536 lines
14 KiB
C++
536 lines
14 KiB
C++
/*
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This Source Code Form is subject to the terms of the Mozilla Public
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License, v. 2.0. If a copy of the MPL was not distributed with this file,
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You can obtain one at http://mozilla.org/MPL/2.0/.
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Copyright (c) 20xx, MPL Contributor1 contrib1@example.net
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*/
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#include "config.h"
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#include "lora.h"
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#include "radio_node.h"
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#include "variables.h"
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#include "main_variables.h"
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#include "qsp.h"
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#include "sbus.h"
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#include "platform_node.h"
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#ifdef ARDUINO_AVR_FEATHER32U4
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#define LORA_SS_PIN 8
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#define LORA_RST_PIN 4
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#define LORA_DI0_PIN 7
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#define BUTTON_0_PIN 9
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#define BUTTON_1_PIN 10
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#elif defined(ARDUINO_SAMD_FEATHER_M0)
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#define LORA_SS_PIN 8
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#define LORA_RST_PIN 4
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#define LORA_DI0_PIN 3
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#define BUTTON_0_PIN 9 //Please verify
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#define BUTTON_1_PIN 10 //Please verify
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#else
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#error please select hardware
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#endif
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RadioNode radioNode;
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PlatformNode platformNode;
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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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#ifdef FEATURE_TX_INPUT_PPM
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#include "ppm_reader.h"
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PPM_Reader txInput(PPM_INPUT_PIN, true);
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#elif defined(FEATURE_TX_INPUT_SBUS)
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#include "sbus.h"
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SbusInput txInput(Serial1);
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#else
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#error please select tx input source
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#endif
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#include "txbuzzer.h"
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BuzzerState_t buzzer;
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#ifdef FEATURE_TX_OLED
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#include "tx_oled.h"
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TxOled oled;
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#endif
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#include "tactile.h"
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Tactile button0(BUTTON_0_PIN);
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Tactile button1(BUTTON_1_PIN);
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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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QspConfiguration_t qsp = {};
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RxDeviceState_t rxDeviceState = {};
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TxDeviceState_t txDeviceState = {};
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void onQspSuccess(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDeviceState_t *rxDeviceState, uint8_t receivedChannel) {
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//If recide received a valid frame, that means it can start to talk
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radioNode.lastReceivedChannel = receivedChannel;
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//RX can start transmitting only when an least one frame has been receiveds
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radioNode.canTransmit = true;
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radioNode.readRssi();
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radioNode.readSnr();
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/*
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* RX module hops to next channel after frame has been received
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*/
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#ifdef DEVICE_MODE_RX
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radioNode.hopFrequency(true, radioNode.lastReceivedChannel, millis());
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radioNode.failedDwellsCount = 0; // We received a frame, so we can just reset this counter
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LoRa.receive(); //Put radio back into receive mode
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#endif
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//Store the last timestamp when frame was received
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if (qsp->frameId < QSP_FRAME_COUNT) {
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qsp->lastFrameReceivedAt[qsp->frameId] = millis();
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}
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qsp->anyFrameRecivedAt = millis();
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switch (qsp->frameId) {
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case QSP_FRAME_RC_DATA:
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qspDecodeRcDataFrame(qsp, rxDeviceState);
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break;
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case QSP_FRAME_RX_HEALTH:
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decodeRxHealthPayload(qsp, rxDeviceState);
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break;
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case QSP_FRAME_PING:
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qsp->forcePongFrame = true;
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break;
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case QSP_FRAME_PONG:
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txDeviceState->roundtrip = qsp->payload[0];
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txDeviceState->roundtrip += (uint32_t) qsp->payload[1] << 8;
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txDeviceState->roundtrip += (uint32_t) qsp->payload[2] << 16;
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txDeviceState->roundtrip += (uint32_t) qsp->payload[3] << 24;
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txDeviceState->roundtrip = (micros() - txDeviceState->roundtrip) / 1000;
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break;
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default:
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//Unknown frame
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//TODO do something in this case
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break;
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}
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qsp->transmitWindowOpen = true;
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}
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void onQspFailure(QspConfiguration_t *qsp, TxDeviceState_t *txDeviceState, RxDeviceState_t *rxDeviceState) {
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}
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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.onSuccessCallback = onQspSuccess;
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qsp.onFailureCallback = onQspFailure;
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#ifdef DEVICE_MODE_RX
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platformNode.platformState = DEVICE_STATE_FAILSAFE;
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#else
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platformNode.platformState = DEVICE_STATE_OK;
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#endif
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radioNode.init(LORA_SS_PIN, LORA_RST_PIN, LORA_DI0_PIN, onReceive);
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#ifdef DEVICE_MODE_RX
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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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/*
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* Prepare Serial1 for S.Bus processing
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*/
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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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#ifdef FEATURE_TX_OLED
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oled.init();
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oled.page(TX_PAGE_INIT);
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#endif
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/*
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* TX should start talking imediately after power up
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*/
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radioNode.canTransmit = true;
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pinMode(TX_BUZZER_PIN, OUTPUT);
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//Play single tune to indicate power up
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buzzerSingleMode(BUZZER_MODE_CHIRP, &buzzer);
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/*
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* Prepare Serial1 for S.Bus processing
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*/
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txInput.start();
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/*
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* Buttons on TX module
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*/
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button0.start();
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button1.start();
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#endif
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pinMode(LED_BUILTIN, OUTPUT);
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/*
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* Setup salt bind key
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*/
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platformNode.bindKey[0] = 0x12;
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platformNode.bindKey[1] = 0x0a;
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platformNode.bindKey[2] = 0x36;
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platformNode.bindKey[3] = 0xa7;
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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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/*
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*
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* Main loop starts here!
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*
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*/
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void loop(void)
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{
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uint32_t currentMillis = millis();
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#ifdef DEVICE_MODE_RX
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/*
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* This routine handles resync of TX/RX while hoppping frequencies
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*/
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radioNode.handleChannelDwell();
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/*
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* Detect the moment when radio module stopped transmittig and put it
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* back in to receive state
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*/
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radioNode.handleTxDoneState(false);
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#else
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//Process buttons
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button0.loop();
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button1.loop();
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#ifdef FEATURE_TX_OLED
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oled.loop();
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#endif
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txInput.recoverStuckFrames();
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/*
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* If we are not receiving SBUS frames from radio, try to restart serial
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*/
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static uint32_t serialRestartMillis = 0;
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/*
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* Final guard for SBUS input. If there is no input, try to restart serial port
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*/
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if (!txInput.isReceiving() && serialRestartMillis + 100 < currentMillis) {
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txInput.restart();
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serialRestartMillis = currentMillis;
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}
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radioNode.handleTxDoneState(true);
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#endif
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radioNode.readAndDecode(
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&qsp,
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&rxDeviceState,
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&txDeviceState
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);
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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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qsp.frameDecodingStartedAt + QSP_MAX_FRAME_DECODE_TIME < currentMillis
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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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txInput.loop();
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if (
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radioNode.radioState == RADIO_STATE_RX &&
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qsp.protocolState == QSP_STATE_IDLE &&
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qsp.lastTxSlotTimestamp + TX_TRANSMIT_SLOT_RATE < currentMillis
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) {
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int8_t frameToSend = getFrameToTransmit(&qsp);
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#ifndef FORCE_TX_WITHOUT_INPUT
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/*
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* If module is not receiving data from radio, do not send RC DATA
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* This is the only way to trigger failsafe in that case
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*/
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if (frameToSend == QSP_FRAME_RC_DATA && !txInput.isReceiving()) {
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frameToSend = -1;
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}
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#endif
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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, PLATFORM_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 (lastRxStateTaskTime + RX_TASK_HEALTH < currentMillis) {
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lastRxStateTaskTime = currentMillis;
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updateRxDeviceState(&rxDeviceState);
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uint8_t output = constrain(radioNode.rssi - 40, 0, 100);
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rxDeviceState.indicatedRssi = (output * 10) + 1000;
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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, radioNode.rssi, radioNode.snr);
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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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platformNode.setRcChannel(RSSI_CHANNEL - 1, rxDeviceState.indicatedRssi, 0);
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sbusPreparePacket(sbusPacket, false, (platformNode.platformState == 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 (qsp.lastFrameReceivedAt[QSP_FRAME_RC_DATA] + RX_FAILSAFE_DELAY < currentMillis) {
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platformNode.platformState = DEVICE_STATE_FAILSAFE;
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rxDeviceState.indicatedRssi = 0;
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radioNode.rssi = 0;
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} else {
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platformNode.platformState = DEVICE_STATE_OK;
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}
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#endif
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if (transmitPayload)
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{
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radioNode.handleTx(&qsp);
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}
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#ifdef DEVICE_MODE_TX
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buzzerProcess(TX_BUZZER_PIN, currentMillis, &buzzer);
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// This routing enables when TX starts to receive signal from RX for a first time or after
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// failsafe
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if (txDeviceState.isReceiving == false && qsp.anyFrameRecivedAt != 0) {
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//TX module started to receive data
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buzzerSingleMode(BUZZER_MODE_DOUBLE_CHIRP, &buzzer);
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txDeviceState.isReceiving = true;
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platformNode.platformState = DEVICE_STATE_OK;
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}
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//Here we detect failsafe state on TX module
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if (
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txDeviceState.isReceiving &&
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qsp.anyFrameRecivedAt + TX_FAILSAFE_DELAY < currentMillis
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) {
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txDeviceState.isReceiving = false;
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rxDeviceState.a1Voltage = 0;
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rxDeviceState.a2Voltage = 0;
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rxDeviceState.rxVoltage = 0;
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rxDeviceState.rssi = 0;
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rxDeviceState.snr = 0;
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rxDeviceState.flags = 0;
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txDeviceState.roundtrip = 0;
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platformNode.platformState = DEVICE_STATE_FAILSAFE;
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qsp.anyFrameRecivedAt = 0;
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}
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//FIXME rxDeviceState should be resetted also in RC_HEALT frame is not received in a long period
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//Handle audible alarms
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if (platformNode.platformState == DEVICE_STATE_FAILSAFE) {
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//Failsafe detected by TX
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buzzerContinousMode(BUZZER_MODE_SLOW_BEEP, &buzzer);
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} else if (txDeviceState.isReceiving && (rxDeviceState.flags & 0x1) == 1) {
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//Failsafe reported by RX module
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buzzerContinousMode(BUZZER_MODE_SLOW_BEEP, &buzzer);
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} else if (txDeviceState.isReceiving && radioNode.rssi < 45) {
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buzzerContinousMode(BUZZER_MODE_DOUBLE_CHIRP, &buzzer); // RSSI below 45dB // Critical state
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} else if (txDeviceState.isReceiving && radioNode.rssi < 55) {
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buzzerContinousMode(BUZZER_MODE_CHIRP, &buzzer); // RSSI below 55dB // Warning state
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} else {
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buzzerContinousMode(BUZZER_MODE_OFF, &buzzer);
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}
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#endif
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/*
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* Handle LED updates
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*/
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if (platformNode.nextLedUpdate < currentMillis) {
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#ifdef DEVICE_MODE_TX
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if (txDeviceState.isReceiving) {
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digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
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platformNode.nextLedUpdate = currentMillis + 300;
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} else if (txInput.isReceiving()) {
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digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
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platformNode.nextLedUpdate = currentMillis + 100;
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} else {
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digitalWrite(LED_BUILTIN, HIGH);
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platformNode.nextLedUpdate = currentMillis + 200;
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}
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#else
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platformNode.nextLedUpdate = currentMillis + 200;
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if (platformNode.platformState == 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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#endif
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}
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}
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void onReceive(int packetSize)
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{
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/*
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* We can start reading only when radio is not reading.
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* If not reading, then we might start
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*/
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if (radioNode.bytesToRead == NO_DATA_TO_READ) {
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if (packetSize >= MIN_PACKET_SIZE && packetSize <= MAX_PACKET_SIZE) {
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//We have a packet candidate that might contain a valid QSP packet
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radioNode.bytesToRead = packetSize;
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} else {
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/*
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That packet was not very interesting, just flush it, we have no use
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*/
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LoRa.sleep();
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LoRa.receive();
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radioNode.radioState = RADIO_STATE_RX;
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}
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}
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} |