94 lines
2.6 KiB
C
94 lines
2.6 KiB
C
#pragma once
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#define OLED_UPDATE_RATE 300
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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 RX_RX_HEALTH_FRAME_RATE 503
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#define TX_RC_FRAME_RATE 50 //ms
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#define RX_FAILSAFE_DELAY (TX_RC_FRAME_RATE * 8)
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#define TX_PING_RATE 2007
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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_MAX_FRAME_DECODE_TIME 50 //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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#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_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_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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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_INTERRUPT 2 // For Pro Micro 1, For Pro Mini 0
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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 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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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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uint32_t lastFrameTransmitedAt[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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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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};
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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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uint32_t roundtrip = 0;
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}; |