working with nippleremote
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a4e7c3e33d
333
controller.ino
333
controller.ino
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@ -7,61 +7,67 @@
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//to flash set boot0 (the one further away from reset button) to 1 and press reset, flash, program executes immediately
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//set boot0 back to 0 to run program on powerup
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//#define DEBUG
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#define DEBUG
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#define PIN_LED PC13
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#define PIN_POTI1 PA7
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#define PIN_POTI2 PA6
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#define SENDPERIOD 20
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uint16_t poti1=0;
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uint16_t poti2=0;
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//from left to right. pins at bottom. chips on top
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//1 GND (black)
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//2 Data
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//3 Clock
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//4 Reset
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//5 +5V (red)
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//6 Right BTN
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//7 Middle BTN
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//8 Left BTN
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//pinout: https://martin-prochnow.de/projects/thinkpad_keyboard
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//see also https://github.com/feklee/usb-trackpoint/blob/master/code/code.ino
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#include <SPI.h>
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#include "nRF24L01.h"
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#include "RF24.h"
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RF24 radio(PB0,PB1); //ce, cs
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//SCK D13 (Pro mini), A5 (bluepill)
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//Miso D12 (Pro mini), A6 (bluepill)
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//Mosi D11 (Pro mini), A7 (bluepill)
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// Radio pipe addresses for the 2 nodes to communicate.
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const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };
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struct nrfdata {
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uint8_t steer;
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uint8_t speed;
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uint8_t commands; //bit 0 set = motor enable
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uint8_t checksum;
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};
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nrfdata lastnrfdata;
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long last_nrfreceive=0; //last time values were received and checksum ok
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long nrf_delay=0;
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#define MAX_NRFDELAY 50
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//command variables
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boolean motorenabled=false; //set by nrfdata.commands
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long last_send=0;
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int16_t out_steer=0;
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int16_t out_steer=0; //between -1000 and 1000
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int16_t out_speed=0;
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uint8_t out_checksum=0; //0= disable motors, 255=reserved, 1<=checksum<255
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#define NRFDATA_CENTER 127
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boolean armed=false;
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volatile long t_raising1=0;
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volatile long t_falling1=0;
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volatile long t_raising2=0;
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volatile long t_falling2=0;
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volatile long t_raising3=0;
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volatile long t_falling3=0;
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volatile long t_raising4=0;
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volatile long t_falling4=0;
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long last_updated_ch1=0;
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long last_updated_ch2=0;
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long last_updated_ch3=0;
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long last_updated_ch4=0;
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long ppmlagmillis=0; //updated by ppmOK()
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boolean flag_ppmupdated=false; //true if at least one ppm value (chx_in) updated
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#define MAXPPMUPDATETIME 50 //max time it should take to update a ppm channel value (otherwise ppmOK() will return false)
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uint16_t ch1_in;
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uint16_t ch2_in;
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uint16_t ch3_in;
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uint16_t ch4_in;
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//ch1 = steer (ail)
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//ch2 = speed (ele)
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//ch3 = speed multiplier (thr)
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#define PIN_CH1 PB9
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#define PIN_CH2 PB8
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#define PIN_CH3 PB7
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#define PIN_CH4 PB6
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#define PPM_TIME_MIN 900
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#define PPM_TIME_MAX 2100
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void setup() {
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@ -72,193 +78,124 @@ void setup() {
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pinMode(PIN_LED, OUTPUT);
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digitalWrite(PIN_LED,LOW);
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pinMode(PIN_POTI1, INPUT);
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pinMode(PIN_POTI2, INPUT);
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digitalWrite(PIN_LED,HIGH);
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pinMode(PIN_CH1, INPUT);
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attachInterrupt(PIN_CH1, ppmchanged1, CHANGE); //see http://docs.leaflabs.com/static.leaflabs.com/pub/leaflabs/maple-docs/0.0.12/lang/api/attachinterrupt.html
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pinMode(PIN_CH2, INPUT);
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attachInterrupt(PIN_CH2, ppmchanged2, CHANGE);
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pinMode(PIN_CH3, INPUT);
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attachInterrupt(PIN_CH3, ppmchanged3, CHANGE);
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pinMode(PIN_CH4, INPUT);
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attachInterrupt(PIN_CH4, ppmchanged4, CHANGE);
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Serial.println("Initializing nrf24");
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radio.begin();
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radio.setRetries(15,15); // optionally, increase the delay between retries & # of retries
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radio.setPayloadSize(8); // optionally, reduce the payload size. seems to improve reliability
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radio.openWritingPipe(pipes[0]); //write on pipe 0
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radio.openReadingPipe(1,pipes[1]); //read on pipe 1
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radio.startListening();
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Serial.println("Initialized");
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}
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void loop() {
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updateChannels(); //calculate chx_in times from ppm signals. 0 <= chx_in <= 1000
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boolean _ppmOK=ppmOK();
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//NRF24
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nrf_delay=millis()-last_nrfreceive; //update nrf delay
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if ( radio.available() )
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{
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//Serial.println("radio available ...");
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bool done = false;
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while (!done)
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{
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digitalWrite(PIN_LED, !digitalRead(PIN_LED));
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done = radio.read( &lastnrfdata, sizeof(nrfdata) );
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//Potis
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/*poti1=analogRead(PIN_POTI1);
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#define POTIMIN 100
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#define POTIMAX 4000
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if (poti1<POTIMIN){
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poti1=POTIMIN;
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}else if(poti1>POTIMAX){
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poti1=POTIMAX;
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//parse commands
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motorenabled = (lastnrfdata.commands & (1 << 0)); //check bit 0
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if (!motorenabled){ //disable motors?
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armed=false;
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Serial.println("!motorenebled. armed=false");
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}
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poti1=(poti1-POTIMIN)*1000/(POTIMAX-POTIMIN);
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poti2=analogRead(PIN_POTI2);
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if (poti2<POTIMIN){
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poti2=POTIMIN;
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}else if(poti2>POTIMAX){
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poti2=POTIMAX;
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if (lastnrfdata.speed==NRFDATA_CENTER && lastnrfdata.speed==NRFDATA_CENTER){ //arm only when centered
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armed=true; //arm at first received packet
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Serial.println("centered. armed=true");
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}
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poti2=(poti2-POTIMIN)*1000/(POTIMAX-POTIMIN);
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out_speed=poti1;
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uint8_t calcchecksum=(uint8_t)((lastnrfdata.steer+3)*(lastnrfdata.speed+13));
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if (lastnrfdata.checksum!=calcchecksum){ //checksum not ok?
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armed=false;
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Serial.println("Checksum fail. armed=false");
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}else{ //checksum ok
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last_nrfreceive=millis();
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}
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#ifdef DEBUG
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Serial.print("Received:");
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Serial.print(" st=");
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Serial.print(lastnrfdata.steer);
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Serial.print(", sp=");
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Serial.print(lastnrfdata.speed);
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Serial.print(", c=");
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Serial.print(lastnrfdata.commands);
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Serial.print(", chks=");
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Serial.print(lastnrfdata.checksum);
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Serial.print("nrfdelay=");
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Serial.print(nrf_delay);
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#endif
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//y positive = forward
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//x positive = right
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}
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}
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if (armed && nrf_delay>=MAX_NRFDELAY){ //too long since last sucessful nrf receive
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armed=false;
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Serial.println("too long since last nrf data. armed=false");
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}
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if (armed){
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//out_speed=(int16_t)( (lastnrfdata.y-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
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//out_steer=(int16_t)( -(lastnrfdata.x-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
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out_speed=(int16_t)( ((int16_t)(lastnrfdata.speed)-NRFDATA_CENTER)*1000/127 );
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out_steer=(int16_t)( ((int16_t)(lastnrfdata.steer)-NRFDATA_CENTER)*1000/127 );
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}else{ //took too long since last nrf data
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out_steer=0;
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*/
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if (_ppmOK){ //ppm check failed
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//out_speed=(int16_t)( (ch2_in*2-1000)*(ch3_in/1000.0) );
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out_speed=(int16_t)( (ch2_in*2-1000));
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out_steer=ch1_in*2-1000;
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}else{
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//out_speed=(int16_t)( (ch2_in*2-1000)*(ch3_in/1000.0) );
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out_speed=0; //stop
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out_steer=0; //stop
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out_speed=0;
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}
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if (flag_ppmupdated){
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flag_ppmupdated=false; //clear flag
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digitalWrite(PIN_LED,!digitalRead(PIN_LED)); //toggle led
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}
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if (millis()-last_send>SENDPERIOD){
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//calculate checksum
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out_checksum = ((uint8_t) ((uint8_t)out_steer)*((uint8_t)out_speed)); //simple checksum
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if (out_checksum==0 || out_checksum==255){ out_checksum=1; } //cannot be 0 or 255 (special purpose)
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if (!motorenabled){ //disable motors?
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out_checksum=0; //checksum=0 disables motors
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}
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Serial2.write((uint8_t *) &out_steer, sizeof(out_steer));
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Serial2.write((uint8_t *) &out_speed, sizeof(out_speed));
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Serial2.write((uint8_t *) &out_checksum, sizeof(out_checksum));
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last_send=millis();
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#ifdef DEBUG
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Serial.print("steer=");
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Serial.print(" steer=");
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Serial.print(out_steer);
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Serial.print(" speed=");
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Serial.print(out_speed);
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/*
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Serial.print(ch1_in);
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Serial.print(",");
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Serial.print(ch2_in);
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Serial.print(",");
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Serial.print(ch3_in);
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Serial.print(",");
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Serial.print(ch4_in);
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*/
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Serial.print(", ppmOK=");
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Serial.print(_ppmOK);
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Serial.print(", ppmlag=");
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Serial.print(ppmlagmillis);
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#endif
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Serial.print(" checksum=");
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Serial.print(out_checksum);
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Serial.println();
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#endif
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}
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}
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void updateChannels(){
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long funcmillis=millis();
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//Calculate Pulse Width. (pulseIn values typically between 1000 and 2000). Map and constrain between 0 and 1000
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long new_ch1_in=(t_falling1-t_raising1);
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if (new_ch1_in>=PPM_TIME_MIN && new_ch1_in<=PPM_TIME_MAX){ //time valid and has changed
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ch1_in=constrain(map(new_ch1_in,1000,2000, 0,1000), 0,1000);
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last_updated_ch1=funcmillis;
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flag_ppmupdated=true;
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}
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long new_ch2_in=(t_falling2-t_raising2);
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if (new_ch2_in>=PPM_TIME_MIN && new_ch2_in<=PPM_TIME_MAX){ //time valid and has changed
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ch2_in=constrain(map(new_ch2_in,1000,2000, 0,1000), 0,1000);
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last_updated_ch2=funcmillis;
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flag_ppmupdated=true;
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}
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long new_ch3_in=(t_falling3-t_raising3);
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if (new_ch3_in>=PPM_TIME_MIN && new_ch3_in<=PPM_TIME_MAX){ //time valid and has changed
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ch3_in=constrain(map(new_ch3_in,1000,2000, 0,1000), 0,1000);
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last_updated_ch3=funcmillis;
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flag_ppmupdated=true;
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}
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long new_ch4_in=(t_falling4-t_raising4);
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if (new_ch4_in>=PPM_TIME_MIN && new_ch4_in<=PPM_TIME_MAX){ //time valid and has changed
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ch4_in=constrain(map(new_ch4_in,1000,2000, 0,1000), 0,1000);
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last_updated_ch4=funcmillis;
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flag_ppmupdated=true;
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}
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}
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boolean ppmOK(){
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long m=millis();
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boolean returnvalue=true;
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ppmlagmillis=0;
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long v;
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v=m-last_updated_ch1;
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if (v>ppmlagmillis){ ppmlagmillis=v; }
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if (v>MAXPPMUPDATETIME){
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returnvalue=false;
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}
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v=m-last_updated_ch2;
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if (v>ppmlagmillis){ ppmlagmillis=v; }
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if (v>MAXPPMUPDATETIME){
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returnvalue=false;
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}
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v=m-last_updated_ch3;
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if (v>ppmlagmillis){ ppmlagmillis=v; }
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if (v>MAXPPMUPDATETIME){
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returnvalue=false;
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}
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v=m-last_updated_ch4;
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if (v>ppmlagmillis){ ppmlagmillis=v; }
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if (v>MAXPPMUPDATETIME){
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returnvalue=false;
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}
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return returnvalue;
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}
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void ppmchanged1(){
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if (digitalRead(PIN_CH1)){
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t_raising1=micros();
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}else{
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t_falling1=micros();
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}
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}
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void ppmchanged2(){
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if (digitalRead(PIN_CH2)){
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t_raising2=micros();
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}else{
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t_falling2=micros();
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}
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}
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void ppmchanged3(){
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if (digitalRead(PIN_CH3)){
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t_raising3=micros();
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}else{
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t_falling3=micros();
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}
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}
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void ppmchanged4(){
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if (digitalRead(PIN_CH4)){
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t_raising4=micros();
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}else{
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t_falling4=micros();
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}
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}
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