TX_nRF24L01_5ch_Telemetry_LED.ino

//*********************************************************************************************************************************************
// Add communication nRF24L01P. Fixed RF channel, fixed address.
// Support for Arduino-based receivers and RF24 libraries from this repository https://github.com/stanekTM/RX_nRF24L01_Telemetry_Motor_Servo
// Thanks to "Phil_G" http://www.singlechannel.co.uk philg@talk21.com for the calibration and reverse routine I used in the code.
// Calibration:
// Hold calibration button, switch transmitter TX on, still holding calibration button move all controls to extremes including auxilliary pots.
// Center all controls and aux pots.
// Release calibration button (saved to eeprom).
// Servo reversing:
// To reverse the desired channel, hold the joystick in the end position and turn on the TX transmitter (saved to eeprom).
//*********************************************************************************************************************************************


#include <RF24.h>     // https://github.com/nRF24/RF24
#include <SPI.h>      // Arduino standard library
#include <EEPROM.h>   // Arduino standard library


//setting RF channels address (5 bytes number or character)
const byte address[] = "jirka";

//RF communication channel settings (0-125, 2.4Ghz + 76 = 2.476Ghz)
#define RADIO_CHANNEL         76

//TX battery voltage settings
#define TX_BATTERY_VOLTAGE    4.2
#define TX_MONITORED_VOLTAGE  3.3

//RX voltage monitoring settings
#define RX_MONITORED_VOLTAGE  3.49

//setting the control range value
#define MIN_CONTROL_VAL       1000
#define MID_CONTROL_VAL       1500
#define MAX_CONTROL_VAL       2000
#define EPA_POSITIVE          500
#define EPA_NEGATIVE         -500

//free pins
//pin                     0
//pin                     1
//pin                     3
//pin                     5
//pin                     6
//pin                     7
//pin                     8
//pin                     A5
//pin                     A6

//pins for pots, joysticks
//pot1                    A0
//pot2                    A1
//pot3                    A2
//pot4                    A3
//pot5                    A4

//LED battery and RF on/off
#define PIN_LED           2

//calibration button (I had to add a 10k resistor -> VCC even when the internal INPUT_PULLUP is activated)
#define PIN_BUTTON_CALIB  4

//input battery
#define PIN_BATTERY       A7

//pins for nRF24L01
#define PIN_CE            9
#define PIN_CSN           10

//hardware SPI
//----- MOSI              11
//----- MISO              12
//----- SCK               13

//setting of CE and CSN pins
RF24 radio(PIN_CE, PIN_CSN);

//*********************************************************************************************************************
//this structure defines the sent data in bytes ***********************************************************************
//*********************************************************************************************************************
struct rc_packet_size
{
  unsigned int ch1;
  unsigned int ch2;
  unsigned int ch3;
  unsigned int ch4;
  unsigned int ch5;
};
rc_packet_size rc_packet;

//*********************************************************************************************************************
//this struct defines data, which are embedded inside the ACK payload *************************************************
//*********************************************************************************************************************
struct telemetry_packet_size
{
  byte rssi;     //not used yet
  float batt_A1;
  float batt_A2; //not used yet
};
telemetry_packet_size telemetry_packet;

//*********************************************************************************************************************
//read pots, joysticks ************************************************************************************************
//*********************************************************************************************************************
int ch, raw_pots;
int pot_calib_min[] = {0, 0, 0, 0, 0};
int pot_calib_mid[] = {512, 512, 512, 512, 512};
int pot_calib_max[] = {1023, 1023, 1023, 1023, 1023};
int pots_value[] = {1500, 1500, 1500, 1500, 1500};
byte reverse[] = {0, 0, 0, 0, 0};

void read_pots()
{
  for (ch = 0; ch < 5; ch++)
  {
    raw_pots = analogRead(ch);
    if (raw_pots > pot_calib_mid[ch])
    pots_value[ch] = map(raw_pots, pot_calib_mid[ch], pot_calib_min[ch], 0, EPA_POSITIVE);
    else
    pots_value[ch] = map(raw_pots, pot_calib_max[ch], pot_calib_mid[ch], EPA_NEGATIVE, 0);
  }
  
  // format the frame
  for (ch = 0; ch < 5; ch++)
  {
    pots_value[ch] += MID_CONTROL_VAL;
    pots_value[ch] = constrain(pots_value[ch], MIN_CONTROL_VAL, MAX_CONTROL_VAL);
    if (reverse[ch] == 1) pots_value[ch] = 3000 - pots_value[ch];
  }
  
  rc_packet.ch1 = pots_value[0]; //A0
  rc_packet.ch2 = pots_value[1]; //A1
  rc_packet.ch3 = pots_value[2]; //A2
  rc_packet.ch4 = pots_value[3]; //A3
  rc_packet.ch5 = pots_value[4]; //A4
  
  //Serial.println(rc_packet.ch1);
}

//*********************************************************************************************************************
//calibrate pots, joysticks *******************************************************************************************
//*********************************************************************************************************************
int calibrated = 1;

void calibrate_pots()
{
  while (digitalRead(PIN_BUTTON_CALIB) == 0)
  {
    calibrated = 0;
    for (int pot = 0; pot < 5; ++pot)
    {
      raw_pots = analogRead(pot);
      if (raw_pots > pot_calib_min[pot]) pot_calib_min[pot] = raw_pots;
      if (raw_pots < pot_calib_max[pot]) pot_calib_max[pot] = raw_pots;
      pot_calib_mid[pot] = raw_pots;  //save neutral pots, joysticks as button is released
    }
  }   //calibrate button released
  
  if (calibrated == 0)
  {
    for (ch = 0; ch < 5; ch++)
    {
      EEPROMWriteInt(ch * 6,     pot_calib_max[ch]); //eeprom locations  0,  6, 12, 18 (decimal)
      EEPROMWriteInt(ch * 6 + 2, pot_calib_mid[ch]); //eeprom locations  2,  8, 14, 20 (decimal)
      EEPROMWriteInt(ch * 6 + 4, pot_calib_min[ch]); //eeprom locations  4, 10, 16, 22 (decimal)
    }
    calibrated = 1;
  }
  
  for (ch = 0; ch < 5; ch++)
  {
    pot_calib_max[ch] = EEPROMReadInt(ch * 6);     //eeprom locations  0,  6, 12, 18 (decimal)
    pot_calib_mid[ch] = EEPROMReadInt(ch * 6 + 2); //eeprom locations  2,  8, 14, 20 (decimal)
    pot_calib_min[ch] = EEPROMReadInt(ch * 6 + 4); //eeprom locations  4, 10, 16, 22 (decimal)
    reverse[ch] = EEPROM.read(ch + 30) & 1;        //eeprom locations 30, 31, 32, 33 (decimal), ch * 6 = 30
  }
  
  //check for reversing, stick over on power-up
  for (ch = 0; ch < 5; ch++)
  {
    pots_value[ch] = map(analogRead(ch), pot_calib_max[ch], pot_calib_min[ch], EPA_NEGATIVE, EPA_POSITIVE);
    if (pots_value[ch] > EPA_POSITIVE - 50 || pots_value[ch] < EPA_NEGATIVE + 50)
    {
      reverse[ch] ^= B00000001;
      EEPROM.write(30 + ch, reverse[ch]); //ch * 6 = 30
    }
  }
}

//*********************************************************************************************************************
//this function will write a 2 byte integer to the eeprom at the specified address and address + 1 ********************
//*********************************************************************************************************************
void EEPROMWriteInt(int p_address, int p_value)
{
  byte lowByte = p_value % 256;
  byte highByte = p_value / 256;
  EEPROM.write(p_address, lowByte);
  EEPROM.write(p_address + 1, highByte);
}

//*********************************************************************************************************************
//this function will read a 2 byte integer from the eeprom at the specified address and address + 1 *******************
//*********************************************************************************************************************
unsigned int EEPROMReadInt(int p_address)
{
  byte lowByte = EEPROM.read(p_address);
  byte highByte = EEPROM.read(p_address + 1);
  return lowByte + highByte * 256;
}

//*********************************************************************************************************************
//initial main settings ***********************************************************************************************
//*********************************************************************************************************************
const byte invert_address = ~address[5]; //invert bits for reading so that telemetry packets have a different address

void setup()
{
  //Serial.begin(9600); //print value on a serial monitor
  
  pinMode(PIN_LED, OUTPUT);
  pinMode(PIN_BATTERY, INPUT);
  pinMode(PIN_BUTTON_CALIB, INPUT_PULLUP);

  calibrate_pots();
  
  //define the radio communication
  radio.begin();
  radio.setAutoAck(true);
  radio.enableAckPayload();
  radio.enableDynamicPayloads();
  radio.setRetries(5, 5);
  radio.setChannel(RADIO_CHANNEL);
  radio.setDataRate(RF24_250KBPS);
  radio.setPALevel(RF24_PA_MIN); //RF24_PA_MIN (-18dBm), RF24_PA_LOW (-12dBm), RF24_PA_HIGH (-6dbm), RF24_PA_MAX (0dBm)
  radio.stopListening();
  radio.openWritingPipe(address);
  radio.openReadingPipe(1, invert_address);
}

//*********************************************************************************************************************
//program loop ********************************************************************************************************
//*********************************************************************************************************************
void loop()
{
  read_pots();
  receive_time();
  send_and_receive_data();
  TX_batt_check();
}

//*********************************************************************************************************************
//after losing RF data or turning off the RX, gain time and the LED flashing ******************************************
//*********************************************************************************************************************
unsigned long rx_time = 0;

void receive_time()
{
  if (millis() - rx_time > 1000) //after 1 second
  {
    RF_off_check();
  }
}

//*********************************************************************************************************************
//send and receive data ***********************************************************************************************
//*********************************************************************************************************************
void send_and_receive_data()
{
  if (radio.write(&rc_packet, sizeof(rc_packet_size)))
  {
    if (radio.isAckPayloadAvailable())
    {
      radio.read(&telemetry_packet, sizeof(telemetry_packet_size));
      
      RX_batt_check();
      rx_time = millis();
    }
  }
}

//*********************************************************************************************************************
//input measurement TX_BATTERY_VOLTAGE < TX_MONITORED_VOLTAGE = LED flash at a interval of 0.2s ***********************
//Battery OK = LED is lit *********************************************************************************************
//*********************************************************************************************************************
float val_TX_battery;
unsigned long led_time = 0;
bool led_state;

void TX_batt_check()
{
  val_TX_battery = analogRead(PIN_BATTERY) * (TX_BATTERY_VOLTAGE / 1023);
  
  if (val_TX_battery <= TX_MONITORED_VOLTAGE)
  {
    if (millis() - led_time > 200)
    {
      led_time = millis();
      
      if (led_state)
      {
        led_state = 0;
      }
      else
      {
        led_state = 1;
      }
      digitalWrite(PIN_LED, led_state);
    }
  }
  //Serial.println(val_TX_battery);
}

//*********************************************************************************************************************
//after receiving RF data, the monitored RX battery is activated ******************************************************
//RX battery voltage(telemetry_packet.batt_A1) < RX_MONITORED_VOLTAGE = LEDs TX, RX flash at a interval of 0.5s *******
//Battery OK = LEDs TX, RX is lit *************************************************************************************
//*********************************************************************************************************************
bool RX_low_batt_detect = 0;

void RX_batt_check()
{
  RX_low_batt_detect = telemetry_packet.batt_A1 <= RX_MONITORED_VOLTAGE;
  
  if (millis() - led_time > 500)
  {
    led_time = millis();
    
    if (led_state == RX_low_batt_detect)
    {
      led_state = 0;
    }
    else
    {
      led_state = 1;
    }
    digitalWrite(PIN_LED, led_state);
  }
  //Serial.println(telemetry_packet.batt_A1);
}

//*********************************************************************************************************************
//when TX is switched on and RX is switched off, or after the loss of RF data = LED TX flash at a interval of 0.1s ****
//Normal mode = LED TX is lit *****************************************************************************************
//*********************************************************************************************************************
void RF_off_check()
{
  if (millis() - led_time > 100)
  {
    led_time = millis();
    
    if (led_state)
    {
      led_state = 0;
    }
    else
    {
      led_state = 1;
    }
    digitalWrite(PIN_LED, led_state);
  }
}