hoverbrett/hoverbrettctrl/src/main.cpp

#include <Arduino.h>
#define SERIAL_BAUD         115200      // [-] Baud rate for built-in Serial (used for the Serial Monitor)

unsigned long loopmillis;
unsigned long last_loopmillis;


#include <TimeLib.h> //for teensy rtc 
time_t getTeensy3Time();

#include <OneButton.h>

#include <SPI.h>
#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
//128 x 64 px
#define SCREEN_WIDTH 128
#define SCREEN_HEIGHT 64
#define SCREEN_ADDRESS 0x3C
#define OLED_RESET     -1 // Reset pin # (or -1 if sharing Arduino reset pin)
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
#define DISPLAYUPDATE_INTERVAL 200
bool flag_updatedisplay=false;

uint8_t displaymode=0;
#define DISPLAY_STATS 0
#define DISPLAY_STATS2 1
#define DISPLAY_STATS3 2
#define DISPLAY_MENU 3
uint8_t menu_entrypos=0;
#define MENU_ENTRIES 8 // max id is MENU_ENTRIES-1

uint8_t error = 0;
#define IMU_NO_CHANGE 2 //IMU values did not change for too long

#include "hoverboard-esc-serial-comm.h"

ESCSerialComm esc(Serial2);
//Serial1 = TX1=1, RX1=0
//Serial2 = TX2=10, RX2=9
//Serial3 = TX3=8, RX3=7

#define PIN_BUTTON_UP 3
#define PIN_BUTTON_INC 4
#define PIN_BUTTON_DEC 5
#define PIN_BUTTON_DOWN 6

OneButton btn_up = OneButton(PIN_BUTTON_UP, true, true); // Input pin for the button, Button is active LOW, Enable internal pull-up resistor
OneButton btn_inc = OneButton(PIN_BUTTON_INC, true, true);
OneButton btn_dec = OneButton(PIN_BUTTON_DEC, true, true);
OneButton btn_down = OneButton(PIN_BUTTON_DOWN, true, true);

//flags
bool button_up_click=false;
bool button_inc_click=false;
bool button_dec_click=false;
bool button_down_click=false;

#define PIN_GAMETRAK_LENGTH_A A6 //A6=20
#define PIN_GAMETRAK_LENGTH_B A7 //A7=21
#define PIN_GAMETRAK_VERTICAL A8 //A8=22
#define PIN_GAMETRAK_HORIZONTAL A9 //A9=23


#define SPEED_COEFFICIENT_NRF   1  // higher value == stronger
#define STEER_COEFFICIENT_NRF   0.5  // higher value == stronger

#define SPEED_COEFFICIENT_GT   1  // higher value == stronger
#define STEER_COEFFICIENT_GT   0.5  // higher value == stronger

unsigned long watchdogtimer=0; //set to current millis everytime new good control input is calculated

long last_adcupdated=0;
#define ADC_UPDATEPERIOD 10 //in ms

#define CONTROLUPDATEPERIOD 10
long last_controlupdate = 0;
float filter_nrf_set_speed=0.02; //higher value, faster response. depends on CONTROLUPDATEPERIOD
float filter_nrf_set_steer=0.06;

float filter_stop_set_speed=0.015; //safety stop
float filter_stop_set_steer=0.06; //safety stop

#define GT_LENGTH_MIN 200 //minimum length for stuff to start happen

#define GT_LENGTH_1_OFFSET -22.5
#define GT_LENGTH_1_SCALE 2.5
#define GT_LENGTH_2_OFFSET 563.6
#define GT_LENGTH_2_SCALE 0.45

#define GT_LENGTH_CROSSOVERADC ((GT_LENGTH_2_OFFSET-GT_LENGTH_1_OFFSET)/(GT_LENGTH_1_SCALE-GT_LENGTH_2_SCALE)) //crossover point from adc, where first and second lines cross
#define GT_LENGTH_CROSSOVER_FEATHER 76.0 //how much adc change in both directions should be smoothed when switching between first and second line

#define GT_LENGTH_MAXLENGTH 2000 //maximum length in [mm]. maximum string length is around 2m80
#define GT_LENGTH_ADC_MAXDIFF 127 //maximum adc value difference between A and B poti. Used to detect scratching poti. during length calibration was 57
int raw_length_maxdiff=0;
//TODO: implement error for poti maxdiff
uint16_t gt_length=0; //0=rolled up, 1unit = 1mm
/* calibration 20220410
lenght[mm], adc
0,9
100,52
200,86
300,124
400,165
500,212
600,286
700,376
800,520
900,746
1000,984
1100,1198
1200,1404
1300,1628
1400,1853
1500,2107
1600,2316
1700,2538
1800,2730
1900,2942
2000,3150
*/

#define GT_VERTICAL_CENTER 2048 //adc value for center position
#define GT_VERTICAL_RANGE 2047 //adc value difference from center to maximum (30 deg)
int8_t gt_vertical=0; //0=center. joystick can rotate +-30 degrees. -127 = -30 deg
//left = -30 deg, right= 30deg

#define GT_HORIZONTAL_CENTER 2048 //adc value for center position
#define GT_HORIZONTAL_RANGE 2047 //adc value difference from center to maximum (30 deg)
int8_t gt_horizontal=0; //0=center

uint16_t gt_length_set=1000; //set length to keep [mm]
#define GT_LENGTH_MINDIFF 10 //[mm] threshold, do not move within gt_length_set-GT_LENGTH_MINDIFF and gt_length_set+GT_LENGTH_MINDIFF
float gt_speed_p=0.7; //value to multipy difference [mm] with -> out_speed
float gt_speedbackward_p=0.7;
float gt_steer_p=2.0;
int16_t gt_speed_limit=500; //maximum out_speed value +
int16_t gt_backward_speed_limit=100; //maximum out_speed value (for backward driving) -
int16_t gt_steer_limit=300; //maximum out_steer value +-
#define GT_LENGTH_MAXIMUMDIFFBACKWARD -250 //[mm]. if gt_length_set=1000 and GT_LENGTH_MAXIMUMDIFFBACKWARD=-200 then only drives backward if lenght is greater 800


#include <SPI.h>
#include "nRF24L01.h"
#include "RF24.h"

RF24 radio(14, 15); //ce, cs
//SCK D13 (Pro mini), A5 (bluepill),13 (teensy32)
//Miso D12 (Pro mini), A6 (bluepill),12 (teensy32)
//Mosi D11 (Pro mini), A7 (bluepill),11 (teensy32)

// Radio pipe addresses for the 2 nodes to communicate.
const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };
#define NRF24CHANNEL 75

struct nrfdata {
  uint8_t steer;
  uint8_t speed;
  uint8_t commands; //bit 0 set = motor enable
  uint8_t checksum;
};

nrfdata lastnrfdata;
long last_nrfreceive = 0; //last time values were received and checksum ok
unsigned long nrf_delay = 0;
unsigned long last_nrfreceive_delay=0;
unsigned long max_last_nrfreceive_delay=0; //maximum value (used for display)
#define MAX_NRFDELAY 100 //ms. maximum time delay at which vehicle will disarm

boolean radiosendOk=false;


//command variables
boolean motorenabled = false; //set by nrfdata.commands




long last_send = 0;

int16_t set_speed = 0;
int16_t set_steer = 0;
#define NRFDATA_CENTER 127

//boolean armed = false;
boolean lastpacketOK = false;

//Gametrak
//boolean armed_gt = false;

uint8_t controlmode=0;
#define MODE_DISARMED 0
#define MODE_RADIONRF 1
#define MODE_GAMETRAK 2


// SD Logging
#include <SPI.h> //SCK=13, MISO=12, MOSI=11
#include <SD.h> //Format sd cart with FAT or FAT16
#define SDCHIPSELECT 16
boolean datalogging=true;
String datalogging_filename="UNKNOWN.txt";


void updateInputs(unsigned long loopmillis);
void updateDisplay(unsigned long loopmillis);
void display_show_stats();
void display_show_stats2();
void display_show_stats3();
void display_show_menu();
time_t getTeensy3Time();
String addLeadingZero(int number);
String getCurrentDatestring();

void setup() {
  Serial.begin(SERIAL_BAUD); //Debug and Program

  Wire.begin();
  // SSD1306_SWITCHCAPVCC = generate display voltage from 3.3V internally
  if(!display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS)) {
    Serial.println(F("SSD1306 allocation failed"));
    for(;;); // Don't proceed, loop forever
  }

  // Show initial display buffer contents on the screen --
  // the library initializes this with an Adafruit splash screen.
  display.display();

  display.clearDisplay();
  display.setTextSize(1);
  display.setTextColor(SSD1306_WHITE);
  display.setCursor(0, 0);
  display.println(F("Init. ESC"));
  display.display();      // Show initial text

  esc.init();


  display.print(F("Init. SD.. ")); display.display();

  Serial.print("Initializing SD card...");
  // see if the card is present and can be initialized:
  if (!SD.begin(SDCHIPSELECT)) {
    Serial.println("Card failed, or not present");
    display.print(F("Fail!")); display.display();
    datalogging=false; //disable logging
    delay(1000);
  }else{
    Serial.println("Card initialized.");
    display.print(F("OK")); display.display();
    if (datalogging){
      int filenumber=0;
      char buffer[6];
      sprintf(buffer, "%04d", filenumber);
      datalogging_filename="LOG_"+String(buffer)+".TXT";
      while(SD.exists(datalogging_filename) && filenumber<10000) {
        Serial.print(datalogging_filename); Serial.println(" exists");
        filenumber++;
        sprintf(buffer, "%04d", filenumber);
        datalogging_filename="LOG_"+String(buffer)+".TXT";

      }      
      Serial.print(datalogging_filename); Serial.println(" is free");
    }
  }

  analogReadResolution(12);

  pinMode(PIN_GAMETRAK_LENGTH_A, INPUT_PULLUP);
  pinMode(PIN_GAMETRAK_LENGTH_B, INPUT_PULLUP);
  pinMode(PIN_GAMETRAK_VERTICAL, INPUT_PULLUP);
  pinMode(PIN_GAMETRAK_HORIZONTAL, INPUT_PULLUP);

  btn_up.attachClick([]() {
    button_up_click=true;
  });
  btn_down.attachClick([]() {
    button_down_click=true;
  });
  btn_inc.attachClick([]() {
    button_inc_click=true;
  });
  btn_dec.attachClick([]() {
    button_dec_click=true;
  });
  


  display.print(F("Init. RTC.. ")); display.display();

  setSyncProvider(getTeensy3Time); //See https://www.pjrc.com/teensy/td_libs_Time.html#teensy3
  if (timeStatus()!= timeSet) {
    Serial.println("Unable to sync with the RTC");
    display.println(F("Fail")); display.display();
    delay(1000);
  } else {
    Serial.println("RTC has set the system time");
    display.println(F("OK")); display.display();

  }

  
  display.println(F("Init. NRF24")); display.display();
  radio.begin();


  Serial.println("RF24 set rate"); 
  if (!radio.setDataRate( RF24_250KBPS )){ //set to slow data rate. default was 1MBPS
      display.println(F("  Fail Data Rate!")); display.display();
  }
  //radio.setDataRate( RF24_1MBPS ); 
  //Serial.println("set channel"); 

  radio.setChannel(NRF24CHANNEL); //0 to 124 (inclusive)

  //Serial.println("set retries and payload"); 
  radio.setRetries(15, 15); // optionally, increase the delay between retries & # of retries
  radio.setPayloadSize(8); // optionally, reduce the payload size.  seems to improve reliability

  //Serial.println("open pipe"); 
  radio.openWritingPipe(pipes[0]); //write on pipe 0
  radio.openReadingPipe(1, pipes[1]); //read on pipe 1

  Serial.println("start listening"); 
  radio.startListening();



  display.println(F("Finished"));
  display.display();      // Show initial text

  
  
}


void loop() {
  last_loopmillis=loopmillis;
  loopmillis=millis();
  
  
  btn_up.tick();
  btn_inc.tick();
  btn_dec.tick();
  btn_down.tick();




  if (loopmillis - last_adcupdated > ADC_UPDATEPERIOD) { //update analog readings
    
      
    int raw_length_a=analogRead(PIN_GAMETRAK_LENGTH_A);
    int raw_length_b=analogRead(PIN_GAMETRAK_LENGTH_B);
    
    raw_length_maxdiff=max(raw_length_maxdiff,abs(raw_length_a-raw_length_b));

    int raw_length=(raw_length_a+raw_length_b)/2;

    
    uint16_t gt_length_1 = GT_LENGTH_1_OFFSET+raw_length*GT_LENGTH_1_SCALE;
    uint16_t gt_length_2 = GT_LENGTH_2_OFFSET+raw_length*GT_LENGTH_2_SCALE;

    double crossovermapping=constrain(((raw_length-GT_LENGTH_CROSSOVERADC)/GT_LENGTH_CROSSOVER_FEATHER )/2.0+0.5, 0.0,1.0); //0 for first, 1 for second
    

    gt_length = constrain( gt_length_1*(1-crossovermapping) + gt_length_2*crossovermapping , 0,GT_LENGTH_MAXLENGTH);
    if (gt_length<=GT_LENGTH_MIN){
      gt_length=0; //if below minimum measurable length set to 0mm
    }
    gt_vertical = constrain(map(analogRead(PIN_GAMETRAK_VERTICAL)-((int16_t)GT_VERTICAL_CENTER), -GT_VERTICAL_RANGE,+GT_VERTICAL_RANGE,-127,127),-127,127); //left negative
    gt_horizontal = constrain(map(analogRead(PIN_GAMETRAK_HORIZONTAL)-((int16_t)GT_HORIZONTAL_CENTER), -GT_HORIZONTAL_RANGE,+GT_HORIZONTAL_RANGE,-127,127),-127,127); //down negative
    
    last_adcupdated = millis();


    /*
    Serial.print("gt_length=");
    Serial.print(gt_length);
    Serial.print(", gt_vertical=");
    Serial.print(gt_vertical);
    Serial.print(", gt_horizontal=");
    Serial.print(gt_horizontal);
    

    
    Serial.print(" pl=");
    Serial.print(raw_length_a);
    Serial.print(", ");
    Serial.print(raw_length_b);
    
    Serial.print(", pv=");
    Serial.print(analogRead(PIN_GAMETRAK_VERTICAL));
    Serial.print(", ph=");
    Serial.print(analogRead(PIN_GAMETRAK_HORIZONTAL));
    Serial.print(" Ldiff=");
    Serial.println(abs(raw_length_a-raw_length_b));
    */
    

   /*
   static int _rawlengtharray[40];
   static int _rawlapos=0;
   _rawlengtharray[_rawlapos++]=raw_length;
   _rawlapos%=40;
   
   int rawlengthfilter=0;
   for (int p=0;p<40;p++) {
     rawlengthfilter+=_rawlengtharray[p];
   }
   rawlengthfilter/=40;

    static int maxldiff=0;
    maxldiff=max(maxldiff,abs(raw_length_a-raw_length_b));
    Serial.print("");
    Serial.print(rawlengthfilter);
    Serial.print(" maxldiff=");
    Serial.println(maxldiff);*/
    
  }

  //NRF24
  nrf_delay = loopmillis - last_nrfreceive; //update nrf delay
  if ( radio.available() )
  {
    //Serial.println("radio available ...");

    lastpacketOK = false; //initialize with false, if checksum ok gets set to true
    //digitalWrite(PIN_LED, !digitalRead(PIN_LED));
    radio.read( &lastnrfdata, sizeof(nrfdata) );

    if (lastnrfdata.speed == NRFDATA_CENTER && lastnrfdata.steer == NRFDATA_CENTER) { //arm only when centered
      controlmode = MODE_RADIONRF;//set radionrf mode at first received packet
    }




    uint8_t calcchecksum = (uint8_t)((lastnrfdata.steer + 3) * (lastnrfdata.speed + 13));
    if (lastnrfdata.checksum == calcchecksum) { //checksum ok?
      lastpacketOK = true;
      last_nrfreceive_delay=loopmillis-last_nrfreceive; //for display purpose
      max_last_nrfreceive_delay=max(last_nrfreceive_delay,max_last_nrfreceive_delay);
      last_nrfreceive = loopmillis;

      watchdogtimer=loopmillis; //reset watchdog

      //parse commands
      motorenabled = (lastnrfdata.commands & (1 << 0))>>0; //check bit 0 . Used for safety-off when remote released
    }
  }



  if (controlmode == MODE_RADIONRF && nrf_delay >= MAX_NRFDELAY) { //too long since last sucessful nrf receive
    controlmode = MODE_DISARMED;
    #ifdef DEBUG
    Serial.println("nrf_delay>=MAX_NRFDELAY, disarmed!");
    #endif
  }
  if (controlmode == MODE_RADIONRF) { //is armed in nrf mode

    
    if (lastpacketOK) { //if lastnrfdata is valid
      if (loopmillis - last_controlupdate > CONTROLUPDATEPERIOD) {
        last_controlupdate = loopmillis;

        //out_speed=(int16_t)( (lastnrfdata.y-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
        //out_steer=(int16_t)( -(lastnrfdata.x-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
        int16_t new_set_speed = (int16_t)( ((int16_t)(lastnrfdata.speed) - NRFDATA_CENTER) * 1000 / 127 ); //-1000 to 1000
        int16_t new_set_steer = (int16_t)( ((int16_t)(lastnrfdata.steer) - NRFDATA_CENTER) * 1000 / 127 );

        
        set_speed = set_speed*(1.0-filter_nrf_set_speed) + new_set_speed*filter_nrf_set_speed; //simple Filter
        set_steer = set_steer*(1.0-filter_nrf_set_steer) + new_set_steer*filter_nrf_set_steer;

        //calculate speed l and r from speed and steer
        
        int16_t _out_speedl,_out_speedr;
        _out_speedl = constrain(set_speed * SPEED_COEFFICIENT_NRF +  set_steer * STEER_COEFFICIENT_NRF, -1500, 1500);
        _out_speedr = constrain(set_speed * SPEED_COEFFICIENT_NRF -  set_steer * STEER_COEFFICIENT_NRF, -1500, 1500);
        esc.setSpeed(_out_speedl,_out_speedr);
      }
    }//if pastpacket not ok, keep last out_steer and speed values until disarmed
  

#ifdef DEBUG
    if (!lastpacketOK) {
      Serial.println("Armed but packet not ok");
    }
#endif

  }
  

  if (controlmode==MODE_DISARMED) { //check if gametrak can be armed
    if (gt_length>gt_length_set && gt_length<gt_length_set+10) { //is in trackable length
      controlmode=MODE_GAMETRAK; //enable gametrak mode
      Serial.println("Enable Gametrak");
    }
  }else if (controlmode==MODE_GAMETRAK){ //gametrak control active and not remote active
    //Gametrak Control Code
    motorenabled=true;
    watchdogtimer=loopmillis; //reset watchdog
    if (gt_length<=GT_LENGTH_MIN){ //let go
      //Serial.println("gametrak released");
      controlmode=MODE_DISARMED;
      motorenabled=false;
    }
    int16_t _gt_length_diff = gt_length-gt_length_set; //positive if needs to drive forward
    if ((_gt_length_diff>-GT_LENGTH_MINDIFF) && (_gt_length_diff<GT_LENGTH_MINDIFF)){ //minimum difference to drive
      _gt_length_diff=0; //threshold
    }

    set_steer=constrain((int16_t)(-gt_horizontal*gt_steer_p),-gt_steer_limit,gt_steer_limit); //steer positive is left //gt_horizontal left is negative
    
    if (_gt_length_diff>0) { //needs to drive forward
      set_speed = constrain((int16_t)(_gt_length_diff*gt_speed_p),0,gt_speed_limit);
    }else{ //drive backward
      if (_gt_length_diff > GT_LENGTH_MAXIMUMDIFFBACKWARD){ //only drive if not pulled back too much
        set_speed = constrain((int16_t)(_gt_length_diff*gt_speedbackward_p),-gt_backward_speed_limit,0);
      }else{
        set_speed = 0; //stop
        set_steer = 0;
      }
    }
    
    static float safetymultiplier=1.0; //value to reduce output speed if gametrack is pointing too far down or up (string might be behind vehicle)
    #define GT_SAFETY_THRESHOLD_H 120  //above which value (abs) safety slowdown should start
    #define GT_SAFETY_THRESHOLD_V 120
    #define SAFETYMULTIPLIER_UPDATE_INTERVAL 100
    #define SAFETYMULTIPLIER_CHANGE_TIME_DOWN 2.0 //Time how long it should take to go from 100% to 0% when in safety slowdown
    #define SAFETYMULTIPLIER_CHANGE_TIME_UP 1.0
    static unsigned long last_safetymultiplier_update=0;

    
    if (loopmillis-last_safetymultiplier_update > SAFETYMULTIPLIER_UPDATE_INTERVAL) {
      if (abs(gt_vertical)>GT_SAFETY_THRESHOLD_V || abs(gt_horizontal)>GT_SAFETY_THRESHOLD_H) {
        safetymultiplier-=1.0/(1000.0/SAFETYMULTIPLIER_UPDATE_INTERVAL)/SAFETYMULTIPLIER_CHANGE_TIME_DOWN;
      }else{
        safetymultiplier+=1.0/(1000.0/SAFETYMULTIPLIER_UPDATE_INTERVAL)/SAFETYMULTIPLIER_CHANGE_TIME_UP;
      }
      safetymultiplier=constrain(safetymultiplier,0.0,1.0);
      last_safetymultiplier_update=loopmillis;
    }

    //calculate speed l and r from speed and steer
    if (loopmillis - last_controlupdate > CONTROLUPDATEPERIOD) {
      last_controlupdate = loopmillis;
      int16_t _out_speedl,_out_speedr;
      _out_speedl = constrain(set_speed * SPEED_COEFFICIENT_GT +  set_steer * STEER_COEFFICIENT_GT, -1000, 1000)*safetymultiplier;
      _out_speedr = constrain(set_speed * SPEED_COEFFICIENT_GT -  set_steer * STEER_COEFFICIENT_GT, -1000, 1000)*safetymultiplier;
      esc.setSpeed(_out_speedl,_out_speedr);
    }
  }


  if (error > 0) { //disarm if error occured
    controlmode = MODE_DISARMED; //force disarmed
  }

  
  if (controlmode == MODE_DISARMED){ //all disarmed
    #define WATCHDOG_TIMEOUT 2000
    if (millis()-watchdogtimer>WATCHDOG_TIMEOUT) {
      set_speed=0;
      set_steer=0;
    }
    if (loopmillis - last_controlupdate > CONTROLUPDATEPERIOD) {
      last_controlupdate = loopmillis;
      set_speed = set_speed*(1.0-filter_stop_set_speed); //simple Filter
      set_steer = set_steer*(1.0-filter_stop_set_steer);
      int16_t _out_speedl,_out_speedr;
      _out_speedl = constrain(set_speed * SPEED_COEFFICIENT_NRF +  set_steer * STEER_COEFFICIENT_NRF, -1500, 1500);
      _out_speedr = constrain(set_speed * SPEED_COEFFICIENT_NRF -  set_steer * STEER_COEFFICIENT_NRF, -1500, 1500);
      esc.setSpeed(_out_speedl,_out_speedr);
    }
  }


  
  if (esc.sendPending(loopmillis)) {
    
    if (!motorenabled) {//motors disabled. Used for safety off when remote released
      if (loopmillis - last_controlupdate > CONTROLUPDATEPERIOD) {
        last_controlupdate = loopmillis;
        set_speed = set_speed*(1.0-filter_stop_set_speed); //simple Filter
        set_steer = set_steer*(1.0-filter_stop_set_steer);
        int16_t _out_speedl,_out_speedr;
        _out_speedl = constrain(set_speed * SPEED_COEFFICIENT_NRF +  set_steer * STEER_COEFFICIENT_NRF, -1500, 1500);
        _out_speedr = constrain(set_speed * SPEED_COEFFICIENT_NRF -  set_steer * STEER_COEFFICIENT_NRF, -1500, 1500);
        esc.setSpeed(_out_speedl,_out_speedr);
      }
    }
    last_send = loopmillis;
  
  
  #ifdef DEBUG
    Serial.print(" out_speedl=");
    Serial.print(out_speedl);
    Serial.print(" out_speedr=");
    Serial.print(out_speedr);
    Serial.print(" checksum=");
    Serial.print(out_checksum);

    Serial.print(" controlmode=");
    Serial.print(controlmode);
  
    Serial.println();
    
  #endif
  }



  static unsigned long last_datalogging_write=0;
  static boolean logging_headerWritten=false;
  if (datalogging) {
    #define LOGGINGINTERVAL 100
    if (loopmillis-last_datalogging_write>LOGGINGINTERVAL)
    {
      last_datalogging_write=loopmillis;
      
      File dataFile = SD.open(datalogging_filename, FILE_WRITE);

      if (dataFile) { // if the file is available, write to it
        if (!logging_headerWritten) {
          dataFile.print("time,cmd_L,cmd_R,");
          dataFile.print("current_L,current_R,");
          dataFile.print("rpm_L,rpm_R,");
          dataFile.print("temp,vbat,");
          dataFile.println("trip,currentConsumed");
          logging_headerWritten=true;
        }
        dataFile.print(String(loopmillis)); dataFile.print(";");
        dataFile.print(esc.getCmdL());  dataFile.print(";");
        dataFile.print(esc.getCmdR());  dataFile.print(";");
        dataFile.print(esc.getFiltered_curL(),3);  dataFile.print(";");
        dataFile.print(esc.getFiltered_curR(),3);  dataFile.print(";");
        dataFile.print(esc.getFeedback_speedL_meas());  dataFile.print(";");
        dataFile.print(esc.getFeedback_speedR_meas());  dataFile.print(";");
        dataFile.print(esc.getFeedback_boardTemp());  dataFile.print(";");
        dataFile.print(esc.getFeedback_batVoltage());  dataFile.print(";");
        dataFile.print(esc.getTrip());  dataFile.print(";");
        dataFile.print(esc.getCurrentConsumed(),3);
        dataFile.println("");
        dataFile.close();
      }
    }
  }

  

  esc.update(loopmillis);
  updateInputs(loopmillis);
  updateDisplay(loopmillis);
}

void updateInputs(unsigned long loopmillis) {
  switch (displaymode) {
    case DISPLAY_STATS: case DISPLAY_STATS2: case DISPLAY_STATS3:
      if (button_up_click) { //first button opens menu
        displaymode=DISPLAY_MENU; // go to menu
      }
      if (button_inc_click) {
        displaymode=DISPLAY_STATS;
      }
      if (button_dec_click) {
        displaymode=DISPLAY_STATS2;
      }
      if (button_down_click) {
        displaymode=DISPLAY_STATS3;
        max_last_nrfreceive_delay=0; //reset when switching to this display
      }
      break;
    case DISPLAY_MENU:
      if (button_up_click) {
        if (menu_entrypos>0) {
          menu_entrypos--;
        }
      }
      if (button_down_click) {
        if (menu_entrypos< (MENU_ENTRIES-1)) {
          menu_entrypos++;
        }
      }


      switch(menu_entrypos) {
        case 0: //Exit
          if (button_inc_click || button_dec_click) {
            displaymode=DISPLAY_STATS;
          }
          break;
        case 1: //Filter NRF Speed
          if (button_inc_click) {
            filter_nrf_set_speed+=0.005;
            filter_nrf_set_speed = constrain(filter_nrf_set_speed, 0.01, 1.0);
          }
          if (button_dec_click) {
            filter_nrf_set_speed-=0.005;
            filter_nrf_set_speed = constrain(filter_nrf_set_speed, 0.01, 1.0);
          }
          break;
        case 2: //Filter NRF Steer
          if (button_inc_click) {
            filter_nrf_set_steer+=0.01;
            filter_nrf_set_steer = constrain(filter_nrf_set_steer, 0.01, 1.0);
          }
          if (button_dec_click) {
            filter_nrf_set_steer-=0.01;
            filter_nrf_set_steer = constrain(filter_nrf_set_steer, 0.01, 1.0);
          }
          break;
        case 3:
          if (button_inc_click) {
            gt_speed_p+=0.05;
            gt_speed_p = constrain(gt_speed_p, 0.05, 5.0);
          }
          if (button_dec_click) {
            gt_speed_p-=0.05;
            gt_speed_p = constrain(gt_speed_p, 0.05, 5.0);
          }
          break;
        case 4:
          if (button_inc_click) {
            gt_steer_p+=0.05;
            gt_steer_p = constrain(gt_steer_p, 0.05, 5.0);
          }
          if (button_dec_click) {
            gt_steer_p-=0.05;
            gt_steer_p = constrain(gt_steer_p, 0.05, 5.0);
          }
          break;
        case 5:
          if (button_inc_click) {
            gt_speed_limit+=50;
            gt_speed_limit = constrain(gt_speed_limit, 50, 1000);
          }
          if (button_dec_click) {
            gt_speed_limit-=50;
            gt_speed_limit = constrain(gt_speed_limit, 50, 1000);
          }
          break;
        case 6:
          if (button_inc_click) {
            gt_steer_limit+=50;
            gt_steer_limit = constrain(gt_steer_limit, 50, 1000);
          }
          if (button_dec_click) {
            gt_steer_limit-=50;
            gt_steer_limit = constrain(gt_steer_limit, 50, 1000);
          }
          break;
        case 7:
          if (button_inc_click) {
            esc.resetStatistics();
          }
          break;



          
      }
      break;

  }

  if (button_up_click || button_down_click || button_inc_click || button_dec_click) { //any button was pressed
    flag_updatedisplay=true;
    button_up_click=false;
    button_down_click=false;
    button_inc_click=false;
    button_dec_click=false;
  }
  
}

void updateDisplay(unsigned long loopmillis)
{
  static unsigned long last_updatedisplay=0;
  if (loopmillis-last_updatedisplay>DISPLAYUPDATE_INTERVAL || flag_updatedisplay) {
    flag_updatedisplay=false;


    if (displaymode==DISPLAY_STATS) {
      display_show_stats();
    }else if(displaymode==DISPLAY_STATS2) {
      display_show_stats2();
    }else if(displaymode==DISPLAY_STATS3) {
      display_show_stats3();
    }else if(displaymode==DISPLAY_MENU) {
      display_show_menu();
    }
    
    last_updatedisplay=loopmillis;
  }
}

void display_show_stats() {
  display.clearDisplay();
  display.setTextSize(1);
  display.setTextColor(SSD1306_WHITE);
  display.setCursor(0, 0);
  display.print(F("MODE=")); 

  switch(controlmode) {
    case MODE_DISARMED:
      display.println(F("DISARMED"));
      break;
    case MODE_RADIONRF:
      display.println(F("RADIONRF"));
      break;
    case MODE_GAMETRAK:
      display.println(F("GAMETRAK"));
      break;
    default:
      display.println(F("UNDEF"));
      break;
  }
  

  //updates only when display active
/*  static float maxcurL=0;
  static float maxcurR=0;
  maxcurL=max(maxcurL,esc.getFiltered_curL());
  maxcurR=max(maxcurR,esc.getFiltered_curR());

  static float mincurL=0;
  static float mincurR=0;
  mincurL=min(mincurL,esc.getFiltered_curL());
  mincurR=min(mincurR,esc.getFiltered_curR());*/
  
  
  display.print(F("Bat=")); display.print(esc.getFeedback_batVoltage());  display.print(F(" min=")); display.println(esc.getMinBatVoltage()); 
  display.print(F("Temp=")); display.print(esc.getFeedback_boardTemp()); display.print(F(" max=")); display.println(esc.getMaxBoardTemp());
  
  display.print(F("DC max=")); display.print(esc.getMaxcurL(),1); display.print(F("/"));  display.println(esc.getMaxcurR(),1); // display.print(F(" min=")); display.print(mincurL,1); display.print(F("/"));  display.println(mincurR,1);
  display.print(F("trip=")); display.print(esc.getTrip(),0); display.print(F(", ")); display.print(esc.getCurrentConsumed(),3); display.println(F("Ah"));
  display.print(F("eff.=")); display.print(esc.getTrip()/esc.getCurrentConsumed(),0); display.println(F("m/Ah"));

  display.print(F("RTC=")); display.print(getCurrentDatestring()); display.println(F(""));
  
  if (datalogging) {
    display.print(datalogging_filename); display.print(F(" ")); display.print(loopmillis/1000); display.println(F("s"));
  }else{
    display.print("No SD"); display.println(F(""));
  }
  
  
  display.display();      // Show initial text
}

void display_show_stats2() {
  display.clearDisplay();
  display.setTextSize(1);
  display.setTextColor(SSD1306_WHITE);
  display.setCursor(0, 0);
  
  display.print(F("CMD=")); display.print(esc.getCmdL()); display.print(F(", ")); display.println(esc.getCmdR());
  display.print(F("FBC=")); display.print(esc.getFeedback_cmd1()); display.print(F(", ")); display.println(esc.getFeedback_cmd2()); 
  display.print(F("Speed=")); display.print(esc.getFeedback_speedL_meas()); display.print(F(",")); display.print(esc.getFeedback_speedR_meas()); display.print(F("=")); display.print(esc.getMeanSpeed());  display.println(F("ms")); 
  display.print(F("Length=")); display.println(gt_length);
  display.print(F("H=")); display.print(gt_horizontal); display.print(F(" V=")); display.println(gt_vertical);
  display.print(F("CMD=")); display.print(esc.getCmdL()); display.print(F(", ")); display.println(esc.getCmdR());
  
  display.display();      // Show initial text
}


void display_show_stats3() {
  display.clearDisplay();
  display.setTextSize(1);
  display.setTextColor(SSD1306_WHITE);
  display.setCursor(0, 0);

  display.print(F("looptime=")); display.println(loopmillis-last_loopmillis);
  display.print(F("feedback=")); display.println(esc.getFeedbackInterval());
  
  display.print(F("nrf_delay=")); display.println(last_nrfreceive_delay); display.print(F(" max=")); display.println(max_last_nrfreceive_delay);
  display.print(F("maxdiff=")); display.println(raw_length_maxdiff);


  display.display();      // Show initial text
}


void display_show_menu() {
  display.clearDisplay();
  display.setTextSize(1);
  display.setTextColor(SSD1306_WHITE);
  display.setCursor(0, 0);
  for (uint8_t i=0;i<MENU_ENTRIES;i++) {
    if (i==menu_entrypos) {
      display.print(F(">"));
    }else{
      display.print(F(" "));
    }
    switch(i) {
      case 0:
        display.print(F("EXIT")); display.println();
        break;
      case 1:
        display.print(F("Fltr spd=")); display.println(filter_nrf_set_speed,3);
        break;
      case 2:
        display.print(F("Fltr str=")); display.println(filter_nrf_set_steer,3);
        break;
      case 3:
        display.print(F("gt_speed_p=")); display.println(gt_speed_p);
        break;
      case 4:
        display.print(F("gt_steer_p=")); display.println(gt_steer_p);
        break;
      case 5:
        display.print(F("gt_speed_limit=")); display.println(gt_speed_limit);
        break;
      case 6:
        display.print(F("gt_steer_limit=")); display.println(gt_steer_limit);
        break;
      case 7:
        if ((loopmillis/1000)%2==0) {
          display.print(F("Inc to reset stats"));
        }else{
          display.print(F("t=")); display.println(esc.getTripTime(loopmillis)/1000); display.println(F("s"));
        }
        break;
    }

  }
  
  display.display();      // Show initial text
}


time_t getTeensy3Time()
{
  return Teensy3Clock.get();
}

String addLeadingZero(int number) {
  if (number<10) {
    return "0"+String(number);
  }
  return String(number);
}

String getCurrentDatestring() {
  return addLeadingZero(year())+addLeadingZero(month())+addLeadingZero(day())+"-"+addLeadingZero(hour())+addLeadingZero(minute())+addLeadingZero(second());
}