parrot_esp.ino

/*
 * This program is part an esp32-based controller to pilot Parrot Minidrones
 * Copyright (C) 2021  Pierre-Loup Martin
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "parrot_esp.h"

ARCommands minidrone;
ARNetwork mdLink(&minidrone);

void initSystems(){

//	testConvertTools();
	mdLink.init();

	telemetry_init(&minidrone);

	control_init(&minidrone);

	minidrone.sendAllSettings();
	// Optionnal
	minidrone.sendPreferredPilotingMode(2);

	telemetry_start();
}

void mainLoop(){
	// Check that connexion is sitll alive, or try to reconnect. Not really tried yet.
	if(!mdLink.checkConnection()){
		telemetry_stop();
		if(mdLink.checkConnection()) telemetry_start();
		return;
	}

	// check for new controls from transmitter.
	control_update();

	minidrone.update();
	mdLink.update();
//	Serial.printf("RSSI : %i\n", mdLink.getRSSI());
	telemetry_update();
}

void setup(){
	// Use for "debug" purpose only.
	// Part of the debug informations use the log library made avaiable by the esp ide. Set debug level when compiling.
	Serial.begin(115200);
	initSystems();
	// Telemetry initialisation.
//	telemetry_init();

}

void loop(){
	mainLoop();
//	telemetry_update();
}


// Developpement only.
void testConvertTools(){
	uint8_t table[] = {0x00, 0x12, 0xCD, 0xFF};

	int16_t value = tools_bufferToInt16t(table);
	uint16_t unsignedValue = tools_bufferToUint16t(table);

	Serial.printf("bytes : ");
	for(uint8_t i = 0; i < 4; ++i){
		Serial.printf("%02X ", table[i]);
	}
	Serial.println();
	Serial.printf("int16_t : %04X\n", value);
	Serial.printf("uint16_t : %04X\n", unsignedValue);

	int32_t value2 = tools_bufferToInt32t(table);
	uint32_t unsignedValue2 = tools_bufferToUint32t(table);

	Serial.printf("int32_t : %08X\n", value2);
	Serial.printf("uint32_t : %08X\n", unsignedValue2);

	Serial.printf("size of float : %i\n", sizeof(float));
	Serial.printf("size of double : %i\n", sizeof(double));

	while(1);
}