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Fixed random jump issue and stablized the receiving signal with speed up SBUS_FAST

master
Englebert 3 years ago
parent
10865f04b3
commit
bd1261e301
4 changed files with 36 additions and 134 deletions
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  1. 23
      src/main.cpp
  2. 1
      src/main.h
  3. 123
      src/sbus.cpp
  4. 3
      src/sbus.h

23
src/main.cpp
View File

@ -23,14 +23,16 @@ int16_t sbus_packets_sent_raw = 0;
int16_t nrf_packets_received = 0;
int16_t nrf_packets_received_raw = 0;
bool sbus_busy = false;
Scheduler scheduler;
RXMessage rxMessage;
// Every 7 miliseconds
Task task_sbus_generator(7, TASK_FOREVER, &send_sbus);
// Every 5 miliseconds
Task task_sbus_generator(4, TASK_FOREVER, &send_sbus);
// Every 8 millseconds
Task task_rx(8, TASK_FOREVER, &nrf_rx);
// Every 10 millseconds
// Task task_rx(10, TASK_FOREVER, &nrf_rx);
// Every 200 miliseconds
Task task_web(200, TASK_FOREVER, &web_handler);
@ -80,7 +82,7 @@ void setup() {
Serial.println("Enabling Tasks...");
// Add task to scheduler
scheduler.addTask(task_sbus_generator);
scheduler.addTask(task_rx);
//// scheduler.addTask(task_rx);
scheduler.addTask(task_heartbeat);
scheduler.addTask(task_web);
scheduler.addTask(task_ota);
@ -88,7 +90,7 @@ void setup() {
// Enabling Tasks
task_sbus_generator.enable();
task_rx.enable();
///// task_rx.enable();
task_heartbeat.enable();
task_web.enable();
task_ota.enable();
@ -125,8 +127,10 @@ void status_heartbeat(void) {
// Keep sending SBUS
void send_sbus(void) {
sbus_busy = true;
sbus.writePackets();
sbus_packets_sent_raw++;
nrf_rx();
sbus_busy = false;
}
@ -160,10 +164,13 @@ void nrf_rx(void) {
Serial.println("NRF READY TO LISTEN...");
}
if((uint32_t)(millis() - last_receive) > 1000) {
if(nrf_packets_received == 0) {
sbus.signalNotOK = true;
}
// Keep looping tille sbus_busy = false...
////while(sbus_busy);
if(rx.available()) {
// Getting signals from Receiver
rx.read(&rxMessage, sizeof(RXMessage));

1
src/main.h
View File

@ -32,6 +32,7 @@ void ota_handler(void);
void uptime_tracker(void);
extern int16_t sbus_packets_sent;
extern int16_t sbus_packets_sent_raw;
extern int16_t nrf_packets_received;

123
src/sbus.cpp
View File

@ -32,7 +32,7 @@ void SBUS::begin(void) {
// swSer1.begin(100000, SWSERIAL_8E2, SBUS_PORT, SBUS_PORT);
swSer1.begin(200000, SWSERIAL_8E2, SBUS_PORT, SBUS_PORT);
swSer1.enableTx(true);
swSer1.enableIntTx(true);
// swSer1.enableIntTx(true);
// Initialize to 1000
for(uint8_t i = 0; i < SBUS_CHANNEL_NUMBER; i++) {
@ -49,133 +49,26 @@ uint32_t total_low = 0;
// Sending SBUS packets
void SBUS::writePackets(void) {
// if((uint32_t)(millis() - sbusTime) > SBUS_UPDATE_RATE) {
if(signalNotOK) {
// DEBUG ONLY...later put back to 900
// rcChannels[2] = 900;
// rcChannels[3] = 900;
// rcChannels[1] = 900;
// rcChannels[0] = 900;
rcCommand[2] = 900;
rcCommand[3] = 900;
rcCommand[1] = 900;
rcCommand[0] = 900;
}
// sbusPreparePacket(sbusPacket, rcChannels, signalNotOK, false);
if((uint32_t)millis() - last_sent > SBUS_UPDATE_RATE) {
sbusPreparePacket(rcCommand, signalNotOK, false);
// Serial2.write(sbusPacket, SBUS_PACKET_LENGTH);
swSer1.write(sbusPacket, SBUS_PACKET_LENGTH);
sbus_packets_sent_raw++;
last_sent = millis();
}
// // Looping through the bytes - Generating Parity Bits
// // Is using SBUS_FAST (200000 Baud), 8E2 (Even Parity and 2 bits stop
// // For sending at 200000 baud, each bit used about 5uS
// // Profiling each bits timing before sending
// uint32_t clock_cycles = 0;
//
if((uint32_t)(millis() - last_profile) > 500) {
// DEBUG ONLY
if((uint32_t)(millis() - last_profile) > 1000) {
Serial.printf("Cmd: %d Signal: %d Sent: %d NRF: %d\r\n", rcCommand[2], signalNotOK, sbus_packets_sent, nrf_packets_received);
last_profile = millis();
}
//
// total_high = 0;
// total_low = 0;
//
// // bool tx_state = true;
// uint8_t parity_count = 0;
// int8_t data_bits = 0;
// bool current_bit = 0;
//
// // Now we roughly know how much per clock cycles per microseconds
// for(uint8_t pos = 0; pos < SBUS_PACKET_LENGTH; pos++) {
// // Now we are going to send the data from LSB and with EVEN parity on each byte with 2 bits stop.
// // Looping through each bytes with:
// // START BIT | DATA FRAME | PARITY BITS | STOP BITS
//
// // START BIT - For 1 clock cycle = 5uS = clock_per_micro
// // Set to LOW as start bit
// GPOC = (1 << SBUS_PORT);
// delay_cycles(PULSE_BIT_TIME);
//
// GPOS = (1 << SBUS_PORT);
// delay_cycles(PULSE_GAP);
//
//
// // DATA FRAME
// // Reading the data sending it byte by byte
// ///// for(data_bits = 7; data_bits >= 0; data_bits--) {
// for(data_bits = 0; data_bits < 8; data_bits++) {
// current_bit = (sbusPacket[pos] >> data_bits) & 0x01;
//
// // Sending it out...
// if(current_bit == 0x01) {
// parity_count++;
//
// total_high++;
//
// // HIGH
// GPOS = (1 << SBUS_PORT);
// delay_cycles(PULSE_BIT_TIME);
//
// } else {
//
// // LOW
// total_low++;
//
// GPOC = (1 << SBUS_PORT);
// delay_cycles(PULSE_BIT_TIME);
// }
//
// // GAP
// GPOS = (1 << SBUS_PORT);
// delay_cycles(PULSE_GAP);
// }
//
// // PARITY BITS
// // Parity Calculation
// if((parity_count & 0x01) == 0x01) {
// // ODD
// // Need to make it EVEN....
// // HIGH
// GPOS = (1 << SBUS_PORT);
// delay_cycles(PULSE_BIT_TIME);
//
// } else {
// // EVEN
// // Nothing needs to be set
// // LOW
// GPOC = (1 << SBUS_PORT);
// delay_cycles(PULSE_BIT_TIME);
// }
//
// // GAP
// GPOS = (1 << SBUS_PORT);
// delay_cycles(PULSE_GAP);
//
// // STOP BITS
// // LOW
// GPOC = (1 << SBUS_PORT);
// delay_cycles(PULSE_BIT_TIME);
//
// // GAP
// GPOS = (1 << SBUS_PORT);
// delay_cycles(PULSE_GAP);
//
// // LOW
// GPOC = (1 << SBUS_PORT);
// delay_cycles(PULSE_BIT_TIME);
//
//
// // GAP
// GPOS = (1 << SBUS_PORT);
// delay_cycles(PULSE_GAP);
// }
//
// Wait for next round
// sbusTime = millis();
// }
}

3
src/sbus.h
View File

@ -25,7 +25,7 @@
#define SBUS_FRAME_FOOTER_V2 0x04
#define SBUS_STATE_FAILSAFE 0x08
#define SBUS_STATE_SIGNALLOSS 0x04
#define SBUS_UPDATE_RATE 15 // ms
#define SBUS_UPDATE_RATE 6 // ms
#define SBUS_PORT 16 // Trigger pulse from the port
@ -39,6 +39,7 @@ class SBUS {
bool invert;
uint16_t rcCommand[18]; // Signal to ESC
uint8_t sbusPacket[SBUS_PACKET_LENGTH];
uint32_t last_sent = 0;
SBUS(void);
void begin(void);

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