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TX.cpp
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TX.cpp
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#include <SPI.h>
#include <RF24.h>
#include <Wire.h>
#include <Adafruit_ADS1015.h> //soligen2010 fork on github
#include "Config.h"
#include "Model_Config.h"
#include "TX.h"
#include <ClickEncoder.h> //soligen2010 fork on github
#include <EEPROM.h>
#include <MsTimer2.h>
#include <LiquidCrystal_I2C.h>
#include "MySoftwareSerial.h"
#include "Rx_Tx_Util.h"
#include "SUM_PPM.h"
#define EN_PIN 2
#define RW_PIN 1
#define RS_PIN 0
#define D4_PIN 4
#define D5_PIN 5
#define D6_PIN 6
#define D7_PIN 7
#define BL_PIN 3 //Backlight
LiquidCrystal_I2C lcd(0x27, // Set the LCD I2C address
EN_PIN,
RW_PIN,
RS_PIN,
D4_PIN,
D5_PIN,
D6_PIN,
D7_PIN,
BL_PIN,
POSITIVE);
// A7 is non-functional, used as here because it is the only unused pin and data is only transmitted
MySoftwareSerial outputSerial(A7, PPM_OUTPUT_PIN); // RX, TX
const char LCD_blankLine[] = " ";
const char LCD_blankHalfLine[] = " ";
RF24 radio(RADIO_CE_PIN,RADIO_CSN_PIN);
uint64_t radioPipeID;
const uint64_t radioNormalTxPipeID = RADIO_ADDR;
uint8_t radioChannel[CABELL_RADIO_CHANNELS];
uint16_t channelValues [CABELL_NUM_CHANNELS] = {1500,1500,1500,1000,1500,1500,1500,1500,1500,1500,1500,1500,1500,1500,1500,1500};
ADC_VERSION ads; /*Define the Analog to Digital converter*/
struct modelData {
int16_t trimData [NUM_CHANNELS] = {0,0,0,0,0,0,0,0}; // must save trim once with neutral sticks to initialize EEPROM
} modelData;
uint8_t currentModel = 0;
int16_t highRate = 0; // 0 = low rates 1 = high rates
#define currentModelEEPROMAddress 0
#define trimDataEEPROMBaseAddress 16 // leave first 16 bytes for current model and future use
#define modelDataEEPROMAddress (trimDataEEPROMBaseAddress + (currentModel * sizeof(modelData)))
ClickEncoder timerResetButton = DigitalButton(TIMER_RESET_BUTTON_INPUT_PIN,false);
ClickEncoder modelSelectButton = DigitalButton(MODEL_SELECT_BUTTON_INPUT_PIN,false);
ClickEncoder rateButton = DigitalButton(RATE_BUTTON_INPUT_PIN,false);
ClickEncoder trimButton = DigitalButton(TRIM_BUTTON_INPUT_PIN,false);
ClickEncoder trimPitchUpButton = AnalogButton(ANALOG_TRIM_BUTTON_PIN,671,691);
ClickEncoder trimPitchDownButton = AnalogButton(ANALOG_TRIM_BUTTON_PIN,757,777);
ClickEncoder trimRollLeftButton = AnalogButton(ANALOG_TRIM_BUTTON_PIN,809,829);
ClickEncoder trimRollRightButton = AnalogButton(ANALOG_TRIM_BUTTON_PIN,501,521);
ClickEncoder trimYawLeftButton = AnalogButton(ANALOG_TRIM_BUTTON_PIN,867,887);
ClickEncoder trimYawRightButton = AnalogButton(ANALOG_TRIM_BUTTON_PIN,843,863);
buzzer_t buzzerState = OFF;
bool bindMode = false; // when true send bind command to cause reciever to bind to the current model number
bool setFailSafeValues = false; // when true send set failsafe command to cause reciever save fail safe values (V3+)
bool modelLocked = true;
bool telemetryEnabled = false;
unsigned long timerElapsed = 0;
// volatile variables used to send info to V3 xmit process in interrupt
volatile bool useV3Xmit = false;
volatile bool newV3PacketReady = false;
volatile uint8_t V3SendBuffer[32] = {0};
volatile uint8_t V3PacketSize = 32;
//------------------------------------------------------------------------------------------------------------------------
uint16_t mapChannelValue (int channel,uint16_t inValue) {
if (channel == THROTTLE_CHANNEL) {
return mapThrottle (pgm_read_byte( &channelReverse[currentModel][channel]),
inValue,
CHANNEL_MIN_VALUE,
CHANNEL_MID_VALUE,
CHANNEL_MAX_VALUE,
pgm_read_word(&channelLowOut [currentModel][channel]) - (highRate * pgm_read_word(&channelHighRateOffset [currentModel][channel])),
pgm_read_word(&channelHighOut[currentModel][channel]) + (highRate * pgm_read_word(&channelHighRateOffset [currentModel][channel])),
modelData.trimData[channel],
pgm_read_byte(&channelExpoPercent[currentModel][channel]));
} else {
return mapValue (pgm_read_byte( &channelReverse[currentModel][channel]),
inValue,
CHANNEL_MIN_VALUE,
CHANNEL_MID_VALUE,
CHANNEL_MAX_VALUE,
pgm_read_word(&channelLowOut [currentModel][channel]) - (highRate * pgm_read_word(&channelHighRateOffset [currentModel][channel])),
pgm_read_word(&channelHighOut[currentModel][channel]) + (highRate * pgm_read_word(&channelHighRateOffset [currentModel][channel])),
modelData.trimData[channel],
pgm_read_byte(&channelExpoPercent[currentModel][channel]));
}
}
//------------------------------------------------------------------------------------------------------------------------
uint16_t mapValue (bool reverse, uint16_t inValue, uint16_t inLow, uint16_t inMid, uint16_t inHigh, uint16_t outLow, uint16_t outHigh, int16_t trimData, int8_t expoPercent) {
// uint16_t outValue = inValue; //(((int16_t) inValue) + ((reverse) ? (trimData * -1) : trimData));
uint16_t outMid = inMid;
// uint16_t outMid = (outLow + outHigh) / 2;
uint16_t outValue = applyExpo (expoPercent, inValue, inLow, inMid, inHigh);
outValue = constrain(outValue, inLow, inHigh);
if ( outValue < inMid ) {
outValue = map(outValue, inLow, inMid, outLow, outMid);
} else {
outValue = map(outValue, inMid, inHigh, outMid, outHigh);
}
if (reverse) {
if (outValue > outMid) {
outValue = outMid - (outValue - outMid);
} else {
outValue = outMid + (outMid - outValue);
}
}
outValue = constrain(outValue + trimData,outLow,outHigh);
outValue = constrain(outValue,inLow,inHigh);
return outValue;
}
//------------------------------------------------------------------------------------------------------------------------
uint16_t mapThrottle (bool reverse, uint16_t inValue, uint16_t inLow, uint16_t inMid, uint16_t inHigh, uint16_t outLow, uint16_t outHigh, int16_t trimData, int8_t expoPercent) {
// uint16_t outValue = inValue; //(((int16_t) inValue) + ((reverse) ? (trimData * -1) : trimData));
uint16_t outMid = inMid;
// uint16_t outMid = (outLow + outHigh) / 2;
uint16_t outValue = applyExpo (expoPercent, inValue, inLow, inMid, inHigh);
outValue = constrain(outValue, inLow, inHigh);
if ( outValue < inMid ) {
outValue = map(outValue, inLow, inMid, inLow, outMid); // outLow changed to inLow. Outlow will be handled at the end
} else {
outValue = map(outValue, inMid, inHigh, outMid, outHigh);
}
if (reverse) {
if (outValue > outMid) {
outValue = outMid - (outValue - outMid);
} else {
outValue = outMid + (outMid - outValue);
}
}
// Serial.print(outValue);Serial.print("\t");
outValue = constrain(outValue + trimData,inLow,outHigh); // outLow changed to inLow. Outlow will be handled at the end
outValue = constrain(outValue,inLow,inHigh);
// Serial.print(outValue);Serial.print("\t");
if (outValue != inLow) outValue = map(outValue,inLow,inHigh,outLow,outHigh);
// Serial.println(outValue);
return outValue;
}
//------------------------------------------------------------------------------------------------------------------------
void setupTransmitter() {
rf24_datarate_e radioDataRate = RF24_250KBPS ; // RF24_1MBPS RF24_2MBPS RF24_250KBPS
if (digitalRead(BIND_MODE_BUTTON) == LOW) {
bindMode = true;
modelLocked = false;
radioPipeID = CABELL_BIND_RADIO_ADDR;
}
else
{
bindMode = false;
modelLocked = true;
radioPipeID = radioNormalTxPipeID;
}
getChannelSequence (radioChannel, CABELL_RADIO_CHANNELS, radioPipeID);
outputSerial.setParity(PARITY_EVEN);
outputSerial.setStopBits(1);
outputSerial.setDataBits(8);
outputSerial.begin(100000); // Initialize serial output for Multiprotocol 4 in 1 module
pinMode(AUX1_INPUT_PIN, INPUT_PULLUP);
pinMode(AUX2_INPUT_PIN, INPUT_PULLUP);
pinMode(AUX3_INPUT_PIN, INPUT_PULLUP);
pinMode(AUX4_INPUT_PIN, INPUT_PULLUP);
// pinMode(BUTTON1_INPUT_PIN, INPUT_PULLUP);
// pinMode(BUTTON2_INPUT_PIN, INPUT_PULLUP);
// pinMode(BUTTON3_INPUT_PIN, INPUT_PULLUP);
// pinMode(BUTTON4_INPUT_PIN, INPUT_PULLUP);
pinMode(BUZZER_PIN, OUTPUT);
digitalWrite (BUZZER_PIN,LOW);
rateButton.setButtonHeldEnabled(true);
rateButton.setDoubleClickEnabled(false);
rateButton.setDoubleClickTime(TX_BUTTON_DOUBLE_CLICK_TIME);
rateButton.setHoldTime(TX_BUTTON_HOLD_TIME);
timerResetButton.setButtonHeldEnabled(true);
timerResetButton.setDoubleClickEnabled(true);
timerResetButton.setDoubleClickTime(TX_BUTTON_DOUBLE_CLICK_TIME);
timerResetButton.setHoldTime(TX_BUTTON_HOLD_TIME);
modelSelectButton.setButtonHeldEnabled(true);
modelSelectButton.setDoubleClickEnabled(true);
modelSelectButton.setDoubleClickTime(TX_BUTTON_DOUBLE_CLICK_TIME);
modelSelectButton.setHoldTime(TX_BUTTON_HOLD_TIME);
trimButton.setButtonHeldEnabled(true);
trimButton.setDoubleClickEnabled(true);
trimButton.setDoubleClickTime(TX_BUTTON_DOUBLE_CLICK_TIME);
trimButton.setHoldTime(TX_BUTTON_HOLD_TIME);
trimPitchUpButton.setButtonHeldEnabled(false);
trimPitchUpButton.setDoubleClickEnabled(false);
trimPitchDownButton.setButtonHeldEnabled(false);
trimPitchDownButton.setDoubleClickEnabled(false);
trimRollLeftButton.setButtonHeldEnabled(false);
trimRollLeftButton.setDoubleClickEnabled(false);
trimRollRightButton.setButtonHeldEnabled(false);
trimRollRightButton.setDoubleClickEnabled(false);
trimYawLeftButton.setButtonHeldEnabled(false);
trimYawLeftButton.setDoubleClickEnabled(false);
trimYawRightButton.setButtonHeldEnabled(false);
trimYawRightButton.setDoubleClickEnabled(false);
lcd.begin(16, 2);
lcd.clear();
ads.setGain(GAIN_TWOTHIRDS); // 2/3x gain +/- 6.144V 1 bit = 3mV 0.1875mV (default)
ads.setSPS(ADC_SAMPLE_RATE);
ads.begin();
radio.begin();
lcd.setCursor(0,0);
if (bindMode) {
lcd.print(F("Bind Mode "));
radio.setPALevel(RF24_PA_HIGH);
}
else if (digitalRead(BUTTON1_INPUT_PIN) == LOW) {
lcd.print(F("Power HIGH "));
radio.setPALevel(RF24_PA_HIGH);
}
else if (digitalRead(BUTTON2_INPUT_PIN) == LOW) {
lcd.print(F("Power LOW "));
radio.setPALevel(RF24_PA_LOW);
}
else if (digitalRead(BUTTON3_INPUT_PIN) == LOW) {
lcd.print(F("Power MIN "));
radio.setPALevel(RF24_PA_MIN);
}
else {
lcd.print(F("Power MAX "));
radio.setPALevel(RF24_PA_MAX);
}
// if(analogRead(ANALOG_TRIM_BUTTON_PIN) < 835) {
// radioDataRate = RF24_1MBPS;
// telemetryEnabled = false;
// lcd.setCursor(14,0);
// lcd.print(F("1M"));
// } else if(analogRead(ANALOG_TRIM_BUTTON_PIN) < 1020) {
// radioDataRate = RF24_1MBPS;
// telemetryEnabled = true;
// lcd.setCursor(14,0);
// lcd.print(F("TE"));
// }
lcd.setCursor(0,1);
lcd.print(F("Release Buttons"));
while ((analogRead(ANALOG_TRIM_BUTTON_PIN) < 1020) ||(digitalRead(BUTTON1_INPUT_PIN) == LOW) || (digitalRead(BUTTON2_INPUT_PIN) == LOW) || (digitalRead(BUTTON3_INPUT_PIN) == LOW) || (digitalRead(BUTTON4_INPUT_PIN) == LOW)) { } // wait for all buttons to be released
lcd.clear();
radio.setChannel(1); //This will get changed as soon as we start looping
radio.setDataRate(radioDataRate );
radio.setAutoAck(0);
radio.openWritingPipe(radioPipeID);
EEPROM.get(currentModelEEPROMAddress,currentModel);
setCurrentModel(currentModel); // Call this to be sure all logic for changing models is executed
for (int x = 0;x < 8;x++) Serial.println(modelData.trimData[x]);
MsTimer2::set(3,timerService); // every 3 milliseconds
MsTimer2::start();
lcd.setCursor(0,0);
if (bindMode) {
lcd.print(F("Bind "));
} else {
lcd.print(F("Locked "));
}
delay(1500);
timerElapsed = 0;
}
//------------------------------------------------------------------------------------------------------------------------
void processTransmitter() {
senseVoltage(VOLTAGE_SENSE_PIN);
maintainTimer(channelValues[THROTTLE_CHANNEL], pgm_read_word(&channelLowOut [currentModel][THROTTLE_CHANNEL]), pgm_read_word(&timeWarning [currentModel]), pgm_read_word(&timeAlert [currentModel]));
bool dataChanged = getChannelValues(); // Get channel data and note if any value changes
checkButtons(); // do this before applymixes so trim saves are based on pre-mixed stick reads that were just obtained
// for(int x = 0; x < 2 ; x++) {
// Serial.print(channelValues[x]); Serial.print(F("\t"));
// }
applyMixes();
sendPacket();
}
//------------------------------------------------------------------------------------------------------------------------
void timerService() {
if (useV3Xmit) {
sendPacket_V3_XMIT();
}
else if (PPMEnabled()) {
interrupts(); // re-enable interrupts so that PPM timing is not messed up
}
// These dont need to be called as frequently as every interupt, so only call half of them each time through
static bool evenPass = false;
if (evenPass) {
rateButton.service();
timerResetButton.service();
modelSelectButton.service();
trimButton.service();
buzzerService();
}
else
{
int throwAwayRead = analogRead(ANALOG_TRIM_BUTTON_PIN); //Read once to allow MUX to settle so first button read is more accurate.
// All the trim buttons are on the same analog pin so no need for throw away read on each call.
trimPitchUpButton.service();
trimPitchDownButton.service();
trimRollLeftButton.service();
trimRollRightButton.service();
trimYawLeftButton.service();
trimYawRightButton.service();
}
evenPass = !evenPass;
}
//------------------------------------------------------------------------------------------------------------------------
void buzzerService() {
static bool buzzerPinState = false;
static unsigned long lastPinTransition = 0;
switch(buzzerState)
{
case OFF :
if (buzzerPinState == true) {
digitalWrite(BUZZER_PIN, LOW);
buzzerPinState = false;
lastPinTransition = millis();
}
break;
case ON :
if (buzzerPinState == false) {
digitalWrite(BUZZER_PIN, HIGH);
buzzerPinState = true;
lastPinTransition = millis();
}
break;
case PULSE_FAST :
case PULSE_SLOW :
unsigned long currentTime = millis();
int interval = (buzzerState == PULSE_FAST) ? 2000 : 12000;
if (buzzerPinState && ((currentTime - lastPinTransition) > 100) || (!buzzerPinState && (currentTime - lastPinTransition) > interval)) {
buzzerPinState = !buzzerPinState;
digitalWrite(BUZZER_PIN, buzzerPinState);
lastPinTransition = currentTime;
}
break;
}
}
//------------------------------------------------------------------------------------------------------------------------
void checkButtons() {
ClickEncoder::Button trimButtonState = trimButton.getButton();
ClickEncoder::Button modelSelectButtonState = modelSelectButton.getButton();
ClickEncoder::Button timerResetButtonState = timerResetButton.getButton();
ClickEncoder::Button rateButtonState = rateButton.getButton();
ClickEncoder::Button trimPitchUpButtonState = trimPitchUpButton.getButton();
ClickEncoder::Button trimPitchDownButtonState = trimPitchDownButton.getButton();
ClickEncoder::Button trimRollLeftButtonState = trimRollLeftButton.getButton();
ClickEncoder::Button trimRollRightButtonState = trimRollRightButton.getButton();
ClickEncoder::Button trimYawLeftButtonState = trimYawLeftButton.getButton();
ClickEncoder::Button trimYawRightButtonState = trimYawRightButton.getButton();
if (trimPitchDownButtonState == ClickEncoder::Clicked) {
modelData.trimData[PITCH_CHANNEL] = ((bool)(pgm_read_byte( &channelReverse[currentModel][PITCH_CHANNEL]))) ? modelData.trimData[PITCH_CHANNEL] + TRIM_BUTTON_STEP_SIZE : modelData.trimData[PITCH_CHANNEL] - TRIM_BUTTON_STEP_SIZE ;
Serial.println(F("PitchDown"));
}
if (trimPitchUpButtonState == ClickEncoder::Clicked) {
modelData.trimData[PITCH_CHANNEL] = ((bool)(pgm_read_byte( &channelReverse[currentModel][PITCH_CHANNEL]))) ? modelData.trimData[PITCH_CHANNEL] - TRIM_BUTTON_STEP_SIZE : modelData.trimData[PITCH_CHANNEL] + TRIM_BUTTON_STEP_SIZE;
Serial.println(F("PitchUp"));
}
if (trimRollLeftButtonState == ClickEncoder::Clicked) {
modelData.trimData[ROLL_CHANNEL] = ((bool)(pgm_read_byte( &channelReverse[currentModel][ROLL_CHANNEL]))) ? modelData.trimData[ROLL_CHANNEL] + TRIM_BUTTON_STEP_SIZE : modelData.trimData[ROLL_CHANNEL] - TRIM_BUTTON_STEP_SIZE;
Serial.println(F("RollLeft"));
}
if (trimRollRightButtonState == ClickEncoder::Clicked) {
modelData.trimData[ROLL_CHANNEL] = ((bool)(pgm_read_byte( &channelReverse[currentModel][ROLL_CHANNEL]))) ? modelData.trimData[ROLL_CHANNEL] - TRIM_BUTTON_STEP_SIZE : modelData.trimData[ROLL_CHANNEL] + TRIM_BUTTON_STEP_SIZE ;
Serial.println(F("RollRight"));
}
if (trimYawLeftButtonState == ClickEncoder::Clicked) {
modelData.trimData[YAW_CHANNEL] = ((bool)(pgm_read_byte( &channelReverse[currentModel][YAW_CHANNEL]))) ? modelData.trimData[YAW_CHANNEL] - TRIM_BUTTON_STEP_SIZE : modelData.trimData[YAW_CHANNEL] + TRIM_BUTTON_STEP_SIZE;
Serial.println(F("YawLeft"));
}
if (trimYawRightButtonState == ClickEncoder::Clicked) {
modelData.trimData[YAW_CHANNEL] = ((bool)(pgm_read_byte( &channelReverse[currentModel][YAW_CHANNEL]))) ? modelData.trimData[YAW_CHANNEL] + TRIM_BUTTON_STEP_SIZE : modelData.trimData[YAW_CHANNEL] - TRIM_BUTTON_STEP_SIZE ;
Serial.println(F("YawRight"));
}
if (rateButtonState == ClickEncoder::Clicked) {
highRate = !highRate;
displayRateSetting();
}
if ((trimButtonState == ClickEncoder::Released) && !setFailSafeValues) setTrim();
if (trimButtonState == ClickEncoder::DoubleClicked) reSetTrim();
if (timerResetButtonState == ClickEncoder::DoubleClicked) timerElapsed = 0;
if (!modelLocked) {
if (modelSelectButtonState == ClickEncoder::Clicked) setCurrentModel(currentModel+1);
}
if (!bindMode && !modelLocked && (modelSelectButtonState == ClickEncoder::Released)) {
modelLocked = true; // Extended hold locks ability to change the model
Serial.println(F("Model Locked"));
lcd.setCursor(0,0);;lcd.print(F("Locked "));
}
if (!bindMode && modelLocked && (modelSelectButtonState == ClickEncoder::DoubleClicked)) {
modelLocked = false; // Double click unlocks ability to change the model
Serial.println(F("Model Unlocked"));
lcd.setCursor(0,0);;lcd.print(F("Unlcked "));
}
if ((timerResetButtonState == ClickEncoder::Held) && (rateButtonState == ClickEncoder::Held)) {
setFailSafeValues = true;
} else {
setFailSafeValues = false;
}
}
//------------------------------------------------------------------------------------------------------------------------
void reSetTrim() {
for (int x = 0; x < NUM_CHANNELS; x++) {
modelData.trimData[x] = 0;
}
EEPROM.put(modelDataEEPROMAddress,modelData);
Serial.println(F("Trim Reset"));
}
//------------------------------------------------------------------------------------------------------------------------
void setTrim() {
modelData.trimData[ROLL_CHANNEL] = (int16_t)channelValues[ROLL_CHANNEL] - CHANNEL_MID_VALUE;
modelData.trimData[PITCH_CHANNEL] = (int16_t)channelValues[PITCH_CHANNEL] - CHANNEL_MID_VALUE;
modelData.trimData[YAW_CHANNEL] = (int16_t)channelValues[YAW_CHANNEL] - CHANNEL_MID_VALUE;
EEPROM.put(modelDataEEPROMAddress,modelData);
Serial.println(F("Trimmed"));
}
//------------------------------------------------------------------------------------------------------------------------
void setCurrentModel(uint8_t newModel) {
currentModel = newModel;
if (currentModel >= NUM_MODELS) currentModel = 0; // wrap around if we try to exceed max models
EEPROM.put(currentModelEEPROMAddress,currentModel);
EEPROM.get(modelDataEEPROMAddress,modelData); // load the trim data
Serial.print(F("Current Model Number: "));Serial.println(currentModel);
modelNameType currentModelName;
memcpy_P (¤tModelName, &modelNames [currentModel], sizeof currentModelName);
Serial.print(F("Current Model Name: "));Serial.println(currentModelName.modelName);
lcd.setCursor(0,1);lcd.print(LCD_blankLine);
lcd.setCursor(0,1);lcd.print(currentModelName.modelName);
highRate = 0; // Set to low rates when model changes
displayRateSetting();
if (!bindMode) {
radioPipeID = radioNormalTxPipeID + (((uint64_t)currentModel)<<8) + ((uint64_t)currentModel);
changeWritingPipe(radioPipeID); // Change pipe id based on model num to be compatible with Multi Module behavior
getChannelSequence (radioChannel, CABELL_RADIO_CHANNELS, radioPipeID);
}
Serial.print(F("Radio ID: "));Serial.print((uint32_t)(radioPipeID>>32)); Serial.print(F("\t"));Serial.println((uint32_t)((radioPipeID<<32)>>32));
}
//------------------------------------------------------------------------------------------------------------------------
void displayRateSetting() {
lcd.setCursor(14,1);
if (highRate) {
lcd.print("Hi");
} else {
lcd.print("Lo");
}
}
//------------------------------------------------------------------------------------------------------------------------
void changeWritingPipe(uint64_t newRadioPipeID) {
radio.flush_tx();
// Need to cycle thorugh reading mode to get a change in radioPipeID to work properly
radio.openReadingPipe(0,newRadioPipeID);
radio.startListening();
radio.stopListening();
radio.closeReadingPipe(newRadioPipeID);
radio.openWritingPipe(newRadioPipeID);
}
//------------------------------------------------------------------------------------------------------------------------
void sendPacket() {
static uint32_t prevReciverVer = 0;
bool firstReciverVerPacket = true;
uint32_t reciverVer = pgm_read_dword(&recieverVersion [currentModel]);
if (reciverVer != prevReciverVer) {
firstReciverVerPacket = true;
radio.disableDynamicPayloads();
if (PPMEnabled()) ppmDisable();
radio.setPayloadSize(32); //set to default (max) size, which is used for V1 and V2
useV3Xmit = false;
changeWritingPipe(radioPipeID); // Reset the TX ID in case it was changed below. radioPipeID contains either normal or bind value depending how TX was booted
}
else
{
firstReciverVerPacket = false;
}
if (reciverVer == 0) {
sendPacket_PPM(); // first so we have something to send when PPM enabled
if (!PPMEnabled()) {
ppmSetup(PPM_OUTPUT_PIN, min(NUM_CHANNELS,pgm_read_byte(&channelsToXmit[currentModel])));
}
}
if (reciverVer == 3) {
if (firstReciverVerPacket) {
radio.enableDynamicPayloads();
sendPacket_V3();
useV3Xmit = true; // last so we are sure to have a valid packet to xmit before interrupt routine tries to send something
}
else {
sendPacket_V3();
}
}
if (((reciverVer>>24)&0xFE) == 0x54) sendPacket_Serial(reciverVer); // Serial for the Multiprotocol module if first byte is 0x54 or 0x55
prevReciverVer =reciverVer;
}
//------------------------------------------------------------------------------------------------------------------------
void sendPacket_V3() {
CABELL_RxTxPacket_t TxPacket;
uint8_t channelsToSend = constrain( pgm_read_byte(&channelsToXmit[currentModel]),CABELL_MIN_CHANNELS,CABELL_NUM_CHANNELS);
if (bindMode)
channelsToSend = CABELL_NUM_CHANNELS;
uint8_t channelReduction = constrain(((CABELL_NUM_CHANNELS - channelsToSend)),0,CABELL_NUM_CHANNELS - CABELL_MIN_CHANNELS); // min is 4 channels
uint8_t packetSize = sizeof(TxPacket) - ((((channelReduction - (channelReduction%2))/ 2)) * 3); // reduce 3 bytes per 2 channels, but not last channel if it is odd
uint8_t maxPayloadValueIndex = sizeof(TxPacket.payloadValue) - (sizeof(TxPacket) - packetSize);
TxPacket.RxMode = (bindMode) ? CABELL_RxTxPacket_t::RxMode_t::bind : ((setFailSafeValues) ? CABELL_RxTxPacket_t::RxMode_t::setFailSafe : CABELL_RxTxPacket_t::RxMode_t::normal);
if (telemetryEnabled && (TxPacket.RxMode == CABELL_RxTxPacket_t::RxMode_t::normal)) {
TxPacket.RxMode = CABELL_RxTxPacket_t::RxMode_t::normalWithTelemetry;
}
TxPacket.option = channelReduction & CABELL_OPTION_MASK_CHANNEL_REDUCTION;
TxPacket.option |= ( pgm_read_byte(&recieverOutputMode[currentModel]) << CABELL_OPTION_SHIFT_RECIEVER_OUTPUT_MODE) & CABELL_OPTION_MASK_RECIEVER_OUTPUT_MODE;
TxPacket.reserved = 0;
TxPacket.modelNum = currentModel;
uint16_t checkSum = TxPacket.modelNum + TxPacket.option + TxPacket.RxMode + TxPacket.reserved; // Start Calculate checksum
// Serial.print(F("sizeof(TxPacket) "));Serial.println(sizeof(TxPacket));
// Serial.print(F("channelsToSend "));Serial.println(channelsToSend);
// Serial.print(F("channelReduction "));Serial.println(channelReduction);
// Serial.print(F("packetSize "));Serial.println(packetSize);
// Serial.print(F("maxPayloadValueIndex "));Serial.println(maxPayloadValueIndex);
int payloadIndex = 0;
uint16_t holdValue;
for (int adjusted_x = 0;(adjusted_x < channelsToSend); adjusted_x++) {
holdValue = (adjusted_x < NUM_CHANNELS) ? (channelValues[adjusted_x]) : CHANNEL_MIN_VALUE; // valid channel values are 1000 to 2000
// Serial.print(holdValue); Serial.print(F("\t"));
if (bindMode) {
switch (adjusted_x) {
case THROTTLE_CHANNEL : holdValue = CHANNEL_MIN_VALUE; break; // always set throttle to zero when binding for safety
case 11 : holdValue = 1000 + ((((uint64_t)radioNormalTxPipeID)>>32) & 0x00000000000000FF); break;
case 12 : holdValue = 1000 + ((((uint64_t)radioNormalTxPipeID)>>24) & 0x00000000000000FF); break;
case 13 : holdValue = 1000 + ((((uint64_t)radioNormalTxPipeID)>>16) & 0x00000000000000FF); break;
case 14 : holdValue = 1000 + ((((uint64_t)radioNormalTxPipeID)>>8) & 0x00000000000000FF); break;
case 15 : holdValue = 1000 + ((((uint64_t)radioNormalTxPipeID)) & 0x00000000000000FF); break;
}
}
// use 12 bits per value
if (adjusted_x % 2) { //channel number is ODD
holdValue = holdValue<<4;
payloadIndex--;
} else {
holdValue &= 0x0FFF;
}
TxPacket.payloadValue[payloadIndex] |= (uint8_t)(holdValue & 0x00FF);
payloadIndex++;
TxPacket.payloadValue[payloadIndex] |= (uint8_t)((holdValue>>8) & 0x00FF);
payloadIndex++;
}
for(int x = 0; x < maxPayloadValueIndex ; x++) {
checkSum += TxPacket.payloadValue[x]; // Finish Calculate checksum
// Serial.print(TxPacket.payloadValue[x],HEX); Serial.print(F("\t"));
}
TxPacket.checkSum_MSB = checkSum >> 8;
TxPacket.checkSum_LSB = checkSum & 0x00FF;
// Serial.print(TxPacket.checkSum); Serial.print(F("\t"));
// Serial.print(millis());; Serial.print(F("\t"));
V3PacketSize = packetSize;
memcpy (&V3SendBuffer[0], &TxPacket, packetSize);
newV3PacketReady = true;
}
//------------------------------------------------------------------------------------------------------------------------
void sendPacket_V3_XMIT() {
static int currentChannel = CABELL_RADIO_MIN_CHANNEL_NUM; // Initializes the channel sequence.
currentChannel = getNextChannel (radioChannel, CABELL_RADIO_CHANNELS, currentChannel);
radio.setChannel(currentChannel);
static uint8_t xmitPacketSize = V3PacketSize;
static uint8_t xmitPacketBuf[32];
if (newV3PacketReady) { // Only bring in new data to xmit when flagged ready. This is to ensure we dont take a packet in the process of being built.
xmitPacketSize = V3PacketSize;
memcpy (&xmitPacketBuf[0], &V3SendBuffer[0], V3PacketSize);
}
newV3PacketReady = false;
#define RESERVED_POSITION 1
#define CHECKSUM_LSB_POSITION 4
#define CHECKSUM_MSB_POSITION 5
uint16_t checkSum = xmitPacketBuf[CHECKSUM_MSB_POSITION] << 8;
checkSum += xmitPacketBuf[CHECKSUM_LSB_POSITION];
checkSum -= xmitPacketBuf[RESERVED_POSITION];
checkSum += currentChannel;
xmitPacketBuf[RESERVED_POSITION] = currentChannel;
xmitPacketBuf[CHECKSUM_MSB_POSITION] = checkSum >> 8;
xmitPacketBuf[CHECKSUM_LSB_POSITION] = checkSum & 0x00FF;
radio.setPayloadSize(xmitPacketSize);
// static unsigned long int lastSendMicros = 0;
// static unsigned long int exited;
// lastSendMicros = micros();
// static int8_t packetCounter = 0;
// packetCounter++;
// xmitPacketBuf[0] &= 0x7F; // clear 8th bit
// xmitPacketBuf[0] |= packetCounter<<7; // This causes the 8th bit of the first byte to toggle with each xmit so consecrutive payloads are not identical. This is a work around for a reported bug in clone NRF24L01 chips that mis-took this case for a re-transmit of the same packet.
// if (packetCounter == 0)
radio.startFastWrite( &xmitPacketBuf[0], xmitPacketSize,0);
// exited = micros();
// Serial.print(lastSendMicros); Serial.print(F("\t")); Serial.println(exited); Serial.print(F("\t")); Serial.println(packetSize);
}
//------------------------------------------------------------------------------------------------------------------------
void sendPacket_PPM() { // output as AETR
int adjusted_x;
for(int x = 0; x < constrain( pgm_read_byte(&channelsToXmit[currentModel]),CABELL_MIN_CHANNELS,8) ; x++) { // sending more than 8 on PPM may be too slow
//set adjusted_x to be in AETR order
switch (x)
{
case 0:
adjusted_x = ROLL_CHANNEL;
break;
case 1:
adjusted_x = PITCH_CHANNEL;
break;
case 2:
adjusted_x = THROTTLE_CHANNEL;
break;
case 3:
adjusted_x = YAW_CHANNEL;
break;
default:
adjusted_x = x;
}
setPPMOutputChannelValue(x, channelValues[adjusted_x]);
// Serial.print(channelValues[x]); Serial.print(F("\t"));
}
//Serial.println(millis());
}
//------------------------------------------------------------------------------------------------------------------------
void sendPacket_Serial(uint32_t recieverProtocol){
#define SERIAL_OUTPUT_BUFFER_LENGTH 26
/*
The cabell sub-protocol number is 63
0) 0x54 add 32 to sub protocol
1) 0x1F 32 + 21 = sub protocol 63, Autobind is 0 (off)
2) 0x00 Type is 0 as there are no types in cabell sub-protocol
3) 0x00 No options
*/
uint8_t outputBuf[SERIAL_OUTPUT_BUFFER_LENGTH] = {0}; // initialize array to zeroes
static uint8_t bindModeResetCount = 0;
//recieverProtocol is first 4 bytes of serial packet, with sole forced overrides
outputBuf[0] = (uint8_t)((recieverProtocol & 0xFF000000) >> 24); // first byte is 0x55 for sub-protocols 0 - 31, 0x54 for 32 - 63
outputBuf[1] = (uint8_t)((recieverProtocol & 0x001F0000) >> 16); //sub-protocol is first 5 bits of second byte
outputBuf[1] |= 0x00 & 0x20; //Range check is sixth bit - force off
outputBuf[1] |= (uint8_t)((recieverProtocol & 0x00400000) >> 16); //Autobind is seventh bit - copy from recieverProtocol
if (!(recieverProtocol & 0x00400000)) { // if Autobind is not on, then set the bind bit if TX in bind mode
// occasionally leave the bit set to zero - this toggling re-sets the protocol in the module, thus keeping it in bind mode
if (bindModeResetCount != 0) { // trigger the toggle every 255 packets
outputBuf[1] |= (uint8_t)((bindMode) ? 0x80 : 0x00); //Bind is eighth bit - set if TX is in bind mode
}
bindModeResetCount++;
}
outputBuf[2] = 0x00; // last bit is power. Set to 0 which is high power. Other bits filled in next
outputBuf[2] |= ((uint8_t)currentModel) & 0x0F; //Model number 0 to 15 into first 4 bits. If currentModel > 16 it wraps around
outputBuf[2] |= (uint8_t)((recieverProtocol & 0x00007000) >>8); //Type is bits 4,5,6 of third byte- copy from RecieverProtocol
outputBuf[3] = (uint8_t)(recieverProtocol & 0x00000040); // 7th bit is used to turn on max power. use bit from recieverProtocol
outputBuf[3] |= (constrain(((CABELL_NUM_CHANNELS - pgm_read_byte(&channelsToXmit[currentModel]))),0,CABELL_NUM_CHANNELS - CABELL_MIN_CHANNELS)) & CABELL_OPTION_MASK_CHANNEL_REDUCTION;
outputBuf[3] |= (pgm_read_byte(&recieverOutputMode[currentModel]) << CABELL_OPTION_SHIFT_RECIEVER_OUTPUT_MODE) & CABELL_OPTION_MASK_RECIEVER_OUTPUT_MODE;
// Set the model number
uint8_t model = ((uint8_t)currentModel) | 0x0F; // first 4 bits is model number
uint8_t Power = ~0x80; // last bit is power. 0 is high power
int currByte = 4; // start values after the 4 byte header
int currBit = 0; // start wit the first bit
int adjusted_x;
for (int x = 0; x < min(NUM_CHANNELS,16); x++) { //Serial protocol max is 16 channels
switch (x)
{
case 0:
adjusted_x = ROLL_CHANNEL;
break;
case 1:
adjusted_x = PITCH_CHANNEL;
break;
case 2:
adjusted_x = THROTTLE_CHANNEL;
break;
case 3:
adjusted_x = YAW_CHANNEL;
break;
default:
adjusted_x = x;
}
uint32_t chanVal = map(channelValues[adjusted_x],CHANNEL_MIN_VALUE,CHANNEL_MAX_VALUE,204,1843);
// Serial.print(chanVal);Serial.print(F("\t"));
// use 11 bits per value. do funky stuff because little endian
uint32_t shiftedValue = chanVal<<currBit;
uint8_t firstbyte =( shiftedValue & 0x000000FF);
uint8_t Secondbyte =( shiftedValue & 0x0000FF00)>>8;
uint8_t Thirdbyte =( shiftedValue & 0x00FF0000)>>16;
outputBuf[currByte] |= firstbyte;
currByte++;
outputBuf[currByte] |= Secondbyte;
if (currBit > 5) {
currByte++;
outputBuf[currByte] |= Thirdbyte;
}
currBit = (currBit + 11) % 8;
}
// for (int x = 0; x < SERIAL_OUTPUT_BUFFER_LENGTH; x++) {
// Serial.print(outputBuf[x],HEX);Serial.print(F("\t"));
// }
// Serial.println(micros());
static long unsigned int lastSerialPacket = 0;
if (lastSerialPacket > micros()) lastSerialPacket = 0; // reset if micros overflows (approx every 70 min)
if (micros() > (lastSerialPacket + 7000)) { // make sure we dont send any more than every 7000 uS so module doesnt get confused
lastSerialPacket = micros();
MsTimer2::stop(); // Stop timer while sending so timing isnt interrupted
outputSerial.writeBuffer32(outputBuf,SERIAL_OUTPUT_BUFFER_LENGTH);
MsTimer2::start();
}
}
//------------------------------------------------------------------------------------------------------------------------
bool getChannelValues () {
bool dataChanged = false;
channelValues[PITCH_CHANNEL] = getChannelValueFromADC(dataChanged,channelValues[PITCH_CHANNEL],ads,PITCH_ADC_PIN,PITCH_CHANNEL);
channelValues[ROLL_CHANNEL] = getChannelValueFromADC(dataChanged,channelValues[ROLL_CHANNEL],ads,ROLL_ADC_PIN,ROLL_CHANNEL);
channelValues[YAW_CHANNEL] = getChannelValueFromADC(dataChanged,channelValues[YAW_CHANNEL],ads,YAW_ADC_PIN,YAW_CHANNEL);
channelValues[THROTTLE_CHANNEL] = getChannelValueFromADC(dataChanged,channelValues[THROTTLE_CHANNEL],ads,THROTTLE_ADC_PIN,THROTTLE_CHANNEL);
channelValues[AUX1_CHANNEL] = getChannelValueFromPin(dataChanged,channelValues[AUX1_CHANNEL],AUX1_INPUT_PIN,AUX1_CHANNEL);
channelValues[AUX2_CHANNEL] = getChannelValueFromPin(dataChanged,channelValues[AUX2_CHANNEL],AUX2_INPUT_PIN,AUX2_CHANNEL);
channelValues[AUX3_CHANNEL] = getChannelValueFromPin(dataChanged,channelValues[AUX3_CHANNEL],AUX3_INPUT_PIN,AUX3_CHANNEL);
channelValues[AUX4_CHANNEL] = getChannelValueFromPin(dataChanged,channelValues[AUX4_CHANNEL],AUX4_INPUT_PIN,AUX4_CHANNEL);
for(int x = AUX4_CHANNEL + 1; x < CABELL_NUM_CHANNELS; x++) {
channelValues[x] = channelValues[x-4]; // Repeat AUX channels to fill in upper channels
}
return dataChanged;
}
//------------------------------------------------------------------------------------------------------------------------
uint16_t getChannelValueFromPin(bool& changed, uint16_t originalValue, uint8_t pin, int channel) {
uint16_t x;
if (pgm_read_byte( &channelReverse[currentModel][channel])) {
x = (digitalRead(pin) == HIGH) ? pgm_read_word(&channelLowOut [currentModel][channel]) - (highRate * pgm_read_word(&channelHighRateOffset [currentModel][channel])) : pgm_read_word(&channelHighOut [currentModel][channel] + (highRate * pgm_read_word(&channelHighRateOffset [currentModel][channel])));
} else {
x = (digitalRead(pin) == HIGH) ? pgm_read_word(&channelHighOut [currentModel][channel]) + (highRate * pgm_read_word(&channelHighRateOffset [currentModel][channel])) : pgm_read_word(&channelLowOut [currentModel][channel] - (highRate * pgm_read_word(&channelHighRateOffset [currentModel][channel])));
}
x = constrain(x,CHANNEL_MIN_VALUE,CHANNEL_MAX_VALUE);
if (x != originalValue) {changed = true;}
return x;
}
//------------------------------------------------------------------------------------------------------------------------
uint16_t getChannelValueFromADC(bool& changed, uint16_t originalValue, ADC_VERSION adc, uint8_t adcPin, int channel) {
static const int16_t lowInput[4] = ADC_INPUT_LOW ;
static const int16_t midInput[4] = ADC_INPUT_MID ;
static const int16_t highInput[4] = ADC_INPUT_HIGH ;
int16_t x = adc.readADC_SingleEnded(adcPin);
// Serial.print(x);Serial.print(F("\t"));
x = constrain(x,lowInput[channel],highInput[channel]);
// calculate mid points on either side of the dead zone
int16_t midInputLow = midInput[channel] - (int16_t) (((float) midInput[channel] - (float) lowInput[channel]) * STICK_DEAD_ZONE_RATIO);
int16_t midInputHigh = midInput[channel] + (int16_t) (((float) highInput[channel] - (float) midInput[channel]) * STICK_DEAD_ZONE_RATIO);;
if (x < midInputLow) {
x = map(x,lowInput[channel],midInputLow,CHANNEL_MIN_VALUE,CHANNEL_MID_VALUE);
} else if (x > midInputHigh) {
x = map(x,midInputHigh,highInput[channel],CHANNEL_MID_VALUE,CHANNEL_MAX_VALUE);
} else {
x = CHANNEL_MID_VALUE;
}
uint16_t xOut = mapChannelValue(channel,x); // maps based on channel min/max settings
if (xOut != originalValue) {changed = true;}
return xOut;
}
//------------------------------------------------------------------------------------------------------------------------
uint16_t applyExpo (int8_t inExpoPercent, uint16_t inValue, uint16_t inLow, uint16_t inMid, uint16_t inHigh) {
float expoValue = (int16_t) inValue - (int16_t) inMid;
float expoMod;
if (expoValue < 0) {
expoMod = ((float) (100 - inExpoPercent) + ((float) inExpoPercent) / ((float)inMid - (float)(inLow)) * abs(expoValue)) / 100.0F ;
} else {
expoMod = ((float) (100 - inExpoPercent) + ((float) inExpoPercent) / ((float)inHigh - (float)(inMid)) * abs(expoValue)) / 100.0F ;
}
expoValue = expoValue * expoMod;
return (uint16_t) (expoValue + inMid);
}
//------------------------------------------------------------------------------------------------------------------------
void maintainTimer(uint16_t inValue, uint16_t inLow, int timerWarningSec, int timerAlertSec) {
static unsigned long lastMillis = 0;
static unsigned long lastSeconds = 0;
unsigned long newMillis = millis();
if (newMillis < lastMillis) { // Handle when millis() wraps
lastMillis = 0;
}
if(inValue > inLow) { // only increment timer if throttle is not min
timerElapsed = timerElapsed + (newMillis - lastMillis);
}
static char displayedTime[12] = "";
char * newTime;
if ((timerElapsed/1000) != lastSeconds) {
lastSeconds = timerElapsed/1000;
newTime = TimeToString(lastSeconds);
// writing string to lcd via I2C is slow, so compate to last string to find the first different characdter and
// only write from that point forward. This saves about 6ms.
int stringDiffIndex = findFirstStringDifference(newTime,displayedTime,sizeof(displayedTime));
lcd.setCursor(8 + stringDiffIndex, 0);
for (int x = stringDiffIndex; x < 8; x++) {
lcd.print(newTime[x]);
}
copyString(newTime, displayedTime, sizeof(displayedTime));
}
static bool alertOrWarning = false;
if ((lastSeconds >= timerAlertSec) && (timerAlertSec > 0)) {
buzzerState=PULSE_FAST;
alertOrWarning = true;
} else {
if ((lastSeconds >= timerWarningSec) && (timerWarningSec > 0)) {
buzzerState=PULSE_SLOW;
alertOrWarning = true;
} else {
if (alertOrWarning) {
buzzerState=OFF;
alertOrWarning = false;
}
}
}
lastMillis = newMillis;
}
//------------------------------------------------------------------------------------------------------------------------
int findFirstStringDifference(char * first, char * second, int arrayLength) {
int x;
for (x = 0; x < arrayLength; x++) {
if (first[x] != second[x]) break;
}
return x;
}
//------------------------------------------------------------------------------------------------------------------------
void copyString(char * first, char * second, int arrayLength) {
for (int x = 0; x < arrayLength; x++) {
second[x] = first[x];
}
}
//------------------------------------------------------------------------------------------------------------------------
// t is time in seconds;
char * TimeToString(unsigned long t)
{
static char str[12];
long h = t / 3600;
t = t % 3600;
int m = t / 60;
int s = t % 60;
if (h > 99) {
h = 99;
m = 99;
s = 99;
}
sprintf(str, "%02ld:%02d:%02d", h, m, s);