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Merged
hashemmm96 merged 2 commits into from
Feb 20, 2026
Merged

feat/900 mhz support #246

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c38fc40
fix(spi-flash): missing newline in print
hashemmm96 Feb 20, 2026
c946260
fix(sbus): add frame lost count threshold
hashemmm96 Feb 20, 2026
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36 changes: 24 additions & 12 deletions apps/sbus-receiver/src/freertos-tasks.c
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Original file line number Diff line number Diff line change
Expand Up @@ -24,10 +24,10 @@ static TaskHandle_t steering_task;
static StaticTask_t steering_task_buf;
static StackType_t steering_task_stack[2 * configMINIMAL_STACK_SIZE];

void sbus_read_and_steer(void *unused);
void send_steering_command(steering_command_t *command);
void sbus_read_and_steer(void* unused);
void send_steering_command(steering_command_t* command);

int handle_letter(const ck_folder_t *folder, const ck_letter_t *letter);
int handle_letter(const ck_folder_t* folder, const ck_letter_t* letter);

void task_init(void) {
uint8_t priority = LOWEST_TASK_PRIORITY;
Expand All @@ -52,11 +52,16 @@ void task_init(void) {
}
}

void sbus_read_and_steer(void *unused) {
void sbus_read_and_steer(void* unused) {
(void)unused;

init_steering();

// SBUS frequency is roughly one message every 8 ms,
// this gives a timeout of 80 ms.
const uint8_t frame_lost_threshold = 10;
uint8_t frame_lost_count = 0;

for (;;) {
sbus_message_t message;
steering_command_t steering_command = neutral_steering_command();
Expand All @@ -66,10 +71,17 @@ void sbus_read_and_steer(void *unused) {
continue;
}

// Failsafe usually triggers if many frames are lost in a row.
// Indicates heavy connection loss. Frame lost indicateds slight connection
// loss or issue with frame.
bool read_failed = message.failsafe_activated || message.frame_lost;
// Frame lost indicates slight connection loss or issue with frame.
if (message.frame_lost) {
frame_lost_count++;
} else {
frame_lost_count = 0;
}

// Failsafe usually triggers if many frames are lost in a row. Indicates
// heavy connection loss.
bool read_failed =
message.failsafe_activated || (frame_lost_count > frame_lost_threshold);

if (read_failed) {
printf("Frame lost, sending neutral command.\r\n");
Expand All @@ -81,13 +93,13 @@ void sbus_read_and_steer(void *unused) {
}
}

void send_steering_command(steering_command_t *command) {
void send_steering_command(steering_command_t* command) {
if (!command->steering_is_on ||
ck_get_action_mode() == CK_ACTION_MODE_FREEZE) {
return;
}

ck_data_t *ck_data = get_ck_data();
ck_data_t* ck_data = get_ck_data();

memcpy(&ck_data->steering_page->lines[1], &command->steering_angle,
sizeof(command->steering_angle));
Expand All @@ -104,12 +116,12 @@ void send_steering_command(steering_command_t *command) {
}
}

int handle_letter(const ck_folder_t *folder, const ck_letter_t *letter) {
int handle_letter(const ck_folder_t* folder, const ck_letter_t* letter) {
if (ck_get_action_mode() == CK_ACTION_MODE_FREEZE) {
return APP_OK;
}

ck_data_t *ck_data = get_ck_data();
ck_data_t* ck_data = get_ck_data();

if (folder->folder_no == ck_data->buzzer_sound_folder->folder_no) {
return process_buzzer_sound_letter(letter);
Expand Down
22 changes: 11 additions & 11 deletions libs/stm32-common/src/spi-flash.c
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@
#define MAX_BLOCK_TIME_MS 100

// Helpers
static int program_page(uint32_t page_address, uint8_t *bytes, size_t size);
static int program_page(uint32_t page_address, uint8_t* bytes, size_t size);
static int wait_until_ready(void);
static int set_write_enable_flag(void);
static void start_spi_cmd(void);
Expand All @@ -37,7 +37,7 @@ int spi_flash_workaround_init(void) {

uint8_t data = 0xFF; // NOLINT(*-magic-numbers)
if (program_page(SPI_FLASH_SIZE - 1, &data, sizeof(data)) != APP_OK) {
printf("Program didn't work, trying erase instead");
printf("Program didn't work, trying erase instead\r\n");
return erase(SPI_FLASH_SIZE - SPI_FLASH_SECTOR_SIZE);
}
return APP_OK;
Expand Down Expand Up @@ -68,7 +68,7 @@ int erase(uint32_t sector_address) {
}

// Erase
common_peripherals_t *peripherals = get_common_peripherals();
common_peripherals_t* peripherals = get_common_peripherals();

start_spi_cmd();

Expand All @@ -85,7 +85,7 @@ int erase(uint32_t sector_address) {
return wait_until_ready();
}

int program(uint32_t address, uint8_t *bytes, size_t size) {
int program(uint32_t address, uint8_t* bytes, size_t size) {
// Bounds check
if (address + size > SPI_FLASH_SIZE) {
printf("error: page out of bounds\r\n");
Expand All @@ -98,7 +98,7 @@ int program(uint32_t address, uint8_t *bytes, size_t size) {

while (bytes_left > 0) {
uint32_t page_address = address + bytes_written;
uint8_t *chunk = &bytes[bytes_written];
uint8_t* chunk = &bytes[bytes_written];
size_t chunk_size = bytes_left;

if (chunk_size > SPI_FLASH_PAGE_SIZE) {
Expand All @@ -118,7 +118,7 @@ int program(uint32_t address, uint8_t *bytes, size_t size) {
}

// Can read whole flash using one command
int read(uint32_t address, uint8_t *data, size_t size) {
int read(uint32_t address, uint8_t* data, size_t size) {
// Bounds check
if (address + size > SPI_FLASH_SIZE) {
printf("error: size out of bounds\r\n");
Expand All @@ -137,7 +137,7 @@ int read(uint32_t address, uint8_t *data, size_t size) {
// NOLINTEND(*-magic-numbers)

// Read data
common_peripherals_t *peripherals = get_common_peripherals();
common_peripherals_t* peripherals = get_common_peripherals();

start_spi_cmd();

Expand Down Expand Up @@ -178,7 +178,7 @@ int read(uint32_t address, uint8_t *data, size_t size) {
return APP_OK;
}

static int program_page(uint32_t page_address, uint8_t *bytes, size_t size) {
static int program_page(uint32_t page_address, uint8_t* bytes, size_t size) {
// Command consists of command number followed by page address in big
// endian format. If an entire page should be programmed the last address byte
// should be set to 0.
Expand All @@ -199,7 +199,7 @@ static int program_page(uint32_t page_address, uint8_t *bytes, size_t size) {
return APP_NOT_OK;
}

common_peripherals_t *peripherals = get_common_peripherals();
common_peripherals_t* peripherals = get_common_peripherals();

// Transmit command
start_spi_cmd();
Expand All @@ -226,7 +226,7 @@ static int program_page(uint32_t page_address, uint8_t *bytes, size_t size) {
}

static int wait_until_ready(void) {
common_peripherals_t *peripherals = get_common_peripherals();
common_peripherals_t* peripherals = get_common_peripherals();
uint8_t cmd = READ_SR1_COMMAND;

uint8_t response = SR1_BUSY;
Expand All @@ -252,7 +252,7 @@ static int wait_until_ready(void) {
}

static int set_write_enable_flag(void) {
common_peripherals_t *peripherals = get_common_peripherals();
common_peripherals_t* peripherals = get_common_peripherals();
uint8_t cmd = WRITE_ENABLE_COMMAND;

// Set write enable flag
Expand Down
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