Yay packets + other minor changes :)

Author: MahirEmran

src/app/states/fire_state.c

@@ -0,0 +1,126 @@
+#pragma once
+
+#include <stdint.h>
+
+#include "app/utils/pinout.h"
+#include "devices/adc.h"
+#include "devices/actuator.h"
+#include "devices/barometer.h"
+#include "devices/gnss.h"
+#include "devices/imu.h"
+#include "devices/magnetometer.h"
+#include "devices/radio.h"
+#include "devices/temperature.h"
+
+#define VALVE_COUNT 12U
+#define SERVO_COUNT 8U
+
+static radio_t radio_dev;
+static radio_spi_dev radio_spi_config = {
+	.spi_inst = (uint8_t)RADIO_SPI_INST,
+	.ss_pin = (uint8_t)RADIO_SPI_CS
+};
+
+static radio_config_t radio_config = {
+	.reset_pin = (uint8_t)RADIO_SHDN,
+	.nirq_pin = (uint8_t)RADIO_IRQ,
+	.reset_active_high = 0,
+	.channel = 0
+};
+
+static gnss_t gnss_dev = {
+	.spi_config = {
+		.spi_inst = (uint8_t)GNSS_SPI_INST,
+		.ss_pin = (uint8_t)GNSS_SPI_CS
+	},
+	.config = {
+		.meas_rate_ms = 200,
+		.constellation_mask = GNSS_CONSTELLATION_GPS | GNSS_CONSTELLATION_GLONASS | GNSS_CONSTELLATION_BEIDOU,
+		.dyn_model = GNSS_DYN_AIRBORNE_4G,
+		.power_mode = GNSS_POWER_CONTINUOUS
+	},
+	.initialized = 0
+};
+
+static struct imu_spi_dev imu_dev1 = {
+	.inst = (uint8_t)SENSOR_SPI_INST,
+	.ss_pin = (uint8_t)IMU_1_CS
+};
+
+static struct imu_spi_dev imu_dev2 = {
+	.inst = (uint8_t)SENSOR_SPI_INST,
+	.ss_pin = (uint8_t)IMU_2_CS
+};
+
+static barometer_t barometer_dev1 = {
+	.spi_dev = {
+		.inst = (uint8_t)SENSOR_SPI_INST,
+		.ss_pin = (uint8_t)BARO_1_CS
+	},
+	.osr = OSR_4096,
+	.calibration_data = {0},
+	.result = {0}
+};
+
+static barometer_t barometer_dev2 = {
+	.spi_dev = {
+		.inst = (uint8_t)SENSOR_SPI_INST,
+		.ss_pin = (uint8_t)BARO_2_CS
+	},
+	.osr = OSR_4096,
+	.calibration_data = {0},
+	.result = {0}
+};
+
+static struct magnetometer_spi_dev magnetometer_dev1 = {
+	.inst = (uint8_t)SENSOR_SPI_INST,
+	.ss_pin = (uint8_t)MAGNOTOMETER_CS
+};
+
+static struct magnetometer_spi_dev magnetometer_dev2 = {
+	.inst = (uint8_t)SENSOR_SPI_INST,
+	.ss_pin = (uint8_t)MAGNOTOMETER_CS
+};
+
+static temperature_t temperature_dev1 = {
+	.spi_config = {
+		.spi_inst = (uint8_t)SENSOR_SPI_INST,
+		.ss_pin = (uint8_t)POWER_TMP_CS
+	},
+	.config = {
+		.mode = temperature_MODE_CONTINUOUS,
+		.resolution = temperature_RES_16_BIT
+	}
+};
+
+static temperature_t temperature_dev2 = {
+	.spi_config = {
+		.spi_inst = (uint8_t)SENSOR_SPI_INST,
+		.ss_pin = (uint8_t)ANALOG_TMP_CS
+	},
+	.config = {
+		.mode = temperature_MODE_CONTINUOUS,
+		.resolution = temperature_RES_16_BIT
+	}
+};
+
+static struct adc_spi_dev adc_dev = {
+	.inst = (uint8_t)SENSOR_SPI_INST,
+	.ss_pin = (uint8_t)SENSOR_CS_1
+};
+
+static const struct adc_channel adc_channels[] = {
+	{
+		.pos_pin = AIN0,
+		.neg_pin = AINCOM,
+		.gain = GAIN_1,
+		.source = REF_INTERNAL,
+		.ref_voltage = 25,
+		.name = "adc0"
+	}
+};
+
+static const uint8_t adc_channel_count = (uint8_t)(sizeof(adc_channels) / sizeof(adc_channels[0]));
+
+static uint8_t valve_states[VALVE_COUNT];
+static uint16_t servo_states[SERVO_COUNT];