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Merge pull request #47 from unitware/conditional-ppm-input-on-tx

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Hardware and configuration selections and travis build server setup
This commit is contained in:
Paweł Spychalski
2018-02-12 15:48:13 +01:00
committed by GitHub
parent 2ac0ce9b49 64e05f911a
commit cf056fb528
18 changed files with 229 additions and 91 deletions
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3
.gitignore vendored
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@@ -1 +1,4 @@
build
ppm_reader.*
config_tx_ppm.h
.DS_Store

33
.travis.yml Normal file
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@@ -0,0 +1,33 @@
language: c
env:
matrix:
- BOARD="adafruit:samd:adafruit_feather_m0" CONFIG="tx_sbus"
- BOARD="adafruit:samd:adafruit_feather_m0" CONFIG="rx"
- BOARD="adafruit:avr:feather32u4" CONFIG="tx_sbus"
- BOARD="adafruit:avr:feather32u4" CONFIG="rx"
before_install:
- "/sbin/start-stop-daemon --start --quiet --pidfile /tmp/custom_xvfb_1.pid --make-pidfile --background --exec /usr/bin/Xvfb -- :1 -ac -screen 0 1280x1024x16"
- sleep 3
- export DISPLAY=:1.0
- wget http://downloads.arduino.cc/arduino-1.8.5-linux64.tar.xz
- tar xf arduino-1.8.5-linux64.tar.xz
- sudo mv arduino-1.8.5 /usr/local/share/arduino
- sudo ln -s /usr/local/share/arduino/arduino /usr/local/bin/arduino
- arduino --pref "boardsmanager.additional.urls=https://adafruit.github.io/arduino-board-index/package_adafruit_index.json" --save-prefs
- if [[ "$BOARD" =~ "adafruit:avr:" ]]; then
arduino --install-boards adafruit:avr > /tmp/install_boards.log || cat /tmp/install_boards.log ;
fi
- if [[ "$BOARD" =~ "adafruit:samd:" ]]; then
arduino --install-boards arduino:samd > /tmp/install_boards.log || cat /tmp/install_boards.log ;
arduino --install-boards adafruit:samd > /tmp/install_boards.log || cat /tmp/install_boards.log ;
fi
- arduino --pref "boardsmanager.additional.urls=" --save-prefs
install:
- arduino --install-library "Adafruit SSD1306","Adafruit GFX Library"
script:
- cp -f $PWD/crossbow/configurations/config_${CONFIG}.h $PWD/crossbow/config.h &&
arduino --verify --board $BOARD $PWD/crossbow/crossbow.ino
notifications:
email:
on_success: change
on_failure: change

17
crossbow/config.h Normal file
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@@ -0,0 +1,17 @@
#ifndef CONFIG_H
#define CONFIG_H
#define DEVICE_MODE_TX
// #define DEVICE_MODE_RX
#define FEATURE_TX_OLED
// #define FORCE_TX_WITHOUT_INPUT
#define FEATURE_TX_INPUT_PPM
// #define FEATURE_TX_INPUT_SBUS
// #define DEBUG_SERIAL
// #define DEBUG_PING_PONG
// #define DEBUG_LED
// #define DEBUG_TX_INPUT_ON_OLED
#endif

6
crossbow/configurations/config_rx.h Normal file
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@@ -0,0 +1,6 @@
#ifndef CONFIG_H
#define CONFIG_H
#define DEVICE_MODE_RX
#endif

9
crossbow/configurations/config_tx_sbus.h Normal file
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@@ -0,0 +1,9 @@
#ifndef CONFIG_H
#define CONFIG_H
#define DEVICE_MODE_TX
#define FEATURE_TX_OLED
#define FEATURE_TX_INPUT_SBUS
#endif

72
crossbow.ino → crossbow/crossbow.ino
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@@ -1,12 +1,13 @@
#define DEVICE_MODE_TX
// #define DEVICE_MODE_RX
/*
This Source Code Form is subject to the terms of the Mozilla Public
License, v. 2.0. If a copy of the MPL was not distributed with this file,
You can obtain one at http://mozilla.org/MPL/2.0/.
// #define FEATURE_TX_OLED
// #define FORCE_TX_WITHOUT_INPUT
Copyright (c) 20xx, MPL Contributor1 contrib1@example.net
*/
#include "config.h"
#define DEBUG_SERIAL
// #define DEBUG_PING_PONG
// #define DEBUG_LED
#include "lora.h"
#include "variables.h"
@@ -14,27 +15,44 @@
#include "qsp.h"
#include "sbus.h"
// LoRa32u4 ports
#define LORA32U4_SS_PIN 8
#define LORA32U4_RST_PIN 4
#define LORA32U4_DI0_PIN 7
#ifdef ARDUINO_AVR_FEATHER32U4
#define LORA_SS_PIN 8
#define LORA_RST_PIN 4
#define LORA_DI0_PIN 7
#elif defined(ARDUINO_SAMD_FEATHER_M0)
#define LORA_SS_PIN 8
#define LORA_RST_PIN 4
#define LORA_DI0_PIN 3
#else
#error please select hardware
#endif
/*
* Main defines for device working in TX mode
*/
#ifdef DEVICE_MODE_TX
// #include <PPMReader.h>
// PPMReader ppmReader(PPM_INPUT_PIN, PPM_INPUT_INTERRUPT, true);
SbusInput_t sbusInput = {};
#ifdef FEATURE_TX_INPUT_PPM
#include "ppm_reader.h"
PPM_Reader txInput(PPM_INPUT_PIN, true);
#elif defined(FEATURE_TX_INPUT_SBUS)
#include "sbus.h"
SbusInput txInput(Serial1);
#else
#error please select tx input source
#endif
volatile int16_t TxInput::channels[TX_INPUT_CHANNEL_COUNT];
// FUTABA_SBUS sBus;
#include "txbuzzer.h"
BuzzerState_t buzzer;
#ifdef FEATURE_TX_OLED
#include "Wire.h"
#define OLED_RESET -1
#include <Adafruit_SSD1306.h>
@@ -137,9 +155,9 @@ void setup(void)
* Setup hardware
*/
LoRa.setPins(
LORA32U4_SS_PIN,
LORA32U4_RST_PIN,
LORA32U4_DI0_PIN
LORA_SS_PIN,
LORA_RST_PIN,
LORA_DI0_PIN
);
if (!LoRa.begin(radioState.frequency))
@@ -182,7 +200,6 @@ void setup(void)
#ifdef DEVICE_MODE_TX
#ifdef FEATURE_TX_OLED
Wire.setClock(400000);
display.begin(SSD1306_SWITCHCAPVCC, 0x3C); // initialize with the I2C addr 0x3C (for the 128x32)
@@ -205,7 +222,7 @@ void setup(void)
/*
* Prepare Serial1 for S.Bus processing
*/
Serial1.begin(100000, SERIAL_8N2);
txInput.start();
#endif
pinMode(LED_BUILTIN, OUTPUT);
@@ -318,9 +335,7 @@ void loop(void)
#ifdef DEVICE_MODE_TX
if (Serial1.available()) {
sbusRead(Serial1, &sbusInput);
}
txInput.loop();
if (
radioState.deviceState == RADIO_STATE_RX &&
@@ -335,7 +350,7 @@ void loop(void)
* If module is not receiving data from radio, do not send RC DATA
* This is the only way to trigger failsafe in that case
*/
if (frameToSend == QSP_FRAME_RC_DATA && !isReceivingSbus(&sbusInput)) {
if (frameToSend == QSP_FRAME_RC_DATA && !txInput.isReceiving()) {
frameToSend = -1;
}
#endif
@@ -351,7 +366,7 @@ void loop(void)
break;
case QSP_FRAME_RC_DATA:
encodeRcDataPayload(&qsp, sbusInput.channels, PPM_INPUT_CHANNEL_COUNT);
encodeRcDataPayload(&qsp, txInput.channels, PPM_INPUT_CHANNEL_COUNT);
break;
}
@@ -494,7 +509,6 @@ void loop(void)
currentMillis - lastOledTaskTime > OLED_UPDATE_RATE
) {
lastOledTaskTime = currentMillis;
display.clearDisplay();
display.setTextColor(WHITE, BLACK);
@@ -514,6 +528,12 @@ void loop(void)
display.setTextSize(2);
display.print(rxDeviceState.snr);
#ifdef DEBUG_TX_INPUT_ON_OLED
display.setCursor(0, 48);
display.setTextSize(2);
display.print(txInput.channels[0]);
#endif
display.setCursor(54, 48);
display.setTextSize(2);
display.print(txDeviceState.roundtrip);

0
lora.cpp → crossbow/lora.cpp
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0
lora.h → crossbow/lora.h
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0
main_variables.h → crossbow/main_variables.h
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3
qsp.cpp → crossbow/qsp.cpp
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@@ -1,6 +1,5 @@
#include "Arduino.h"
#include "variables.h"
#include <PPMReader.h>
void qspDecodeRcDataFrame(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSate) {
int temporaryPpmOutput[PPM_OUTPUT_CHANNEL_COUNT] = {0};
@@ -93,7 +92,7 @@ void decodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSta
/**
* Encode 10 RC channels
*/
void encodeRcDataPayload(QspConfiguration_t *qsp, int channels[], uint8_t noOfChannels)
void encodeRcDataPayload(QspConfiguration_t *qsp, volatile int16_t channels[], uint8_t noOfChannels)
{
for (uint8_t i = 0; i < noOfChannels; i++)
{

3
qsp.h → crossbow/qsp.h
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@@ -1,5 +1,4 @@
#include "Arduino.h"
#include <PPMReader.h>
void qspDecodeRcDataFrame(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceSate);
void decodeRxHealthPayload(QspConfiguration_t *qsp, RxDeviceState_t *rxDeviceState);
@@ -8,7 +7,7 @@ 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, volatile RadioState_t *radioState);
void encodeRcDataPayload(QspConfiguration_t *qsp, int channels[], uint8_t noOfChannels);
void encodeRcDataPayload(QspConfiguration_t *qsp, volatile int16_t channels[], uint8_t noOfChannels);
void qspDecodeIncomingFrame(
QspConfiguration_t *qsp,
uint8_t incomingByte,

63
sbus.cpp → crossbow/sbus.cpp
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@@ -1,5 +1,6 @@
#include "Arduino.h"
#include "variables.h"
#include "sbus.h"
#define SBUS_MIN_OFFSET 173
#define SBUS_MID_OFFSET 992
@@ -28,7 +29,7 @@ int mapSbusToChannel(int in) {
return map(in, 173, 1811, 990, 2010);
}
void sbusPreparePacket(uint8_t packet[], int channels[], bool isSignalLoss, bool isFailsafe){
void sbusPreparePacket(uint8_t packet[], int16_t channels[], bool isSignalLoss, bool isFailsafe){
static int output[SBUS_CHANNEL_NUMBER] = {0};
@@ -76,7 +77,24 @@ void sbusPreparePacket(uint8_t packet[], int channels[], bool isSignalLoss, bool
packet[24] = SBUS_FRAME_FOOTER; //Footer
}
void sbusRead(HardwareSerial &_serial, SbusInput_t *sbusInput) {
SbusInput::SbusInput(HardwareSerial &serial) : _serial(serial)
{
}
void SbusInput::loop(void)
{
if (_serial.available()) {
sbusRead();
}
}
void SbusInput::start(void)
{
_serial.begin(100000, SERIAL_8N2);
}
void SbusInput::sbusRead() {
static byte buffer[25];
static byte buffer_index = 0;
@@ -103,33 +121,32 @@ void sbusRead(HardwareSerial &_serial, SbusInput_t *sbusInput) {
}
_goodFrames++;
sbusInput->channels[0] = ((buffer[1] |buffer[2]<<8) & 0x07FF);
sbusInput->channels[1] = ((buffer[2]>>3 |buffer[3]<<5) & 0x07FF);
sbusInput->channels[2] = ((buffer[3]>>6 |buffer[4]<<2 |buffer[5]<<10) & 0x07FF);
sbusInput->channels[3] = ((buffer[5]>>1 |buffer[6]<<7) & 0x07FF);
sbusInput->channels[4] = ((buffer[6]>>4 |buffer[7]<<4) & 0x07FF);
sbusInput->channels[5] = ((buffer[7]>>7 |buffer[8]<<1 |buffer[9]<<9) & 0x07FF);
sbusInput->channels[6] = ((buffer[9]>>2 |buffer[10]<<6) & 0x07FF);
sbusInput->channels[7] = ((buffer[10]>>5|buffer[11]<<3) & 0x07FF);
sbusInput->channels[8] = ((buffer[12] |buffer[13]<<8) & 0x07FF);
sbusInput->channels[9] = ((buffer[13]>>3|buffer[14]<<5) & 0x07FF);
sbusInput->channels[10] = ((buffer[14]>>6|buffer[15]<<2|buffer[16]<<10) & 0x07FF);
sbusInput->channels[11] = ((buffer[16]>>1|buffer[17]<<7) & 0x07FF);
sbusInput->channels[12] = ((buffer[17]>>4|buffer[18]<<4) & 0x07FF);
sbusInput->channels[13] = ((buffer[18]>>7|buffer[19]<<1|buffer[20]<<9) & 0x07FF);
sbusInput->channels[14] = ((buffer[20]>>2|buffer[21]<<6) & 0x07FF);
sbusInput->channels[15] = ((buffer[21]>>5|buffer[22]<<3) & 0x07FF);
channels[0] = ((buffer[1] |buffer[2]<<8) & 0x07FF);
channels[1] = ((buffer[2]>>3 |buffer[3]<<5) & 0x07FF);
channels[2] = ((buffer[3]>>6 |buffer[4]<<2 |buffer[5]<<10) & 0x07FF);
channels[3] = ((buffer[5]>>1 |buffer[6]<<7) & 0x07FF);
channels[4] = ((buffer[6]>>4 |buffer[7]<<4) & 0x07FF);
channels[5] = ((buffer[7]>>7 |buffer[8]<<1 |buffer[9]<<9) & 0x07FF);
channels[6] = ((buffer[9]>>2 |buffer[10]<<6) & 0x07FF);
channels[7] = ((buffer[10]>>5|buffer[11]<<3) & 0x07FF);
channels[8] = ((buffer[12] |buffer[13]<<8) & 0x07FF);
channels[9] = ((buffer[13]>>3|buffer[14]<<5) & 0x07FF);
channels[10] = ((buffer[14]>>6|buffer[15]<<2|buffer[16]<<10) & 0x07FF);
channels[11] = ((buffer[16]>>1|buffer[17]<<7) & 0x07FF);
channels[12] = ((buffer[17]>>4|buffer[18]<<4) & 0x07FF);
channels[13] = ((buffer[18]>>7|buffer[19]<<1|buffer[20]<<9) & 0x07FF);
channels[14] = ((buffer[20]>>2|buffer[21]<<6) & 0x07FF);
channels[15] = ((buffer[21]>>5|buffer[22]<<3) & 0x07FF);
for (uint8_t channelIndex = 0; channelIndex < SBUS_CHANNEL_NUMBER; channelIndex++) {
sbusInput->channels[channelIndex] = mapSbusToChannel(sbusInput->channels[channelIndex]);
channels[channelIndex] = mapSbusToChannel(channels[channelIndex]);
}
sbusInput->lastChannelReceivedAt = millis();
_lastChannelReceivedAt = millis();
}
}
}
bool isReceivingSbus(SbusInput_t *sbusInput) {
return !(millis() - sbusInput->lastChannelReceivedAt > SBUS_IS_RECEIVING_THRESHOLD);
bool SbusInput::isReceiving() {
return !(millis() - _lastChannelReceivedAt > SBUS_IS_RECEIVING_THRESHOLD);
}

25
crossbow/sbus.h Normal file
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@@ -0,0 +1,25 @@
#ifndef SBUS_INPUT
#define SBUS_INPUT
#include "Arduino.h"
#include "tx_input.h"
class SbusInput : public TxInput
{
public:
SbusInput(HardwareSerial &serial);
void start(void);
void loop(void);
bool isReceiving(void);
private:
HardwareSerial &_serial;
uint32_t _lastChannelReceivedAt = 0;
void sbusRead(void);
};
void sbusPreparePacket(uint8_t packet[], int16_t channels[], bool isSignalLoss, bool isFailsafe);
#endif

21
crossbow/tx_input.h Normal file
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@@ -0,0 +1,21 @@
#ifndef TX_INPUT_H
#define TX_INPUT_H
#include "Arduino.h"
#define TX_INPUT_CHANNEL_COUNT 16
class TxInput
{
public:
virtual ~TxInput() {}
int get(uint8_t channel) { return channels[channel]; };
virtual void start(void) {};
virtual void stop(void) {};
virtual bool isReceiving(void) { return false; };
virtual void loop(void) {};
volatile static int16_t channels[TX_INPUT_CHANNEL_COUNT];
};
#endif

0
txbuzzer.cpp → crossbow/txbuzzer.cpp
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0
txbuzzer.h → crossbow/txbuzzer.h
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6
variables.h → crossbow/variables.h
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@@ -55,7 +55,6 @@ enum debugConfigFlags {
};
#define PPM_INPUT_PIN 0 // Has to be one of Interrupt pins
#define PPM_INPUT_INTERRUPT 2 // For Pro Micro 1, For Pro Mini 0
#define PPM_INPUT_CHANNEL_COUNT 10
#define PPM_OUTPUT_CHANNEL_COUNT 10
@@ -125,8 +124,3 @@ struct QspConfiguration_t {
uint32_t lastTxSlotTimestamp = 0;
bool transmitWindowOpen = false;
};
struct SbusInput_t {
int16_t channels[16] = {};
uint32_t lastChannelReceivedAt = 0;
};

5
sbus.h
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@@ -1,5 +0,0 @@
#include "Arduino.h"
void sbusPreparePacket(uint8_t packet[], int channels[], bool isSignalLoss, bool isFailsafe);
void sbusRead(HardwareSerial &_serial, SbusInput_t *sbusInput);
bool isReceivingSbus(SbusInput_t *sbusInput);