Skip to content

Fc ack #1

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
bobotran wants to merge 8 commits into
base: master
Choose a base branch
from
Open

Fc ack #1

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
8 commits
Select commit Hold shift + click to select a range
bd357e2
added ack for FC receiving commands from TPC sent by GS
bobotran Apr 12, 2019
1286127
tpc prints to debug when it receives ack
bobotran Apr 12, 2019
95501fa
moved debug print to only print if message dequeued from ack requeste…
bobotran Apr 19, 2019
30da78f
merged fc.h and msg_fc_update.fbs Added ack'ing
bobotran Apr 19, 2019
d1a8f66
added some missing variable declarations in tpc.h
bobotran Apr 19, 2019
fe451ad
added missing variable declarations to fc.h
bobotran Apr 19, 2019
b69904f
fixed typo messages errors
bobotran Apr 19, 2019
63a59ea
I GOT RID OF THE MSG NULL CHECK IM BIG DUM
bobotran Apr 19, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
79 changes: 63 additions & 16 deletions fc/fc.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@ struct Node {

static Node* createList(int length) {
Node* first = new Node(nullptr, 0);
Node* last = first;
Node* last = first;
for (int i = 0; i < length; i++) {
last = new Node(last, 0);
last->previous->next = last;
Expand Down Expand Up @@ -72,9 +72,10 @@ us_timestamp_t last_msg_send_us;

uint8_t rs422_read_buf[BUF_SIZE];
UARTSerial rs422(RS422_TX, RS422_RX, RS422_BAUDRATE);
void sendAck(uint8_t frame_id);


/*
/*
* Sets LED based on current state
*/
void updated_leds() {
Expand Down Expand Up @@ -142,6 +143,9 @@ void read_messages() {
}
debug_uart.printf("\r\n");
}
if (msg->AckReqd()) {
sendAck(msg->FrameID());
}
}
}
}
Expand Down Expand Up @@ -389,29 +393,72 @@ void buildCurrentMessage() {
state == FCState_Setup ? 0 : root->value, // 10.0f,
false, bpIgnited[0], true, bpIgnited[1], false,
bpIgnited[2], true, bpIgnited[3], false, bpIgnited[4],
true, bpIgnited[5], false, bpIgnited[6]);
true, bpIgnited[5], false, bpIgnited[6], FCUpdateType_StateUpdate, 0);
builder.Finish(message);

uint8_t bytes = (uint8_t)builder.GetSize();
builder.Reset();
message =
CreateFCUpdateMsg(builder,
bytes, // Fill in actual number of bytes
state,
// 0.0f, 1.0f, 2.0f,
// 3.0f, 4.0f, 5.0f,
// 6.0f, 7.0f, 8.0f,
// If in setup, we haven't zeroed altitude yet, so just send 0 instead
state == FCState_Setup ? 0 : root->value, // 10.0f,
false, bpIgnited[0], true, bpIgnited[1], false,
bpIgnited[2], true, bpIgnited[3], false, bpIgnited[4],
true, bpIgnited[5], false, bpIgnited[6]);
message = CreateFCUpdateMsg(builder,
bytes, // Fill in actual number of bytes
state,
// 0.0f, 1.0f, 2.0f,
// 3.0f, 4.0f, 5.0f,
// 6.0f, 7.0f, 8.0f,
state == FCState_Setup ? 0 : root->value, //10.0f,
false, bpIgnited[0],
true, bpIgnited[1],
false, bpIgnited[2],
true, bpIgnited[3],
false, bpIgnited[4],
true, bpIgnited[5],
false, bpIgnited[6],
FCUpdateType_StateUpdate, 0);
builder.Finish(message);
}

void sendAck(uint8_t frame_id) {
builder.Reset();
Offset<FCUpdateMsg> message = CreateFCUpdateMsg(builder,
1, // Can't be 0 or it will be ignored
state,
// 0.0f, 1.0f, 2.0f,
// 3.0f, 4.0f, 5.0f,
// 6.0f, 7.0f, 8.0f,
state == FCState_Setup ? 0 : root->value, //10.0f,
false, bpIgnited[0],
true, bpIgnited[1],
false, bpIgnited[2],
true, bpIgnited[3],
false, bpIgnited[4],
true, bpIgnited[5],
false, bpIgnited[6],
FCUpdateType_Ack, frame_id);
builder.Finish(message);

const uint8_t bytes = (uint8_t)builder.GetSize();
builder.Reset();
Offset<FCUpdateMsg> ack = CreateFCUpdateMsg(builder,
bytes, // Fill in actual number of bytes
state,
// 0.0f, 1.0f, 2.0f,
// 3.0f, 4.0f, 5.0f,
// 6.0f, 7.0f, 8.0f,
state == FCState_Setup ? 0 : root->value, //10.0f,
false, bpIgnited[0],
true, bpIgnited[1],
false, bpIgnited[2],
true, bpIgnited[3],
false, bpIgnited[4],
true, bpIgnited[5],
false, bpIgnited[6],
FCUpdateType_Ack, frame_id);
builder.Finish(ack);

rs422.write(builder.GetBufferPointer(), builder.GetSize());
}
int main() {
start();
while (1) {
loop();
}
}
}
6 changes: 4 additions & 2 deletions general/msg_fc_update.fbs
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
namespace Calstar;

/* This is sent over radio as well so it should be kept small */

enum FCUpdateType : byte { StateUpdate = 0, Ack = 1 }
enum FCState : byte {
Setup = 0,
Pad = 1,
Expand Down Expand Up @@ -41,6 +41,8 @@ table FCUpdateMsg {
BP6Ignited : bool;
BP7Continuity : bool;
BP7Ignited : bool;
Type : FCUpdateType;
FrameID : uint8;
}

root_type FCUpdateMsg;
root_type FCUpdateMsg;
68 changes: 61 additions & 7 deletions tpc/tpc.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@
#include "mbed.h"
#include "pins.h"
#include <string>
#include <unordered_map>
#include <vector>

#define DEBUG_UART_BAUDRATE (115200)
#define RS422_BAUDRATE (115200)
Expand All @@ -16,6 +18,9 @@
// random 16 bytes that must be the same across all nodes
#define ENCRYPT_KEY ("CALSTARENCRYPTKE")

#define ACK_CHECK_INTERVAL_MS (200)
#define MAX_NUM_RETRIES (50)

// analog in is 0-1 from gnd to VCC (3.3V)
// so multiply by 3.3V first, then multiply by inverse of resistive divider
// (92.2kOhm / 502.2kOhm)
Expand All @@ -28,9 +33,11 @@ using namespace Calstar;
const UplinkMsg *getUplinkMsg(char c);
const FCUpdateMsg *getFCUpdateMsg(char c);
void buildCurrentMessage();

void resend_msgs();
void sendAck(uint8_t frame_id);

void sendUplinkMsgToFC(uint8_t numBytes, bool with_ack, uint8_t frame_id);

Timer msgTimer;
FlatBufferBuilder builder(BUF_SIZE);
const FCUpdateMsg *fcLatestData = NULL;
Expand Down Expand Up @@ -58,6 +65,11 @@ uint8_t remaining_send_buf[BUF_SIZE];
int remaining_send_size = 0;
int remaining_send_buf_start = 0;
us_timestamp_t last_radio_send_us;
int32_t t_last_resend;

// frame_id, <message buffer, number of retries>
std::unordered_map<uint8_t, std::pair<std::vector<uint8_t>, uint8_t>>
acks_remaining;

void start() {
fcPower = 0;
Expand All @@ -81,6 +93,8 @@ void start() {
radio.setPowerDBm(20);

debug_uart.printf("Radio init complete.\r\n");

t_last_resend = msgTimer.read_ms();
}

void loop() {
Expand Down Expand Up @@ -116,14 +130,30 @@ void loop() {
last_radio_send_us = current_time;
}
}

//Resend messages awaiting ACK
if (msgTimer.read_ms() - t_last_resend > ACK_CHECK_INTERVAL_MS) {
resend_msgs();
t_last_resend = msgTimer.read_ms();
}

// Always read messages
while (rs422.readable()) {
ssize_t num_read = rs422.read(rs422_read_buf, BUF_SIZE);
for (int i = 0; i < num_read; i++) {
const FCUpdateMsg *msg = getFCUpdateMsg(rs422_read_buf[i]);
if (msg) {
fcLatestData = msg;
debug_uart.printf("Read alt=%f ft\r\n", fcLatestData->Altitude());
if(msg){
if (msg->Type() == FCUpdateType_StateUpdate) {
fcLatestData = msg;
debug_uart.printf("Read alt=%f ft\r\n", fcLatestData->Altitude());
}
//msg->Type() == FCUpdateType_Ack
else {
if (acks_remaining.count(msg->FrameID()) == 1) {
acks_remaining.erase(msg->FrameID());
debug_uart.printf("Received Ack for Message: %d\r\n", msg->FrameID());
}
}
}
}
}
Expand Down Expand Up @@ -180,7 +210,7 @@ void loop() {
fcPower = 0;
debug_uart.printf(" Turned off FC power.\r\n");
} else if (msg->Type() == UplinkType_Ack) {
// TODO: deal with acks
// TODO: deal with acks, if TPC ever needs to send a message that requires ACK
debug_uart.printf(" Acking message receive (TODO).\r\n");
} else {
// For other messages we just forward to FC.
Expand All @@ -194,7 +224,7 @@ void loop() {
}
}
debug_uart.printf(")to FC.\r\n");
rs422.write(uplinkMsgBuffer, msg->Bytes());
sendUplinkMsgToFC(msg->Bytes(), msg->AckReqd(), msg->FrameID());
}
if (msg->AckReqd()) {
sendAck(msg->FrameID());
Expand Down Expand Up @@ -414,4 +444,28 @@ void sendAck(uint8_t frame_id) {
false, 0, DownlinkType_Ack);
builder.Finish(ack);
radio.send(builder.GetBufferPointer(), builder.GetSize());
}
}

void sendUplinkMsgToFC(uint8_t numBytes, bool with_ack, uint8_t frame_id){
if (with_ack) {
acks_remaining.insert(
{frame_id, {std::vector<uint8_t>(uplinkMsgBuffer, uplinkMsgBuffer + numBytes), 0}});
debug_uart.printf("1");
}
rs422.write(uplinkMsgBuffer, numBytes);
debug_uart.printf("2");
}

void resend_msgs() {
for (auto &msg : acks_remaining) {
debug_uart.printf("![RESENDING FRAME '%d']!\r\n", (int)msg.first);
const std::vector<uint8_t> &vec = std::get<0>(msg.second);
rs422.write(vec.data(), vec.size());
// pc.printf("Complete\r\n");
std::get<1>(msg.second) = std::get<1>(msg.second) + 1;
if (std::get<1>(msg.second) >= MAX_NUM_RETRIES) {
debug_uart.printf("![FAILED TO SEND FRAME '%d']!\r\n", msg.first);
acks_remaining.erase(msg.first);
}
}
}