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Merged
thetazero merged 2 commits into from
Aug 16, 2022
Merged

Async adafruit rfm9x #177

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bd8cc5f
Use adafruit_rfm9x 2.1.0
thetazero Aug 12, 2022
b93d194
Use new rfm9x library
thetazero Aug 12, 2022
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76 changes: 37 additions & 39 deletions state_machine/applications/flight/Tasks/radio.py
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Original file line number Diff line number Diff line change
Expand Up @@ -47,48 +47,46 @@ async def main_task(self):
if tq.empty():
self.debug("No packets to send")
cubesat.radio.listen()
heard_something = await cubesat.radio.await_rx(timeout=10)
if heard_something:
response = cubesat.radio.receive(keep_listening=True, with_ack=ANTENNA_ATTACHED)
if response is not None:
header = response[0]
response = response[1:] # remove the header byte
response = await cubesat.radio.receive(keep_listening=True, with_ack=ANTENNA_ATTACHED, timeout=10)
if response is not None:
header = response[0]
response = response[1:] # remove the header byte

self.debug(f'Recieved msg "{response}", RSSI: {self.cubesat.radio.last_rssi - 137}')
self.debug(f'Recieved msg "{response}", RSSI: {self.cubesat.radio.last_rssi - 137}')

if header == headers.NAIVE_START or header == headers.NAIVE_MID or header == headers.NAIVE_END:
self.handle_naive(header, response)
if header == headers.NAIVE_START or header == headers.NAIVE_MID or header == headers.NAIVE_END:
self.handle_naive(header, response)

# Begin Old Beacon Task Code
if len(response) >= 6:
if not ANTENNA_ATTACHED:
self.debug('Antenna not attached. Skipping over-the-air command handling')
else:
if response[:4] == self.super_secret_code:
cmd = bytes(response[4:6]) # [pass-code(4 bytes)] [cmd 2 bytes] [args]
cmd_args = None
if len(response) > 6:
self.debug('command with args', 2)
try:
cmd_args = response[6:] # arguments are everything after
self.debug(f'cmd args: {cmd_args}', 2)
except Exception as e:
self.debug(f'arg decoding error: {e}', 2)
if cmd in cdh.commands:
try:
if cmd_args is None:
self.debug(f'running {cdh.commands[cmd]} (no args)')
self.cmd_dispatch[cdh.commands[cmd]](self)
else:
self.debug(f'running {cdh.commands[cmd]} (with args: {cmd_args})')
self.cmd_dispatch[cdh.commands[cmd]](self, cmd_args)
except Exception as e:
self.debug(f'something went wrong: {e}')
cubesat.radio.send(str(e).encode())
else:
self.debug('invalid command!')
cubesat.radio.send(b'invalid cmd' + response[4:])
# End Old Beacon Task Code
# Begin Old Beacon Task Code
if len(response) >= 6:
if not ANTENNA_ATTACHED:
self.debug('Antenna not attached. Skipping over-the-air command handling')
else:
if response[:4] == self.super_secret_code:
cmd = bytes(response[4:6]) # [pass-code(4 bytes)] [cmd 2 bytes] [args]
cmd_args = None
if len(response) > 6:
self.debug('command with args', 2)
try:
cmd_args = response[6:] # arguments are everything after
self.debug(f'cmd args: {cmd_args}', 2)
except Exception as e:
self.debug(f'arg decoding error: {e}', 2)
if cmd in cdh.commands:
try:
if cmd_args is None:
self.debug(f'running {cdh.commands[cmd]} (no args)')
self.cmd_dispatch[cdh.commands[cmd]](self)
else:
self.debug(f'running {cdh.commands[cmd]} (with args: {cmd_args})')
self.cmd_dispatch[cdh.commands[cmd]](self, cmd_args)
except Exception as e:
self.debug(f'something went wrong: {e}')
cubesat.radio.send(str(e).encode())
else:
self.debug('invalid command!')
cubesat.radio.send(b'invalid cmd' + response[4:])
# End Old Beacon Task Code
else:
self.debug('No packets received')
elif should_transmit():
Expand Down
6 changes: 3 additions & 3 deletions state_machine/applications/flight/config.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,10 +14,10 @@
"Beacon": {
"Interval": 30,
"Priority": 1,
"ScheduleLater": True
"ScheduleLater": False
},
"Blink": {
"Interval": 2,
"Interval": 0.2,
"Priority": 255,
"ScheduleLater": False
},
Expand All @@ -33,7 +33,7 @@
},
"Radio": {
"Interval": 3,
"Priority": 2,
"Priority": 0,
"ScheduleLater": True
},
},
Expand Down
2 changes: 1 addition & 1 deletion state_machine/drivers/pycubedmini/lib/pycubed.py
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Original file line number Diff line number Diff line change
Expand Up @@ -242,7 +242,7 @@ def _init_radio(self):
try:
self._radio = pycubed_rfm9x.RFM9x(
self.spi, self._rf_cs, self._rf_rst,
self.UHF_FREQ, rfm95pw=True)
self.UHF_FREQ)
self.radio.dio0 = self.radio_DIO0
self._radio.node = 0xAB # our ID
self._radio.destination = 0xBA # target's ID
Expand Down
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