mangavalkandClaude Opus 5.5
91dac16fca
Not yet verified on hardware. - shared/HexapodProtocol: CmdPacket (now 20 bytes, adds remote_roll / remote_pitch), FLAG_* bits and radio settings as the single protocol definition; static payload size = sizeof(CmdPacket) on both radios. - robot: use the shared protocol; vx = forward (harness w/x <-> q/e); InputMapper adds remote tilt on top of the right stick when FLAG_REMOTE_GYRO is set, and robot.ino no longer zeroes stick roll/pitch when it's off. - remote (Teensy 4.1): Sticks (calibration, EEPROM), RemoteIMU, RemoteState (interlocks, link-loss disarm, smoothing), PacketBuilder, RadioLink, NextionUI, SerialConsole. - CLAUDE.md, README.md, remote/README.md, remote/NEXTION.md. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
43 lines
1.2 KiB
C++
43 lines
1.2 KiB
C++
#include "RadioLink.h"
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#include "Config.h"
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#include <RF24.h>
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#include <SPI.h>
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static_assert(HXP_RADIO_DATA_RATE == RF24_250KBPS && HXP_RADIO_PA_LEVEL == RF24_PA_LOW,
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"HexapodProtocol.h radio enum values out of sync with RF24.h");
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static RF24 radio(RADIO_CE_PIN, RADIO_CSN_PIN);
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bool RadioLink::begin() {
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present_ = radio.begin();
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if (present_) {
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radio.setPayloadSize(HXP_RADIO_PAYLOAD); // must match the robot exactly (static payloads)
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radio.setPALevel((rf24_pa_dbm_e)HXP_RADIO_PA_LEVEL);
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radio.setDataRate((rf24_datarate_e)HXP_RADIO_DATA_RATE);
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radio.setChannel(HXP_RADIO_CHANNEL);
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radio.setRetries(RADIO_RETRY_DELAY, RADIO_RETRY_COUNT);
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radio.openWritingPipe(HXP_RADIO_ADDRESS);
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radio.stopListening();
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}
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return present_;
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}
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bool RadioLink::send(const CmdPacket& p) {
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if (!present_) return false;
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bool acked = radio.write(&p, sizeof(p));
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history_ = (history_ << 1) | (acked ? 1u : 0u);
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if (acked) {
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last_ack_ms_ = millis();
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ever_acked_ = true;
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}
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return acked;
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}
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void RadioLink::update(uint32_t now_ms) {
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link_ok_ = present_ && ever_acked_ && (now_ms - last_ack_ms_) < LINK_LOST_MS;
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}
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uint8_t RadioLink::qualityPct() const {
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return (uint8_t)(__builtin_popcount(history_) * 100 / 32);
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}
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