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55 lines
1.6 KiB
C++
55 lines
1.6 KiB
C++
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
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// Repository: https://github.com/okalachev/flix
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// Work with the RC receiver
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#include <SBUS.h>
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// NOTE: use 'cr' command to calibrate the RC and put the values here
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int channelNeutral[] = {995, 883, 200, 972, 512, 512, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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SBUS RC(Serial2, 16, 17); // NOTE: remove pin numbers (16, 17) if you use the new default pins for Serial2 (4, 25)
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void setupRC() {
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Serial.println("Setup RC");
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RC.begin();
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}
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void readRC() {
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if (RC.read()) {
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SBUSData data = RC.data();
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memcpy(channels, data.ch, sizeof(channels)); // copy channels data
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normalizeRC();
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}
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}
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void normalizeRC() {
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for (uint8_t i = 0; i < RC_CHANNELS; i++) {
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controls[i] = mapf(channels[i], channelNeutral[i], channelMax[i], 0, 1);
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}
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}
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void calibrateRC() {
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Serial.println("Calibrate RC: move all sticks to maximum positions within 4 seconds");
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Serial.println("··o ··o\n··· ···\n··· ···");
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delay(4000);
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for (int i = 0; i < 30; i++) readRC(); // ensure the values are updated
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for (int i = 0; i < RC_CHANNELS; i++) {
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channelMax[i] = channels[i];
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}
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Serial.println("Calibrate RC: move all sticks to neutral positions within 4 seconds");
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Serial.println("··· ···\n··· ·o·\n·o· ···");
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delay(4000);
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for (int i = 0; i < 30; i++) readRC(); // ensure the values are updated
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for (int i = 0; i < RC_CHANNELS; i++) {
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channelNeutral[i] = channels[i];
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}
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printRCCal();
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}
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void printRCCal() {
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printArray(channelNeutral, RC_CHANNELS);
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printArray(channelMax, RC_CHANNELS);
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}
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