119 lines
3.1 KiB
C
119 lines
3.1 KiB
C
|
#ifndef _RC_HANDLER_H
|
||
|
|
#define _RC_HANDLER_H
|
||
|
|
#define maxLastRcPackage 2500
|
||
|
|
|
||
|
|
#include <SPI.h>
|
||
|
|
|
||
|
|
#include "../structsAndDefines.h"
|
||
|
|
#include "RF24.h"
|
||
|
|
#include "jqueue.h"
|
||
|
|
#include "jmutex.h"
|
||
|
|
#include "nRF24L01.h"
|
||
|
|
|
||
|
|
mutex_t radioAccess;
|
||
|
|
|
||
|
|
RF24 radio(0, 4);
|
||
|
|
const uint64_t myPipe = 0xF0F0F0F000 | myId;
|
||
|
|
byte jRCbuff[32];
|
||
|
|
unsigned long jLastRCData = 0;
|
||
|
|
byte jLastStatus = 0;
|
||
|
|
|
||
|
|
void initRC() {
|
||
|
|
mutex_init(&radioAccess);
|
||
|
|
mutex_enter_blocking(&radioAccess);
|
||
|
|
if (!radio.begin()) {
|
||
|
|
Serial.println("radio hardware is not responding!!");
|
||
|
|
while (1) {
|
||
|
|
}
|
||
|
|
}
|
||
|
|
radio.enableDynamicPayloads();
|
||
|
|
radio.setRetries(5, 15);
|
||
|
|
radio.setChannel(myChannel);
|
||
|
|
radio.openReadingPipe(0, myPipe);
|
||
|
|
radio.startListening();
|
||
|
|
mutex_exit(&radioAccess);
|
||
|
|
}
|
||
|
|
|
||
|
|
bool jSendNRF(const void* buf, uint8_t length) {
|
||
|
|
mutex_enter_blocking(&radioAccess);
|
||
|
|
radio.stopListening();
|
||
|
|
bool succ = radio.write(buf, length);
|
||
|
|
radio.startListening();
|
||
|
|
mutex_exit(&radioAccess);
|
||
|
|
return succ;
|
||
|
|
}
|
||
|
|
|
||
|
|
#include "../rcserial.h"
|
||
|
|
#include "../system_sensors/compass.h"
|
||
|
|
#include "../system_sensors/gnss.h"
|
||
|
|
#include "../system_sensors/mpu.h"
|
||
|
|
#include "multicast.h"
|
||
|
|
#include "rc_data.h"
|
||
|
|
|
||
|
|
#ifdef debug
|
||
|
|
const String b16 = "0123456789abcdef";
|
||
|
|
|
||
|
|
String SensorDataBuffer = "";
|
||
|
|
#endif
|
||
|
|
|
||
|
|
void receiveRC() {
|
||
|
|
mutex_enter_blocking(&radioAccess);
|
||
|
|
if (radio.available()) {
|
||
|
|
#ifdef debug
|
||
|
|
Serial.println("Radio available!");
|
||
|
|
#endif
|
||
|
|
uint8_t payloadSize = radio.getDynamicPayloadSize();
|
||
|
|
if (payloadSize >= 1) {
|
||
|
|
jLastRCData = millis();
|
||
|
|
radio.read(&jRCbuff, payloadSize);
|
||
|
|
mutex_exit(&radioAccess);
|
||
|
|
#ifdef debug
|
||
|
|
SensorDataBuffer = "data: ";
|
||
|
|
for (size_t i = 0; i < payloadSize; i++) {
|
||
|
|
SensorDataBuffer += b16[(jRCbuff[i] >> 4) & 0xf];
|
||
|
|
SensorDataBuffer += b16[jRCbuff[i] & 0xf];
|
||
|
|
}
|
||
|
|
Serial.println(SensorDataBuffer);
|
||
|
|
#endif
|
||
|
|
switch (jRCbuff[0]) {
|
||
|
|
case jType_RC: {
|
||
|
|
RCdataradioTask();
|
||
|
|
} break;
|
||
|
|
case jType_RC_SERIAL: {
|
||
|
|
_rc_serial_add((char*)(jRCbuff + 2), jRCbuff[1]);
|
||
|
|
} break;
|
||
|
|
case jType_S_MPU: {
|
||
|
|
MPUradioTask();
|
||
|
|
} break;
|
||
|
|
case jType_S_GNSS: {
|
||
|
|
GNSSradioTask();
|
||
|
|
} break;
|
||
|
|
case jType_S_COMP: {
|
||
|
|
COMPradioTask();
|
||
|
|
} break;
|
||
|
|
}
|
||
|
|
} else
|
||
|
|
mutex_exit(&radioAccess);
|
||
|
|
} else
|
||
|
|
mutex_exit(&radioAccess);
|
||
|
|
}
|
||
|
|
|
||
|
|
void handleRC() {
|
||
|
|
receiveRC();
|
||
|
|
if (millis() - jLastRCData > maxLastRcPackage) { // no connection
|
||
|
|
if (jLastStatus == 1) {
|
||
|
|
if (_j_on_disconnect != nullptr) _j_on_disconnect(true);
|
||
|
|
jLastStatus = 3;
|
||
|
|
}
|
||
|
|
} else { // connection
|
||
|
|
if (jLastStatus != 1) {
|
||
|
|
if (_j_on_connect != nullptr) _j_on_connect();
|
||
|
|
radio.openWritingPipe(myPipe);
|
||
|
|
radio.startListening();
|
||
|
|
jLastStatus = 1;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
// todo: multicast, send serial
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif
|