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OpenFlightTX
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Cleanup Display

master
Englebert 6 years ago
parent
c408ebfb81
commit
09061e4c15
3 changed files with 350 additions and 113 deletions
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  1. 5
      OpenFlightTX.h
  2. 424
      OpenFlightTX.ino
  3. 22
      README.md

5
OpenFlightTX.h
View File

@ -28,9 +28,12 @@ void read_settings(void);
void reset_default(void);
void reset_settings(void);
void reboot(void);
void stick_position_and_limit_settings(void);
void stick_position(void);
void rc_controller(void);
void rx_checker(void);
void frequency_settings(void);
void setup_webserver(void);
void stick_trims(void);
void wifi_enabler(void);
void unload_webserver(void);
#endif

424
OpenFlightTX.ino
View File

@ -18,6 +18,8 @@
#include <WebServer.h>
#include <Update.h>
bool wifi_enable = false;
bool webserver_setup = false;
// Starting up Web Server
WebServer server(80);
@ -325,12 +327,18 @@ input[type=button] {
/*** Index Page ***/
const char* index_html PROGMEM = R"rawliteral(<pre><strong>OpenFlightTX v1.0.6</strong>
const char* index_html PROGMEM = R"rawliteral(<pre><strong>OpenFlightTX v1.0.7</strong>
)rawliteral";
// WebPages ----- END
void unload_webserver(void) {
// Unload webserver....
server.stop();
// Unload WiFi...
WiFi.disconnect();
}
void setup_webserver(void) {
//************ TEMPORARY HARDCODE
@ -437,9 +445,10 @@ struct menu_entry_type menu_entry_alpha_list[] = {
{ u8g2_font_open_iconic_all_2x_t, 224, "RC Controller"},
{ u8g2_font_open_iconic_all_2x_t, 94, "Bluetooth"},
{ u8g2_font_open_iconic_all_2x_t, 155, "Stick Calibration"},
{ u8g2_font_open_iconic_all_2x_t, 246, "Stick Settings"},
{ u8g2_font_open_iconic_all_2x_t, 242, "Stick Positions"},
{ u8g2_font_open_iconic_all_2x_t, 246, "Trims"},
{ u8g2_font_open_iconic_all_2x_t, 281, "WiFi"},
{ u8g2_font_open_iconic_all_2x_t, 141, "Frequency"},
{ u8g2_font_open_iconic_all_2x_t, 281, "RX Checker"},
{ u8g2_font_open_iconic_all_2x_t, 253, "RF Modules"},
{ u8g2_font_open_iconic_all_2x_t, 207, "RF Scanners"},
{ u8g2_font_open_iconic_all_2x_t, 104, "Debug"},
@ -449,22 +458,6 @@ struct menu_entry_type menu_entry_alpha_list[] = {
{ NULL, 0, NULL }
};
struct menu_entry_type menu_entry_alpha_huge_list[] = {
{ u8g2_font_open_iconic_all_8x_t, 224, "RC Controller"},
{ u8g2_font_open_iconic_all_8x_t, 94, "Bluetooth"},
{ u8g2_font_open_iconic_all_8x_t, 155, "Stick Calibration"},
{ u8g2_font_open_iconic_all_8x_t, 246, "Stick Settings"},
{ u8g2_font_open_iconic_all_8x_t, 141, "Frequency"},
{ u8g2_font_open_iconic_all_8x_t, 281, "RX Checker"},
{ u8g2_font_open_iconic_all_8x_t, 253, "RF Modules"},
{ u8g2_font_open_iconic_all_8x_t, 207, "RF Scanners"},
{ u8g2_font_open_iconic_all_8x_t, 104, "Debug"},
{ u8g2_font_open_iconic_all_8x_t, 90, "Battery"},
{ u8g2_font_open_iconic_all_8x_t, 142, "Save Settings"},
{ u8g2_font_open_iconic_all_8x_t, 205, "Reset Default"},
{ NULL, 0, NULL }
};
struct menu_state current_alpha_state = { ICON_BGAP, ICON_BGAP, 0 };
struct menu_state destination_alpha_state = { ICON_BGAP, ICON_BGAP, 0 };
@ -867,7 +860,9 @@ void read_all_voltage() {
throttle_raw = analogRead(THROTTLE_PIN);
yaw_raw = analogRead(YAW_PIN);
pitch_raw = analogRead(PITCH_PIN);
roll_raw = analogRead(ROLL_PIN);
// roll_raw = analogRead(ROLL_PIN);
// Hardcode to increase the value a bit...
roll_raw = analogRead(ROLL_PIN) + 150;
vbat_raw = analogRead(VBAT_PIN);
@ -980,10 +975,6 @@ void setup() {
/* Start an alarm */
timerAlarmEnable(timer);
/* Setting up OTA */
setup_webserver();
// u8g2_right.firstPage();
// u8g2_right.setFontMode(1);
// u8g2_right.setFont(u8g2_font_helvB10_tr);
@ -994,8 +985,6 @@ void setup() {
// u8g2_right.nextPage();
}
bool show_ip = false;
void loop() {
// Each seconds tick
@ -1007,15 +996,25 @@ void loop() {
last_seconds = millis() + 1000;
if(!show_ip) {
// This is the way to reduce CPU cycles. Only enable it when require
if(wifi_enable) {
if(!webserver_setup) {
/* Setting up OTA */
setup_webserver();
webserver_setup = true;
} else {
if(WiFi.status() == WL_CONNECTED) {
Serial.println(WiFi.localIP());
show_ip = true;
server.handleClient();
} else {
Serial.println(F("WiFi not connected"));
}
}
} else {
if(webserver_setup) {
unload_webserver();
webserver_setup = false;
}
}
// Only try to handles it every 1 seconda
server.handleClient();
}
read_all_voltage();
@ -1094,6 +1093,19 @@ void loop() {
// Battery
show_battery_level(115, 56);
// WiFi (if connected)
if(wifi_enable) {
u8g2_left.setFont(u8g2_font_open_iconic_all_1x_t);
u8g2_left.drawGlyph(105, 64, 281);
// If connected then print the IP
if(WiFi.status() == WL_CONNECTED) {
u8g2_left.setFont(u8g2_font_5x7_tf);
u8g2_left.setCursor(0, 55);
u8g2_left.print(WiFi.localIP());
}
}
u8g2_left.nextPage();
towards(&current_alpha_state, &destination_alpha_state);
@ -1129,12 +1141,15 @@ void loop() {
} else if(menu_entry_alpha_list[destination_alpha_state.position].name == "Reset Default") {
require_unlock = false;
reset_default();
} else if(menu_entry_alpha_list[destination_alpha_state.position].name == "Stick Settings") {
} else if(menu_entry_alpha_list[destination_alpha_state.position].name == "Stick Positions") {
require_unlock = true;
stick_position();
} else if(menu_entry_alpha_list[destination_alpha_state.position].name == "Trims") {
require_unlock = true;
stick_position_and_limit_settings();
} else if(menu_entry_alpha_list[destination_alpha_state.position].name == "RX Checker") {
stick_trims();
} else if(menu_entry_alpha_list[destination_alpha_state.position].name == "WiFi") {
require_unlock = false;
// rx_checker();
wifi_enabler();
} else if(menu_entry_alpha_list[destination_alpha_state.position].name == "Frequency") {
require_unlock = false;
frequency_settings();
@ -1302,7 +1317,169 @@ void rc_controller(void) {
}
}
void stick_position_and_limit_settings(void) {
void stick_trims(void) {
static int8_t stick_position_pointer = 0;
// Data processing
if(stick_navigation_position == MENU_LEFT) {
if(stick_position_pointer == 0) {
trim_throttle--;
} else if(stick_position_pointer == 1) {
trim_yaw--;
} else if(stick_position_pointer == 2) {
trim_pitch--;
} else if(stick_position_pointer == 3) {
trim_roll--;
}
} else if(stick_navigation_position == MENU_RIGHT) {
if(stick_position_pointer == 0) {
trim_throttle++;
} else if(stick_position_pointer == 1) {
trim_yaw++;
} else if(stick_position_pointer == 2) {
trim_pitch++;
} else if(stick_position_pointer == 3) {
trim_roll++;
}
} else if(stick_navigation_position == MENU_OK) {
stick_position_pointer++;
}
// Done...Lets wait for next
stick_navigation_position = MENU_NONE;
// Limit counts
if(stick_position_pointer > 3) stick_position_pointer = 0;
if(trim_throttle < -15) trim_throttle = -15;
if(trim_throttle > 15) trim_throttle = 15;
if(trim_yaw < -15) trim_yaw = -15;
if(trim_yaw > 15) trim_yaw = 15;
if(trim_pitch < -15) trim_pitch = -15;
if(trim_pitch > 15) trim_pitch = 15;
if(trim_roll < -15) trim_roll = -15;
if(trim_roll > 15) trim_roll = 15;
// Displaying...
u8g2_left.clearBuffer();
u8g2_left.firstPage();
u8g2_left.setFont(u8g2_font_ImpactBits_tr);
u8g2_left.setCursor(24, 11);
u8g2_left.print(F("Stick Trims"));
u8g2_left.setFont(u8g2_font_5x7_tf);
u8g2_left.setCursor(0, 25);
u8g2_left.print(F("THR:"));
u8g2_left.setCursor(0, 35);
u8g2_left.print(F("YAW:"));
u8g2_left.setCursor(0, 45);
u8g2_left.print(F("PIT:"));
u8g2_left.setCursor(0, 55);
u8g2_left.print(F("ROL:"));
// Drawing the Bars
// Throttle Trims
int8_t trim_values = trim_throttle;
u8g2_left.drawFrame(20, 18, 34, 8);
if(trim_throttle >= 0) {
u8g2_left.drawBox(37, 20, trim_throttle, 4);
} else {
u8g2_left.drawBox(37 + trim_throttle, 20, -(trim_throttle), 4);
}
u8g2_left.drawFrame(20, 28, 34, 9);
if(trim_yaw >= 0) {
u8g2_left.drawBox(37, 30, trim_yaw, 4);
} else {
u8g2_left.drawBox(37 + trim_yaw, 30, -(trim_yaw), 4);
}
u8g2_left.drawFrame(20, 38, 34, 9);
if(trim_pitch >= 0) {
u8g2_left.drawBox(37, 40, trim_pitch, 4);
} else {
u8g2_left.drawBox(37 + trim_pitch, 40, -(trim_pitch), 4);
}
u8g2_left.drawFrame(20, 48, 34, 9);
if(trim_roll >= 0) {
u8g2_left.drawBox(37, 50, trim_roll, 4);
} else {
u8g2_left.drawBox(37 + trim_roll, 50, -(trim_roll), 4);
}
// Pointers
// u8g2_left.setCursor(25, 25 + (stick_position_pointer * 10));
// u8g2_left.print(F("<"));
// u8g2_left.setFont(u8g2_font_m2icon_9_tf);
// u8g2_left.drawGlyph(38, 27 + (stick_position_pointer * 10), 97); // <- Pointer icon
/*
static char buf[6];
strcpy(buf, ltoa(trim_throttle, buf, 10));
u8g2_right.drawStr(100, 35,buf);
if(reset_selections) {
u8g2_left.drawFrame(26, 40, 30, 20);
} else {
u8g2_left.drawFrame(62, 40, 30, 20);
}
*/
draw_gimbalbox(60, 25, 33);
draw_gimbalbox(95, 25, 33);
uint16_t gimbal_y_raw = throttle_value;
uint16_t gimbal_x_raw = yaw_value;
if(gimbal_y_raw < throttle_min) gimbal_y_raw = throttle_min;
if(gimbal_y_raw > throttle_max) gimbal_y_raw = throttle_max;
if(gimbal_x_raw < yaw_min) gimbal_x_raw = yaw_min;
if(gimbal_x_raw > yaw_max) gimbal_x_raw = yaw_max;
uint8_t gimbal_y;
if(!invert_throttle)
gimbal_y = map(gimbal_y_raw, throttle_min, throttle_max, 0, 31); // Throttle
else
gimbal_y = map(gimbal_y_raw, throttle_max, throttle_min, 0, 31); // Throttle
uint8_t gimbal_x;
if(!invert_yaw)
gimbal_x = map(gimbal_x_raw, yaw_min, yaw_max, 0, 31); // Yaw
else
gimbal_x = map(gimbal_x_raw, yaw_max, yaw_min, 0, 31); // Yaw
// u8g2_left.drawFilledEllipse(64 + gimbal_x, gimbal_y, 2, 2, U8G2_DRAW_ALL);
u8g2_left.drawFilledEllipse(60 + gimbal_x, 25 + gimbal_y, 2, 2, U8G2_DRAW_ALL);
// Mapping based on the live values
gimbal_y_raw = pitch_value;
gimbal_x_raw = roll_value;
if(gimbal_y_raw < pitch_min) gimbal_y_raw = pitch_min;
if(gimbal_y_raw > pitch_max) gimbal_y_raw = pitch_max;
if(gimbal_x_raw < roll_min) gimbal_x_raw = roll_min;
if(gimbal_x_raw > roll_max) gimbal_x_raw = roll_max;
if(!invert_pitch)
gimbal_y = map(gimbal_y_raw, pitch_min, pitch_max, 0, 31); // Pitch
else
gimbal_y = map(gimbal_y_raw, pitch_max, pitch_min, 0, 31); // Pitch
if(!invert_roll)
gimbal_x = map(gimbal_x_raw, roll_min, roll_max, 0, 31); // Roll
else
gimbal_x = map(gimbal_x_raw, roll_max, roll_min, 0, 31); // Roll
// u8g2_right.drawFilledEllipse(gimbal_x, gimbal_y, 3, 3, U8G2_DRAW_ALL);
u8g2_left.drawFilledEllipse(95 + gimbal_x, 25 + gimbal_y, 2, 2, U8G2_DRAW_ALL);
u8g2_left.setFont(u8g2_font_m2icon_9_tf);
u8g2_left.drawGlyph(60, 27 + (stick_position_pointer * 10), 97); // <- Pointer icon
u8g2_left.nextPage();
}
void stick_position(void) {
static int8_t stick_position_pointer = 0;
// Data processing
@ -1369,73 +1546,43 @@ void stick_position_and_limit_settings(void) {
u8g2_left.clearBuffer();
u8g2_left.firstPage();
u8g2_left.setFont(u8g2_font_ImpactBits_tr);
u8g2_left.setCursor(10, 15);
u8g2_left.setCursor(10, 11);
u8g2_left.print(F("Stick Positions"));
u8g2_left.setFont(u8g2_font_5x7_tf);
u8g2_left.setCursor(0, 25);
u8g2_left.print(F("THR:"));
if(invert_throttle) {
u8g2_left.print(F("INVERT"));
u8g2_left.print(F("INV"));
} else {
u8g2_left.print(F("NORMAL"));
u8g2_left.print(F("NOR"));
}
u8g2_left.setCursor(0, 35);
u8g2_left.print(F("YAW:"));
if(invert_yaw) {
u8g2_left.print(F("INVERT"));
u8g2_left.print(F("INV"));
} else {
u8g2_left.print(F("NORMAL"));
u8g2_left.print(F("NOR"));
}
u8g2_left.setCursor(0, 45);
u8g2_left.print(F("PIT:"));
if(invert_pitch) {
u8g2_left.print(F("INVERT"));
u8g2_left.print(F("INV"));
} else {
u8g2_left.print(F("NORMAL"));
u8g2_left.print(F("NOR"));
}
u8g2_left.setCursor(0, 55);
u8g2_left.print(F("ROL:"));
if(invert_roll) {
u8g2_left.print(F("INVERT"));
} else {
u8g2_left.print(F("NORMAL"));
}
// Drawing the Bars
// Throttle Trims
int8_t trim_values = trim_throttle;
u8g2_left.drawFrame(65, 17, 34, 9);
if(trim_throttle >= 0) {
u8g2_left.drawBox(82, 19, trim_throttle, 5);
} else {
u8g2_left.drawBox(82 + trim_throttle, 19, -(trim_throttle), 5);
}
u8g2_left.drawFrame(65, 27, 34, 9);
if(trim_yaw >= 0) {
u8g2_left.drawBox(82, 29, trim_yaw, 5);
} else {
u8g2_left.drawBox(82 + trim_yaw, 29, -(trim_yaw), 5);
}
u8g2_left.drawFrame(65, 37, 34, 9);
if(trim_pitch >= 0) {
u8g2_left.drawBox(82, 39, trim_pitch, 5);
} else {
u8g2_left.drawBox(82 + trim_pitch, 39, -(trim_pitch), 5);
}
u8g2_left.drawFrame(65, 47, 34, 9);
if(trim_roll >= 0) {
u8g2_left.drawBox(82, 49, trim_roll, 5);
u8g2_left.print(F("INV"));
} else {
u8g2_left.drawBox(82 + trim_roll, 49, -(trim_roll), 5);
u8g2_left.print(F("NOR"));
}
// Pointers
u8g2_left.setCursor(110, 25 + (stick_position_pointer * 10));
u8g2_left.print(F("<"));
// u8g2_left.setCursor(25, 25 + (stick_position_pointer * 10));
// u8g2_left.print(F("<"));
u8g2_left.setFont(u8g2_font_m2icon_9_tf);
u8g2_left.drawGlyph(38, 27 + (stick_position_pointer * 10), 97); // <- Pointer icon
/*
static char buf[6];
@ -1448,16 +1595,9 @@ void stick_position_and_limit_settings(void) {
u8g2_left.drawFrame(62, 40, 30, 20);
}
*/
draw_gimbalbox(53, 25, 32);
draw_gimbalbox(90, 25, 32);
u8g2_left.nextPage();
// u8g2_right.clearBuffer();
// u8g2_right.firstPage();
draw_gimbalbox(0, 0);
draw_gimbalbox(64, 0);
// Mapping based on the live values
uint16_t gimbal_y_raw = throttle_value;
uint16_t gimbal_x_raw = yaw_value;
if(gimbal_y_raw < throttle_min) gimbal_y_raw = throttle_min;
@ -1467,17 +1607,19 @@ void stick_position_and_limit_settings(void) {
uint8_t gimbal_y;
if(!invert_throttle)
gimbal_y = map(gimbal_y_raw, throttle_min, throttle_max, 0, 63); // Throttle
gimbal_y = map(gimbal_y_raw, throttle_min, throttle_max, 0, 31); // Throttle
else
gimbal_y = map(gimbal_y_raw, throttle_max, throttle_min, 0, 63); // Throttle
gimbal_y = map(gimbal_y_raw, throttle_max, throttle_min, 0, 31); // Throttle
uint8_t gimbal_x;
if(!invert_yaw)
gimbal_x = map(gimbal_x_raw, yaw_min, yaw_max, 0, 63); // Yaw
gimbal_x = map(gimbal_x_raw, yaw_min, yaw_max, 0, 31); // Yaw
else
gimbal_x = map(gimbal_x_raw, yaw_max, yaw_min, 0, 63); // Yaw
gimbal_x = map(gimbal_x_raw, yaw_max, yaw_min, 0, 31); // Yaw
// u8g2_left.drawFilledEllipse(64 + gimbal_x, gimbal_y, 2, 2, U8G2_DRAW_ALL);
u8g2_left.drawFilledEllipse(53 + gimbal_x, 25 + gimbal_y, 2, 2, U8G2_DRAW_ALL);
// u8g2_right.drawFilledEllipse(gimbal_x, gimbal_y, 3, 3, U8G2_DRAW_ALL);
// Mapping based on the live values
gimbal_y_raw = pitch_value;
@ -1488,18 +1630,22 @@ void stick_position_and_limit_settings(void) {
if(gimbal_x_raw > roll_max) gimbal_x_raw = roll_max;
if(!invert_pitch)
gimbal_y = map(gimbal_y_raw, pitch_min, pitch_max, 0, 63); // Pitch
gimbal_y = map(gimbal_y_raw, pitch_min, pitch_max, 0, 31); // Pitch
else
gimbal_y = map(gimbal_y_raw, pitch_max, pitch_min, 0, 63); // Pitch
gimbal_y = map(gimbal_y_raw, pitch_max, pitch_min, 0, 31); // Pitch
if(!invert_roll)
gimbal_x = map(gimbal_x_raw, roll_min, roll_max, 0, 63); // Roll
gimbal_x = map(gimbal_x_raw, roll_min, roll_max, 0, 31); // Roll
else
gimbal_x = map(gimbal_x_raw, roll_max, roll_min, 0, 63); // Roll
gimbal_x = map(gimbal_x_raw, roll_max, roll_min, 0, 31); // Roll
// u8g2_right.drawFilledEllipse(64 + gimbal_x, gimbal_y, 3, 3, U8G2_DRAW_ALL);
// u8g2_right.drawFilledEllipse(gimbal_x, gimbal_y, 3, 3, U8G2_DRAW_ALL);
u8g2_left.drawFilledEllipse(90 + gimbal_x, 25 + gimbal_y, 2, 2, U8G2_DRAW_ALL);
u8g2_left.nextPage();
// u8g2_right.nextPage();
// u8g2_right.clearBuffer();
// u8g2_right.firstPage();
}
void read_settings(void) {
@ -2054,7 +2200,7 @@ void show_battery_level(uint8_t x, uint8_t y) {
u8g2_left.drawLine(x+12, y+2, x+12, y+5);
// Battery level indicator
int vbat_bar_value = ((vbat_value * .0012142857) - 3.2) * 10;
int vbat_bar_value = ((vbat_value * .0012142857) - 3.2) * 8;
// int vbat_bar_value = vbat_value * 10 / 4096;
uint8_t x1 = 0;
for(int i = 0; i < vbat_bar_value; i++) {
@ -2063,6 +2209,61 @@ void show_battery_level(uint8_t x, uint8_t y) {
}
}
void wifi_enabler(void) {
/*
u8g2_left.clearBuffer();
u8g2_left.firstPage();
u8g2_left.setFont(menu_entry_alpha_huge_list[destination_alpha_state.position].font);
u8g2_left.drawGlyph(40, ICONX_Y, menu_entry_alpha_huge_list[destination_alpha_state.position].icon);
u8g2_left.nextPage();
*/
u8g2_left.clearBuffer();
u8g2_left.firstPage();
u8g2_left.setFontMode(1);
u8g2_left.setFont(u8g2_font_VCR_OSD_tr);
static char buf[6];
// u8g2_left.drawStr(45, 15, buf);
// strcpy(buf, ltoa(vbat_value, buf, 10));
// u8g2_left.drawStr(0, 30, buf);
static bool wifi_selections = false;
u8g2_left.setFont(u8g2_font_ImpactBits_tr);
u8g2_left.setCursor(15, 25);
u8g2_left.print(F("Enable WiFi?"));
u8g2_left.setCursor(30, 55);
u8g2_left.print(F("Yes No"));
// TODO: Working on WiFi. Manually on...
if(stick_navigation_position == MENU_LEFT) {
wifi_selections = true;
} else if(stick_navigation_position == MENU_RIGHT) {
wifi_selections = false;
} else if(stick_navigation_position == MENU_OK) {
// Wifi...
if(wifi_selections) {
wifi_enable = true;
} else {
wifi_enable = false;
}
// Simulate...so it will return back..
menu_entry_alpha_selected = false;
last_menu_stick_read = millis() + 200;
}
if(wifi_selections) {
u8g2_left.drawFrame(26, 40, 30, 20);
} else {
u8g2_left.drawFrame(62, 40, 30, 20);
}
u8g2_left.nextPage();
}
void battery_management() {
/*
u8g2_left.clearBuffer();
@ -2079,20 +2280,31 @@ void battery_management() {
static char buf[6];
u8g2_left.setCursor(0,15);
u8g2_left.print(F("VBAT:"));
u8g2_left.setFont(u8g2_font_ImpactBits_tr);
u8g2_left.setCursor(0,12);
u8g2_left.print(F("Battery LEVEL"));
// u8g2_left.drawStr(45, 15, buf);
// strcpy(buf, ltoa(vbat_value, buf, 10));
// u8g2_left.drawStr(0, 30, buf);
float vbat_real_value = vbat_value * .0012142857;
//strcpy(buf, ltoa(vbat_real_value, buf, 10));
dtostrf(vbat_real_value, 3, 2, buf);
dtostrf(vbat_real_value, 2, 1, buf);
u8g2_left.drawStr(0, 45, buf);
u8g2_left.setCursor(48, 45);
u8g2_left.setFont(u8g2_font_maniac_tf);
u8g2_left.drawStr(0, 64, buf);
u8g2_left.setCursor(44, 64);
u8g2_left.print(F("V"));
// The battery frame
u8g2_left.drawFrame(96, 0, 32, 64);
// Bars Calculations
uint8_t bars = map(vbat_value, 2650, 3460, 0, 31);
for(int i = 0; i < bars; i++) {
u8g2_left.drawHLine(98, 61 - (i*2), 28);
}
u8g2_left.nextPage();
}

22
README.md
View File

@ -0,0 +1,22 @@
### Transmission Format
THROTTLE: 0 - 4096 (12-bits)
YAW: 0 - 4096 (12-bits)
PITCH: 0 - 4096 (12-bits)
ROW: 0 - 4096 (12-bits)
SW A: 0 - 1 ( 1-bit )
SW B: 0 - 1 ( 1-bit )
SW C: 0 - 1 ( 1-bit )
SW D: 0 - 1 ( 1-bit )
Checksum: 0 - 256 ( 8-buts)
TotalBits: 52-bits
TTTT TTTT TTTT YYYY YYYY YYYY PPPP PPPP PPPP RRRR RRRR RRRR SSSS SSSS CCCC CCCC = 64-bits ( 8 bytes )
TTTT TTTT TTTT YYYY YYYY YYYY PPPP PPPP PPPP RRRR RRRR RRRR SSSS SSSS = 56-bits ( 7 bytes )
TTTTTTTTTTTTYYYYYYYYYYYYPPPPPPPPPPPPRRRRRRRRRRRRSSSSSSSSCCCCCCCC
TTTT TTTT TTTT ---- YYYY YYYY YYYY ---- PPPP PPPP PPPP ---- RRRR RRRR RRRR ---- SSSS SSSS = 72-bits ( 9 bytes )
TTTT TTTT TTTT ---- YYYY YYYY YYYY ---- PPPP PPPP PPPP ---- RRRR RRRR RRRR ---- SSSS SSSS CCCC CCCC = 80-bits ( 10 bytes )
TTTTTTTTTTTT----YYYYYYYYYYYY----PPPPPPPPPPPP----RRRRRRRRRRRR----SSSSSSSSCCCCCCCC
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