mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-16 21:05:35 +03:00
3c5a5728b2
it's ISR flags set. This has not been observed on the bench but is more of a safeguard so that the task doesn't stall and can decide what to do.
112 lines
2.8 KiB
C
112 lines
2.8 KiB
C
/*
|
|
* This file is part of Cleanflight and Betaflight.
|
|
*
|
|
* Cleanflight and Betaflight are free software. You can redistribute
|
|
* this software and/or modify this software under the terms of the
|
|
* GNU General Public License as published by the Free Software
|
|
* Foundation, either version 3 of the License, or (at your option)
|
|
* any later version.
|
|
*
|
|
* Cleanflight and Betaflight are distributed in the hope that they
|
|
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
|
|
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
|
* See the GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this software.
|
|
*
|
|
* If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
// expresslrs packet header types
|
|
// 00 -> standard 4 channel data packet
|
|
// 01 -> switch data packet
|
|
// 11 -> tlm packet
|
|
// 10 -> sync packet with hop data
|
|
typedef enum {
|
|
ELRS_RC_DATA_PACKET = 0x00,
|
|
ELRS_MSP_DATA_PACKET = 0x01,
|
|
ELRS_SYNC_PACKET = 0x02,
|
|
ELRS_TLM_PACKET = 0x03,
|
|
} elrsPacketType_e;
|
|
|
|
typedef enum {
|
|
ELRS_DIO_UNKNOWN = 0,
|
|
ELRS_DIO_RX_DONE = 1,
|
|
ELRS_DIO_TX_DONE = 2,
|
|
ELRS_DIO_RX_AND_TX_DONE = 3,
|
|
} dioReason_e;
|
|
|
|
typedef enum {
|
|
ELRS_CONNECTED,
|
|
ELRS_TENTATIVE,
|
|
ELRS_DISCONNECTED,
|
|
ELRS_DISCONNECT_PENDING // used on modelmatch change to drop the connection
|
|
} connectionState_e;
|
|
|
|
typedef enum {
|
|
ELRS_TIM_DISCONNECTED = 0,
|
|
ELRS_TIM_TENTATIVE = 1,
|
|
ELRS_TIM_LOCKED = 2
|
|
} timerState_e;
|
|
|
|
typedef struct elrsReceiver_s {
|
|
|
|
IO_t resetPin;
|
|
IO_t busyPin;
|
|
|
|
int32_t freqOffset;
|
|
uint32_t currentFreq;
|
|
|
|
volatile uint8_t nonceRX; // nonce that we THINK we are up to.
|
|
|
|
elrsModSettings_t *modParams;
|
|
elrsRfPerfParams_t *rfPerfParams;
|
|
|
|
const uint8_t *UID;
|
|
|
|
int8_t rssi;
|
|
int8_t snr;
|
|
int8_t rssiFiltered;
|
|
|
|
uint8_t uplinkLQ;
|
|
|
|
bool alreadyFHSS;
|
|
bool alreadyTLMresp;
|
|
bool lockRFmode;
|
|
bool started;
|
|
|
|
timerState_e timerState;
|
|
connectionState_e connectionState;
|
|
|
|
uint8_t rfModeCycleMultiplier;
|
|
uint16_t cycleIntervalMs;
|
|
uint32_t rfModeCycledAtMs;
|
|
uint8_t rateIndex;
|
|
uint8_t nextRateIndex;
|
|
|
|
uint32_t gotConnectionMs;
|
|
uint32_t lastSyncPacketMs;
|
|
uint32_t lastValidPacketMs;
|
|
|
|
uint32_t configCheckedAtMs;
|
|
bool configChanged;
|
|
|
|
bool inBindingMode;
|
|
volatile bool fhssRequired;
|
|
|
|
uint32_t statsUpdatedAtMs;
|
|
|
|
elrsRxInitFnPtr init;
|
|
elrsRxConfigFnPtr config;
|
|
elrsRxStartReceivingFnPtr startReceiving;
|
|
elrsRxISRFnPtr rxISR;
|
|
elrsRxTransmitDataFnPtr transmitData;
|
|
elrsRxReceiveDataFnPtr receiveData;
|
|
elrsRxGetRFlinkInfoFnPtr getRFlinkInfo;
|
|
elrsRxSetFrequencyFnPtr setFrequency;
|
|
elrsRxHandleFreqCorrectionFnPtr handleFreqCorrection;
|
|
|
|
timerOvrHandlerRec_t timerUpdateCb;
|
|
} elrsReceiver_t;
|
|
|