Happy path frequency hopping

.vscode/c_cpp_properties.json

@@ -11,6 +11,12 @@
                     "${workspaceRoot}"
                 ]
             },
+            "defines": [
+                "SPI_HAS_NOTUSINGINTERRUPT",
+                "FEATURE_TX_INPUT_SBUS",
+                "DEVICE_MODE_TX",
+                "DEVICE_MODE_RX"
+            ],
             "intelliSenseMode": "msvc-x64",
             "cStandard": "c11",
             "cppStandard": "c++17",
@@ -29,7 +35,13 @@
                     "~/Documents/Arduino/libraries/"
                 ]
             },
-            "intelliSenseMode": "clang-x64"
+            "intelliSenseMode": "clang-x64",
+            "defines": [
+                "SPI_HAS_NOTUSINGINTERRUPT",
+                "FEATURE_TX_INPUT_SBUS",
+                "DEVICE_MODE_TX",
+                "DEVICE_MODE_RX"
+            ]
         }
     ],
     "version": 3

crossbow/config.h

@@ -13,8 +13,8 @@
  * DEVICE_MODE_TX
  * DEVICE_MODE_RX
  */
-// #define DEVICE_MODE_TX
-#define DEVICE_MODE_RX
+#define DEVICE_MODE_TX
+// #define DEVICE_MODE_RX
 
 // #define FEATURE_TX_OLED
 // #define FORCE_TX_WITHOUT_INPUT

crossbow/crossbow.ino

@@ -92,8 +92,37 @@ 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(RadioState_t *radioState, bool forward, uint8_t fromChannel) {
+    radioState->channelEntryMillis = millis();
+
+    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 devide received a valid frame, that means it can start to talk
+    //If recide received a valid frame, that means it can start to talk
     qsp->canTransmit = true;
 
     //Store the last timestamp when frame was received
@@ -129,6 +158,14 @@ void onQspSuccess(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDev
             break;
     }
 
+    /*
+     * RX module hops to next channel after frame has been received
+     */
+#ifdef DEVICE_MODE_RX
+    hopFrequency(radioState, true, radioState->lastReceivedChannel);
+    LoRa.receive(); //Put radio back into receive mode
+#endif
+
     qsp->transmitWindowOpen = true;
 }
 
@@ -160,7 +197,7 @@ void setup(void)
         LORA_DI0_PIN
     );
 
-    if (!LoRa.begin(radioState.frequency))
+    if (!LoRa.begin(getFrequencyForChannel(radioState.channel)))
     {
     #ifdef DEBUG_SERIAL
         Serial.println("LoRa init failed. Check your connections.");
@@ -298,11 +335,22 @@ void loop(void)
         radioState.deviceState == RADIO_STATE_TX &&
         !LoRa.isTransmitting()
     ) {
+
+        /*
+         * In case of TX module, hop right now
+         */
+#ifdef DEVICE_MODE_TX
+        hopFrequency(&radioState, true, radioState.channel);
+#endif
+
         LoRa.receive();
         radioState.deviceState = RADIO_STATE_RX;
         radioState.nextTxCheckMillis = currentMillis + 1; //We check of TX done every 1ms
     }
 
+    /*
+     * There is data to be read from radio!
+     */
     if (radioState.bytesToRead != NO_DATA_TO_READ) {
         LoRa.read(tmpBuffer, radioState.bytesToRead);
 
@@ -380,6 +428,8 @@ void loop(void)
 
 #ifdef DEVICE_MODE_RX
 
+    //FIXME here we are missing the whole procedure for jumping to next channel when frame was not recived
+
     /*
      * This routine updates RX device state and updates one of radio channels with RSSI value
      */

crossbow/qsp.cpp

@@ -161,6 +161,7 @@ void qspDecodeIncomingFrame(
     static uint8_t frameId;
     static uint8_t payloadLength;
     static uint8_t receivedPayload;
+    static uint8_t receivedChannel;
 
     if (qsp->protocolState == QSP_STATE_IDLE)
     {
@@ -187,8 +188,7 @@ void qspDecodeIncomingFrame(
 
         qsp->frameId = (incomingByte >> 4) & 0x0f;
         payloadLength = qspFrameLengths[qsp->frameId];
-        //4 bytes are now free to use for something else
-        // payloadLength = incomingByte & 0x0f;
+        receivedChannel = incomingByte & 0x0f;
         
         qsp->protocolState = QSP_STATE_FRAME_TYPE_RECEIVED;
     }
@@ -214,6 +214,7 @@ void qspDecodeIncomingFrame(
     {
         if (qsp->crc == incomingByte) {
             //CRC is correct
+            radioState->lastReceivedChannel = receivedChannel;
             qsp->onSuccessCallback(qsp, txDeviceState, rxDeviceState, radioState);
         } else {
             qsp->onFailureCallback(qsp, txDeviceState, rxDeviceState, radioState);

crossbow/variables.h

@@ -86,8 +86,14 @@ enum debugConfigFlags {
 #define RADIO_STATE_TX 1
 #define RADIO_STATE_RX 2
 
+#define RADIO_FREQUENCY_MIN 868000000
+#define RADIO_FREQUENCY_MAX 870000000
+#define RADIO_FREQUENCY_RANGE (RADIO_FREQUENCY_MAX-RADIO_FREQUENCY_MIN)
+#define RADIO_CHANNEL_WIDTH 250000
+#define RADIO_CHANNEL_COUNT (RADIO_FREQUENCY_RANGE/RADIO_CHANNEL_WIDTH) + 1 // 9 channels in 2MHz range
+#define RADIO_HOP_OFFSET 5
+
 struct RadioState_t {
-    uint32_t frequency = 867000000;
     uint32_t loraBandwidth = 250000;
     uint8_t loraSpreadingFactor = 7;
     uint8_t loraCodingRate = 6;
@@ -97,6 +103,11 @@ struct RadioState_t {
     uint8_t snr = 0;
     uint8_t deviceState = RADIO_STATE_RX;
     uint32_t nextTxCheckMillis = 0;
+
+    const uint32_t dwellTime = TX_TRANSMIT_SLOT_RATE * 2; 
+    uint8_t channel = 0;
+    uint8_t lastReceivedChannel = 0;
+    uint32_t channelEntryMillis = 0;
 };
 
 struct TxDeviceState_t {