67 lines
1.9 KiB
C
67 lines
1.9 KiB
C
#pragma once
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//Only for UART connected radio modules
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#define UART_SPEED 57600
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#define E45_TTL_100_UART_DOWNTIME 30
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#define PPM_CHANNEL_COUNT 10
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#define RX_RX_HEALTH_FRAME_RATE 5000
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#define TX_RC_FRAME_RATE 1000 //ms
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#define RX_FAILSAFE_DELAY (TX_RC_FRAME_RATE * 4)
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#define CHANNEL_ID 0x01
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#define QSP_PREAMBLE 0x51
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#define QSP_PAYLOAD_LENGTH 32
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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_COUNT 0x5
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enum dataStates {
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QSP_STATE_IDLE,
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QSP_STATE_PREAMBLE_RECEIVED,
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QSP_STATE_CHANNEL_RECEIVED,
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QSP_STATE_FRAME_TYPE_RECEIVED,
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QSP_STATE_PACKET_ID_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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};
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#define PPM_INPUT_PIN 2
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#define PPM_INPUT_INTERRUPT 1 //For Pro Micro 1, For Pro Mini 0
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#define PPM_CHANNEL_DEFAULT_VALUE 1500 //set the default servo value
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#define PPM_FRAME_LENGTH 22500 //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_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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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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uint32_t lastFrameReceivedAt[QSP_FRAME_COUNT] = {0};
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uint8_t deviceState = DEVICE_STATE_OK;
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void (* hardwareWriteFunction)(uint8_t, QspConfiguration_t*);
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uint8_t lastReceivedPacketId = 0;
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bool canTransmit = false;
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};
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struct RxDeviceState_t {
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int rssi = 0;
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float 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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}; |