106 lines
3.0 KiB
C
106 lines
3.0 KiB
C
#include "STC8_SDCC.H"
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/* ========================================================================
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* 系统常量
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* ======================================================================== */
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#define UART_BUF_SIZE 32
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/* 接收状态 */
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#define RX_STATE_DISCONNECTED 0
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#define RX_STATE_BINDING 1
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#define RX_STATE_CONNECTED 2
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/* EEPROM 地址 (IAP) */
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#define EEPROM_ADDR_BIND_FLAG 0x0000
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#define EEPROM_ADDR_TX_ADDR 0x0001 /* 5字节 */
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#define EEPROM_ADDR_RF_CH 0x0006
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#define EEPROM_ADDR_BIND_PHRASE 0x0007 /* 6字节 */
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#define EEPROM_BIND_MAGIC 0x5A /* 已对频标志 */
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/* 数据包格式 (与发射机一致) */
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#define RF_SYNC_BYTE0 0xAA
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#define RF_SYNC_BYTE1 0x55
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#define RF_PACKET_SIZE 32
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#define RF_PHRASE_LEN 6
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/* LED 闪烁模式 */
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#define UNCONNECTED 0 /* 1Hz - 未连接 */
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#define NRF_BINDING 1 /* 3Hz - 对频中 */
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#define CONNECTED 2 /* 常亮 - 已连接 */
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#define NRF_ERROR 4 /* 双闪 - NRF硬件错误 */
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/* UART运行模式 */
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#define UART_CMD 0
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#define UART_SBUS 1
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#define UART_CRSF 2
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/* ========================================================================
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* 全局变量
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* ======================================================================== */
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// 配置信息
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struct CONFIG
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{
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// 运行模式
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uint8 RunMode;
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// nrf24使用的通道
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uint8 NrfCH;
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// nrf24使用的对频短语
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uint8 BindPhr[6];
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// nrf24地址，40位
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uint8 RxAddr[5];
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// 对频标志
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uint8 BindMagic;
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// 记录的发射机地址
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uint8 TxAddr[5];
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// 回传频率
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uint8 TelemRate;
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} Config;
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// nrf24l01接收的数据
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struct RFDATA
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{
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// nrf24l01一次性接收32byte数据
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uint8 RefreshRate;
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uint16 CH[15];
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uint8 end;
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} RF_Data;
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// 系统滴答定时器计数 (用于LED闪烁)
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static uint8 sys_tick = 0;
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/* PWM 通道脉宽值 (4us单位, 放在 xdata) */
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static volatile uint16_t __xdata pwm_ch[CHANNEL_COUNT];
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/* 接收状态 */
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static uint8_t rx_state = RX_STATE_DISCONNECTED;
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static uint8_t out_mode = OUT_MODE_PWM;
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/* 对频信息 (放在 xdata) */
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static uint8_t __xdata bind_phrase[RF_PHRASE_LEN] = "LOVE";
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static uint8_t __xdata tx_addr[NRF_ADDR_WIDTH] = {0xE7, 0xE7, 0xE7, 0xE7, 0xE7};
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static uint8_t rf_channel = 40;
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/* 信号丢失计数 */
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static uint16_t lost_packet_cnt = 0;
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#define LOST_PACKET_TIMEOUT 500 /* 500次接收超时后判丢失 (~5秒 @ 100Hz) */
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/* NRF 硬件错误标志 */
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static uint8_t nrf_hw_error = 0;
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/* 电池电压 */
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static volatile uint16_t bat_voltage_mv = 0;
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/* 回传数据 */
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static uint8_t telem_rssi = 0; /* 信号强度 (0-100) */
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static uint8_t telem_packet_loss = 0; /* 丢包率 (0-100%) */
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static uint8_t telem_rate_hz = 2; /* 回传频率 1-10Hz, 默认2Hz */
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/* CRFS 模式下接收的飞控转发数据 */
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static uint8_t __xdata crfs_forward_buf[24];
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static uint8_t crfs_forward_len = 0;
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/* 定时器计数 (用于LED闪烁) */
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static volatile uint16_t sys_tick = 0;
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void (*code runModel)(void) = PwmModel;
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void (*code outputFun)(void) = PwmUpdate; |