Initial commit - sync AliceRC to Gitea

2026-08-03 15:54:25 +08:00
commit 493b7d81d7
1510 changed files with 185319 additions and 0 deletions
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+/**
+ * @file rf_task.c
+ * @brief RF task - NRF24L01 communication
+ */
+#include <stdio.h>
+#include <string.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+#include "app_main.h"
+
+static const char *TAG = "rf";
+
+/* NRF24L01 protocol constants (matching AliceRX_STC) */
+#define FRAME_ID_CHANNELS      0xA0
+#define FRAME_ID_TELEMETRY     0xB0
+#define RF_PAYLOAD_SIZE        32
+#define RF_CHANNEL_DEFAULT     100
+#define RF_DATA_RATE           RF_1MBPS
+#define RF_TX_POWER            RF_PA_MAX
+
+/* RF frame structure */
+typedef struct __attribute__((packed)) {
+    uint8_t frame_id;       /* 0xA0 = FRAME_ID_CHANNELS */
+    uint8_t seq;            /* Sequence number */
+    uint8_t model_id;       /* Model ID */
+    uint8_t flags;          /* Flags */
+    uint8_t sbus_data[22];  /* 16 channels × 11bit = 22 bytes little-endian bitstream */
+    uint8_t reserved[6];    /* Reserved */
+} rf_payload_t;
+
+/* Telemetry data from receiver */
+typedef struct __attribute__((packed)) {
+    uint8_t frame_id;       /* 0xB0 = FRAME_ID_TELEMETRY */
+    uint8_t seq;            /* Sequence number */
+    uint16_t battery_mv;    /* Battery voltage (big-endian, mV) */
+    uint8_t reserved[28];   /* Reserved */
+} rf_telemetry_t;
+
+/* RF state */
+static uint8_t rf_seq = 0;
+static uint8_t rf_model_id = 0;
+
+void rf_send_channels(adc_data_t *adc_data)
+{
+    rf_payload_t payload;
+    memset(&payload, 0, sizeof(payload));
+    
+    payload.frame_id = FRAME_ID_CHANNELS;
+    payload.seq = rf_seq++;
+    payload.model_id = rf_model_id;
+    
+    /* Convert 8 ADC channels to SBUS-like 11-bit format */
+    /* Map 12-bit ADC (0-4095) to SBUS range (200-1844) */
+    uint16_t sbus_channels[16] = {0};
+    for (int i = 0; i < 8; i++) {
+        uint32_t val = adc_data->channels[i];
+        /* Map 0-4095 to 200-1844 */
+        sbus_channels[i] = 200 + (val * 1644 / 4096);
+        if (sbus_channels[i] > 1844) sbus_channels[i] = 1844;
+    }
+    /* Center unused channels */
+    for (int i = 8; i < 16; i++) {
+        sbus_channels[i] = 1024;
+    }
+    
+    /* Pack 16 × 11bit into 22 bytes little-endian */
+    for (int i = 0; i < 16; i++) {
+        uint16_t ch = sbus_channels[i];
+        int byte_idx = (i * 11) / 8;
+        int bit_off = (i * 11) % 8;
+        payload.sbus_data[byte_idx] |= (ch << bit_off) & 0xFF;
+        payload.sbus_data[byte_idx + 1] |= (ch >> (8 - bit_off)) & 0xFF;
+        if (bit_off > 5) {
+            payload.sbus_data[byte_idx + 2] |= (ch >> (16 - bit_off)) & 0xFF;
+        }
+    }
+    
+    /* TODO: Send via NRF24L01 hardware */
+    ESP_LOGD(TAG, "RF TX seq=%d ch1=%d", payload.seq, sbus_channels[0]);
+}
+
+void rf_task(void *pvParameters)
+{
+    ESP_LOGI(TAG, "RF task started");
+    
+    /* TODO: Initialize NRF24L01 hardware */
+    /* nrf24_init(); */
+    /* nrf24_set_channel(100); */
+    /* nrf24_set_data_rate(RF_DATA_RATE); */
+    /* nrf24_set_power(RF_TX_POWER); */
+    
+    while (1) {
+        /* Read latest ADC data */
+        adc_data_t adc_data;
+        if (adc_data_queue && xQueuePeek(adc_data_queue, &adc_data, 0)) {
+            /* Send channel data over RF */
+            rf_send_channels(&adc_data);
+        }
+        
+        /* TODO: Check for ACK/telemetry from receiver */
+        /* rf_telemetry_t telemetry; */
+        /* if (nrf24_read_ack(&telemetry)) { */
+        /*     linked = 1; */
+        /*     lost_count = 0; */
+        /* } else { */
+        /*     if (++lost_count > 50) linked = 0; */
+        /* } */
+        
+        vTaskDelay(pdMS_TO_TICKS(20));  /* 50Hz RF update rate */
+    }
+}