hexapod-robot/2026-current/robot/Comms.cpp

#include "Comms.h"
#include "Config.h"
#include <RF24.h>
#include <SPI.h>

static_assert(HXP_RADIO_DATA_RATE == RF24_250KBPS && HXP_RADIO_PA_LEVEL == RF24_PA_LOW,
              "HexapodProtocol.h radio enum values out of sync with RF24.h");

static RF24 radio(RADIO_CE_PIN, RADIO_CSN_PIN);

bool Comms::begin() {
  radio_present_ = radio.begin();
  if (radio_present_) {
    radio.setPayloadSize(HXP_RADIO_PAYLOAD);   // mismatched protocol versions won't be received at all
    radio.openReadingPipe(1, HXP_RADIO_ADDRESS);
    radio.setPALevel((rf24_pa_dbm_e)HXP_RADIO_PA_LEVEL);
    radio.setDataRate((rf24_datarate_e)HXP_RADIO_DATA_RATE);
    radio.setChannel(HXP_RADIO_CHANNEL);
    radio.startListening();
  }
  return radio_present_;
}

void Comms::update() {
  if (radio_present_) {
    while (radio.available()) {
      radio.read(&packet_, sizeof(packet_));
      last_rx_ms_ = millis();
    }
  }
  link_ok_ = (millis() - last_rx_ms_) < (uint32_t)(LINK_TIMEOUT_SEC * 1000);
}