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