118 lines
3.1 KiB
C
118 lines
3.1 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ----------------------------------------------------------------- */
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#include <stdint.h>
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#include <stdbool.h>
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#include "device/sx1281_driver/sx1281.h"
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/* USER INCLUDE BEGIN */
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/* USER INCLUDE END */
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/* Exported constants ------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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#define MR16_HEADER_LEN 2 // Header长度(TX_ID)
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#define MR16_CRC_LEN 2 // CRC长度
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#define MR16_DEFAULT_FIXED_LEN 113 // 默认用户数据长度(不含Header和CRC)
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/* 失控保护安全帧模式: 用户数据前4字节为特殊序列 */
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#define MR16_FAILSAFE_PATTERN_LEN 4
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#define MR16_FAILSAFE_BYTE0 0xFF
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#define MR16_FAILSAFE_BYTE1 0x00
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#define MR16_FAILSAFE_BYTE2 0xFF
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#define MR16_FAILSAFE_BYTE3 0x00
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/* USER DEFINE BEGIN */
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/* USER DEFINE END */
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/* Exported types ----------------------------------------------------------- */
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typedef enum {
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MR16_FORMAT_VARIABLE, // 可变长度(UART空闲中断)
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MR16_FORMAT_FIXED, // 固定长度
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MR16_FORMAT_NUM
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}MR16_DataFormat_t;
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typedef struct {
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uint16_t ch_l_x;
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uint16_t ch_l_y;
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uint16_t ch_r_x;
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uint16_t ch_r_y;
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bool sw[16];//二值按键
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bool threePosLever[8];//三值按键
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uint16_t res1;//保留位1
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uint16_t res2;//保留位2
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uint16_t res3;//保留位3
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uint16_t res4;//保留位4
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}MR16_RCData_t;
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typedef struct {
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uint8_t header1;
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uint8_t header2;
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union {
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MR16_RCData_t rc;
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}data;
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uint16_t crc;
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}MR16_Data_t;
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typedef struct {
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SX1281_Params_t radioParams;
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MR16_DataFormat_t format; // 数据格式: VARIABLE或FIXED
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uint16_t fixedLength; // 固定长度模式下的用户纯数据长度(不含Header,不含CRC)
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uint16_t TX_ID;
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uint16_t RX_ID[3];//最多识别三台设备的信号
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}MR16_Param_t;
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typedef struct {
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float now; /* 当前时间，单位秒 */
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uint64_t last_wakeup; /* 上次唤醒时间，单位微秒 */
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float dt; /* 两次唤醒间隔时间，单位秒 */
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float lastUIupdata;
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float lastDbusSend;
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float lastDataReceived; /* 上次接收到有效数据的时间，用于失控保护 */
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}MR16_Timer_t;
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typedef struct {
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MR16_Param_t *param;
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MR16_Data_t *data;
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MR16_Timer_t timer;
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/*
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TX端数据流: 用户发[纯数据] → MR16添加Header+CRC → [发送]
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RX端数据流: [接收] → MR16验证CRC → 输出[Header+数据]给用户
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Buffer格式:
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[0]header1(TXID_highbyte)
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[1]header2(TXID_lowbyte)
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[2..N]data (用户纯数据)
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[N+1]crc_highbyte
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[N+2]crc_lowbyte
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*/
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uint8_t txbuffer[127];
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uint32_t packetCount[3];
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}MR16_t;
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/* Exported functions prototypes -------------------------------------------- */
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int8_t MR16_Init(MR16_t *mr16,MR16_Param_t *param);
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int8_t MR16_Main(MR16_t *mr16);
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/* RC Mode Functions */
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int8_t MR16_PackTxBuffer(MR16_t *mr16, const uint8_t *userData, uint16_t userDataLen);
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/* UI Functions */
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int8_t MR16_UI_PowerON(void);
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int8_t MR16_UI_Home(MR16_t *mr16);
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int8_t MR16_UI_UpdateStatus(MR16_t *mr16);
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/* USER FUNCTION BEGIN */
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/* USER FUNCTION END */
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#ifdef __cplusplus
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}
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#endif |