david.tahir/QuadMeUp_Crossbow
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Sync RX and TX

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This commit is contained in:
Pawel Spychalski (DzikuVx)
2018-04-19 15:40:36 +02:00
parent 12e2bca441
commit feeeb78105
2 changed files with 31 additions and 8 deletions
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37
crossbow/crossbow.ino
View File

@@ -124,6 +124,15 @@ void onQspSuccess(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDev
//If recide received a valid frame, that means it can start to talk
qsp->canTransmit = true;
/*
* RX module hops to next channel after frame has been received
*/
#ifdef DEVICE_MODE_RX
hopFrequency(radioState, true, radioState->lastReceivedChannel);
radioState->failedDwellsCount = 0; // We received a frame, so we can just reset this counter
LoRa.receive(); //Put radio back into receive mode
#endif
//Store the last timestamp when frame was received
if (qsp->frameId < QSP_FRAME_COUNT) {
qsp->lastFrameReceivedAt[qsp->frameId] = millis();
@@ -157,14 +166,6 @@ 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;
}
@@ -326,6 +327,26 @@ void loop(void)
uint32_t currentMillis = millis();
/*
* This routine handles resync of TX/RX while hoppping frequencies
*/
#ifdef DEVICE_MODE_RX
//In the beginning just keep jumping forward and try to resync over lost single frames
if (radioState.failedDwellsCount < 6 && radioState.channelEntryMillis + RX_CHANNEL_DWELL_TIME < currentMillis) {
hopFrequency(&radioState, true, radioState.channel);
LoRa.receive();
radioState.failedDwellsCount++;
}
// If we are loosing more frames, start jumping in the opposite direction since probably we are completely out of sync now
if (radioState.failedDwellsCount >= 6 && radioState.channelEntryMillis + (RX_CHANNEL_DWELL_TIME * 5) < currentMillis) {
hopFrequency(&radioState, false, radioState.channel); //Start jumping in opposite direction to resync
LoRa.receive();
}
#endif
/*
* Detect the moment when radio module stopped transmittig and put it
* back in to receive state
*/

2
crossbow/variables.h
View File

@@ -14,6 +14,7 @@
#define RSSI_CHANNEL 11
#define TX_TRANSMIT_SLOT_RATE 67 //ms
#define RX_CHANNEL_DWELL_TIME (TX_TRANSMIT_SLOT_RATE + 10) //Dwell on a channel slightly longer
#define RX_FAILSAFE_DELAY (TX_TRANSMIT_SLOT_RATE * 8)
#define TX_FAILSAFE_DELAY (RX_FAILSAFE_DELAY * 4)
@@ -108,6 +109,7 @@ struct RadioState_t {
uint8_t channel = 0;
uint8_t lastReceivedChannel = 0;
uint32_t channelEntryMillis = 0;
uint8_t failedDwellsCount = 0;
};
struct TxDeviceState_t {