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RC_Transmitter.ino
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RC_Transmitter.ino
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// Micro RC Project. A tiny little 2.4GHz and LEGO "Power Functions" / "MECCANO" IR RC transmitter!
// 3.3V, 8MHz Pro Mini
// STM32F103C8T6 ARM version see: https://github.com/TheDIYGuy999/RC_Transmitter_STM32
// 2.4GHz NRF24L01 radio module
// SSD 1306 128 x 63 0.96" OLED
// Custom PCB from OSH Park
// Menu for the following adjustments:
// -Channel reversing
// -Channel travel limitation adjustable in steps of 5%
// -Value changes are stored in EEPROM, individually per vehicle
// Radio transmitter tester included (press "Select" button during power up)
// NRF24L01+PA+LNA SMA radio modules with power amplifier are supported from board version 1.1
// ATARI PONG game :-) Press the "Back" button during power on to start it
const float codeVersion = 2.3; // Software revision
//
// =======================================================================================================
// BUILD OPTIONS (comment out unneeded options)
// =======================================================================================================
//
//#define DEBUG // if not commented out, Serial.print() is active! For debugging only!!
//#define OLED_DEBUG // if not commented out, an additional diagnostics screen is shown during startup
//
// =======================================================================================================
// INCLUDE LIRBARIES & TABS
// =======================================================================================================
//
// Libraries
#include <SPI.h>
#include <RF24.h> // Installed via Tools > Board > Boards Manager > Type RF24
#include <printf.h>
#include <EEPROMex.h> // https://github.com/thijse/Arduino-EEPROMEx
#include <LegoIr.h> // https://github.com/TheDIYGuy999/LegoIr
#include <statusLED.h> // https://github.com/TheDIYGuy999/statusLED
#include <U8glib.h> // https://github.com/olikraus/u8glib or https://bintray.com/olikraus/u8glib/Arduino
// Tabs
#include "transmitterConfig.h"
// More tabs (.h files in the sketch directory) see further down
//
// =======================================================================================================
// PIN ASSIGNMENTS & GLOBAL VARIABLES
// =======================================================================================================
//
// Is the radio or IR transmission mode active?
byte transmissionMode = 1; // Radio mode is active by default
// Select trannsmitter operation mode
byte operationMode = 0; // Start in transmitter mode (0 = transmitter mode, 1 = tester mode, 2 = game mode)
// Vehicle address
int vehicleNumber = 1; // Vehicle number one is active by default
// Radio channels (126 channels are supported)
byte chPointer = 0; // Channel 1 (the first entry of the array) is active by default
const byte NRFchannel[] {
1, 2
};
// the ID number of the used "radio pipe" must match with the selected ID on the transmitter!
// 10 ID's are available @ the moment
const uint64_t pipeOut[] = {
0xE9E8F0F0B1LL, 0xE9E8F0F0B2LL, 0xE9E8F0F0B3LL, 0xE9E8F0F0B4LL, 0xE9E8F0F0B5LL,
0xE9E8F0F0B6LL, 0xE9E8F0F0B7LL, 0xE9E8F0F0B8LL, 0xE9E8F0F0B9LL, 0xE9E8F0F0B0LL
};
const int maxVehicleNumber = (sizeof(pipeOut) / (sizeof(uint64_t)));
// Hardware configuration: Set up nRF24L01 radio on hardware SPI bus & pins 7 (CE) & 8 (CSN)
RF24 radio(7, 8);
// The size of this struct should not exceed 32 bytes
struct RcData {
byte axis1; // Aileron (Steering for car)
byte axis2; // Elevator
byte axis3; // Throttle
byte axis4; // Rudder
boolean mode1 = false; // Mode1 (toggle speed limitation)
boolean mode2 = false; // Mode2 (toggle acc. / dec. limitation)
boolean momentary1 = false; // Momentary push button
byte pot1; // Potentiometer
};
RcData data;
// This struct defines data, which are embedded inside the ACK payload
struct ackPayload {
float vcc; // vehicle vcc voltage
float batteryVoltage; // vehicle battery voltage
boolean batteryOk; // the vehicle battery voltage is OK!
byte channel = 1; // the channel number
};
ackPayload payload;
// Did the receiver acknowledge the sent data?
boolean transmissionState;
// LEGO powerfunctions IR
LegoIr pf;
int pfChannel;
const int pfMaxAddress = 3;
// TX voltages
boolean batteryOkTx = false;
#define BATTERY_DETECT_PIN A7 // The 20k & 10k battery detection voltage divider is connected to pin A7
float txVcc;
float txBatt;
//Joystick reversing
boolean joystickReversed[maxVehicleNumber + 1][4] = { // 1 + 10 Vehicle Addresses, 4 Servos
{false, false, false, false}, // Address 0 used for EEPROM initialisation
{false, false, false, false}, // Address 1
{false, false, false, false}, // Address 2
{false, false, false, false}, // Address 3
{false, false, false, false}, // Address 4
{false, false, false, false}, // Address 5
{false, false, false, false}, // Address 6
{false, false, false, false}, // Address 7
{false, false, false, false}, // Address 8
{false, false, false, false}, // Address 9
{false, false, false, false}, // Address 10
};
//Joystick percent negative
byte joystickPercentNegative[maxVehicleNumber + 1][4] = { // 1 + 10 Vehicle Addresses, 4 Servos
{100, 100, 100, 100}, // Address 0 not used
{100, 100, 100, 100}, // Address 1
{100, 100, 100, 100}, // Address 2
{100, 100, 100, 100}, // Address 3
{100, 100, 100, 100}, // Address 4
{100, 100, 100, 100}, // Address 5
{100, 100, 100, 100}, // Address 6
{100, 100, 100, 100}, // Address 7
{100, 100, 100, 100}, // Address 8
{100, 100, 100, 100}, // Address 9
{100, 100, 100, 100}, // Address 10
};
//Joystick percent positive
byte joystickPercentPositive[maxVehicleNumber + 1][4] = { // 1 + 10 Vehicle Addresses, 4 Channels
{100, 100, 100, 100}, // Address 0 not used
{100, 100, 100, 100}, // Address 1
{100, 100, 100, 100}, // Address 2
{100, 100, 100, 100}, // Address 3
{100, 100, 100, 100}, // Address 4
{100, 100, 100, 100}, // Address 5
{100, 100, 100, 100}, // Address 6
{100, 100, 100, 100}, // Address 7
{100, 100, 100, 100}, // Address 8
{100, 100, 100, 100}, // Address 9
{100, 100, 100, 100}, // Address 10
};
// Joysticks
#define JOYSTICK_1 A1
#define JOYSTICK_2 A0
#define JOYSTICK_3 A3
#define JOYSTICK_4 A2
// Joystick push buttons
#define JOYSTICK_BUTTON_LEFT 4
#define JOYSTICK_BUTTON_RIGHT 2
byte leftJoystickButtonState;
byte rightJoystickButtonState;
// Buttons
#define BUTTON_LEFT 1 // - or channel select
#define BUTTON_RIGHT 10 // + or transmission mode select
#define BUTTON_SEL 0 // select button for menu
#define BUTTON_BACK 9 // back button for menu
byte leftButtonState = 7; // init states with 7 (see macro below)!
byte rightButtonState = 7;
byte selButtonState = 7;
byte backButtonState = 7;
// macro for detection of rising edge and debouncing
/*the state argument (which must be a variable) records the current and the last 3 reads
by shifting one bit to the left at each read and bitwise anding with 15 (=0b1111).
If the value is 7(=0b0111) we have one raising edge followed by 3 consecutive 1's.
That would qualify as a debounced raising edge*/
#define DRE(signal, state) (state=(state<<1)|(signal&1)&15)==7
// Status LED objects (false = logic not inverted)
#ifdef ledInversed // inversed logic
statusLED greenLED(true); // green: ON = transmitter ON, flashing = Communication with vehicle OK
statusLED redLED(true); // red: ON = battery empty
#endif
#ifndef ledInversed // not inversed logic
statusLED greenLED(false); // green: ON = transmitter ON, flashing = Communication with vehicle OK
statusLED redLED(false); // red: ON = battery empty
#endif
// OLED display. Select the one you have! Otherwise sthe sreen could be slightly offset sideways!
//U8GLIB_SH1106_128X64 u8g(U8G_I2C_OPT_FAST); // I2C / TWI FAST instead of NONE = 400kHz I2C!
U8GLIB_SSD1306_128X64 u8g(U8G_I2C_OPT_FAST); // I2C / TWI FAST instead of NONE = 400kHz I2C!
int activeScreen = 0; // the currently displayed screen number (0 = splash screen)
boolean displayLocked = true;
byte menuRow = 0; // Menu active cursor line
// EEPROM (max. total size is 512 bytes)
// Always get the adresses first and in the same order
// Blocks of 11 x 4 bytes = 44 bytes each!
int addressReverse = EEPROM.getAddress(sizeof(byte) * 44);
int addressNegative = EEPROM.getAddress(sizeof(byte) * 44);
int addressPositive = EEPROM.getAddress(sizeof(byte) * 44);
//
// =======================================================================================================
// INCLUDE TABS (header files in sketch directory)
// =======================================================================================================
//
// Tabs (header files in sketch directory)
#include "readVCC.h"
//#include "transmitterConfig.h"
#include "MeccanoIr.h" // https://github.com/TheDIYGuy999/MeccanoIr
#include "pong.h" // A little pong game :-)
//
// =======================================================================================================
// RADIO SETUP
// =======================================================================================================
//
void setupRadio() {
radio.begin();
radio.setChannel(NRFchannel[chPointer]);
radio.powerUp();
// Set Power Amplifier (PA) level to one of four levels: RF24_PA_MIN, RF24_PA_LOW, RF24_PA_HIGH and RF24_PA_MAX
if (boardVersion < 1.1 ) radio.setPALevel(RF24_PA_MIN); // No independent NRF24L01 3.3V PSU, so only "MIN" transmission level allowed
else radio.setPALevel(RF24_PA_MAX); // Independent NRF24L01 3.3V PSU, so "FULL" transmission level allowed
radio.setDataRate(RF24_250KBPS);
radio.setAutoAck(pipeOut[vehicleNumber - 1], true); // Ensure autoACK is enabled
radio.enableAckPayload();
radio.enableDynamicPayloads();
radio.setRetries(5, 5); // 5x250us delay (blocking!!), max. 5 retries
//radio.setCRCLength(RF24_CRC_8); // Use 8-bit CRC for performance*/
#ifdef DEBUG
radio.printDetails();
delay(1800);
#endif
// All axes to neutral position
data.axis1 = 50;
data.axis2 = 50;
data.axis3 = 50;
data.axis4 = 50;
// Transmitter
if (operationMode == 0) {
radio.openWritingPipe(pipeOut[vehicleNumber - 1]); // Vehicle Number 1 = Array number 0, so -1!
radio.write(&data, sizeof(RcData));
}
// Receiver (radio tester mode)
if (operationMode == 1) {
radio.openReadingPipe(1, pipeOut[vehicleNumber - 1]);
radio.startListening();
}
}
//
// =======================================================================================================
// LEGO POWERFUNCTIONS SETUP
// =======================================================================================================
//
void setupPowerfunctions() {
pfChannel = vehicleNumber - 1; // channel 0 - 3 is labelled as 1 - 4 on the LEGO devices!
if (pfChannel > pfMaxAddress) pfChannel = pfMaxAddress;
pf.begin(3, pfChannel); // Pin 3, channel 0 - 3
}
//
// =======================================================================================================
// MAIN ARDUINO SETUP (1x during startup)
// =======================================================================================================
//
void setup() {
#ifdef DEBUG
Serial.begin(115200);
printf_begin();
delay(3000);
#endif
// LED setup
greenLED.begin(6); // Green LED on pin 5
redLED.begin(5); // Red LED on pin 6
// Pinmodes (all other pinmodes are handled inside libraries)
pinMode(JOYSTICK_BUTTON_LEFT, INPUT_PULLUP);
pinMode(JOYSTICK_BUTTON_RIGHT, INPUT_PULLUP);
pinMode(BUTTON_LEFT, INPUT_PULLUP);
pinMode(BUTTON_RIGHT, INPUT_PULLUP);
pinMode(BUTTON_SEL, INPUT_PULLUP);
pinMode(BUTTON_BACK, INPUT_PULLUP);
// EEPROM setup
EEPROM.readBlock(addressReverse, joystickReversed); // restore all arrays from the EEPROM
EEPROM.readBlock(addressNegative, joystickPercentNegative);
EEPROM.readBlock(addressPositive, joystickPercentPositive);
if (joystickReversed[0][0] || (!digitalRead(BUTTON_BACK) && !digitalRead(BUTTON_SEL))) { // 255 is EEPROM default after a program download,
// this indicates that we have to initialise the EEPROM with our default values! Or manually triggered with
// both "SEL" & "BACK" buttons pressed during switching on!
memset(joystickReversed, 0, sizeof(joystickReversed)); // init arrays first
memset(joystickPercentNegative, 100, sizeof(joystickPercentNegative));
memset(joystickPercentPositive, 100, sizeof(joystickPercentPositive));
EEPROM.updateBlock(addressReverse, joystickReversed); // then write defaults to EEPROM
EEPROM.updateBlock(addressNegative, joystickPercentNegative);
EEPROM.updateBlock(addressPositive, joystickPercentPositive);
}
// Switch to radio tester mode, if "Select" button is pressed
if (digitalRead(BUTTON_BACK) && !digitalRead(BUTTON_SEL)) {
operationMode = 1;
}
// Switch to game mode, if "Back" button is pressed
if (!digitalRead(BUTTON_BACK) && digitalRead(BUTTON_SEL)) {
operationMode = 2;
}
// Joystick setup
JoystickOffset(); // Compute all joystick center points
readJoysticks(); // Then do the first jocstick read
// Radio setup
setupRadio();
// LEGO Powerfunctions setup
setupPowerfunctions();
// Display setup
u8g.setFontRefHeightExtendedText();
u8g.setDefaultForegroundColor();
u8g.setFontPosTop();
u8g.setFont(u8g_font_6x10);
// Splash screen
checkBattery();
activeScreen = 0; // 0 = splash screen active
drawDisplay();
#ifdef OLED_DEBUG
activeScreen = 100; // switch to the diagnostics screen
delay(1500);
drawDisplay();
#endif
activeScreen = 1; // switch to the main screen
delay(1500);
}
//
// =======================================================================================================
// BUTTONS
// =======================================================================================================
//
// Sub function for channel travel adjustment and limitation --------------------------------------
void travelAdjust(boolean upDn) {
byte inc = 5;
if (upDn) inc = 5; // Direction +
else inc = -5; // -
if ( (menuRow & 0x01) == 0) { // even (2nd column)
joystickPercentPositive[vehicleNumber][(menuRow - 6) / 2 ] += inc; // row 6 - 12 = 0 - 3
}
else { // odd (1st column)
joystickPercentNegative[vehicleNumber][(menuRow - 5) / 2 ] += inc; // row 5 - 11 = 0 - 3
}
joystickPercentPositive[vehicleNumber][(menuRow - 6) / 2 ] = constrain(joystickPercentPositive[vehicleNumber][(menuRow - 6) / 2 ], 20, 100);
joystickPercentNegative[vehicleNumber][(menuRow - 5) / 2 ] = constrain(joystickPercentNegative[vehicleNumber][(menuRow - 5) / 2 ], 20, 100);
}
// Main buttons function --------------------------------------------------------------------------
void readButtons() {
// Every 10 ms
static unsigned long lastTrigger;
if (millis() - lastTrigger >= 10) {
lastTrigger = millis();
// Left joystick button (Mode 1)
if (DRE(digitalRead(JOYSTICK_BUTTON_LEFT), leftJoystickButtonState) && (transmissionMode == 1)) {
data.mode1 = !data.mode1;
drawDisplay();
}
// Right joystick button (Mode 2)
if (DRE(digitalRead(JOYSTICK_BUTTON_RIGHT), rightJoystickButtonState) && (transmissionMode == 1)) {
data.mode2 = !data.mode2;
drawDisplay();
}
if (activeScreen <= 10) { // if menu is not displayed ----------
// Left button: Channel selection +
if (DRE(digitalRead(BUTTON_LEFT), leftButtonState) && (transmissionMode < 3)) {
vehicleNumber ++;
if (vehicleNumber > maxVehicleNumber) vehicleNumber = 1;
setupRadio(); // Re-initialize the radio with the new pipe address
setupPowerfunctions(); // Re-initialize the LEGO IR transmitter with the new channel address
drawDisplay();
}
// Right button: Change transmission mode. Radio <> IR
if (infrared) { // only, if transmitter has IR option
if (DRE(digitalRead(BUTTON_RIGHT), rightButtonState)) {
if (transmissionMode < 3) transmissionMode ++;
else {
transmissionMode = 1;
setupRadio(); // Re-initialize radio, if we switch back to radio mode!
}
drawDisplay();
}
}
else { // only, if transmitter has no IR option
// Right button: Channel selection -
if (DRE(digitalRead(BUTTON_RIGHT), rightButtonState) && (transmissionMode < 3)) {
vehicleNumber --;
if (vehicleNumber < 1) vehicleNumber = maxVehicleNumber;
setupRadio(); // Re-initialize the radio with the new pipe address
setupPowerfunctions(); // Re-initialize the LEGO IR transmitter with the new channel address
drawDisplay();
}
}
}
else { // if menu is displayed -----------
// Right button: Value -
if (DRE(digitalRead(BUTTON_RIGHT), rightButtonState)) {
if (activeScreen == 11) {
joystickReversed[vehicleNumber][menuRow - 1] = false;
}
if (activeScreen == 12) {
travelAdjust(false); // -
}
drawDisplay();
}
// Left button: Value +
if (DRE(digitalRead(BUTTON_LEFT), leftButtonState)) {
if (activeScreen == 11) {
joystickReversed[vehicleNumber][menuRow - 1] = true;
}
if (activeScreen == 12) {
travelAdjust(true); // +
}
drawDisplay();
}
}
// Menu buttons:
// Select button: opens the menu and scrolls through menu entries
if (DRE(digitalRead(BUTTON_SEL), selButtonState) && (transmissionMode == 1)) {
activeScreen = 11; // 11 = Menu screen 1
menuRow ++;
if (menuRow > 4) activeScreen = 12; // 12 = Menu screen 2
if (menuRow > 12) {
activeScreen = 11; // Back to menu 1, entry 1
menuRow = 1;
}
drawDisplay();
}
// Back / Momentary button:
if (activeScreen <= 10) { // Momentary button, if menu is NOT displayed
if (!digitalRead(BUTTON_BACK)) data.momentary1 = true;
else data.momentary1 = false;
}
else { // Goes back to the main screen & saves the changed entries in the EEPROM
if (DRE(digitalRead(BUTTON_BACK), backButtonState)) {
activeScreen = 1; // 1 = Main screen
menuRow = 0;
drawDisplay();
EEPROM.updateBlock(addressReverse, joystickReversed); // update changed values in EEPROM
EEPROM.updateBlock(addressNegative, joystickPercentNegative);
EEPROM.updateBlock(addressPositive, joystickPercentPositive);
}
}
}
}
//
// =======================================================================================================
// JOYSTICKS
// =======================================================================================================
//
int offset[4]; // the auto calibration offset of each joystick
// Auto-zero subfunction (called during setup, if a pot and no 3 position switch is connected) ----
void JoystickOffset() {
#ifndef CH1Switch
offset[0] = 512 - analogRead(JOYSTICK_1);
#endif
#ifndef CH2Switch
offset[1] = 512 - analogRead(JOYSTICK_2);
#endif
#ifndef CH3Switch
offset[2] = 512 - analogRead(JOYSTICK_3);
#endif
#ifndef CH4Switch
offset[3] = 512 - analogRead(JOYSTICK_4);
#endif
}
// Mapping and reversing subfunction ----
byte mapJoystick(byte input, byte arrayNo) {
int reading[4];
reading[arrayNo] = analogRead(input) + offset[arrayNo]; // read joysticks and add the offset
reading[arrayNo] = constrain(reading[arrayNo], (1023 - range), range); // then limit the result before we do more calculations below
#ifndef CONFIG_4_CH // In most "car style" transmitters, less than one half of the throttle potentiometer range is used for the reverse. So we have to enhance this range!
if (reading[2] < (range / 2) ) {
reading[2] = constrain(reading[2], reverseEndpoint, (range / 2)); // limit reverse range, which will be mapped later on
reading[2] = map(reading[2], reverseEndpoint, (range / 2), 0, (range / 2)); // reverse range mapping (adjust reverse endpoint in transmitterConfig.h)
}
#endif
if (transmissionMode == 1 && operationMode != 2 ) { // Radio mode and not game mode
if (joystickReversed[vehicleNumber][arrayNo]) { // reversed
return map(reading[arrayNo], (1023 - range), range, (joystickPercentPositive[vehicleNumber][arrayNo] / 2 + 50), (50 - joystickPercentNegative[vehicleNumber][arrayNo] / 2));
}
else { // not reversed
return map(reading[arrayNo], (1023 - range), range, (50 - joystickPercentNegative[vehicleNumber][arrayNo] / 2), (joystickPercentPositive[vehicleNumber][arrayNo] / 2 + 50));
}
}
else { // IR mode
return map(reading[arrayNo], (1023 - range), range, 0, 100);
}
}
// Main Joystick function ----
void readJoysticks() {
// save previous joystick positions
byte previousAxis1 = data.axis1;
byte previousAxis2 = data.axis2;
byte previousAxis3 = data.axis3;
byte previousAxis4 = data.axis4;
// Read current joystick positions, then scale and reverse output signals, if necessary (only for the channels we have)
#ifdef CH1
data.axis1 = mapJoystick(JOYSTICK_1, 0); // Aileron (Steering for car)
#endif
#ifdef CH2
data.axis2 = mapJoystick(JOYSTICK_2, 1); // Elevator
#endif
#ifdef CH3
data.axis3 = mapJoystick(JOYSTICK_3, 2); // Throttle
#endif
#ifdef CH4
data.axis4 = mapJoystick(JOYSTICK_4, 3); // Rudder
#endif
// in case of an overflow, set axis to zero (prevent it from overflowing < 0)
if (data.axis1 > 150) data.axis1 = 0;
if (data.axis2 > 150) data.axis2 = 0;
if (data.axis3 > 150) data.axis3 = 0;
if (data.axis4 > 150) data.axis4 = 0;
// Only allow display refresh, if no value has changed!
if (previousAxis1 != data.axis1 ||
previousAxis2 != data.axis2 ||
previousAxis3 != data.axis3 ||
previousAxis4 != data.axis4) {
displayLocked = true;
}
else {
displayLocked = false;
}
}
//
// =======================================================================================================
// POTENTIOMETER
// =======================================================================================================
//
void readPotentiometer() {
data.pot1 = map(analogRead(A6), 0, 1023, 0, 100);
data.pot1 = constrain(data.pot1, 0, 100);
}
//
// =======================================================================================================
// TRANSMIT LEGO POWERFUNCTIONS IR SIGNAL
// =======================================================================================================
//
void transmitLegoIr() {
static byte speedOld[2];
static byte speed[2];
static byte pwm[2];
static unsigned long previousMillis;
unsigned long currentMillis = millis();
// Flash green LED
greenLED.flash(30, 2000, 0, 0);
// store joystick positions into an array-----
speed[0] = data.axis3;
speed[1] = data.axis2;
// compute pwm value for "red" and "blue" motor, if speed has changed more than +/- 3, or every 0.6s
// NOTE: one IR pulse at least every 1.2 s is required in order to prevent the vehivle from stopping
// due to a signal timeout!
for (int i = 0; i <= 1; i++) {
if ((speedOld[i] - 3) > speed[i] || (speedOld[i] + 3) < speed[i] || currentMillis - previousMillis >= 600) {
speedOld[i] = speed[i];
previousMillis = currentMillis;
if (speed[i] >= 0 && speed[i] < 6) pwm[i] = PWM_REV7;
else if (speed[i] >= 6 && speed[i] < 12) pwm[i] = PWM_REV6;
else if (speed[i] >= 12 && speed[i] < 18) pwm[i] = PWM_REV5;
else if (speed[i] >= 18 && speed[i] < 24) pwm[i] = PWM_REV4;
else if (speed[i] >= 24 && speed[i] < 30) pwm[i] = PWM_REV3;
else if (speed[i] >= 30 && speed[i] < 36) pwm[i] = PWM_REV2;
else if (speed[i] >= 36 && speed[i] < 42) pwm[i] = PWM_REV1;
else if (speed[i] >= 42 && speed[i] < 58) pwm[i] = PWM_BRK;
else if (speed[i] >= 58 && speed[i] < 64) pwm[i] = PWM_FWD1;
else if (speed[i] >= 64 && speed[i] < 70) pwm[i] = PWM_FWD2;
else if (speed[i] >= 70 && speed[i] < 76) pwm[i] = PWM_FWD3;
else if (speed[i] >= 76 && speed[i] < 82) pwm[i] = PWM_FWD4;
else if (speed[i] >= 82 && speed[i] < 88) pwm[i] = PWM_FWD5;
else if (speed[i] >= 88 && speed[i] < 94) pwm[i] = PWM_FWD6;
else if (speed[i] >= 94) pwm[i] = PWM_FWD7;
// then transmit IR data
pf.combo_pwm(pwm[1], pwm[0]); // red and blue in one IR package
}
}
}
//
// =======================================================================================================
// TRANSMIT MECCANO / ERECTOR IR SIGNAL
// =======================================================================================================
//
void transmitMeccanoIr() {
static boolean A;
static boolean B;
static boolean C;
static boolean D;
// Flash green LED
greenLED.flash(30, 1000, 0, 0);
// Channel A ----
if (data.axis1 > 90) { // A +
buildIrSignal(1);
A = true;
}
if (data.axis1 < 10) { // A -
buildIrSignal(2), A = true;
A = true;
}
if (data.axis1 < 90 && data.axis1 > 10 && A) { // A OFF
buildIrSignal(3);
A = false;
}
// Channel B ----
if (data.axis2 > 90) { // B +
buildIrSignal(4);
B = true;
}
if (data.axis2 < 10) { // B -
buildIrSignal(5), A = true;
B = true;
}
if (data.axis2 < 90 && data.axis2 > 10 && B) { // B OFF
buildIrSignal(6);
B = false;
}
// Channel C ----
if (data.axis3 > 90) { // C +
buildIrSignal(7);
C = true;
}
if (data.axis3 < 10) { // C -
buildIrSignal(8), A = true;
C = true;
}
if (data.axis3 < 90 && data.axis3 > 10 && C) { // C OFF
buildIrSignal(9);
C = false;
}
// Channel D ----
if (data.axis4 > 90) { // D +
buildIrSignal(10);
D = true;
}
if (data.axis4 < 10) { // D -
buildIrSignal(11), A = true;
D = true;
}
if (data.axis4 < 90 && data.axis4 > 10 && D) { // D OFF
buildIrSignal(12);
D = false;
}
}
//
// =======================================================================================================
// TRANSMIT RADIO DATA
// =======================================================================================================
//
void transmitRadio() {
static boolean previousTransmissionState;
static float previousRxVcc;
static float previousRxVbatt;
static boolean previousBattState;
static unsigned long previousSuccessfulTransmission;
if (transmissionMode == 1) { // If radio mode is active: ----
// Send radio data and check if transmission was successful
if (radio.write(&data, sizeof(struct RcData)) ) {
if (radio.isAckPayloadAvailable()) {
radio.read(&payload, sizeof(struct ackPayload)); // read the payload, if available
previousSuccessfulTransmission = millis();
}
}
// Switch channel for next transmission
chPointer ++;
if (chPointer >= sizeof((*NRFchannel) / sizeof(byte))) chPointer = 0;
radio.setChannel(NRFchannel[chPointer]);
// if the transmission was not confirmed (from the receiver) after > 1s...
if (millis() - previousSuccessfulTransmission > 1000) {
greenLED.on();
transmissionState = false;
memset(&payload, 0, sizeof(payload)); // clear the payload array, if transmission error
#ifdef DEBUG
Serial.println("Data transmission error, check receiver!");
#endif
}
else {
greenLED.flash(30, 100, 0, 0); //30, 100
transmissionState = true;
#ifdef DEBUG
Serial.println("Data successfully transmitted");
#endif
}
if (!displayLocked) { // Only allow display refresh, if not locked ----
// refresh transmission state on the display, if changed
if (transmissionState != previousTransmissionState) {
previousTransmissionState = transmissionState;
drawDisplay();
}
// refresh Rx Vcc on the display, if changed more than +/- 0.05V
if (payload.vcc - 0.05 >= previousRxVcc || payload.vcc + 0.05 <= previousRxVcc) {
previousRxVcc = payload.vcc;
drawDisplay();
}
// refresh Rx V Batt on the display, if changed more than +/- 0.3V
if (payload.batteryVoltage - 0.3 >= previousRxVbatt || payload.batteryVoltage + 0.3 <= previousRxVbatt) {
previousRxVbatt = payload.batteryVoltage;
drawDisplay();
}
// refresh battery state on the display, if changed
if (payload.batteryOk != previousBattState) {
previousBattState = payload.batteryOk;
drawDisplay();
}
}
#ifdef DEBUG
Serial.print(data.axis1);
Serial.print("\t");
Serial.print(data.axis2);
Serial.print("\t");
Serial.print(data.axis3);
Serial.print("\t");
Serial.print(data.axis4);
Serial.print("\t");
Serial.println(F_CPU / 1000000, DEC);
#endif
}
else { // else infrared mode is active: ----
radio.powerDown();
}
}
//
// =======================================================================================================
// READ RADIO DATA (for radio tester mode)
// =======================================================================================================
//
void readRadio() {
static unsigned long lastRecvTime = 0;
byte pipeNo;
payload.batteryVoltage = txBatt; // store the battery voltage for sending
payload.vcc = txVcc; // store the vcc voltage for sending
payload.batteryOk = batteryOkTx; // store the battery state for sending
if (radio.available(&pipeNo)) {
radio.writeAckPayload(pipeNo, &payload, sizeof(struct ackPayload) ); // prepare the ACK payload
radio.read(&data, sizeof(struct RcData)); // read the radia data and send out the ACK payload
lastRecvTime = millis();
#ifdef DEBUG
Serial.print(data.axis1);
Serial.print("\t");
Serial.print(data.axis2);
Serial.print("\t");
Serial.print(data.axis3);
Serial.print("\t");
Serial.print(data.axis4);
Serial.println("\t");
#endif
}
// Switch channel
if (millis() - lastRecvTime > 500) {
chPointer ++;
if (chPointer >= sizeof((*NRFchannel) / sizeof(byte))) chPointer = 0;
radio.setChannel(NRFchannel[chPointer]);
payload.channel = NRFchannel[chPointer];
}
if (millis() - lastRecvTime > 1000) { // set all analog values to their middle position, if no RC signal is received during 1s!
data.axis1 = 50; // Aileron (Steering for car)
data.axis2 = 50; // Elevator
data.axis3 = 50; // Throttle
data.axis4 = 50; // Rudder
payload.batteryOk = true; // Clear low battery alert (allows to re-enable the vehicle, if you switch off the transmitter)
#ifdef DEBUG
Serial.println("No Radio Available - Check Transmitter!");
#endif
}
if (millis() - lastRecvTime > 2000) {
setupRadio(); // re-initialize radio
lastRecvTime = millis();
}
}
//
// =======================================================================================================
// LED
// =======================================================================================================
//
void led() {
// Red LED (ON = battery empty, number of pulses are indicating the vehicle number)
if (batteryOkTx && (payload.batteryOk || transmissionMode > 1 || !transmissionState) ) {
if (transmissionMode == 1) redLED.flash(140, 150, 500, vehicleNumber); // ON, OFF, PAUSE, PULSES
if (transmissionMode == 2) redLED.flash(140, 150, 500, pfChannel + 1); // ON, OFF, PAUSE, PULSES
if (transmissionMode == 3) redLED.off();
} else {
redLED.on(); // Always ON = battery low voltage (Rx or Tx)
}
}
//
// =======================================================================================================
// CHECK TX BATTERY VOLTAGE
// =======================================================================================================
//
void checkBattery() {
// Every 500 ms
static unsigned long lastTrigger;
if (millis() - lastTrigger >= 500) {
lastTrigger = millis();
#if F_CPU == 16000000 // 16MHz / 5V
txBatt = (analogRead(BATTERY_DETECT_PIN) / 68.2) + diodeDrop; // 1023steps / 15V = 68.2 + diode drop!
#else // 8MHz / 3.3V
txBatt = (analogRead(BATTERY_DETECT_PIN) / 103.33) + diodeDrop; // 1023steps / 9.9V = 103.33 + diode drop!
#endif
txVcc = readVcc() / 1000.0 ;
if (txBatt >= cutoffVoltage) {
batteryOkTx = true;
#ifdef DEBUG
Serial.print(txBatt);
Serial.println(" Tx battery OK");
#endif
} else {
batteryOkTx = false;
#ifdef DEBUG
Serial.print(txBatt);
Serial.println(" Tx battery empty!");
#endif
}
}
}
//
// =======================================================================================================
// DRAW DISPLAY
// =======================================================================================================
//
void drawDisplay() {
u8g.firstPage(); // clear screen
do {
switch (activeScreen) {
case 0: // Screen # 0 splash screen-----------------------------------
if (operationMode == 0) u8g.drawStr(3, 10, "Micro RC Transmitter");
if (operationMode == 1) u8g.drawStr(3, 10, "Micro RC Tester");
if (operationMode == 2) u8g.drawStr(3, 10, "Micro PONG");
// Dividing Line
u8g.drawLine(0, 13, 128, 13);
// Software version
u8g.setPrintPos(3, 30);
u8g.print("SW: ");
u8g.print(codeVersion);
// Hardware version
u8g.print(" HW: ");
u8g.print(boardVersion);
u8g.setPrintPos(3, 43);
u8g.print("created by:");
u8g.setPrintPos(3, 55);
u8g.print("TheDIYGuy999");
break;
case 100: // Screen # 100 diagnosis screen-----------------------------------
u8g.drawStr(3, 10, "Joystick readings:");
// Joysticks:
u8g.setPrintPos(3, 30);
u8g.print("Axis 1: ");
u8g.print(data.axis1);
u8g.setPrintPos(3, 40);
u8g.print("Axis 2: ");
u8g.print(data.axis2);
u8g.setPrintPos(3, 50);
u8g.print("Axis 3: ");
u8g.print(data.axis3);
u8g.setPrintPos(3, 60);
u8g.print("Axis 4: ");
u8g.print(data.axis4);
break;
case 1: // Screen # 1 main screen-------------------------------------
// Tester mode ==================
if (operationMode == 1) {
// screen dividing lines ----
u8g.drawLine(0, 12, 128, 12);
// Tx: data ----
u8g.setPrintPos(0, 10);
u8g.print("CH: ");
u8g.print(vehicleNumber);
u8g.setPrintPos(50, 10);