initial commit

radio.cpp

@@ -0,0 +1,123 @@
+#include <Arduino.h>
+#include <RHReliableDatagram.h>
+#include <RH_NRF24.h>
+#include <SPI.h>
+#include "radio.h"
+
+static unsigned long lastSerialTime;
+
+RcData data;
+
+RcData* getDataptr( void )
+{
+  return &data;
+}
+
+void radio_c::begin(  )
+{
+if (!RadioManager.init())
+  {
+    Serial.println("init failed");
+  }
+}
+
+bool radio_c::transmitData( void ) 
+{
+  RcData* data = getDataptr();
+  uint8_t* payload = data->getByteArray();
+  if (RadioManager.sendtoWait(payload, sizeof(payload), m_myaddress))
+  {
+    // Now wait for a reply from the server
+    uint8_t len = sizeof(buf);
+    uint8_t from;
+    if (RadioManager.recvfromAckTimeout(buf, &len, 2000, &from))
+    {
+      Serial.print("got reply from : 0x");
+      Serial.print(from, HEX);
+      Serial.print(": ");
+      Serial.println((char*)buf);
+      return true;
+    }
+    else
+    {
+      Serial.println("No reply, is nrf24_reliable_datagram_server running?");
+      return false;
+    }
+  }
+  else
+  {
+    Serial.println("sending failed");
+    return false;
+  }
+}
+
+bool radio_c::receiveData( void ) 
+{
+  RcData* data = getDataptr();
+
+  if (RadioManager.available())
+  {
+    // Wait for a message addressed to us from the client
+    uint8_t len = sizeof(buf);
+    uint8_t from;
+    if (RadioManager.recvfromAck(buf, &len, &from)) 
+    {   
+      lastRecvTime = millis();
+      if(!data->setRcData(buf))
+      {
+        #ifdef DEBUG
+        Serial.println("package inclompete")
+        #endif
+        return false;
+      }
+      // Send a reply back to the originator client, check for error
+      if (!RadioManager.sendtoWait(data->getReturnData(), sizeof(data->getReturnData()), from))
+      {
+        #ifdef DEBUG
+        Serial.println("sendtoWait failed");
+        #endif
+        return false;
+      }
+    }  
+
+    // set all analog values to their middle position, if no RC signal is received during 1s!
+    if (millis() - lastRecvTime > 1000) 
+    { 
+      data->setfailsafe();
+      #ifdef DEBUG
+      Serial.println("No Radio Available - Check Transmitter!");
+      #endif
+      return false;
+    }
+
+    if (millis() - lastRecvTime > 2000) {
+      begin(); // re-initialize radio
+      lastRecvTime = millis();
+      return false;
+    }
+  }
+  return true;
+}
+
+
+void sendSerialCommands( void )
+{
+  RcData* data = getDataptr();
+
+  if (millis() - lastSerialTime > 20) { // Send the data every 20ms
+    lastSerialTime = millis();
+    Serial.print('<'); // Start marker
+    Serial.println(data->axis1);
+    Serial.println(data->axis2);
+    Serial.println(data->axis3);
+    Serial.println(data->axis4);
+    Serial.println(data->pot);
+    Serial.println(data->momentary1);
+    Serial.println(data->momentary2);
+    Serial.println(data->getfailsafe());
+    Serial.print('>'); // End marker
+  }
+}
+
+
+