d07a8a09d3
different configurations are specified in the configurations directory to select one copy it replcing the config.h file (as the travis script does) or change the include file directive in crossbow.ino
127 lines
3.6 KiB
C
127 lines
3.6 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_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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#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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struct RadioState_t {
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uint32_t frequency = 867000000;
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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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};
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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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