travis build

different configurations are specified in the configurations directory
 to select one copy it replcing the config.h file (as the travis script does)
 or change the include file directive in crossbow.ino

.travis.yml

@@ -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

crossbow/config.h

@@ -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

crossbow/configurations/config_rx.h

@@ -0,0 +1,6 @@
+#ifndef CONFIG_H
+#define CONFIG_H
+
+#define DEVICE_MODE_RX
+
+#endif

crossbow/configurations/config_tx_sbus.h

@@ -0,0 +1,9 @@
+#ifndef CONFIG_H
+#define CONFIG_H
+
+#define DEVICE_MODE_TX
+
+#define FEATURE_TX_OLED
+#define FEATURE_TX_INPUT_SBUS
+
+#endif

crossbow/crossbow.ino

@@ -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
+Copyright (c) 20xx, MPL Contributor1 contrib1@example.net
-// #define FORCE_TX_WITHOUT_INPUT
+*/
+
+#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
+#ifdef ARDUINO_AVR_FEATHER32U4
-#define LORA32U4_SS_PIN     8
+ #define LORA_SS_PIN     8
-#define LORA32U4_RST_PIN    4
+ #define LORA_RST_PIN    4
-#define LORA32U4_DI0_PIN    7
+ #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>
@@ -129,7 +147,7 @@ void setup(void)
 
 #ifdef DEVICE_MODE_RX
     qsp.deviceState = DEVICE_STATE_FAILSAFE;
-#else 
+#else
     qsp.deviceState = DEVICE_STATE_OK;
 #endif
 
@@ -137,11 +155,11 @@ void setup(void)
      * Setup hardware
      */
     LoRa.setPins(
-        LORA32U4_SS_PIN,
+        LORA_SS_PIN,
-        LORA32U4_RST_PIN,
+        LORA_RST_PIN,
-        LORA32U4_DI0_PIN
+        LORA_DI0_PIN
     );
-    
+
     if (!LoRa.begin(radioState.frequency))
     {
     #ifdef DEBUG_SERIAL
@@ -156,7 +174,7 @@ void setup(void)
     LoRa.setCodingRate4(radioState.loraCodingRate);
     LoRa.setTxPower(radioState.loraTxPower);
     LoRa.enableCrc();
-    
+
     //Setup ISR callback and start receiving
     LoRa.onReceive(onReceive);
     LoRa.receive();
@@ -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);
@@ -228,17 +245,17 @@ void updateRxDeviceState(RxDeviceState_t *rxDeviceState) {
     rxDeviceState->rxVoltage = map(analogRead(RX_ADC_PIN_1), 0, 1024, 0, 255);
     rxDeviceState->a1Voltage = map(analogRead(RX_ADC_PIN_2), 0, 1024, 0, 255);
     rxDeviceState->a2Voltage = map(analogRead(RX_ADC_PIN_3), 0, 1024, 0, 255);
-}    
+}
 
 int8_t getFrameToTransmit(QspConfiguration_t *qsp) {
-    
+
     if (qsp->forcePongFrame) {
         qsp->forcePongFrame = false;
         return QSP_FRAME_PONG;
     }
 
     int8_t retVal = rxSendSequence[currentSequenceIndex];
-    
+
     currentSequenceIndex++;
     if (currentSequenceIndex >= TRANSMIT_SEQUENCE_COUNT) {
         currentSequenceIndex = 0;
@@ -263,9 +280,9 @@ int8_t getFrameToTransmit(QspConfiguration_t *qsp) {
 #endif
 
 /*
- * 
+ *
  * Main loop starts here!
- * 
+ *
  */
 void loop(void)
 {
@@ -278,7 +295,7 @@ void loop(void)
      */
     if (
         currentMillis > radioState.nextTxCheckMillis &&
-        radioState.deviceState == RADIO_STATE_TX && 
+        radioState.deviceState == RADIO_STATE_TX &&
         !LoRa.isTransmitting()
     ) {
         LoRa.receive();
@@ -290,9 +307,9 @@ void loop(void)
         LoRa.read(tmpBuffer, radioState.bytesToRead);
 
         for (int i = 0; i < radioState.bytesToRead; i++) {
-            qspDecodeIncomingFrame(&qsp, tmpBuffer[i], &rxDeviceState, &txDeviceState, &radioState);            
+            qspDecodeIncomingFrame(&qsp, tmpBuffer[i], &rxDeviceState, &txDeviceState, &radioState);
         }
-        
+
         radioState.rssi = getRadioRssi();
         radioState.snr = getRadioSnr();
 
@@ -310,24 +327,22 @@ void loop(void)
      * Watchdog for frame decoding stuck somewhere in the middle of a process
      */
     if (
-        qsp.protocolState != QSP_STATE_IDLE && 
+        qsp.protocolState != QSP_STATE_IDLE &&
-        qsp.frameDecodingStartedAt + QSP_MAX_FRAME_DECODE_TIME < currentMillis 
+        qsp.frameDecodingStartedAt + QSP_MAX_FRAME_DECODE_TIME < currentMillis
     ) {
         qsp.protocolState = QSP_STATE_IDLE;
     }
 
 #ifdef DEVICE_MODE_TX
 
-    if (Serial1.available()) {
+    txInput.loop();
-        sbusRead(Serial1, &sbusInput);
-    }
 
     if (
         radioState.deviceState == RADIO_STATE_RX &&
         qsp.protocolState == QSP_STATE_IDLE &&
         qsp.lastTxSlotTimestamp + TX_TRANSMIT_SLOT_RATE < currentMillis
     ) {
-        
+
         int8_t frameToSend = getFrameToTransmit(&qsp);
 
     #ifndef FORCE_TX_WITHOUT_INPUT
@@ -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;
             }
 
@@ -381,7 +396,7 @@ void loop(void)
             digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
         }
     }
-    
+
     /*
      * Main routine to answer to TX module
      */
@@ -443,10 +458,10 @@ void loop(void)
     }
 
 #ifdef DEVICE_MODE_TX
-    
+
     buzzerProcess(TX_BUZZER_PIN, currentMillis, &buzzer);
 
-    // This routing enables when TX starts to receive signal from RX for a first time or after 
+    // This routing enables when TX starts to receive signal from RX for a first time or after
     // failsafe
     if (txDeviceState.isReceiving == false && qsp.anyFrameRecivedAt != 0) {
         //TX module started to receive data
@@ -457,7 +472,7 @@ void loop(void)
 
     //Here we detect failsafe state on TX module
     if (
-        txDeviceState.isReceiving && 
+        txDeviceState.isReceiving &&
         qsp.anyFrameRecivedAt + TX_FAILSAFE_DELAY < currentMillis
     ) {
         txDeviceState.isReceiving = false;
@@ -472,7 +487,7 @@ void loop(void)
         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
     if (qsp.deviceState == DEVICE_STATE_FAILSAFE) {
@@ -494,36 +509,41 @@ void loop(void)
         currentMillis - lastOledTaskTime > OLED_UPDATE_RATE
     ) {
         lastOledTaskTime = currentMillis;
-
         display.clearDisplay();
 
         display.setTextColor(WHITE, BLACK);
         display.setCursor(0, 0);
         display.setTextSize(3);
-        display.print(radioState.rssi); 
+        display.print(radioState.rssi);
 
         display.setCursor(18, 28);
         display.setTextSize(2);
         display.print(radioState.snr);
-        
+
         display.setCursor(74, 0);
         display.setTextSize(3);
-        display.print(rxDeviceState.rssi); 
+        display.print(rxDeviceState.rssi);
 
         display.setCursor(92, 28);
         display.setTextSize(2);
-        display.print(rxDeviceState.snr); 
+        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); 
+        display.print(txDeviceState.roundtrip);
 
-        display.display(); 
+        display.display();
     }
 #endif
 
 #endif
-    
+
 
 }
 

crossbow/qsp.cpp

@@ -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++)
     {

crossbow/qsp.h

@@ -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, 

crossbow/sbus.cpp

@@ -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);
+			channels[0]  = ((buffer[1]    |buffer[2]<<8)                 & 0x07FF);
-			sbusInput->channels[1]  = ((buffer[2]>>3 |buffer[3]<<5)                 & 0x07FF);
+			channels[1]  = ((buffer[2]>>3 |buffer[3]<<5)                 & 0x07FF);
-			sbusInput->channels[2]  = ((buffer[3]>>6 |buffer[4]<<2 |buffer[5]<<10)  & 0x07FF);
+			channels[2]  = ((buffer[3]>>6 |buffer[4]<<2 |buffer[5]<<10)  & 0x07FF);
-			sbusInput->channels[3]  = ((buffer[5]>>1 |buffer[6]<<7)                 & 0x07FF);
+			channels[3]  = ((buffer[5]>>1 |buffer[6]<<7)                 & 0x07FF);
-			sbusInput->channels[4]  = ((buffer[6]>>4 |buffer[7]<<4)                 & 0x07FF);
+			channels[4]  = ((buffer[6]>>4 |buffer[7]<<4)                 & 0x07FF);
-			sbusInput->channels[5]  = ((buffer[7]>>7 |buffer[8]<<1 |buffer[9]<<9)   & 0x07FF);
+			channels[5]  = ((buffer[7]>>7 |buffer[8]<<1 |buffer[9]<<9)   & 0x07FF);
-			sbusInput->channels[6]  = ((buffer[9]>>2 |buffer[10]<<6)                & 0x07FF);
+			channels[6]  = ((buffer[9]>>2 |buffer[10]<<6)                & 0x07FF);
-			sbusInput->channels[7]  = ((buffer[10]>>5|buffer[11]<<3)                & 0x07FF);
+			channels[7]  = ((buffer[10]>>5|buffer[11]<<3)                & 0x07FF);
-			sbusInput->channels[8]  = ((buffer[12]   |buffer[13]<<8)                & 0x07FF);
+			channels[8]  = ((buffer[12]   |buffer[13]<<8)                & 0x07FF);
-			sbusInput->channels[9]  = ((buffer[13]>>3|buffer[14]<<5)                & 0x07FF);
+			channels[9]  = ((buffer[13]>>3|buffer[14]<<5)                & 0x07FF);
-			sbusInput->channels[10] = ((buffer[14]>>6|buffer[15]<<2|buffer[16]<<10) & 0x07FF);
+			channels[10] = ((buffer[14]>>6|buffer[15]<<2|buffer[16]<<10) & 0x07FF);
-			sbusInput->channels[11] = ((buffer[16]>>1|buffer[17]<<7)                & 0x07FF);
+			channels[11] = ((buffer[16]>>1|buffer[17]<<7)                & 0x07FF);
-			sbusInput->channels[12] = ((buffer[17]>>4|buffer[18]<<4)                & 0x07FF);
+			channels[12] = ((buffer[17]>>4|buffer[18]<<4)                & 0x07FF);
-			sbusInput->channels[13] = ((buffer[18]>>7|buffer[19]<<1|buffer[20]<<9)  & 0x07FF);
+			channels[13] = ((buffer[18]>>7|buffer[19]<<1|buffer[20]<<9)  & 0x07FF);
-			sbusInput->channels[14] = ((buffer[20]>>2|buffer[21]<<6)                & 0x07FF);
+			channels[14] = ((buffer[20]>>2|buffer[21]<<6)                & 0x07FF);
-			sbusInput->channels[15] = ((buffer[21]>>5|buffer[22]<<3)                & 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) {
+bool SbusInput::isReceiving() {
-    return  !(millis() - sbusInput->lastChannelReceivedAt > SBUS_IS_RECEIVING_THRESHOLD);
+    return  !(millis() - _lastChannelReceivedAt > SBUS_IS_RECEIVING_THRESHOLD);
 }

crossbow/sbus.h

@@ -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
+

crossbow/tx_input.h

@@ -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

crossbow/variables.h

@@ -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;
-};

sbus.h

@@ -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);