io

io.h

@@ -0,0 +1,71 @@
+#ifndef jIO_H_
+#define jIO_H_
+
+#define esc_freq 250
+#define esc_res 12
+
+#define esc_duty (1 << esc_res) / (1000.0 / esc_freq)
+
+#include "structsAndDefines.h"
+
+size_t _io_id_count = 0;
+jType _io_types[9] = {jUnused, jUnused, jUnused, jUnused, jUnused,
+                      jUnused, jUnused, jUnused, jUnused};
+
+void iniOut(size_t i, jType type) {
+    if (type == jServo) {
+        _io_types[i] = jServo;
+        ledcSetup(i, 50, 16);
+        ledcAttachPin(jChannel[i], i);
+    } else if (type == jhBridge) {
+        _io_types[i] = jhBridge;
+        ledcSetup(i, 30000, 8);
+        ledcAttachPin(jChannel[i], i);
+    } else if (type == jESC) {
+        _io_types[i] = jESC;
+        ledcSetup(i, esc_freq, esc_res);
+        ledcAttachPin(jChannel[i], i);
+    } else if (type == jDigital) {
+        _io_types[i] = jDigital;
+        pinMode(jChannel[i], OUTPUT);
+    }
+}
+
+bool setoutput(int c, float v) {
+    if (sizeof(jChannel) <= c) {
+        return false;
+    }
+    if (_io_types[c] == jServo) {
+        // uint32_t duty = (((v/180.0)*2000)/20000.0*65536.0) + 1634;// convert
+        // 0-180 degrees to 0-65536
+        if (v > 180) v = 180.0;
+        if (v < 0) v = 0.0;
+        int duty = (((v * 2000.0 / 180.0) + 500) / (20000.0 / pow(2.0, 16.0)));
+        Serial.println(duty);
+        ledcWrite(c, duty);
+        return true;
+    } else if (_io_types[c] == jhBridge) {
+        if (v > 100) v = 100.0;
+        if (v < 0) v = 0.0;
+        Serial.println((int)(v * 105.0 / 100.0) + 150);
+        ledcWrite(c, (int)(v * 105.0 / 100.0) + 150);
+        return true;
+    } else if (_io_types[c] == jESC) {
+        if (v > 100) v = 100.0;
+        if (v < 0) v = 0.0;
+        float escout =
+            (v * (esc_duty /* highrt - lower = lower*/) / 100.0) + esc_duty;
+        ledcWrite(c, escout);
+        return true;
+    } else if (_io_types[c] == jDigital) {
+        if (v > 0) {
+            digitalWrite(jChannel[c], HIGH);
+        } else {
+            digitalWrite(jChannel[c], LOW);
+        }
+        return true;
+    }
+    return false;
+}
+
+#endif

juRCReceiver.h

@@ -44,6 +44,7 @@ unsigned long delta = 0;
 float avg = 10;
 
 #include "system_general/rc_handler.h"
+#include  "io.h"
 
 //
 

structsAndDefines.h

@@ -1,19 +1,10 @@
 #ifndef _structsAndDefines_h_
 #define _structsAndDefines_h_
 
-enum jChannel {
-    jChannel_0 = 13,
-    jChannel_1 = 12,
-    jChannel_2 = 14,
-    jChannel_3 = 27,
-    jChannel_4 = 26,
-    jChannel_5 = 25,
-    jChannel_6 = 33,
-    jChannel_7 = 32,
-    jChannel_8 = 15,
-};
+byte jChannel[] = {13, 12, 14, 27, 26, 25, 33, 32, 15};
 
 enum jType {
+    jUnused = 0,
     jServo = 1,
     jhBridge = 2,
     jESC = 3,