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CoDrone.cpp
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/*
CoDrone.cpp - CoDrone library
Copyright (C) 2014 RoboLink. All rights reserved.
LastUpdate : 2018-05-31
*/
#include "CoDrone.h"
#include "Arduino.h"
#include <EEPROM.h>
CoDroneClass CoDrone;
//-------------------------------------------------------------------------------------------------------//
//-------------------------------------------- Begin ----------------------------------------------------//
//-------------------------------------------------------------------------------------------------------//
void CoDroneClass::begin(long baud)
{
DRONE_SERIAL.begin(baud); // µå·Ð°ú Åë½Å °³½Ã (115200bps)
#if defined(FIND_HWSERIAL1)
DEBUG_SERIAL.begin(baud); // Serial Debug Begin (115200bps)
displayMode = 0; // LED Display 0 = BOARD LED 0FF, 1 = BOARD LED ON
#endif
SendInterval = 50; // millis seconds
analogOffset = 10; // analog sensor offset
LED_Display(LED_DISPLAY_START, 0); // LED_Start();
if (EEPROM.read(EEP_AddressCheck)) // Connected Drone Address Read
{
for (int i = 0; i <= 5; i++) devAddressConnected[i] = EEPROM.read(EEP_AddressFirst+i);
isConnected = true;
}
#if !defined(__AVR_ATmega328PB__)
Send_LinkModeBroadcast(LinkModeActive); //Link Active Mode
delay(100);
#endif
// calibrate();
}
//-------------------------------------------------------------------------------------------------------//
//-------------------------------------------------------------------------------------------------------//
//---------------------------------------- Discover Drone -----------------------------------------------//
//-------------------------------------------------------------------------------------------------------//
void CoDroneClass::Send_Discover(byte action)
{
if(action == DiscoverStop) Send_Command(cType_LinkDiscoverStop, 0);
else if(action == DiscoverStart)
{
Send_Command(cType_LinkDiscoverStart, 0);
discoverFlag = 1;
}
}
//-------------------------------------------------------------------------------------------------------//
//-------------------------------------------------------------------------------------------------------//
//----------------------------------------- AutoConnect ------------------------------------------------//
//-------------------------------------------------------------------------------------------------------//
void CoDroneClass::AutoConnect() // NearbyDrone or ConnectedDrone
{
pinMode(10, INPUT_PULLUP); //DipSw3
if (!digitalRead(10)) isConnected = false; //DipSw3 down ¡é
if(isConnected) AutoConnect(ConnectedDrone);
else AutoConnect(NearbyDrone);
}
void CoDroneClass::AutoConnect(byte mode)
{
connectMode = mode;
ConnectionProcess();
}
void CoDroneClass::AutoConnect(byte mode, byte address[])
{
connectMode = mode;
for (int i = 0; i <= 5; i++) devAddressConnected[i] = address[i];
ConnectionProcess();
}
//-------------------------------------------------------------------------------------------------------//
//-------------------------------------------------------------------------------------------------------//
//----------------------------------------- ConnectionProcess ------------------------------------------------//
//-------------------------------------------------------------------------------------------------------//
void CoDroneClass::ConnectionProcess()
{
byte displayLED = 0;
//-----------------------------------------------------------//
if (getState() != 0) pairing = true;
//-----------------------------------------------------------//
else // AutoConnect start
{
devNow = -1;
Send_Discover(DiscoverStart);
PreviousMillis = millis();
LED_Display(LED_DISPLAY_DDRC, 0xff);
while(!pairing)
{
if((discoverFlag == 3) && (connectFlag == 0)) // Address find
{
LED_Display(LED_DISPLAY_STANDARD, 0);
PreviousMillis = millis();
while(!TimeCheck(1000)) Receive();
while (DRONE_SERIAL.available() > 0) Receive();
if(devNow > -1)
{
connectFlag = 1;
Send_Command(cType_LinkConnect, devNow);
}
discoverFlag = 0;
}
else if((!(connectFlag == 1)) && (TimeCheck(400))) // time out & LED
{
if (displayLED++ == 4)
{
displayLED = 0;
if(discoverFlag == 0)
{
RSSI_High = -255;
devNow = -1;
Send_Discover(DiscoverStart);
}
}
LED_Display(LED_DISPLAY_MOVE_RADER, displayLED);
PreviousMillis = millis();
}
while (DRONE_SERIAL.available() > 0) Receive();
}
delay(1000);
}
DDRC = 0b11111111;
PORTC = 0b11100111;
delay(1000);
DDRC = 0b11111111;
PORTC = 0b01100110;
delay(1000);
LED_Connect();
while (DRONE_SERIAL.available() > 0) Receive();
delay(50);
roll = 0; pitch = 0; yaw = 0; throttle = 0;
Control();
delay(50);
while (DRONE_SERIAL.available() > 0) Receive();
delay(50);
// calibrate();
}
//-------------------------------------------------------------------------------------------------------//
//-------------------------------------------------------------------------------------------------------//
//------------------------------------------ Receive ----------------------------------------------------//
//-------------------------------------------------------------------------------------------------------//
void CoDroneClass::Receive()
{
if (DRONE_SERIAL.available() > 0)
{
int input = DRONE_SERIAL.read();
#if defined(DEBUG_MODE_ENABLE)
// DEBUG_SERIAL.print(input,HEX); DEBUG_SERIAL.print(" ");
#endif
cmdBuff[cmdIndex++] = (char)input;
if (cmdIndex >= MAX_PACKET_LENGTH)
{
checkHeader = 0;
cmdIndex = 0;
}
else
{
if (cmdIndex == 1)
{
if (cmdBuff[0] == START1) checkHeader = 1;
else
{
checkHeader = 0;
cmdIndex = 0;
}
}
else if ((cmdIndex == 2) && (checkHeader == 1))
{
if (cmdBuff[1] == START2) checkHeader = 2;
else
{
checkHeader = 0;
cmdIndex = 0;
}
}
else if (checkHeader == 2)
{
if (cmdIndex == 3) receiveDtype = cmdBuff[2]; // Receive Dtype
else if (receiveDtype != dType_StringMessage) // not message string
{
if (cmdIndex == 4) receiveLength = cmdBuff[3]; // Receive Length
else if (cmdIndex > 4)
{
if (receiveLength + 6 <= cmdIndex)
{
byte crcBuff[2];
crcBuff[0] = cmdBuff[cmdIndex - 2];
crcBuff[1] = cmdBuff[cmdIndex - 1];
byte dataBuff[30];
for(int i = 0; i < receiveLength + 5 ; i++) dataBuff[i - 3] = cmdBuff[i - 1];
byte receiveComplete = 0;
if (CRC16_Check(dataBuff, receiveLength, crcBuff)) receiveComplete = 1;
byte receiveCompleteData[28];
if (receiveComplete == 1)
{
if ((receiveDtype == dType_Pressure) || (receiveDtype == dType_Battery) || (receiveDtype == dType_Motor) || (receiveDtype == dType_ImuRawAndAngle)||
(receiveDtype == dType_CountFlight) || (receiveDtype == dType_Range) || (receiveDtype == dType_TrimAll) || (receiveDtype == dType_CountDrive) ||
(receiveDtype == dType_TrimFlight) || (receiveDtype == dType_ImageFlow) || (receiveDtype == dType_Temperature) || (receiveDtype == dType_State) ||
(receiveDtype == dType_Attitude) || (receiveDtype == dType_GyroBias) || (receiveDtype == dType_IrMessage) || (receiveDtype == dType_TrimDrive) ||
(receiveDtype == dType_Button) || (receiveDtype == dType_Ack) || (receiveDtype == dType_LinkDiscoveredDevice) ||
(receiveDtype == dType_LinkState) || (receiveDtype == dType_LinkEvent) || (receiveDtype == dType_LinkEventAddress) || (receiveDtype == dType_LinkRssi))
{
for(byte i = 0; i <= 27; i++) receiveCompleteData[i] = dataBuff[i + 2];
}
}
checkHeader = 0;
cmdIndex = 0;
if(receiveComplete) ReceiveEventCheck(receiveCompleteData);
}
}
}
else
{
checkHeader = 0;
cmdIndex = 0;
}
}
}
}
}
//-------------------------------------------------------------------------------------------------------//
//-------------------------------------------------------------------------------------------------------//
//---------------------------------- ReceiveEventCheck --------------------------------------------------//
//-------------------------------------------------------------------------------------------------------//
void CoDroneClass::ReceiveEventCheck(byte _completeData[])
{
//-------------------------------------------------------------------------------------------//
//-------------------------------------------------------------------------------------------//
if (receiveDtype == dType_LinkDiscoveredDevice)//Discovered Device
{
byte devAddressNow[6];
int devIndex = _completeData[0];
for (int i = 1; i <= 6; i++) devAddressNow[i-1] = _completeData[i];
RSSI_Now =_completeData[27];
//-------------------------------------------------------------------------------------//
if(connectMode == NearbyDrone)
{
if(RSSI_High < RSSI_Now)
{
RSSI_High = RSSI_Now;
devNow = devIndex;
for (int i = 0; i <= 5; i++) devAddressBuf[i] = devAddressNow[i];
}
}
else if((connectMode == ConnectedDrone) || (connectMode == AddressInputDrone))
{
byte _addrCk = 0;
byte _rvAddrCk = 0;
for (int i = 0; i <= 5; i++) // same address check
{
if (devAddressConnected[i] == devAddressNow[i]) _addrCk++;
if (devAddressConnected[i] == devAddressNow[5-i]) _rvAddrCk++;
}
if((_addrCk == 6) || (_rvAddrCk == 6))
{
devNow = devIndex;
for (int i = 0; i <= 5; i++) devAddressBuf[i] = devAddressNow[i];
}
}
//-------------------------------------------------------------------------------------//
}
//-------------------------------------------------------------------------------------------//
//-------------------------------------------------------------------------------------------//
//---------------------------------------------------------------------------------------------//
else if (receiveDtype == dType_State)
{
droneState[0] = _completeData[0];
droneState[1] = _completeData[1];
droneState[2] = _completeData[2];
droneState[3] = _completeData[3];
droneState[4] = _completeData[4];
droneState[5] = _completeData[5];
droneState[6] = _completeData[6];
receiveStateSuccess = 1;
#if defined(DEBUG_MODE_ENABLE)
DEBUG_SERIAL.println("");
DEBUG_SERIAL.println("- Request Drone State");
DEBUG_SERIAL.print("ModeDrone \t");
if(droneState[0] == dMode_None) DEBUG_SERIAL.println("None");
else if(droneState[0] == dMode_Flight) DEBUG_SERIAL.println("Flight");
else if(droneState[0] == dMode_FlightNoGuard) DEBUG_SERIAL.println("FlightNoGuard");
else if(droneState[0] == dMode_FlightFPV) DEBUG_SERIAL.println("FlightFPV");
else if(droneState[0] == dMode_Drive) DEBUG_SERIAL.println("Drive");
else if(droneState[0] == dMode_DriveFPV) DEBUG_SERIAL.println("DriveFPV");
else if(droneState[0] == dMode_Test) DEBUG_SERIAL.println("Test");
DEBUG_SERIAL.print("ModeVehicle \t");
if(droneState[1] == vMode_None) DEBUG_SERIAL.println("None");
else if(droneState[1] == vMode_Boot) DEBUG_SERIAL.println("Boot");
else if(droneState[1] == vMode_Wait) DEBUG_SERIAL.println("Wait");
else if(droneState[1] == vMode_Ready) DEBUG_SERIAL.println("Ready");
else if(droneState[1] == vMode_Running) DEBUG_SERIAL.println("Running");
else if(droneState[1] == vMode_Update) DEBUG_SERIAL.println("Update");
else if(droneState[1] == vMode_UpdateComplete) DEBUG_SERIAL.println("UpdateComplete");
else if(droneState[1] == vMode_Error) DEBUG_SERIAL.println("Error");
DEBUG_SERIAL.print("ModeFlight \t");
if(droneState[2] == fMode_None) DEBUG_SERIAL.println("None");
else if(droneState[2] == fMode_Ready) DEBUG_SERIAL.println("Ready");
else if(droneState[2] == fMode_TakeOff) DEBUG_SERIAL.println("TakeOff");
else if(droneState[2] == fMode_Flight) DEBUG_SERIAL.println("Flight");
else if(droneState[2] == fMode_Flip) DEBUG_SERIAL.println("Flip");
else if(droneState[2] == fMode_Stop) DEBUG_SERIAL.println("Stop");
else if(droneState[2] == fMode_Landing) DEBUG_SERIAL.println("Landing");
else if(droneState[2] == fMode_Reverse) DEBUG_SERIAL.println("Reverse");
else if(droneState[2] == fMode_Accident) DEBUG_SERIAL.println("Accident");
else if(droneState[2] == fMode_Error) DEBUG_SERIAL.println("Error");
DEBUG_SERIAL.print("ModeDrive \t");
if(droneState[3] == dvMode_None) DEBUG_SERIAL.println("None");
else if(droneState[3] == dvMode_Ready) DEBUG_SERIAL.println("Ready");
else if(droneState[3] == dvMode_Start) DEBUG_SERIAL.println("Start");
else if(droneState[3] == dvMode_Drive) DEBUG_SERIAL.println("Drive");
else if(droneState[3] == dvMode_Stop) DEBUG_SERIAL.println("Stop");
else if(droneState[3] == dvMode_Accident) DEBUG_SERIAL.println("Accident");
else if(droneState[3] == dvMode_Error) DEBUG_SERIAL.println("Error");
DEBUG_SERIAL.print("SensorOrientation \t");
if(droneState[4] == senOri_None) DEBUG_SERIAL.println("None");
else if(droneState[4] == senOri_Normal) DEBUG_SERIAL.println("Normal");
else if(droneState[4] == senOri_ReverseStart) DEBUG_SERIAL.println("ReverseStart");
else if(droneState[4] == senOri_Reverse) DEBUG_SERIAL.println("Reverse");
DEBUG_SERIAL.print("Coordinate \t");
if(droneState[5] == cSet_None) DEBUG_SERIAL.println("None");
else if(droneState[5] == cSet_Absolute) DEBUG_SERIAL.println("Absolute");
else if(droneState[5] == cSet_Relative) DEBUG_SERIAL.println("Relative");
DEBUG_SERIAL.print("Battery \t");
DEBUG_SERIAL.println(droneState[6]);
#endif
}
//---------------------------------------------------------------------------------------------//
else if (receiveDtype == dType_LinkRssi)
{
rssi = _completeData[0];
rssi = rssi - 256;
#if defined(DEBUG_MODE_ENABLE)
DEBUG_SERIAL.print("RSSI : ");
DEBUG_SERIAL.println(rssi);
#endif
}
else if (receiveDtype == dType_Ack)
{
#if defined(DEBUG_MODE_ENABLE)
unsigned long _systemTime = ((_completeData[3] << 24) | (_completeData[2] << 16) | (_completeData[1] << 8) | (_completeData[0] & 0xff));
byte _dType = _completeData[4];
DEBUG_SERIAL.print("- dataType ");
DEBUG_SERIAL.print(_dType,HEX);
DEBUG_SERIAL.print("\tsystemTime ");
DEBUG_SERIAL.println(_systemTime);
#endif
}
else if (receiveDtype == dType_IrMessage)
{
byte irMassageDirection = _completeData[0];
unsigned long _irMessge[4];
_irMessge[0] = _completeData[1];
_irMessge[1] = _completeData[2];
_irMessge[2] = _completeData[3];
_irMessge[3] = _completeData[4];
irMessageReceive = ((_irMessge[3] << 24) | (_irMessge[2] << 16) | (_irMessge[1] << 8) | (_irMessge[0] & 0xff));
#if defined(DEBUG_MODE_ENABLE)
DEBUG_SERIAL.println("");
DEBUG_SERIAL.println("- IrMassage");
DEBUG_SERIAL.print("[ ");
DEBUG_SERIAL.print(_completeData[0],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[1],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[2],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[3],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[4],HEX);
DEBUG_SERIAL.println(" ]");
DEBUG_SERIAL.print("IrMassageDirection\t");
DEBUG_SERIAL.print(irMassageDirection);
if(irMassageDirection == 1) DEBUG_SERIAL.println(" (Left)");
else if (irMassageDirection == 2) DEBUG_SERIAL.println(" (Front)");
else if (irMassageDirection == 3) DEBUG_SERIAL.println(" (Right)");
else if (irMassageDirection == 4) DEBUG_SERIAL.println(" (Rear)");
else DEBUG_SERIAL.println("None");
DEBUG_SERIAL.print("irMessageReceive\t");
DEBUG_SERIAL.println(irMessageReceive);
#endif
}
//---------------------------------------------------------------------------------------------//
else if (receiveDtype == dType_Attitude)
{
attitudeRoll = ((_completeData[1] << 8) | (_completeData[0] & 0xff));
attitudePitch = ((_completeData[3] << 8) | (_completeData[2] & 0xff));
attitudeYaw = ((_completeData[5] << 8) | (_completeData[4] & 0xff));
receiveAttitudeSuccess = 1;
#if defined(DEBUG_MODE_ENABLE)
DEBUG_SERIAL.println("");
DEBUG_SERIAL.println("- Attitude");
DEBUG_SERIAL.print("[ ");
DEBUG_SERIAL.print(_completeData[0],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[1],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[2],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[3],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[4],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[5],HEX);
DEBUG_SERIAL.println(" ]");
DEBUG_SERIAL.print("ROLL\t");
DEBUG_SERIAL.println(attitudeRoll);
DEBUG_SERIAL.print("PITCH\t");
DEBUG_SERIAL.println(attitudePitch);
DEBUG_SERIAL.print("YAW\t");
DEBUG_SERIAL.println(attitudeYaw);
#endif
}
//---------------------------------------------------------------------------------------------//
else if (receiveDtype == dType_GyroBias)
{
int GyroBias_Roll = ((_completeData[1] << 8) | (_completeData[0] & 0xff));
int GyroBias_Pitch = ((_completeData[3] << 8) | (_completeData[2] & 0xff));
int GyroBias_Yaw = ((_completeData[5] << 8) | (_completeData[4] & 0xff));
receiveGyroSuccess = 1;
#if defined(DEBUG_MODE_ENABLE)
DEBUG_SERIAL.println("");
DEBUG_SERIAL.println("- GyroBias");
DEBUG_SERIAL.print("[ ");
DEBUG_SERIAL.print(_completeData[0],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[1],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[2],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[3],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[4],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[5],HEX);
DEBUG_SERIAL.println(" ]");
DEBUG_SERIAL.print("GyroBias ROLL\t");
DEBUG_SERIAL.println(GyroBias_Roll);
DEBUG_SERIAL.print("GyroBias PITCH\t");
DEBUG_SERIAL.println(GyroBias_Pitch);
DEBUG_SERIAL.print("GyroBias YAW\t");
DEBUG_SERIAL.println(GyroBias_Yaw);
#endif
}
//---------------------------------------------------------------------------------------------//
else if (receiveDtype == dType_TrimAll)
{
TrimAll_Roll = ((_completeData[1] << 8) | (_completeData[0] & 0xff));
TrimAll_Pitch = ((_completeData[3] << 8) | (_completeData[2] & 0xff));
TrimAll_Yaw = ((_completeData[5] << 8) | (_completeData[4] & 0xff));
TrimAll_Throttle = ((_completeData[7] << 8) | (_completeData[6] & 0xff));
TrimAll_Wheel = ((_completeData[9] << 8) | (_completeData[8] & 0xff));
#if defined(DEBUG_MODE_ENABLE)
DEBUG_SERIAL.println("");
DEBUG_SERIAL.println("- TrimAll");
DEBUG_SERIAL.print("[ ");
DEBUG_SERIAL.print(_completeData[0],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[1],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[2],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[3],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[4],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[5],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[6],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[7],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[8],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[9],HEX);
DEBUG_SERIAL.println(" ]");
DEBUG_SERIAL.print("Trim ROLL\t");
DEBUG_SERIAL.println(TrimAll_Roll);
DEBUG_SERIAL.print("Trim PITCH\t");
DEBUG_SERIAL.println(TrimAll_Pitch);
DEBUG_SERIAL.print("Trim YAW\t");
DEBUG_SERIAL.println(TrimAll_Yaw);
DEBUG_SERIAL.print("Trim Throttle\t");
DEBUG_SERIAL.println(TrimAll_Throttle);
DEBUG_SERIAL.print("Trim Wheel\t");
DEBUG_SERIAL.println(TrimAll_Wheel);
#endif
}
//---------------------------------------------------------------------------------------------//
else if (receiveDtype == dType_TrimFlight) //
{
TrimAll_Roll = ((_completeData[1] << 8) | (_completeData[0] & 0xff));
TrimAll_Pitch = ((_completeData[3] << 8) | (_completeData[2] & 0xff));
TrimAll_Yaw = ((_completeData[5] << 8) | (_completeData[4] & 0xff));
TrimAll_Throttle = ((_completeData[7] << 8) | (_completeData[6] & 0xff));
receiveTrimSuccess = 1;
#if defined(DEBUG_MODE_ENABLE)
DEBUG_SERIAL.println("");
DEBUG_SERIAL.println("- TrimFlight");
DEBUG_SERIAL.print("[ ");
DEBUG_SERIAL.print(_completeData[0],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[1],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[2],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[3],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[4],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[5],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[6],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[7],HEX);
DEBUG_SERIAL.println(" ]");
DEBUG_SERIAL.print("Trim ROLL\t");
DEBUG_SERIAL.println(TrimAll_Roll);
DEBUG_SERIAL.print("Trim PITCH\t");
DEBUG_SERIAL.println(TrimAll_Pitch);
DEBUG_SERIAL.print("Trim YAW\t");
DEBUG_SERIAL.println(TrimAll_Yaw);
DEBUG_SERIAL.print("Trim Throttle\t");
DEBUG_SERIAL.println(TrimAll_Throttle);
#endif
}
//---------------------------------------------------------------------------------------------//
else if (receiveDtype == dType_TrimDrive)
{
#if defined(DEBUG_MODE_ENABLE)
DEBUG_SERIAL.println("");
DEBUG_SERIAL.println("- TrimDrive");
DEBUG_SERIAL.print("[ ");
DEBUG_SERIAL.print(_completeData[0],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[1],HEX);
DEBUG_SERIAL.println(" ]");
TrimAll_Wheel = ((_completeData[1] << 8) | (_completeData[0] & 0xff));
DEBUG_SERIAL.print("Trim Wheel\t");
DEBUG_SERIAL.println(TrimAll_Wheel);
#endif
}
//---------------------------------------------------------------------------------------------//
else if(receiveDtype == dType_ImuRawAndAngle)
{
ImuAccX = (_completeData[3] << 8) | (_completeData[2]);// x and y are switched
ImuAccY = (_completeData[1] << 8) | (_completeData[0]);// x and y are switched
ImuAccZ = -(_completeData[5] << 8) | (_completeData[4]);// y needs to be flipped to have gravity be negative
ImuGyroRoll = (_completeData[7] << 8) | (_completeData[6]);;
ImuGyroPitch = (_completeData[9] << 8) | (_completeData[8]);
ImuGyroYaw = (_completeData[11] << 8) | (_completeData[10]);
ImuAngleRoll = (_completeData[13] << 8) | (_completeData[12]);
ImuAnglePitch = (_completeData[15] << 8) | (_completeData[14]);
ImuAngleYaw = (_completeData[17] << 8) | (_completeData[16]);
receiveAccelSuccess = 1;
#if defined(DEBUG_MODE_ENABLE)
DEBUG_SERIAL.println("");
DEBUG_SERIAL.println("- ImuRawAndAngle");
DEBUG_SERIAL.print("[ ");
DEBUG_SERIAL.print(_completeData[0],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[1],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[2],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[3],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[4],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[5],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[6],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[7],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[8],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[9],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[10],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[11],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[12],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[13],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[14],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[15],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[16],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[17],HEX);
DEBUG_SERIAL.println(" ]");
DEBUG_SERIAL.print("AccX\t");
DEBUG_SERIAL.println(ImuAccX);
DEBUG_SERIAL.print("AccY\t");
DEBUG_SERIAL.println(ImuAccY);
DEBUG_SERIAL.print("AccZ\t");
DEBUG_SERIAL.println(ImuAccZ);
DEBUG_SERIAL.print("GyroRoll\t");
DEBUG_SERIAL.println(ImuGyroRoll);
DEBUG_SERIAL.print("GyroPitch\t");
DEBUG_SERIAL.println(ImuGyroPitch);
DEBUG_SERIAL.print("GyroYaw \t");
DEBUG_SERIAL.println(ImuGyroYaw);
DEBUG_SERIAL.print("AngleRoll\t");
DEBUG_SERIAL.println(ImuAngleRoll);
DEBUG_SERIAL.print("AnglePitch\t");
DEBUG_SERIAL.println(ImuAnglePitch);
DEBUG_SERIAL.print("AngleYaw\t");
DEBUG_SERIAL.println(ImuAngleYaw);
#endif
}
//---------------------------------------------------------------------------------------------//
else if(receiveDtype == dType_Pressure)
{
long d1 = ((_completeData[3] << 32) |(_completeData[2] << 16) |(_completeData[1] << 8) | (_completeData[0] & 0xff));
long d2 = ((_completeData[7] << 32) |(_completeData[6] << 16) |(_completeData[5] << 8) | (_completeData[4] & 0xff));
temperature = ((_completeData[11] << 32) |(_completeData[10] << 16) |(_completeData[9] << 8) | (_completeData[8] & 0xff));
pressure = ((_completeData[15] << 32) |(_completeData[14] << 16) |(_completeData[13] << 8) | (_completeData[12] & 0xff));
receivePressureSuccess = 1;
#if defined(DEBUG_MODE_ENABLE)
DEBUG_SERIAL.println("");
DEBUG_SERIAL.println("- Pressure");
DEBUG_SERIAL.print("[ ");
DEBUG_SERIAL.print(_completeData[0],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[1],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[2],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[3],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[4],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[5],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[6],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[7],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[8],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[9],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[10],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[11],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[12],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[13],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[14],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[15],HEX);
DEBUG_SERIAL.println(" ]");
DEBUG_SERIAL.print("d1\t");
DEBUG_SERIAL.println(d1);
DEBUG_SERIAL.print("d2\t");
DEBUG_SERIAL.println(d2);
DEBUG_SERIAL.print("temperature\t");
DEBUG_SERIAL.println(temperature);
DEBUG_SERIAL.print("pressure\t");
DEBUG_SERIAL.println(pressure);
#endif
}
//---------------------------------------------------------------------------------------------//
else if (receiveDtype == dType_ImageFlow)
{
fVelocitySumX = ((_completeData[3] << 32) |(_completeData[2] << 16) |(_completeData[1] << 8) | (_completeData[0] & 0xff));
fVelocitySumY = ((_completeData[7] << 32) |(_completeData[6] << 16) |(_completeData[5] << 8) | (_completeData[4] & 0xff));
receiveOptSuccess = 1;
#if defined(DEBUG_MODE_ENABLE)
DEBUG_SERIAL.println("");
DEBUG_SERIAL.println("- ImageFlow");
DEBUG_SERIAL.print("[ ");
DEBUG_SERIAL.print(_completeData[0],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[1],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[2],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[3],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[4],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[5],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[6],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[7],HEX);
DEBUG_SERIAL.println(" ]");
DEBUG_SERIAL.print("fVelocitySumX\t");
DEBUG_SERIAL.println(fVelocitySumX);
DEBUG_SERIAL.print("fVelocitySumY\t");
DEBUG_SERIAL.println(fVelocitySumY);
#endif
}
//---------------------------------------------------------------------------------------------//
else if (receiveDtype == dType_Button)
{
#if defined(DEBUG_MODE_ENABLE)
DEBUG_SERIAL.println("");
DEBUG_SERIAL.println("- Button");
DEBUG_SERIAL.print("[ ");
DEBUG_SERIAL.print(_completeData[0],HEX);
DEBUG_SERIAL.println(" ]");
#endif
}
//---------------------------------------------------------------------------------------------//
else if (receiveDtype == dType_Battery)
{
int batteryV30 = ((_completeData[1] << 8) | (_completeData[0] & 0xff));
int batteryV33 = ((_completeData[3] << 8) | (_completeData[2] & 0xff));
int batteryGradient = ((_completeData[5] << 8) | (_completeData[4] & 0xff));
int batteryyIntercept = ((_completeData[7] << 8) | (_completeData[6] & 0xff));
int flagBatteryCalibration = _completeData[8];
int batteryRaw = ((_completeData[12] << 32) |(_completeData[11] << 16) |(_completeData[10] << 8) | (_completeData[9] & 0xff));
batteryPercent = _completeData[13];
batteryVoltage = ((_completeData[15] << 8) | (_completeData[14] & 0xff));
receiveBatterySuccess = 1;
#if defined(DEBUG_MODE_ENABLE)
DEBUG_SERIAL.println("");
DEBUG_SERIAL.println("- Battery");
DEBUG_SERIAL.print("[ ");
DEBUG_SERIAL.print(_completeData[0],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[1],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[2],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[3],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[4],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[5],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[6],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[7],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[8],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[9],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[10],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[11],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[12],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[13],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[14],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[15],HEX);
DEBUG_SERIAL.println(" ]");
DEBUG_SERIAL.print("v30\t");
DEBUG_SERIAL.println(batteryV30);
DEBUG_SERIAL.print("v33\t");
DEBUG_SERIAL.println(batteryV33);
DEBUG_SERIAL.print("gradient\t");
DEBUG_SERIAL.println(batteryGradient);
DEBUG_SERIAL.print("yIntercept\t");
DEBUG_SERIAL.println(batteryyIntercept);
DEBUG_SERIAL.print("flagBatteryCalibration\t");
DEBUG_SERIAL.println(flagBatteryCalibration);
DEBUG_SERIAL.print("batteryRaw\t");
DEBUG_SERIAL.println(batteryRaw);
DEBUG_SERIAL.print("batteryPercent\t");
DEBUG_SERIAL.println(batteryPercent);
DEBUG_SERIAL.print("voltage\t");
DEBUG_SERIAL.println(batteryVoltage);
#endif
}
else if (receiveDtype == dType_Range)
{
sensorRange[0] = ((_completeData[1] << 8) | (_completeData[0] & 0xff)); //left
sensorRange[1] = ((_completeData[3] << 8) | (_completeData[2] & 0xff)); //front
sensorRange[2] = ((_completeData[5] << 8) | (_completeData[4] & 0xff)); //right
sensorRange[3] = ((_completeData[7] << 8) | (_completeData[6] & 0xff)); //rear
sensorRange[4] = ((_completeData[9] << 8) | (_completeData[8] & 0xff)); //top
sensorRange[5] = ((_completeData[11] << 8)| (_completeData[10] & 0xff)); //bottom
receiveRangeSuccess = 1;
#if defined(DEBUG_MODE_ENABLE)
DEBUG_SERIAL.println("");
DEBUG_SERIAL.println("- Range");
DEBUG_SERIAL.print("[ ");
DEBUG_SERIAL.print(_completeData[0],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[1],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[2],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[3],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[4],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[5],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[6],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[7],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[8],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[9],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[10],HEX);
DEBUG_SERIAL.print(", ");
DEBUG_SERIAL.print(_completeData[11],HEX);
DEBUG_SERIAL.println(" ]");
int left = sensorRange[0];
int front = sensorRange[1];
int right = sensorRange[2];
int real = sensorRange[3];
int top = sensorRange[4];
int bottom = sensorRange[5];
DEBUG_SERIAL.print("left\t");
DEBUG_SERIAL.println(left);
DEBUG_SERIAL.print("front\t");
DEBUG_SERIAL.println(front);
DEBUG_SERIAL.print("right\t");
DEBUG_SERIAL.println(right);
DEBUG_SERIAL.print("real\t");
DEBUG_SERIAL.println(real);
DEBUG_SERIAL.print("top\t");
DEBUG_SERIAL.println(top);
DEBUG_SERIAL.print("bottom\t");
DEBUG_SERIAL.println(bottom);
#endif
}
else if (receiveDtype == dType_CountDrive)
{
#if defined(DEBUG_MODE_ENABLE)
DEBUG_SERIAL.println("");