t snr, uint8_t platformState);
 void encodeRcDataPayload(QspConfiguration_t *qsp, uint8_t noOfChannels);
 void qspDecodeIncomingFrame(
     QspConfiguration_t *qsp, 
     uint8_t incomingByte, 
     RxDeviceState_t *rxDeviceState,
-    TxDeviceState_t *txDeviceState
+    TxDeviceState_t *txDeviceState,
+    uint8_t bindKey[]
 );
 void qspClearPayload(QspConfiguration_t *qsp);
-void qspEncodeFrame(QspConfiguration_t *qsp, uint8_t buffer[], uint8_t *size, uint8_t radioChannel);
+void qspEncodeFrame(QspConfiguration_t *qsp, uint8_t buffer[], uint8_t *size, uint8_t radioChannel, uint8_t bindKey[]);
 
 void encodePingPayload(QspConfiguration_t *qsp, uint32_t currentMicros);

crossbow/radio_node.cpp

@@ -68,7 +68,8 @@ uint32_t RadioNode::getChannelEntryMillis(void) {
 void RadioNode::readAndDecode(
     QspConfiguration_t *qsp,
     RxDeviceState_t *rxDeviceState,
-    TxDeviceState_t *txDeviceState
+    TxDeviceState_t *txDeviceState,
+    uint8_t bindKey[]
 ) {
     uint8_t tmpBuffer[MAX_PACKET_SIZE];
     /*
@@ -78,7 +79,7 @@ void RadioNode::readAndDecode(
         LoRa.read(tmpBuffer, bytesToRead);
 
         for (int i = 0; i < bytesToRead; i++) {
-            qspDecodeIncomingFrame(qsp, tmpBuffer[i], rxDeviceState, txDeviceState);
+            qspDecodeIncomingFrame(qsp, tmpBuffer[i], rxDeviceState, txDeviceState, bindKey);
         }
 
         //After reading, flush radio buffer, we have no need for whatever might be over there
@@ -144,7 +145,7 @@ void RadioNode::handleTxDoneState(bool hop) {
     }
 }
 
-void RadioNode::handleTx(QspConfiguration_t *qsp) {
+void RadioNode::handleTx(QspConfiguration_t *qsp, uint8_t bindKey[]) {
 
     if (!canTransmit) {
         return;
@@ -155,7 +156,7 @@ void RadioNode::handleTx(QspConfiguration_t *qsp) {
 
     LoRa.beginPacket();
     //Prepare packet
-    qspEncodeFrame(qsp, tmpBuffer, &size, getChannel());
+    qspEncodeFrame(qsp, tmpBuffer, &size, getChannel(), bindKey);
     //Sent it to radio in one SPI transaction
     LoRa.write(tmpBuffer, size);
     LoRa.endPacketAsync();

crossbow/radio_node.h

@@ -24,18 +24,19 @@ class RadioNode {
         void readAndDecode(
             QspConfiguration_t *qsp,
             RxDeviceState_t *rxDeviceState,
-            TxDeviceState_t *txDeviceState
+            TxDeviceState_t *txDeviceState,
+            uint8_t bindKey[]
         );
         uint8_t getChannel(void);
         uint32_t getChannelEntryMillis(void);
         void handleChannelDwell(void);
         void handleTxDoneState(bool hop);
-        void handleTx(QspConfiguration_t *qsp);
+        void handleTx(QspConfiguration_t *qsp, uint8_t bindKey[]);
         void set(
             uint8_t power, 
             long bandwidth, 
             uint8_t spreadingFactor, 
-            uint8_t codingRate, 
+            uint8_t codingRate,
             long frequency
         );
         volatile int8_t bytesToRead = -1;

crossbow/sbus.cpp

@@ -1,5 +1,4 @@
 #include "Arduino.h"
-#include "variables.h"
 #include "sbus.h"
 
 #define SBUS_MIN_OFFSET 173
@@ -31,7 +30,7 @@ int mapSbusToChannel(int in) {
     return (((long) in - 173l) * 1020l / 1638l) + 990;
 }
 
-void sbusPreparePacket(uint8_t packet[], bool isSignalLoss, bool isFailsafe){
+void sbusPreparePacket(uint8_t packet[], bool isSignalLoss, bool isFailsafe, int (* rcChannelGetCallback)(uint8_t)) {
     
     int output[SBUS_CHANNEL_NUMBER];
     
@@ -40,7 +39,7 @@ void sbusPreparePacket(uint8_t packet[], bool isSignalLoss, bool isFailsafe){
      * 173-1811 with middle at 992 S.BUS protocol requires
      */
     for (uint8_t i = 0; i < SBUS_CHANNEL_NUMBER; i++) {
-        output[i] = mapChannelToSbus(platformNode.getRcChannel(i));
+        output[i] = mapChannelToSbus(rcChannelGetCallback(i));
     }
 
     uint8_t stateByte = 0x00;
@@ -115,18 +114,18 @@ void SbusInput::recoverStuckFrames(void)
     }
 }
 
-void sbusToChannels(byte buffer[]) {
+void SbusInput::sbusToChannels(byte buffer[]) {
 
-    platformNode.setRcChannel(0, mapSbusToChannel((buffer[1] | buffer[2]<<8) & 0x07FF), 0);
+    setRcChannelCallback(0, mapSbusToChannel((buffer[1] | buffer[2]<<8) & 0x07FF), 0);
-    platformNode.setRcChannel(1, mapSbusToChannel((buffer[2]>>3 | buffer[3]<<5) & 0x07FF), 0);
+    setRcChannelCallback(1, mapSbusToChannel((buffer[2]>>3 | buffer[3]<<5) & 0x07FF), 0);
-    platformNode.setRcChannel(2, mapSbusToChannel((buffer[3]>>6 | buffer[4]<<2 | buffer[5]<<10) & 0x07FF), 0);
+    setRcChannelCallback(2, mapSbusToChannel((buffer[3]>>6 | buffer[4]<<2 | buffer[5]<<10) & 0x07FF), 0);
-    platformNode.setRcChannel(3, mapSbusToChannel((buffer[5]>>1 | buffer[6]<<7) & 0x07FF), 0);
+    setRcChannelCallback(3, mapSbusToChannel((buffer[5]>>1 | buffer[6]<<7) & 0x07FF), 0);
-    platformNode.setRcChannel(4, mapSbusToChannel((buffer[6]>>4 | buffer[7]<<4) & 0x07FF), 0);
+    setRcChannelCallback(4, mapSbusToChannel((buffer[6]>>4 | buffer[7]<<4) & 0x07FF), 0);
-    platformNode.setRcChannel(5, mapSbusToChannel((buffer[7]>>7 | buffer[8]<<1 |buffer[9]<<9) & 0x07FF), 0);
+    setRcChannelCallback(5, mapSbusToChannel((buffer[7]>>7 | buffer[8]<<1 |buffer[9]<<9) & 0x07FF), 0);
-    platformNode.setRcChannel(6, mapSbusToChannel((buffer[9]>>2 | buffer[10]<<6) & 0x07FF), 0);
+    setRcChannelCallback(6, mapSbusToChannel((buffer[9]>>2 | buffer[10]<<6) & 0x07FF), 0);
-    platformNode.setRcChannel(7, mapSbusToChannel((buffer[10]>>5 | buffer[11]<<3) & 0x07FF), 0);
+    setRcChannelCallback(7, mapSbusToChannel((buffer[10]>>5 | buffer[11]<<3) & 0x07FF), 0);
-    platformNode.setRcChannel(8, mapSbusToChannel((buffer[12]   | buffer[13]<<8) & 0x07FF), 0);
+    setRcChannelCallback(8, mapSbusToChannel((buffer[12]   | buffer[13]<<8) & 0x07FF), 0);
-    platformNode.setRcChannel(9, mapSbusToChannel((buffer[13]>>3 | buffer[14]<<5) & 0x07FF), 0);
+    setRcChannelCallback(9, mapSbusToChannel((buffer[13]>>3 | buffer[14]<<5) & 0x07FF), 0);
 
     //We use only 10 channels, so the reset can be just ignored
 }

crossbow/sbus.h

@@ -19,15 +19,17 @@ class SbusInput : public TxInput
     void loop(void);
     bool isReceiving(void);
     void recoverStuckFrames(void);
+    void (* setRcChannelCallback)(uint8_t channel, int value, int offset);
   private:
   	HardwareSerial &_serial;
     uint32_t _frameDecodingStartedAt = 0;
     uint32_t _frameDecodingEndedAt = 0 ;
     uint8_t _protocolState = SBUS_DECODING_STATE_IDLE;
-	void sbusRead(void);
+	  void sbusRead(void);
+    void sbusToChannels(byte buffer[]);
 };
 
-void sbusPreparePacket(uint8_t packet[], bool isSignalLoss, bool isFailsafe);
+void sbusPreparePacket(uint8_t packet[], bool isSignalLoss, bool isFailsafe, int (* rcChannelGetCallback)(uint8_t));
 
 #endif
 

crossbow/variables.h

@@ -1,5 +1,6 @@
 #include "Arduino.h"
 #include "radio_node.h"
+#include "platform_node.h"
 
 #pragma once
 
@@ -101,6 +102,8 @@ struct QspConfiguration_t {
     uint32_t anyFrameRecivedAt = 0;
     void (* onSuccessCallback)(QspConfiguration_t*, TxDeviceState_t*, RxDeviceState_t*, uint8_t receivedChannel);
     void (* onFailureCallback)(QspConfiguration_t*, TxDeviceState_t*, RxDeviceState_t*);    
+    int (* rcChannelGetCallback)(uint8_t);
+    void (* setRcChannelCallback)(uint8_t channel, int value, int offset);
     bool forcePongFrame = false;
     uint32_t frameDecodingStartedAt = 0;
     uint32_t lastTxSlotTimestamp = 0;