src/include/common.h

   1 #pragma once
   2
   3 #ifndef UNIT_TEST
   4 #include "targets.h"
   5
   6 #if defined(RADIO_SX127X)
   7 #include "SX127xDriver.h"
   8 #elif defined(RADIO_LR1121)
   9 #include "LR1121Driver.h"
  10 #elif defined(RADIO_SX128X)
  11 #include "SX1280Driver.h"
  12 #else
  13 #error "Radio configuration is not valid!"
  14 #endif
  15
  16 #endif // UNIT_TEST
  17
  18 // Used to XOR with OtaCrcInitializer and macSeed to reduce compatibility with previous versions.
  19 // It should be incremented when the OTA packet structure is modified.
  20 #define OTA_VERSION_ID      4
  21 #define UID_LEN             6
  22
  23 typedef enum : uint8_t
  24 {
  25     TLM_RATIO_STD = 0,   // Use suggested ratio from ModParams
  26     TLM_RATIO_NO_TLM,
  27     TLM_RATIO_1_128,
  28     TLM_RATIO_1_64,
  29     TLM_RATIO_1_32,
  30     TLM_RATIO_1_16,
  31     TLM_RATIO_1_8,
  32     TLM_RATIO_1_4,
  33     TLM_RATIO_1_2,
  34     TLM_RATIO_DISARMED, // TLM_RATIO_STD when disarmed, TLM_RATIO_NO_TLM when armed
  35 } expresslrs_tlm_ratio_e;
  36
  37 typedef enum
  38 {
  39     connected,
  40     tentative,        // RX only
  41     awaitingModelId,  // TX only
  42     disconnected,
  43     MODE_STATES,
  44     // States below here are special mode states
  45     noCrossfire,
  46     bleJoystick,
  47     NO_CONFIG_SAVE_STATES,
  48     wifiUpdate,
  49     serialUpdate,
  50     // Failure states go below here to display immediately
  51     FAILURE_STATES,
  52     radioFailed,
  53     hardwareUndefined
  54 } connectionState_e;
  55
  56 /**
  57  * On the TX, tracks what to do when the Tock timer fires
  58  **/
  59 typedef enum
  60 {
  61     ttrpTransmitting,     // Transmitting RC channels as normal
  62     ttrpPreReceiveGap,    // Has switched to Receive mode for telemetry, but in the gap between TX done and Tock
  63     ttrpExpectingTelem    // Still in Receive mode, Tock has fired, receiving telem as far as we know
  64 } TxTlmRcvPhase_e;
  65
  66 typedef enum
  67 {
  68     tim_disconnected = 0,
  69     tim_tentative = 1,
  70     tim_locked = 2
  71 } RXtimerState_e;
  72
  73 typedef enum
  74 {
  75     RF_DOWNLINK_INFO = 0,
  76     RF_UPLINK_INFO = 1,
  77     RF_AIRMODE_PARAMETERS = 2
  78 } expresslrs_tlm_header_e;
  79
  80 typedef enum : uint8_t
  81 {
  82     // RATE_MODULATION_BAND_RATE_MODE
  83
  84     RATE_LORA_900_25HZ = 0,
  85     RATE_LORA_900_50HZ,
  86     RATE_LORA_900_100HZ,
  87     RATE_LORA_900_100HZ_8CH,
  88     RATE_LORA_900_150HZ,
  89     RATE_LORA_900_200HZ,
  90     RATE_LORA_900_200HZ_8CH,
  91     RATE_LORA_900_250HZ,
  92     RATE_LORA_900_333HZ_8CH,
  93     RATE_LORA_900_500HZ,
  94     RATE_LORA_900_50HZ_DVDA,
  95     RATE_FSK_900_1000HZ_8CH,
  96
  97     RATE_LORA_2G4_25HZ = 20,
  98     RATE_LORA_2G4_50HZ,
  99     RATE_LORA_2G4_100HZ,
 100     RATE_LORA_2G4_100HZ_8CH,
 101     RATE_LORA_2G4_150HZ,
 102     RATE_LORA_2G4_200HZ,
 103     RATE_LORA_2G4_200HZ_8CH,
 104     RATE_LORA_2G4_250HZ,
 105     RATE_LORA_2G4_333HZ_8CH,
 106     RATE_LORA_2G4_500HZ,
 107     RATE_FLRC_2G4_250HZ_DVDA,
 108     RATE_FLRC_2G4_500HZ_DVDA,
 109     RATE_FLRC_2G4_500HZ,
 110     RATE_FLRC_2G4_1000HZ,
 111     RATE_FSK_2G4_250HZ_DVDA,
 112     RATE_FSK_2G4_500HZ_DVDA,
 113     RATE_FSK_2G4_1000HZ,
 114
 115     RATE_LORA_DUAL_100HZ_8CH = 100,
 116     RATE_LORA_DUAL_150HZ,
 117 } expresslrs_RFrates_e;
 118
 119 enum {
 120     RADIO_TYPE_SX127x_LORA,
 121     RADIO_TYPE_LR1121_LORA_900,
 122     RADIO_TYPE_LR1121_LORA_2G4,
 123     RADIO_TYPE_LR1121_GFSK_900,
 124     RADIO_TYPE_LR1121_GFSK_2G4,
 125     RADIO_TYPE_LR1121_LORA_DUAL,
 126     RADIO_TYPE_SX128x_LORA,
 127     RADIO_TYPE_SX128x_FLRC,
 128 };
 129
 130 typedef enum : uint8_t
 131 {
 132     TX_RADIO_MODE_GEMINI = 0,
 133     TX_RADIO_MODE_ANT_1 = 1,
 134     TX_RADIO_MODE_ANT_2 = 2,
 135     TX_RADIO_MODE_SWITCH = 3
 136 } tx_radio_mode_e;
 137
 138 typedef enum : uint8_t
 139 {
 140     TX_NORMAL_MODE      = 0,
 141     TX_MAVLINK_MODE     = 1,
 142 } tx_transmission_mode_e;
 143
 144 // Value used for expresslrs_rf_pref_params_s.DynpowerUpThresholdSnr if SNR should not be used
 145 #define DYNPOWER_SNR_THRESH_NONE -127
 146 #define SNR_SCALE(snr) ((int8_t)((float)snr * RADIO_SNR_SCALE))
 147 #define SNR_DESCALE(snrScaled) (snrScaled / RADIO_SNR_SCALE)
 148 // Bound is any of the last 4 bytes nonzero (unbound is all zeroes)
 149 #define UID_IS_BOUND(uid) (uid[2] != 0 || uid[3] != 0 || uid[4] != 0 || uid[5] != 0)
 150
 151 typedef struct expresslrs_rf_pref_params_s
 152 {
 153     uint8_t index;
 154     int16_t RXsensitivity;                // expected min RF sensitivity
 155     uint16_t TOA;                         // time on air in microseconds
 156     uint16_t DisconnectTimeoutMs;         // Time without a packet before receiver goes to disconnected (ms)
 157     uint16_t RxLockTimeoutMs;             // Max time to go from tentative -> connected state on receiver (ms)
 158     uint16_t SyncPktIntervalDisconnected; // how often to send the PACKET_TYPE_SYNC (ms) when there is no response from RX
 159     uint16_t SyncPktIntervalConnected;    // how often to send the PACKET_TYPE_SYNC (ms) when there we have a connection
 160     int8_t DynpowerSnrThreshUp;           // Request a raise in power if the reported (average) SNR is at or below this
 161                                           // or DYNPOWER_UPTHRESH_SNR_NONE to use RSSI
 162     int8_t DynpowerSnrThreshDn;           // Like DynpowerSnrUpThreshold except to lower power
 163
 164 } expresslrs_rf_pref_params_s;
 165
 166 typedef struct expresslrs_mod_settings_s
 167 {
 168     uint8_t index;
 169     uint8_t radio_type;
 170     expresslrs_RFrates_e enum_rate;
 171     uint8_t bw;
 172     uint8_t sf;
 173     uint8_t cr;
 174     uint8_t PreambleLen;
 175 #if defined(RADIO_LR1121)
 176     uint8_t bw2;
 177     uint8_t sf2;
 178     uint8_t cr2;
 179     uint8_t PreambleLen2;
 180 #endif
 181     expresslrs_tlm_ratio_e TLMinterval;        // every X packets is a response TLM packet, should be a power of 2
 182     uint8_t FHSShopInterval;    // every X packets we hop to a new frequency. Max value of 16 since only 4 bits have been assigned in the sync package.
 183     int32_t interval;           // interval in us seconds that corresponds to that frequency
 184     uint8_t PayloadLength;      // Number of OTA bytes to be sent.
 185     uint8_t numOfSends;         // Number of packets to send.
 186 } expresslrs_mod_settings_t;
 187
 188 // Limited to 16 possible ACTIONs by config storage currently
 189 typedef enum : uint8_t {
 190     ACTION_NONE,
 191     ACTION_INCREASE_POWER,
 192     ACTION_GOTO_VTX_BAND,
 193     ACTION_GOTO_VTX_CHANNEL,
 194     ACTION_SEND_VTX,
 195     ACTION_START_WIFI,
 196     ACTION_BIND,
 197     ACTION_BLE_JOYSTICK,
 198     ACTION_RESET_REBOOT,
 199
 200     ACTION_LAST
 201 } action_e;
 202
 203 enum eServoOutputMode : uint8_t
 204 {
 205     som50Hz = 0,    // 0:  50 Hz  | modes are "Servo PWM" where the signal is 988-2012us
 206     som60Hz,        // 1:  60 Hz  | and the mode sets the refresh interval
 207     som100Hz,       // 2:  100 Hz | must be mode=0 for default in config
 208     som160Hz,       // 3:  160Hz
 209     som333Hz,       // 4:  333Hz
 210     som400Hz,       // 5:  400Hz
 211     som10KHzDuty,   // 6:  10kHz duty
 212     somOnOff,       // 7:  Digital 0/1 mode
 213     somDShot,       // 8:  DShot300
 214     somSerial,      // 9:  primary Serial
 215     somSCL,         // 10: I2C clock signal
 216     somSDA,         // 11: I2C data line
 217     somPwm,         // 12: true PWM mode (NOT SUPPORTED)
 218 #if defined(PLATFORM_ESP32)
 219     somSerial1RX,   // 13: secondary Serial RX
 220     somSerial1TX,   // 14: secondary Serial TX
 221 #endif
 222 };
 223
 224 enum eServoOutputFailsafeMode : uint8_t
 225 {
 226     PWMFAILSAFE_SET_POSITION,  // user customizable pulse value
 227     PWMFAILSAFE_NO_PULSES,     // stop pulsing
 228     PWMFAILSAFE_LAST_POSITION, // continue to pulse last used value
 229 };
 230
 231 enum eSerialProtocol : uint8_t
 232 {
 233     PROTOCOL_CRSF,
 234     PROTOCOL_INVERTED_CRSF,
 235     PROTOCOL_SBUS,
 236     PROTOCOL_INVERTED_SBUS,
 237         PROTOCOL_SUMD,
 238     PROTOCOL_DJI_RS_PRO,
 239     PROTOCOL_HOTT_TLM,
 240     PROTOCOL_MAVLINK,
 241     PROTOCOL_MSP_DISPLAYPORT,
 242 };
 243
 244 #if defined(PLATFORM_ESP32)
 245 enum eSerial1Protocol : uint8_t
 246 {
 247     PROTOCOL_SERIAL1_OFF,
 248     PROTOCOL_SERIAL1_CRSF,
 249     PROTOCOL_SERIAL1_INVERTED_CRSF,
 250     PROTOCOL_SERIAL1_SBUS,
 251     PROTOCOL_SERIAL1_INVERTED_SBUS,
 252         PROTOCOL_SERIAL1_SUMD,
 253     PROTOCOL_SERIAL1_DJI_RS_PRO,
 254     PROTOCOL_SERIAL1_HOTT_TLM,
 255     PROTOCOL_SERIAL1_TRAMP,
 256     PROTOCOL_SERIAL1_SMARTAUDIO,
 257     PROTOCOL_SERIAL1_MSP_DISPLAYPORT,
 258 };
 259 #endif
 260
 261 enum eFailsafeMode : uint8_t
 262 {
 263     FAILSAFE_NO_PULSES,
 264     FAILSAFE_LAST_POSITION,
 265     FAILSAFE_SET_POSITION
 266 };
 267
 268 enum eAuxChannels : uint8_t
 269 {
 270     AUX1 = 4,
 271     AUX2 = 5,
 272     AUX3 = 6,
 273     AUX4 = 7,
 274     AUX5 = 8,
 275     AUX6 = 9,
 276     AUX7 = 10,
 277     AUX8 = 11,
 278     AUX9 = 12,
 279     AUX10 = 13,
 280     AUX11 = 14,
 281     AUX12 = 15,
 282     CRSF_NUM_CHANNELS = 16
 283 };
 284
 285 //ELRS SPECIFIC OTA CRC
 286 //Koopman formatting https://users.ece.cmu.edu/~koopman/crc/
 287 #define ELRS_CRC_POLY 0x07 // 0x83
 288 #define ELRS_CRC14_POLY 0x2E57 // 0x372B
 289
 290 #ifndef UNIT_TEST
 291 #if defined(RADIO_SX127X)
 292 #define RATE_MAX 6
 293 #define RATE_BINDING RATE_LORA_900_50HZ
 294
 295 extern SX127xDriver Radio;
 296
 297 #elif defined(RADIO_LR1121)
 298 #define RATE_MAX 20
 299 #define RATE_BINDING RATE_LORA_900_50HZ
 300 #define RATE_DUALBAND_BINDING RATE_LORA_2G4_50HZ
 301
 302 extern LR1121Driver Radio;
 303
 304 #elif defined(RADIO_SX128X)
 305 #define RATE_MAX 10     // 2xFLRC + 2xDVDA + 4xLoRa + 2xFullRes
 306 #define RATE_BINDING RATE_LORA_2G4_50HZ
 307
 308 extern SX1280Driver Radio;
 309 #endif
 310 #endif // UNIT_TEST
 311
 312 expresslrs_mod_settings_s *get_elrs_airRateConfig(uint8_t index);
 313 expresslrs_rf_pref_params_s *get_elrs_RFperfParams(uint8_t index);
 314 uint8_t get_elrs_HandsetRate_max(uint8_t rateIndex, uint32_t minInterval);
 315
 316 uint8_t TLMratioEnumToValue(expresslrs_tlm_ratio_e const enumval);
 317 uint8_t TLMBurstMaxForRateRatio(uint16_t const rateHz, uint8_t const ratioDiv);
 318 uint8_t enumRatetoIndex(expresslrs_RFrates_e const eRate);
 319
 320 extern uint8_t UID[UID_LEN];
 321 extern bool connectionHasModelMatch;
 322 extern bool teamraceHasModelMatch;
 323 extern bool InBindingMode;
 324 extern uint8_t ExpressLRS_currTlmDenom;
 325 extern connectionState_e connectionState;
 326 extern expresslrs_mod_settings_s *ExpressLRS_currAirRate_Modparams;
 327 extern expresslrs_rf_pref_params_s *ExpressLRS_currAirRate_RFperfParams;
 328 extern uint32_t ChannelData[CRSF_NUM_CHANNELS]; // Current state of channels, CRSF format
 329
 330 uint32_t uidMacSeedGet();
 331 bool isDualRadio();
 332 void EnterBindingModeSafely(); // defined in rx_main/tx_main
 333
 334 #if defined(RADIO_LR1121)
 335 bool isSupportedRFRate(uint8_t index);
 336 #else
 337 inline bool isSupportedRFRate(uint8_t index) { return true; };
 338 #endif