173 lines
3.0 KiB
C++
173 lines
3.0 KiB
C++
#ifndef RADIOH
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#define RADIOH
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#include <Arduino.h>
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#include <RHReliableDatagram.h>
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#include <RH_NRF24.h>
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#include <SPI.h>
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enum dataFields
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{
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AXIS1=0,
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AXIS2,
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AXIS3,
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AXIS4,
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POT,
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MODE1,
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MODE2,
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MOMENTARY1,
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MOMENTARY2,
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FAILSAFE,
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DUMMY,
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LASTDATAFIELD
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};
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class RcData
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{
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const byte dummy;
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uint8_t dataArray[LASTDATAFIELD];
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public:
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RcData():dummy(0xAA)
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{
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// All axes to neutral position
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clearData();
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}
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byte axis1;
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byte axis2;
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byte axis3;
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byte axis4;
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byte pot;
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bool mode1;
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bool mode2;
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bool momentary1; // Momentary push button
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bool momentary2;
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bool failsafe;
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//return data
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int voltage;
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bool batteryOk;
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int dx;
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int dy;
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int dz;
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void setfailsafe( void)
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{
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failsafe = true;
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clearData();
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}
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void clearFailsafe( void )
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{
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failsafe = false;
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}
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bool getfailsafe( void )
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{
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return failsafe;
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}
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void clearData( void )
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{
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axis1 = 50;
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axis2 = 50;
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axis3 = 50;
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axis4 = 50;
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pot = 50;
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batteryOk = true;
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mode1 = false;
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mode2 = false;
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momentary2 = false;
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momentary1 = false;
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failsafe = false;
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voltage = 0;
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dx=0;
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dy=0;
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dz=0;
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}
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uint8_t* getByteArray( void )
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{
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dataArray[AXIS1] = axis1;
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dataArray[AXIS2] = axis2;
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dataArray[AXIS3] = axis3;
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dataArray[AXIS4] = axis4;
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dataArray[MODE1] = mode1;
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dataArray[MODE2] = mode2;
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dataArray[POT] = pot;
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dataArray[MOMENTARY1] = uint8_t (momentary1);
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dataArray[MOMENTARY2] = uint8_t (momentary2);
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dataArray[FAILSAFE] = byte (failsafe);
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dataArray[DUMMY] = dummy;
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return dataArray;
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}
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uint8_t* getReturnData( void )
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{
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dataArray[0] = voltage;
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dataArray[1] = dx;
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dataArray[2] = dy;
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dataArray[3] = dz;
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dataArray[4] = 0;
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dataArray[5] = 0;
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dataArray[6] = 0;
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dataArray[7] = 0;
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dataArray[DUMMY] = dummy;
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return dataArray;
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}
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bool setRcData( uint8_t* buf )
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{
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if (dataArray[DUMMY] == dummy)
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{
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axis1 = dataArray[AXIS1];
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axis2 = dataArray[AXIS2];
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axis3 = dataArray[AXIS3];
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axis4 = dataArray[AXIS4];
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mode1 = dataArray[MODE1];
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mode2 = dataArray[MODE2];
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pot = dataArray[POT];
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momentary1 = bool(dataArray[MOMENTARY1]);
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momentary2 = bool(dataArray[MOMENTARY2]);
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failsafe = bool(dataArray[FAILSAFE]);
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return true;
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}
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return false;
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}
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void setVoltage( int volt)
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{
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voltage = volt;
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}
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};
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class radio_c
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{
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uint8_t buf[RH_NRF24_MAX_MESSAGE_LEN];
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// Create an instance of the radio driver
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RH_NRF24 RadioDriver;
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// Sets the radio driver to NRF24 and the client address to 1
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RHReliableDatagram RadioManager;
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int m_myaddress;
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unsigned long lastRecvTime;
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bool open = false;
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public:
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radio_c(int address, int CE, int CSN) :RadioDriver(CE, CSN), RadioManager(RadioDriver, address) {};
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void begin( void );
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bool transmitData( void );
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bool receiveData( void );
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};
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void sendSerialCommands( void );
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RcData* getDataptr( void );
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#endif //RADIOH
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