102 lines
No EOL
1.9 KiB
C
102 lines
No EOL
1.9 KiB
C
#ifndef _juRCReceiver_h_
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#define _juRCReceiver_h_
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#ifndef myId
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#error "myId is not defined"
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#endif
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#ifndef myChannel
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#error "myChannel is not defined"
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#endif
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#ifndef debug
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#define debug false
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#endif
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#include <Preferences.h>
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#include <SPI.h>
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#include <Wire.h>
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#include "pthread.h"
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#include <jqueue.h>
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#include <jmutex.h>
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//
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#include "structsAndDefines.h"
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on_connect _j_on_connect = nullptr;
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on_disconnect _j_on_disconnect = nullptr;
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on_data _j_on_data = nullptr;
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void jSetOnConnect(on_connect conn) { _j_on_connect = conn; }
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void jSetOnDisconnect(on_disconnect conn) { _j_on_disconnect = conn; }
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void jSetOnData(on_data conn) { _j_on_data = conn; }
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// 3 (CE) 0 //4 (CSN) 4 //5 (SCK) 18 //6 (MOSI) 23 //7 (MISO) 19
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// CE CSN
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Preferences preferences;
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unsigned long last = 0;
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unsigned long delta = 0;
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float avg = 10;
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#include "system_general/rc_handler.h"
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//
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#include "rcserial.h"
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#include "system_sensors/compass.h"
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#include "system_sensors/gnss.h"
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#include "system_sensors/mpu.h"
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void jSetup() {
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Serial.begin(115200);
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#if debug
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Serial.println("start up");
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#endif
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#if debug
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bool prefsucc =
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#endif
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preferences.begin("data", false);
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#if debug
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if (!prefsucc) Serial.println("prefs false");
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#endif
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initRC();
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#if debug
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Serial.println("inited rc");
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#endif
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Wire.begin();
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#if debug
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Serial.println("inited wire");
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#endif
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initMPU();
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#if debug
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Serial.println("inited mpu");
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#endif
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initGNSS();
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#if debug
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Serial.println("inited gnss");
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#endif
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initCOMP();
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#if debug
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Serial.println("inited comp");
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#endif
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_rc_serial_init();
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last = millis();
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}
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void jSensorLoop() {
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unsigned long now = millis();
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delta = now - last;
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last = now;
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avg = avg * 0.9 + delta * 0.1;
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#if debug
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Serial.println("Sensor Loop, avg = " + String(avg));
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#endif
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MPULoop();
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GNSSLoop();
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COMPLoop();
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}
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void jRadioLoop() { handleRC(); }
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#endif |