467 lines
10 KiB
C++
467 lines
10 KiB
C++
#define LORA_HARDWARE_SPI
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#define DEVICE_MODE_TX
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// #define DEVICE_MODE_RX
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#define FEATURE_TX_OLED
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// #define DEBUG_SERIAL
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// #define DEBUG_PING_PONG
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// #define DEBUG_LED
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// #define WAIT_FOR_SERIAL
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#include <LoRa.h>
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#include "variables.h"
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#include "sbus.h"
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#include "qsp.h"
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// LoRa32u4 ports
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#define LORA32U4_SS_PIN 8
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#define LORA32U4_RST_PIN 4
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#define LORA32U4_DI0_PIN 7
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volatile int ppm[16] = {0};
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/*
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* Main defines for device working in TX mode
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*/
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#ifdef DEVICE_MODE_TX
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#include <PPMReader.h>
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PPMReader ppmReader(PPM_INPUT_PIN, PPM_INPUT_INTERRUPT, true);
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#ifdef FEATURE_TX_OLED
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#define OLED_RESET -1
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#include <Adafruit_SSD1306.h>
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Adafruit_SSD1306 display(OLED_RESET);
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uint32_t lastOledTaskTime = 0;
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#endif
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#endif
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/*
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* Main defines for device working in RX mode
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*/
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#ifdef DEVICE_MODE_RX
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uint32_t sbusTime = 0;
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uint8_t sbusPacket[SBUS_PACKET_LENGTH] = {0};
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uint32_t lastRxStateTaskTime = 0;
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#endif
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/*
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* Start of QSP protocol implementation
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*/
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volatile QspConfiguration_t qsp = {};
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volatile RxDeviceState_t rxDeviceState = {};
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#ifdef LORA_HARDWARE_SPI
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uint8_t getRadioRssi(void)
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{
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//Map from -164:0 to 0:255
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return map(constrain(LoRa.packetRssi() * -1, 0, 164), 0, 164, 255, 0);
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}
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uint8_t getRadioSnr(void)
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{
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return (uint8_t) constrain(LoRa.packetSnr(), 0, 255);
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}
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void radioPacketStart(void)
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{
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LoRa.beginPacket();
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}
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void radioPacketEnd(void)
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{
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LoRa.endPacket();
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//After ending packet, put device into receive mode again
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LoRa.receive();
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}
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void writeToRadio(uint8_t dataByte, QspConfiguration_t *qsp)
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{
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//Compute CRC
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qspComputeCrc(qsp, dataByte);
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//Write to radio
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LoRa.write(dataByte);
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}
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#endif
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void setup(void)
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{
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#ifdef DEBUG_SERIAL
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Serial.begin(115200);
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#endif
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qsp.hardwareWriteFunction = writeToRadio;
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#ifdef DEVICE_MODE_RX
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qsp.deviceState = DEVICE_STATE_FAILSAFE;
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#else
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qsp.deviceState = DEVICE_STATE_OK;
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#endif
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#ifdef LORA_HARDWARE_SPI
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#ifdef WAIT_FOR_SERIAL
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while (!Serial) {
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; // wait for serial port to connect. Needed for native USB
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}
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#endif
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/*
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* Setup hardware
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*/
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LoRa.setPins(
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LORA32U4_SS_PIN,
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LORA32U4_RST_PIN,
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LORA32U4_DI0_PIN
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);
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if (!LoRa.begin(868E6))
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{
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#ifdef DEBUG_SERIAL
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Serial.println("LoRa init failed. Check your connections.");
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#endif
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while (true);
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}
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LoRa.setSignalBandwidth(500E3);
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LoRa.setSpreadingFactor(7);
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LoRa.setCodingRate4(5);
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/*
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* Use interrupt driven approach only on RX side
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* TX interrupts breaks PPM readout
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*/
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// #ifdef DEVICE_MODE_RX
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LoRa.onReceive(onReceive);
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// #endif
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LoRa.receive();
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#endif
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#ifdef DEVICE_MODE_RX
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//initiallize default ppm values
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for (int i = 0; i < 16; i++)
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{
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ppm[i] = PPM_CHANNEL_DEFAULT_VALUE;
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}
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pinMode(RX_ADC_PIN_1, INPUT);
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pinMode(RX_ADC_PIN_2, INPUT);
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pinMode(RX_ADC_PIN_3, INPUT);
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Serial1.begin(100000, SERIAL_8E2);
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#endif
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#ifdef DEVICE_MODE_TX
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TCCR1A = 0; //reset timer1
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TCCR1B = 0;
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TCCR1B |= (1 << CS11); //set timer1 to increment every 0,5 us or 1us on 8MHz
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#ifdef FEATURE_TX_OLED
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display.begin(SSD1306_SWITCHCAPVCC, 0x3C); // initialize with the I2C addr 0x3C (for the 128x32)
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display.setTextSize(1);
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display.setTextColor(WHITE);
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display.clearDisplay();
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display.display();
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#endif
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#endif
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pinMode(LED_BUILTIN, OUTPUT);
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/*
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* TX should start talking imediately after power up
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*/
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#ifdef DEVICE_MODE_TX
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qsp.canTransmit = true;
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#endif
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#ifdef DEBUG_SERIAL
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qsp.debugConfig |= DEBUG_FLAG_SERIAL;
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#endif
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#ifdef DEBUG_LED
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qsp.debugConfig |= DEBUG_FLAG_LED;
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#endif
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}
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int8_t txSendSequence[16] = {
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QSP_FRAME_PING,
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QSP_FRAME_RC_DATA,
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QSP_FRAME_RC_DATA,
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QSP_FRAME_RC_DATA,
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QSP_FRAME_RC_DATA,
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QSP_FRAME_RC_DATA,
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QSP_FRAME_RC_DATA,
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QSP_FRAME_RC_DATA,
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QSP_FRAME_RC_DATA,
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QSP_FRAME_RC_DATA,
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QSP_FRAME_RC_DATA,
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QSP_FRAME_RC_DATA,
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QSP_FRAME_RC_DATA,
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QSP_FRAME_RC_DATA,
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QSP_FRAME_RC_DATA,
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QSP_FRAME_RC_DATA
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};
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int8_t rxSendSequence[16] = {
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QSP_FRAME_RX_HEALTH,
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-1,
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-1,
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-1,
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QSP_FRAME_RX_HEALTH,
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-1,
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-1,
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-1,
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QSP_FRAME_RX_HEALTH,
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-1,
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-1,
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-1,
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QSP_FRAME_RX_HEALTH,
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-1,
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-1,
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-1
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};
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uint8_t currentSequenceIndex = 0;
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#define TRANSMIT_SEQUENCE_COUNT 16
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#ifdef DEVICE_MODE_RX
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void updateRxDeviceState(RxDeviceState_t *rxDeviceState) {
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rxDeviceState->rxVoltage = map(analogRead(RX_ADC_PIN_1), 0, 1024, 0, 255);
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rxDeviceState->a1Voltage = map(analogRead(RX_ADC_PIN_2), 0, 1024, 0, 255);
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rxDeviceState->a2Voltage = map(analogRead(RX_ADC_PIN_3), 0, 1024, 0, 255);
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}
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int8_t getFrameToTransmit(QspConfiguration_t *qsp) {
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if (qsp->forcePongFrame) {
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qsp->forcePongFrame = false;
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return QSP_FRAME_PONG;
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}
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int8_t retVal = rxSendSequence[currentSequenceIndex];
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currentSequenceIndex++;
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if (currentSequenceIndex >= TRANSMIT_SEQUENCE_COUNT) {
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currentSequenceIndex = 0;
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}
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return retVal;
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}
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#endif
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#ifdef DEVICE_MODE_TX
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int8_t getFrameToTransmit(QspConfiguration_t *qsp) {
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int8_t retVal = txSendSequence[currentSequenceIndex];
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currentSequenceIndex++;
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if (currentSequenceIndex >= TRANSMIT_SEQUENCE_COUNT) {
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currentSequenceIndex = 0;
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}
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return retVal;
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}
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#endif
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volatile bool readPacket = false;
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uint8_t myRssi = 0;
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uint8_t mySnr = 0;
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void loop(void)
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{
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#ifdef DEVICE_MODE_TX
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if (readPacket) {
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while (LoRa.available()) {
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qspDecodeIncomingFrame(&qsp, LoRa.read(), ppm, &rxDeviceState);
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}
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myRssi = getRadioRssi();
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mySnr = getRadioSnr();
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readPacket = false;
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}
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#endif
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uint32_t currentMillis = millis();
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bool transmitPayload = false;
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/*
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* Watchdog for frame decoding stuck somewhere in the middle of a process
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*/
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if (
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qsp.protocolState != QSP_STATE_IDLE &&
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abs(currentMillis - qsp.frameDecodingStartedAt) > QSP_MAX_FRAME_DECODE_TIME
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) {
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qsp.protocolState = QSP_STATE_IDLE;
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}
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#ifdef DEVICE_MODE_TX
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if (
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abs(currentMillis - qsp.lastTxSlotTimestamp) > TX_TRANSMIT_SLOT_RATE &&
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qsp.protocolState == QSP_STATE_IDLE
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) {
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int8_t frameToSend = getFrameToTransmit(&qsp);
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if (frameToSend == QSP_FRAME_RC_DATA && !ppmReader.isReceiving()) {
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frameToSend = -1;
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}
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if (frameToSend > -1) {
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qsp.frameToSend = frameToSend;
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qspClearPayload(&qsp);
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switch (qsp.frameToSend) {
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case QSP_FRAME_PING:
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encodePingPayload(&qsp, micros());
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break;
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case QSP_FRAME_RC_DATA:
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encodeRcDataPayload(&qsp, &ppmReader, PPM_INPUT_CHANNEL_COUNT);
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break;
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}
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transmitPayload = true;
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}
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qsp.lastTxSlotTimestamp = currentMillis;
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}
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#endif
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#ifdef DEVICE_MODE_RX
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/*
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* This routine updates RX device state and updates one of radio channels with RSSI value
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*/
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if (abs(currentMillis - lastRxStateTaskTime) > RX_TASK_HEALTH) {
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lastRxStateTaskTime = currentMillis;
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updateRxDeviceState(&rxDeviceState);
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ppm[RSSI_CHANNEL - 1] = map(rxDeviceState.rssi, 0, 255, 1000, 2000);
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if (qsp.deviceState == DEVICE_STATE_FAILSAFE) {
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digitalWrite(LED_BUILTIN, HIGH);
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} else {
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digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
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}
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}
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/*
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* Main routine to answer to TX module
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*/
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if (qsp.transmitWindowOpen && qsp.protocolState == QSP_STATE_IDLE) {
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qsp.transmitWindowOpen = false;
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int8_t frameToSend = getFrameToTransmit(&qsp);
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if (frameToSend > -1) {
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qsp.frameToSend = frameToSend;
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if (frameToSend != QSP_FRAME_PONG) {
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qspClearPayload(&qsp);
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}
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switch (qsp.frameToSend) {
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case QSP_FRAME_PONG:
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/*
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* Pong frame just responses with received payload
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*/
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break;
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case QSP_FRAME_RX_HEALTH:
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encodeRxHealthPayload(&qsp, &rxDeviceState);
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break;
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}
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transmitPayload = true;
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}
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}
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if (currentMillis > sbusTime) {
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sbusPreparePacket(sbusPacket, ppm, false, (qsp.deviceState == DEVICE_STATE_FAILSAFE));
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Serial1.write(sbusPacket, SBUS_PACKET_LENGTH);
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sbusTime = currentMillis + SBUS_UPDATE_RATE;
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}
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if (abs(currentMillis - qsp.lastFrameReceivedAt[QSP_FRAME_RC_DATA]) > RX_FAILSAFE_DELAY) {
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qsp.deviceState = DEVICE_STATE_FAILSAFE;
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} else {
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qsp.deviceState = DEVICE_STATE_OK;
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}
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#endif
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#ifdef DEVICE_MODE_TX
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#ifdef FEATURE_TX_OLED
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if (
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currentMillis - lastOledTaskTime > OLED_UPDATE_RATE
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) {
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lastOledTaskTime = currentMillis;
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display.clearDisplay();
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display.setTextColor(WHITE, BLACK);
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display.setCursor(0, 0);
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display.print("TX RSSI: ");
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display.print(map(myRssi, 0, 255, 0, 100));
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display.setCursor(0, 12);
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display.print("TX SNR: ");
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display.print(mySnr);
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display.setCursor(0, 24);
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display.print("RX RSSI: ");
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display.print(map(rxDeviceState.rssi, 0, 255, 0, 100));
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display.setCursor(0, 36);
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display.print("RX SNR: ");
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display.print(rxDeviceState.snr);
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display.setCursor(0, 46);
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display.print("Roundtrip: ");
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display.print(rxDeviceState.roundtrip);
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display.display();
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}
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#endif
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#endif
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if (qsp.canTransmit && transmitPayload)
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{
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radioPacketStart();
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qspEncodeFrame(&qsp);
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radioPacketEnd();
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transmitPayload = false;
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}
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}
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void onReceive(int packetSize)
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{
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if (packetSize == 0)
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return;
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#ifdef DEVICE_MODE_TX
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readPacket = true;
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#endif
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#ifdef DEVICE_MODE_RX
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while (LoRa.available())
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{
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qspDecodeIncomingFrame(&qsp, LoRa.read(), ppm, &rxDeviceState);
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}
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rxDeviceState.rssi = getRadioRssi();
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rxDeviceState.snr = getRadioSnr();
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#endif
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} |