150 lines
4.4 KiB
C
150 lines
4.4 KiB
C
#include "Arduino.h"
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#pragma once
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#define OLED_UPDATE_RATE 750
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#define SBUS_UPDATE_RATE 15 //ms
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#define SBUS_PACKET_LENGTH 25
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#define RC_CHANNEL_MIN 990
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#define RC_CHANNEL_MAX 2010
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#define RX_TASK_HEALTH 200 //5Hz should be enough
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#define RSSI_CHANNEL 11
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#define TX_TRANSMIT_SLOT_RATE 67 //ms
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#define RX_CHANNEL_DWELL_TIME (TX_TRANSMIT_SLOT_RATE + 10) //Dwell on a channel slightly longer
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#define RX_FAILSAFE_DELAY (TX_TRANSMIT_SLOT_RATE * 8)
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#define TX_FAILSAFE_DELAY (RX_FAILSAFE_DELAY * 4)
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#define CHANNEL_ID 0x01
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#define QSP_PAYLOAD_LENGTH 32
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#define QSP_MAX_FRAME_DECODE_TIME 10 //max time that frame can be decoded in ms
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#define QSP_FRAME_RC_DATA 0x0
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#define QSP_FRAME_RX_HEALTH 0x1
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#define QSP_FRAME_GET_RX_CONFIG 0x2
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#define QSP_FRAME_RX_CONFIG 0x3
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#define QSP_FRAME_SET_RX_CONFIG 0x4
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#define QSP_FRAME_PING 0x5
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#define QSP_FRAME_PONG 0x6
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#define QSP_FRAME_COUNT 0x7
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static const uint8_t qspFrameLengths[QSP_FRAME_COUNT] = {
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9, //QSP_FRAME_RC_DATA
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6, //QSP_FRAME_RX_HEALTH
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0, //QSP_FRAME_GET_RX_CONFIG -> Not used
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0, //QSP_FRAME_RX_CONFIG -> Not used
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0, //QSP_FRAME_SET_RX_CONFIG -> Not used
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4, //QSP_FRAME_PING
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4, //QSP_FRAME_PONG
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};
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#define RX_ADC_PIN_1 A0
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#define RX_ADC_PIN_2 A1
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#define RX_ADC_PIN_3 A2
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enum dataStates {
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QSP_STATE_IDLE,
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QSP_STATE_CHANNEL_RECEIVED,
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QSP_STATE_FRAME_TYPE_RECEIVED,
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QSP_STATE_PAYLOAD_RECEIVED,
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QSP_STATE_CRC_RECEIVED
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};
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enum deviceStates {
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DEVICE_STATE_OK,
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DEVICE_STATE_FAILSAFE,
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DEVICE_STATE_UNDETERMINED
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};
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enum debugConfigFlags {
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DEBUG_FLAG_SERIAL = 0b00000001,
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DEBUG_FLAG_LED = 0b00000010
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};
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#define PPM_INPUT_PIN 0 // Has to be one of Interrupt pins
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#define PPM_INPUT_CHANNEL_COUNT 10
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#define PPM_OUTPUT_CHANNEL_COUNT 10
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#define TX_BUZZER_PIN A5
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#define PPM_CHANNEL_DEFAULT_VALUE 1500 //set the default servo value
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#define PPM_FRAME_LENGTH 30500 //set the PPM frame length in microseconds (1ms = 1000µs)
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#define PPM_PULSE_LENGTH 300 //set the pulse length
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#define PPM_OUTPUT_MULTIPLIER 1 //1 for 8MHz RX, 2 for 16MHz RX
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#define PPM_SIGNAL_POSITIVE_STATE 1 //set polarity of the pulses: 1 is positive, 0 is negative
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#define PPM_OUTPUT_PIN 10 //set PPM signal output pin on the arduino
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#define MIN_PACKET_SIZE 3 //Min theorethical size of valid packet
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#define MAX_PACKET_SIZE 20 //Max theorethical size of valid packet
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#define NO_DATA_TO_READ -1
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#define RADIO_STATE_TX 1
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#define RADIO_STATE_RX 2
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#define RADIO_FREQUENCY_MIN 868000000
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#define RADIO_FREQUENCY_MAX 870000000
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#define RADIO_FREQUENCY_RANGE (RADIO_FREQUENCY_MAX-RADIO_FREQUENCY_MIN)
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#define RADIO_CHANNEL_WIDTH 250000
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#define RADIO_CHANNEL_COUNT 9 // 9 channels in 2MHz range (RADIO_FREQUENCY_RANGE/RADIO_CHANNEL_WIDTH) + 1
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#define RADIO_HOP_OFFSET 5
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struct RadioState_t {
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uint32_t loraBandwidth = 250000;
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uint8_t loraSpreadingFactor = 7;
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uint8_t loraCodingRate = 6;
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uint8_t loraTxPower = 17; // Defines output power of TX, defined in dBm range from 2-17
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int8_t bytesToRead = -1;
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uint8_t rssi = 0;
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uint8_t snr = 0;
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uint8_t deviceState = RADIO_STATE_RX;
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uint32_t nextTxCheckMillis = 0;
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const uint32_t dwellTime = TX_TRANSMIT_SLOT_RATE * 2;
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uint8_t channel = 0;
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uint8_t lastReceivedChannel = 0;
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uint32_t channelEntryMillis = 0;
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uint8_t failedDwellsCount = 0;
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};
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struct TxDeviceState_t {
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uint8_t flags = 0;
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uint32_t roundtrip = 0;
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bool isReceiving = false; //Indicates that TX module is receiving frames from RX module
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};
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struct RxDeviceState_t {
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uint8_t rssi = 0;
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uint8_t snr = 0;
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uint8_t rxVoltage = 0;
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uint8_t a1Voltage = 0;
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uint8_t a2Voltage = 0;
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uint8_t flags = 0;
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int16_t channels[16] = {};
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};
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struct QspConfiguration_t {
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uint8_t protocolState = QSP_STATE_IDLE;
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uint8_t crc = 0;
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uint8_t payload[QSP_PAYLOAD_LENGTH] = {0};
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uint8_t payloadLength = 0;
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uint8_t frameToSend = 0;
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uint8_t frameId = 0;
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uint32_t lastFrameReceivedAt[QSP_FRAME_COUNT] = {0};
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uint32_t anyFrameRecivedAt = 0;
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uint8_t deviceState = DEVICE_STATE_UNDETERMINED;
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void (* onSuccessCallback)(QspConfiguration_t*, TxDeviceState_t*, RxDeviceState_t*, volatile RadioState_t*);
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void (* onFailureCallback)(QspConfiguration_t*, TxDeviceState_t*, RxDeviceState_t*, volatile RadioState_t*);
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bool canTransmit = false;
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bool forcePongFrame = false;
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uint8_t debugConfig = 0;
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uint32_t frameDecodingStartedAt = 0;
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uint32_t lastTxSlotTimestamp = 0;
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bool transmitWindowOpen = false;
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};
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