86 lines
2.4 KiB
C
86 lines
2.4 KiB
C
#pragma once
|
|
|
|
//Only for UART connected radio modules
|
|
#define UART_SPEED 57600
|
|
#define E45_TTL_100_UART_DOWNTIME 30
|
|
|
|
#define PPM_CHANNEL_COUNT 11
|
|
|
|
#define RX_RX_HEALTH_FRAME_RATE 5000
|
|
#define TX_RC_FRAME_RATE 1000 //ms
|
|
#define RX_FAILSAFE_DELAY (TX_RC_FRAME_RATE * 4)
|
|
|
|
#define TX_PING_RATE 2000
|
|
|
|
#define CHANNEL_ID 0x01
|
|
#define QSP_PREAMBLE 0x51
|
|
#define QSP_PAYLOAD_LENGTH 32
|
|
|
|
#define QSP_MAX_FRAME_DECODE_TIME 50 //max time that frame can be decoded in ms
|
|
|
|
#define QSP_FRAME_RC_DATA 0x0
|
|
#define QSP_FRAME_RX_HEALTH 0x1
|
|
#define QSP_FRAME_GET_RX_CONFIG 0x2
|
|
#define QSP_FRAME_RX_CONFIG 0x3
|
|
#define QSP_FRAME_SET_RX_CONFIG 0x4
|
|
#define QSP_FRAME_PING 0x5
|
|
#define QSP_FRAME_PONG 0x6
|
|
#define QSP_FRAME_COUNT 0x7
|
|
|
|
#define RX_ADC_PIN_1 A0
|
|
#define RX_ADC_PIN_2 A1
|
|
#define RX_ADC_PIN_3 A2
|
|
|
|
enum dataStates {
|
|
QSP_STATE_IDLE,
|
|
QSP_STATE_PREAMBLE_RECEIVED,
|
|
QSP_STATE_CHANNEL_RECEIVED,
|
|
QSP_STATE_FRAME_TYPE_RECEIVED,
|
|
QSP_STATE_PACKET_ID_RECEIVED,
|
|
QSP_STATE_PAYLOAD_RECEIVED,
|
|
QSP_STATE_CRC_RECEIVED
|
|
};
|
|
|
|
enum deviceStates {
|
|
DEVICE_STATE_OK,
|
|
DEVICE_STATE_FAILSAFE
|
|
};
|
|
|
|
enum debugConfigFlags {
|
|
DEBUG_FLAG_SERIAL = 0b00000001,
|
|
DEBUG_FLAG_LED = 0b00000010
|
|
};
|
|
|
|
#define PPM_INPUT_PIN 0 // Has to be one of Interrupt pins
|
|
#define PPM_INPUT_INTERRUPT 2 // For Pro Micro 1, For Pro Mini 0
|
|
|
|
#define PPM_CHANNEL_DEFAULT_VALUE 1500 //set the default servo value
|
|
#define PPM_FRAME_LENGTH 22500 //set the PPM frame length in microseconds (1ms = 1000µs)
|
|
#define PPM_PULSE_LENGTH 300 //set the pulse length
|
|
#define PPM_SIGNAL_POSITIVE_STATE 1 //set polarity of the pulses: 1 is positive, 0 is negative
|
|
#define PPM_OUTPUT_PIN 10 //set PPM signal output pin on the arduino
|
|
|
|
struct QspConfiguration_t {
|
|
uint8_t protocolState = QSP_STATE_IDLE;
|
|
uint8_t crc = 0;
|
|
uint8_t payload[QSP_PAYLOAD_LENGTH] = {0};
|
|
uint8_t payloadLength = 0;
|
|
uint8_t frameToSend = 0;
|
|
uint32_t lastFrameReceivedAt[QSP_FRAME_COUNT] = {0};
|
|
uint32_t lastFrameTransmitedAt[QSP_FRAME_COUNT] = {0};
|
|
uint8_t deviceState = DEVICE_STATE_OK;
|
|
void (* hardwareWriteFunction)(uint8_t, QspConfiguration_t*);
|
|
uint8_t lastReceivedPacketId = 0;
|
|
bool canTransmit = false;
|
|
bool forcePongFrame = false;
|
|
uint8_t debugConfig = 0;
|
|
uint32_t frameDecodingStartedAt = 0;
|
|
};
|
|
|
|
struct RxDeviceState_t {
|
|
int rssi = 0;
|
|
float snr = 0;
|
|
uint8_t rxVoltage = 0;
|
|
uint8_t a1Voltage = 0;
|
|
uint8_t a2Voltage = 0;
|
|
}; |