Difference between revisions of "Open Source Self-balance Robot System"

// PD control.  
float stabilityPDControl(float DT, float input, float setPoint, float Kp, float Kd) 
{ 
    float error; 
    float output; 
    error = setPoint - input; 
    // Implementation of Kd in two parts 
    //Only used part of the input rather than the biggest setting value of the input(T-2).
    //The second one adopts the setting value.
    output = Kp * error + (Kd * (setPoint - setPointOld) - Kd * (input - PID_errorOld2)) / DT; 
    //Serial.print(Kd*(error-PID_errorOld));Serial.print("\t"); 
    PID_errorOld2 = PID_errorOld; 
    PID_errorOld = input;  // The error is the only input component of the Kd value. 
    setPointOld = setPoint; 
    return(output); 
} 
//Realize "P" control. 
float speedPControl(float input, float setPoint,  float Kp) 
{ 
    float error; 
    error = setPoint - input; 
    return(Kp * error); 
}

#define MOTOR_EN  4      //PORTB,0
#define MOTOR1_DIR A0    //PORTA,7
#define MOTOR1_STEP 5   //PORTB,1
#define MOTOR2_DIR A1    //PORTA,6
#define MOTOR2_STEP 6   //PORTB,2
#define MOTOR3_DIR A2    //PORTA,5
#define MOTOR3_STEP 7   //PORTB,3
#define MOTOR4_DIR A3    //PORTA,4
#define MOTOR4_STEP 8   //PORTD,6

#define LED -1
//rf=======================================
#include <RF24Network.h>
#include <RF24.h>
#include <SPI.h>

// nRF24L01(+) radio attached using Getting Started board
RF24 radio(9, 10);
RF24Network network(radio);
const uint16_t this_node = 1;	//Set ID
const uint16_t other_node = 0;

//--------------------------------
struct send_a	//Send 
{
  uint32_t node_ms;		//Node running time 
};

unsigned long last_sent = 0;	//Timer 

struct receive_a  //Receive 
{
  uint32_t ms;
  uint16_t rf_CH0;
  uint16_t rf_CH1;
  uint16_t rf_CH2;
  uint16_t rf_CH3;
  uint16_t rf_CH4;
  uint16_t rf_CH5;
  uint16_t rf_CH6;
  uint16_t rf_CH7;
};

unsigned long clock;	//Host machine running time 
int tem_xuan = 0;			//Host machine request schedule 

//----------------------------
boolean node_STA = false;

unsigned long safe_ms = millis();
//=================================================================================
#include <Wire.h>
#include <I2Cdev.h>
#include <JJ_MPU6050_DMP_6Axis.h>  // DMP working library's revised version. 

//=================================================================================
#define CLR(x,y) (x&=(~(1<<y)))
#define SET(x,y) (x|=(1<<y))

//=========================================
#define DEBUG 0

#define ZERO_SPEED 65535 //Zero speed 
#define MAX_ACCEL 7 //The maximum ACCEL
#define MAX_THROTTLE 480 //The maximum throttle is 530. 
#define MAX_STEERING 120 //The maximum steering
#define MAX_TARGET_ANGLE 15 //The maximum target  is 12.  

// Default control items  
#define ANGLE_FIX -3.5
#define KP 0.22 // 0.22        
#define KD 28  // 30 28 26  
#define KP_THROTTLE 0.065  //0.08//0.065
#define KI_THROTTLE 0.05//0.05
// For "raiseup" control gains.  
#define KP_RAISEUP 0.02 //kp raise up  
#define KD_RAISEUP 40   //kd raise up 
#define KP_THROTTLE_RAISEUP 0  //No speed control on "raiseup"
#define KI_THROTTLE_RAISEUP 0.0//Throttle raise up 
#define ITERM_MAX_ERROR 40   // ITERM saturation constant 
#define ITERM_MAX 5000
//=================================================================================

#define I2C_SPEED 400000L //I2C speed 
#define Gyro_Gain 0.03048//Gyroscope gain 
#define Gyro_Scaled(x) x*Gyro_Gain //Return the original data of the gyroscope 
#define RAD2GRAD 57.2957795//57.2957795
#define GRAD2RAD 0.01745329251994329576923690768489//0.01745329251994329576923690768489

//=================================================================================
bool Robot_shutdown = false; // Robot shutdown flag => Out of battery
uint8_t mode;   // 0: MANUAL MODE   1: autonomous MODE
uint8_t autonomous_mode_status;   // 1: NORMAL STATUS=Walking  2:
int16_t autonomous_mode_counter;
int16_t autonomous_mode_distance;
int16_t pushUp_counter;  // for pushUp functionality (experimental)

// MPU Control/Status 
bool dmpReady = false;  // Set as True if DMP initialization is ready. 
uint8_t mpuIntStatus;   // Own MPU interruption status bytes 
uint8_t devStatus;      // Each deveice will return to the original status after operation. (0=Ready! 0=False)
uint16_t packetSize;    // Predict DMP packet(Here is 18 bytes.
uint16_t fifoCount;     // All bytes in FIFO. 
uint8_t fifoBuffer[18]; // FIFO buffer 
Quaternion q;
uint8_t loop_counter;       // Generate 40Hz loop 
uint8_t slow_loop_counter;  // Slow loop 2HZ
long timer_old;//Old timer 
long timer_value;//Timer value 
int debug_counter;//Debug the counter 
float dt;
int lkf;
// The default I2C daddress is 0X68
MPU6050 mpu;
float angle_adjusted;//Angle adjustment 
float angle_adjusted_Old;// Angle adjustment 
float Kp = KP;
float Kd = KD;
float Kp_thr = KP_THROTTLE; //Throttle 
float Ki_thr = KI_THROTTLE;
float Kp_user = KP;
float Kd_user = KD;
float Kp_thr_user = KP_THROTTLE;
float Ki_thr_user = KI_THROTTLE;
bool newControlParameters = false;//New Bool control parameters 
bool modifing_control_parameters = false; // New Bool control parameters 
float PID_errorSum;
float PID_errorOld = 0;
float PID_errorOld2 = 0;
float setPointOld = 0;
float target_angle;
float throttle;
float kkll;
float steering;
float max_throttle = MAX_THROTTLE;//
float max_steering = MAX_STEERING;
float max_target_angle = MAX_TARGET_ANGLE;
float control_output;
int16_t motor1;
int16_t motor2;
int16_t speed_m[2];           // Actual motor rotation speed
uint8_t dir_m[2];             // Actual rotation direction of the stepper motor 
int16_t actual_robot_speed;          // Actual robot speed 
int16_t actual_robot_speed_Old;          // Actual robot speed
float estimated_speed_filtered;//Filtered estimated speed 
uint16_t counter_m[2];        // Cycle of the counter 
uint16_t period_m[2][8];      //  
uint8_t period_m_index[2];    // 
int freeRam () { //Free Ram 
  extern int __heap_start, *__brkval;
  int v;
  return (int) &v - (__brkval == 0 ? (int) &__heap_start : (int) __brkval);
}
//DMP Function 
//This function defines the weight on the accelerated sensor. 
//0x80 by default 
//The official name of InvenSense is inv_key_0_96（？）
void dmpSetSensorFusionAccelGain(uint8_t gain) {
  // INV_KEY_0_96
  mpu.setMemoryBank(0);
  mpu.setMemoryStartAddress(0x60);
  mpu.writeMemoryByte(0);
  mpu.writeMemoryByte(gain);
  mpu.writeMemoryByte(0);
  mpu.writeMemoryByte(0);
}
// Calculate and get Obtein angle
float dmpGetPhi() {
  mpu.getFIFOBytes(fifoBuffer, 16); // Get FIFO bytes 
  mpu.dmpGetQuaternion(&q, fifoBuffer);
  mpu.resetFIFO();  //Reset FIFO
  //Return ( asin(-2*(q.x * q.z - q.w * q.y)) * 180/M_PI); //roll
  return (atan2(2 * (q.z * q.y + q.x * q.w), q.x * q.x - q.w * q.w - q.z * q.z + q.y * q.y) * RAD2GRAD);
}
//xyzw
//wzyx

// PD's implementation. DT is "ms". 
float stabilityPDControl(float DT, float input, float setPoint,  float Kp, float Kd)
{
  float error;
  float output;
  error = setPoint - input;
  // Implementation of Kd's two parts 
  //Only adopt parts of the sensor input ranther than the maximum set value (T-2). 
  //However, the second adopts that set value. 
  output = Kp * error + (Kd * (setPoint - setPointOld) - Kd * (input - PID_errorOld2)) / DT; // + Erro - PID_error_Old2
  //Serial.print(Kd*(error-PID_errorOld));Serial.print("\t");
  PID_errorOld2 = PID_errorOld;
  PID_errorOld = input;  // Error is the only input component of Kd.  
  setPointOld = setPoint;
  return (output);
}
//P control realizes. 
float speedPControl(float input, float setPoint,  float Kp)
{
  float error;
  error = setPoint - input;
  return (Kp * error);
}
// PI realizes; DT is "ms". 
float speedPIControl(float DT, float input, float setPoint,  float Kp, float Ki)
{
  float error;
  float output;
  error = setPoint - input;
  PID_errorSum += constrain(error, -ITERM_MAX_ERROR, ITERM_MAX_ERROR);
  PID_errorSum = constrain(PID_errorSum, -ITERM_MAX, ITERM_MAX);
  output = Kp * error + Ki * PID_errorSum * DT * 0.001;
  return (output);
}

void calculateSubperiods(uint8_t motor)
{
  int subperiod;
  int absSpeed;
  uint8_t j;

  if (speed_m[motor] == 0)
  {
    for (j = 0; j < 8; j++)
      period_m[motor][j] = ZERO_SPEED;
    return;
  }
  if (speed_m[motor] > 0 )   // Positive speed 
  {
    dir_m[motor] = 1;
    absSpeed = speed_m[motor];
  }
  else                       // Negative speed 
  {
    dir_m[motor] = 0;
    absSpeed = -speed_m[motor];
  }

  for (j = 0; j < 8; j++)
    period_m[motor][j] = 1000 / absSpeed;
  // Calculate subage. If module <0.25=>sub-period= 0. If module<0.75 sub-period=2


 If module <0.5=>sub-period= 1. If module <0.75 sub-period=2 other sub-periods =3
  subperiod = ((1000 % absSpeed) * 8) / absSpeed; // Optimize code to calculate the sub-period. (Integer arithmetic)
  if (subperiod > 0)
    period_m[motor][1]++;
  if (subperiod > 1)
    period_m[motor][5]++;
  if (subperiod > 2)
    period_m[motor][3]++;
  if (subperiod > 3)
    period_m[motor][7]++;
  if (subperiod > 4)
    period_m[motor][0]++;
  if (subperiod > 5)
    period_m[motor][4]++;
  if (subperiod > 6)
    period_m[motor][2]++;
}
void setMotorSpeed(uint8_t motor, int16_t tspeed)
{
  // We limite the maximum speed 
  if ((speed_m[motor] - tspeed) > MAX_ACCEL)
    speed_m[motor] -= MAX_ACCEL;
  else if ((speed_m[motor] - tspeed) < -MAX_ACCEL)
    speed_m[motor] += MAX_ACCEL;
  else
    speed_m[motor] = tspeed;
  calculateSubperiods(motor);  //We adopt four sub-periods to enhance resolution.
  // Save energy and don't run it. 
  if ((speed_m[0] == 0) && (speed_m[1] == 0))
  {
    digitalWrite(MOTOR_EN, HIGH);  //Don't use the motor 
  }
  else
  {
    digitalWrite(MOTOR_EN, LOW);  // Use the motor 
  }
}

void setup()
{
  Serial.begin(115200);

  // Stepper pins 
  pinMode(MOTOR_EN, OUTPUT);   // ENABLE MOTORS

  pinMode(MOTOR1_DIR, OUTPUT);  // DIR MOTOR 1
  pinMode(MOTOR1_STEP, OUTPUT);  // STEP MOTOR 1

  pinMode(MOTOR4_DIR, OUTPUT); // DIR MOTOR 4
  pinMode(MOTOR4_STEP, OUTPUT); // STEP MOTOR 4

  digitalWrite(MOTOR_EN, HIGH);  // Disbale motors

  pinMode(LED, OUTPUT);   // ENABLE MOTORS

  //mpu==============================
  // Add in I2C bus 
  Wire.begin();
  // 4000Khz fast mode
  TWSR = 0;
  TWBR = ((16000000L / I2C_SPEED) - 16) / 2;
  TWCR = 1 << TWEN;

  digitalWrite(LED, HIGH);
  delay(200);
  digitalWrite(LED, LOW);
  delay(200);

  Serial.println("Initializing I2C devices...");
  //mpu.initialize();
  mpu.setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
  mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
  mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
  mpu.setDLPFMode(MPU6050_DLPF_BW_20);  //10,20,42,98,188
  mpu.setRate(4);   // 0=1khz 1=500hz, 2=333hz, 3=250hz 4=200hz
  mpu.setSleepEnabled(false);

  digitalWrite(LED, HIGH);
  delay(500);
  digitalWrite(LED, LOW);
  delay(500);

  Serial.println(F("Initializing DMP..."));
  devStatus = mpu.dmpInitialize();
  if (devStatus == 0)
  {
    // turn on the DMP, now that it's ready
    Serial.println(F("Enabling DMP..."));
    mpu.setDMPEnabled(true);
    mpuIntStatus = mpu.getIntStatus();
    dmpReady = true;

    digitalWrite(LED, HIGH);
    delay(200);
    digitalWrite(LED, LOW);
    delay(200);
  }
  else
  { // ERROR!
    while (1)
    {
      // 1 = initial memory load failed
      // 2 = DMP configuration updates failed
      // (if it's going to break, usually the code will be 1)
      Serial.print(F("DMP Initialization failed (code "));
      Serial.print(devStatus);
      Serial.println(F(")"));

      digitalWrite(LED, HIGH);
      delay(1000);
      digitalWrite(LED, LOW);
      delay(200);
    }
  }

  // Calibration of the gyroscope 
  //The robotmust be steady when initializing. 
  // It needs to reset and calibrate the gyroscope. 
  digitalWrite(LED, HIGH);
  delay(200);
  digitalWrite(LED, LOW);
  delay(500);
  digitalWrite(LED, HIGH);
  delay(200);
  digitalWrite(LED, LOW);

  Serial.print("Free RAM: ");
  Serial.println(freeRam());
  Serial.print("Max_throttle: ");
  Serial.println(max_throttle);
  Serial.print("Max_steering: ");
  Serial.println(max_steering);
  Serial.print("Max_target_angle: ");
  Serial.println(max_target_angle);

  // verify connection
  Serial.println("Testing device connections...");
  Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
  timer_old = millis();

  TIMER_INT();

  //Adjust DMP sensor fusion 
  Serial.println("Adjusting DMP sensor fusion gain...");
  dmpSetSensorFusionAccelGain(0x40);//0x20///////////////////////////////Adjust the sensor
  Serial.println("Initializing Stepper motors...");

  digitalWrite(MOTOR_EN, LOW);   // Stepper driver  

  // The vibration of the motor indicates the robot is ready. 

  for (uint8_t k = 0; k < 3; k++)
  {
    setMotorSpeed(0, 3);
    setMotorSpeed(1, -3);
    delay(150);
    setMotorSpeed(0, -3);
    setMotorSpeed(1, 3);
    delay(150);
  }

  mpu.resetFIFO();
  timer_old = millis();

  //nRF==============================
  SPI.begin();		//Initialize SPI bus 
  radio.begin();
  network.begin(/*channel*/ 70, /*node address*/ this_node);

  digitalWrite(LED, HIGH);
  Serial.println("===========start===========");
}
// Major loop//////////////////////////////////////////////////////////////////////////
void loop()
{
  //===============================================================
  if (nRF(&throttle, &steering))
  {
    /*
    Serial.print(Speed_need);
    Serial.print(",");
    Serial.println(Turn_need);
    */
  }

  //===============================================================
  if (safe_ms > millis()) safe_ms = millis();
  if (millis() - safe_ms > 1000)
  {
    steering = 0;
    throttle = 0;
  }

  //===============================================================
  robot();
}

void robot()
{
  //===============================================================
  timer_value = millis();

  // New DMP positioning solution
  fifoCount = mpu.getFIFOCount();
  if (fifoCount >= 18)
  {
    if (fifoCount > 18) // If we have one or more data packets, we can adopt the simplest way to dump the buffer zone. 
    {
      mpu.resetFIFO();
      return;
    }

    loop_counter++;
    slow_loop_counter++;
    dt = (timer_value - timer_old);
    timer_old = timer_value;
    angle_adjusted_Old = angle_adjusted;
    angle_adjusted = dmpGetPhi() + ANGLE_FIX;
    Serial.println(angle_adjusted);
    mpu.resetFIFO();  // Rest FIFO 
    // Calculate and estimate the robot speed 
    actual_robot_speed_Old = actual_robot_speed;
    actual_robot_speed = (speed_m[1] - speed_m[0]) / 2; // Front 
    // Angle adjusted 
    int16_t angular_velocity = (angle_adjusted - angle_adjusted_Old) * 90.0; 
    // Use the robot speed (T-1) or (T-2) to compensate the delay 
    int16_t estimated_speed = actual_robot_speed_Old - angular_velocity;     
    //Estimated speed 
    estimated_speed_filtered = estimated_speed_filtered * 0.95 + (float)estimated_speed * 0.05; 
   //Target angle 
    target_angle = speedPIControl(dt, estimated_speed_filtered, throttle, Kp_thr, Ki_thr);
    //Limited output 
    target_angle = constrain(target_angle, -max_target_angle, max_target_angle); 

    if (pushUp_counter > 0) // pushUp mode?
      target_angle = 10;

    //Integrate output acceleration
    control_output += stabilityPDControl(dt, angle_adjusted, target_angle, Kp, Kd);
    control_output = constrain(control_output, -800, 800); // Limite the maxiumum output control 
    // Control steering output 
    motor1 = control_output + steering;
    motor2 = -control_output + steering;   //Motor2 rotates conversely. 
    // Limit the maximum speed 
    motor1 = constrain(motor1, -500, 500);
    motor2 = constrain(motor2, -500, 500);

    // Is robot ready (upright?)
    if ((angle_adjusted < 66) && (angle_adjusted > -66))
    {
      if (node_STA) // pushUp mode?
      {
        pushUp_counter++;

        if (pushUp_counter > 60) // 0.3 seconds
        {
          // Set motors to 0 => disable steppers => robot
          setMotorSpeed(0, 0);
          setMotorSpeed(1, 0);
          // We prepare the raiseup mode
          Kp = KP_RAISEUP;   // CONTROL GAINS FOR RAISE UP
          Kd = KD_RAISEUP;
          Kp_thr = KP_THROTTLE_RAISEUP;
          control_output = 0;
          estimated_speed_filtered = 0;
        }
        else
        {
          setMotorSpeed(0, motor1);
          setMotorSpeed(1, motor2);
        }
      }
      else
      {
        // NORMAL MODE
        setMotorSpeed(0, motor1);
        setMotorSpeed(1, motor2);
        pushUp_counter = 0;
      }

      if ((angle_adjusted < 40) && (angle_adjusted > -40))
      {
        Kp = Kp_user;  // Default or user control gains
        Kd = Kd_user;
        Kp_thr = Kp_thr_user;
        Ki_thr = Ki_thr_user;
      }
      else
      {
        Kp = KP_RAISEUP;   // CONTROL GAINS FOR RAISE UP
        Kd = KD_RAISEUP;
        Kp_thr = KP_THROTTLE_RAISEUP;
        Ki_thr = KI_THROTTLE_RAISEUP;
      }
    }
    else   // Robot not ready, angle > 70º
    {
      setMotorSpeed(0, 0);
      setMotorSpeed(1, 0);
      PID_errorSum = 0;  // Reset PID I term
      Kp = KP_RAISEUP;   // CONTROL GAINS FOR RAISE UP
      Kd = KD_RAISEUP;
      Kp_thr = KP_THROTTLE_RAISEUP;
      Ki_thr = KI_THROTTLE_RAISEUP;
    }

  }
}

boolean nRF(float * _speed, float * _turn)
{
  network.update();
  // Is there anything ready for us?
  while ( network.available() )
  {
    // If so, grab it and print it out
    RF24NetworkHeader header;
    receive_a rec;
    network.read(header, &rec, sizeof(rec));

    clock = rec.ms;		//Receive the assigned running time values of the host machine.  
    float * _i = _speed;
    _i[0] = map(rec.rf_CH1, 1000, 2000, -MAX_THROTTLE, MAX_THROTTLE);
    _i = _turn;
    _i[0] = map(rec.rf_CH0, 1000, 2000, -MAX_STEERING, MAX_STEERING);

    node_STA = (rec.rf_CH7 > 1500 ? true : false);    //Receive the assigned 


request schedule values    
    {
      //Serial.print("Sending...");
      send_a sen = {
        millis()
      };  //Send out the data corresponding to the previous sending array. 

      RF24NetworkHeader header(0);
      boolean ok = network.write(header, &sen, sizeof(sen));
      safe_ms = millis();
      if (ok)
      {
        return true;
        //Serial.println("ok.");
      }
      else
      {
        return false;
        //Serial.println("failed.");
      }
    }

    safe_ms = millis();
  }
}

#include "Arduino.h"
#include "def.h"
#include "time.h"
#include "bat.h"
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
#include "mpu.h"
#endif
#include "joy.h"
#include "key.h"
#include "data.h"
#include "nrf.h"
#include "mwc.h"
#include "tft.h"
#include "eep.h"

#if defined(__AVR_ATmega128RFA1__)
#include <ZigduinoRadio.h>
#endif

//joypad================================
#include <Joypad.h>
//eeprom================================
#include <EEPROM.h>
//TFT===================================
#include <Adafruit_GFX.h>    // Core graphics library
#include <Adafruit_ST7735.h> // Hardware-specific 
#include <SPI.h>
//rf====================================
#include <RF24Network.h>
#include <RF24.h>

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
//MPU===================================
#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#endif

//spi===================================
#include <SPI.h>

void setup()
{
  // initialize serial communication at 115200 bits per second:

#ifdef Serial_DEBUG
  Serial.begin(115200);
  delay(100);
  Serial.println("========hello========");
#endif

  //---------------
  key_init();

  //---------------
#ifdef Serial_DEBUG
  Serial.println("\n\r EEPROM READ...");
#endif
  eeprom_read();

  //---------------
#ifdef Serial_DEBUG
  Serial.println("\n\r TFT INIT...");
#endif
  TFT_init(true, tft_rotation);

  //---------------
#ifdef Serial_DEBUG
  Serial.println("\n\r TFT BEGIN...");
#endif
  TIME1 = millis();
  while (millis() - TIME1 < interval_TIME1)
  {
    TFT_begin();

    if (!Joypad.readButton(CH_SWITCH_1))
    {
#ifdef Serial_DEBUG
      Serial.println("\n\rCorrect IN...");
#endif

      //---------------
#ifdef Serial_DEBUG
      Serial.println("\n\r TFT INIT...");
#endif
      TFT_init(false, tft_rotation);

      while (1)
      {
        if (!TFT_config())
          break;
      }
#ifdef Serial_DEBUG
      Serial.println("\n\rCorrect OUT...");
#endif

      //---------------
#ifdef Serial_DEBUG
      Serial.println("\n\r EEPROM WRITE...");
#endif
      eeprom_write();
    }
  }

  //---------------
#ifdef Serial_DEBUG
  Serial.println("\n\r TFT CLEAR...");
#endif
  TFT_clear();

  //---------------
#ifdef Serial_DEBUG
  Serial.println("\n\r TFT READY...");
#endif
  TFT_ready();

  //---------------.l
  if (mode_protocol)   //Robot
  {
    SPI.begin();		//Initialize SPI 
    radio.begin();
    network.begin(/*channel*/ nrf_channal, /*node address*/ this_node);
  }
  else          //QuadCopter
  {
    unsigned long _channel;
#if !defined(__AVR_ATmega128RFA1__)
    switch (mwc_channal)
    {
      case 0:
        _channel = 9600;
        break;
      case 1:
        _channel = 19200;
        break;
      case 2:
        _channel = 38400;
        break;
      case 3:
        _channel = 57600;
        break;
      case 4:
        _channel = 115200;
        break;
    }
#else if
    _channel = mwc_channal;
#endif
    mwc_port.begin(_channel);
  }

  //---------------
#ifdef Serial_DEBUG
  Serial.println("===========start===========");
#endif

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
  if (mode_mpu) initMPU(); //initialize device
#endif
}

void loop()
{
  //  unsigned long time = millis();

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
  //MPU--------------------------------
  if (mode_mpu)
    getMPU();
#endif

  //DATA_begin------------------------------
  data_begin();

  //DATA_send-------------------------------
  if (millis() < time2) time2 = millis();
  if (millis() - time2 > interval_time2)
  {
    if (mode_protocol) nrf_send();    //Robot
    else data_send();           //QuadCopter

    time2 = millis();
  }

  //Node checking -------------------------------
  vodebug();

  //BAT--------------------------------
  if (time3 > millis()) time3 = millis();
  if (millis() - time3 > interval_time3)
  {
    vobat();
    time3 = millis();
  }

  //TFT------------------------------------
  TFT_run();

  //===================================
  //  time = millis() - time;

  //  Serial.println(time, DEC);    //loop time
}
</cpp>
BAT.h
<source lang="cpp">
int8_t _V_bat = _V_min;

boolean mcu_voltage = true; // 5.0 or 3.3
#define _V_fix 0.2  //fix battery voltage
#define _V_math(Y) (_V_fix+((Y*analogRead(PIN_bat)/1023.0f)/(33.0f/(51.0f+33.0f))))

void vobat()
{
  //_V_bat=10*((voltage*analogRead(PIN_bat)/1023.0f)/(33.0f/(51.0f+33.0f)));
  _V_bat = _V_math(mcu_voltage ? 50 : 33);
  _V_bat = constrain(_V_bat, _V_min, _V_max);

#ifdef Serial_DEBUG
  Serial.print("_V_bat: ");
  Serial.println(_V_bat);
#endif
}

#include "Arduino.h"

byte inBuf[16];

int16_t outBuf[8] =
{
  Joy_MID, Joy_MID, Joy_MID, Joy_MID, Joy_MID, Joy_MID, Joy_MID, Joy_MID
};

boolean AUX[4] = {0, 0, 0, 0};
//======================================
void data_begin()
{
  Joy();

  if (mode_protocol)   //Robot
  {
    if (!sw_l)
    {
      Joy_x = Joy_MID;
      Joy_y = Joy_MID;
      Joy1_x = Joy_MID;
      Joy1_y = Joy_MID;
    }
  }
  else        //QuadCopter
  {
    if (!sw_l)
      Joy_y = Joy_MID - Joy_maximum;
  }

  //but---------------------------------
  for (uint8_t a = 0; a < 4; a++)
  {
    if (key_get(a, 1))  AUX[a] = !AUX[a];
  }

  outBuf[0] = Joy1_x;
  outBuf[1] = Joy1_y;
  outBuf[2] = Joy_x;
  outBuf[3] = Joy_y;
  outBuf[4] = map(AUX[0], 0, 1, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
  outBuf[5] = map(AUX[1], 0, 1, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
  outBuf[6] = map(AUX[2], 0, 1, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
  outBuf[7] = map(AUX[3], 0, 1, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
}

#include "Arduino.h"

//DEBUG-----------
#define Serial_DEBUG

//MWC-------------
uint8_t mwc_channal = 11; //RF channel

#if  defined(__AVR_ATmega32U4__)
#define mwc_port Serial1    //Serial1 is D0 D1
#elif defined(__AVR_ATmega128RFA1__)
#define mwc_port ZigduinoRadio    //RF
#else
#define mwc_port Serial    //Serial is D0 D1
#endif

//nRF-------------
#define interval_debug  2000  //Node checking interval. 
uint8_t nrf_channal = 70;  //0~125

//Battery---------
#define PIN_bat A7	//BAT

#define _V_max 41		//The maximum voltage of the Li-ion battery is 4.2V
#define _V_min 36		// The minimum voltage of the Li-ion battery is 3.7

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
//MPU-------------
#define MPU_maximum 70
#endif


//Time------------
#define interval_TIME1 2000    //setup delay
#define interval_time2 40      //send interval
#define interval_time3 1000    //battery interval

#include "Arduino.h"

#include <EEPROM.h>

#define EEPROM_write(address, p) {int i = 0; byte *pp = (byte*)&(p);for(; i < sizeof(p); i++) EEPROM.write(address+i, pp[i]);}
#define EEPROM_read(address, p)  {int i = 0; byte *pp = (byte*)&(p);for(; i < sizeof(p); i++) pp[i]=EEPROM.read(address+i);}

struct config_type
{
  int16_t eeprom_correct_min[4];
  int16_t eeprom_correct_max[4];
  uint8_t eeprom_Joy_deadzone_val;
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
  boolean eeprom_mode_mpu;
#endif
  boolean eeprom_mode_protocol;
  uint8_t eeprom_mwc_channal;
  uint8_t eeprom_nrf_channal;
  boolean eeprom_tft_theme;
  boolean eeprom_tft_rotation;
  boolean eeprom_mcu_voltage;
};

//======================================
void eeprom_read()
{
  //EEPROM reads assigned values. 
  config_type config_readback;
  EEPROM_read(0, config_readback);

  for (uint8_t a = 0; a < 4; a++)
  {
    joy_correct_min[a] = config_readback.eeprom_correct_min[a];
    joy_correct_max[a] = config_readback.eeprom_correct_max[a];
  }
  Joy_deadzone_val = config_readback.eeprom_Joy_deadzone_val;

  mode_protocol = config_readback.eeprom_mode_protocol;
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
  mode_mpu = config_readback.eeprom_mode_mpu;
#endif

  mwc_channal = config_readback.eeprom_mwc_channal;
  nrf_channal = config_readback.eeprom_nrf_channal;
  tft_theme = config_readback.eeprom_tft_theme;
  tft_rotation = config_readback.eeprom_tft_rotation;
  mcu_voltage = config_readback.eeprom_mcu_voltage;
}

void eeprom_write()
{
  // Define structure variable config and its content 
  config_type config;

  for (uint8_t a = 0; a < 4; a++)
  {
    config.eeprom_correct_min[a] = joy_correct_min[a];
    config.eeprom_correct_max[a] = joy_correct_max[a];
  }
  config.eeprom_Joy_deadzone_val = Joy_deadzone_val;

  config.eeprom_mode_protocol = mode_protocol;
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
  config.eeprom_mode_mpu = mode_mpu;
#endif

  config.eeprom_mwc_channal = mwc_channal;
  config.eeprom_nrf_channal = nrf_channal;
  config.eeprom_tft_theme = tft_theme;
  config.eeprom_tft_rotation = tft_rotation;
  config.eeprom_mcu_voltage = mcu_voltage;

  // Save the variable config into EEPROM written with address 0.  
  EEPROM_write(0, config);
}

#include "Arduino.h"

#include <Joypad.h>

//Joy-------------
//1000~2000
uint8_t Joy_deadzone_val = 10;
#define Joy_s_maximum 200 //MAX 300
#define Joy_maximum 450 //MAX 500
#define Joy_MID 1500  //1500

boolean mode_mpu, mode_protocol;   //{(0: 0 is mwc, 1 is nrf),(1: 0 is mpu, 1 is no mpu)}

int16_t joy_correct_max[4], joy_correct_min[4];
int16_t Joy_x, Joy_y, Joy1_x, Joy1_y;

int16_t s_lig, s_mic;

boolean Joy_sw, Joy1_sw;

boolean but1, but2, but3, but4;

boolean sw_l, sw_r;

//======================================
int16_t Joy_dead_zone(int16_t _Joy_vol)
{
  if (abs(_Joy_vol) > Joy_deadzone_val)
    return ((_Joy_vol > 0) ? (_Joy_vol - Joy_deadzone_val) : (_Joy_vol + Joy_deadzone_val));
  else
    return 0;
}

int16_t Joy_i(int16_t _Joy_i, boolean _Joy_b, int16_t _Joy_MIN, int16_t _Joy_MAX)
{
  int16_t _Joy_a;
  switch (_Joy_i)
  {
    case 0:
      _Joy_a = Joy_dead_zone(Joypad.readJoystickX());
      break;
    case 1:
      _Joy_a = Joypad.readJoystickY();    //throt
      break;
    case 2:
      _Joy_a = Joy_dead_zone(Joypad.readJoystick1X());
      break;
    case 3:
      _Joy_a = Joy_dead_zone(Joypad.readJoystick1Y());
      break;
  }

  if (_Joy_b)
  {
    if (_Joy_a < 0)
      _Joy_a = map(_Joy_a, joy_correct_min[_Joy_i], 0, _Joy_MAX, Joy_MID);
    else
      _Joy_a = map(_Joy_a, 0, joy_correct_max[_Joy_i], Joy_MID, _Joy_MIN);

    if (_Joy_a < _Joy_MIN) _Joy_a = _Joy_MIN;
    if (_Joy_a > _Joy_MAX) _Joy_a = _Joy_MAX;
  }
  return _Joy_a;
}

void Joy()
{
  sw_l = Joypad.readButton(CH_SWITCH_L);
  sw_r = Joypad.readButton(CH_SWITCH_R);

  //------------------------------------
  //s_lig=Joypad.readLightSensor();
  //s_mic=Joypad.readMicrophone();

  //------------------------------------
  Joy_sw = Joypad.readButton(CH_JOYSTICK_SW);
  Joy1_sw = Joypad.readButton(CH_JOYSTICK1_SW);

  //------------------------------------
  but1 = Joypad.readButton(CH_SWITCH_1);
  but2 = Joypad.readButton(CH_SWITCH_2);
  but3 = Joypad.readButton(CH_SWITCH_3);
  but4 = Joypad.readButton(CH_SWITCH_4);

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
  //====================================
  int16_t y[3];        //MPU---------------------------------
  if (mode_mpu)     //MPU---------------------------------
  {
    for (uint8_t a = 0; a < 3; a++)
    {
      y[a] = ypr[a] * 180 / M_PI;
      if (y[a] > MPU_maximum) y[a] = MPU_maximum;
      if (y[a] < -MPU_maximum) y[a] = -MPU_maximum;
    }
  }
#endif

  if (Joypad.readButton(CH_SWITCH_R))
  {
    Joy_x = Joy_i(0, true, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
    Joy_y = Joy_i(1, true, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
    if (mode_mpu)     //MPU---------------------------------
    {
      Joy1_x = map(y[2], -MPU_maximum, MPU_maximum, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
      Joy1_y = map(y[1], -MPU_maximum, MPU_maximum, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
    }
    else
#endif
    {
      Joy1_x = Joy_i(2, true, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
      Joy1_y = Joy_i(3, true, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
    }
  }
  else
  {
    Joy_x = Joy_i(0, true, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
    Joy_y = Joy_i(1, true, mode_protocol ? Joy_MID - Joy_s_maximum : Joy_MID - Joy_maximum, mode_protocol ? Joy_MID
 + Joy_s_maximum : Joy_MID + Joy_maximum); //  Robot,QuadCopter

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
    if (mode_mpu)     //MPU---------------------------------
    {
      Joy1_x = map(y[2], -MPU_maximum, MPU_maximum, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
      Joy1_y = map(y[1], -MPU_maximum, MPU_maximum, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
    }
    else
#endif
    {
      Joy1_x = Joy_i(2, true, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
      Joy1_y = Joy_i(3, true, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
    }
  }
}

#include "arduino.h"

uint8_t key_pin[4] = {CH_SWITCH_1, CH_SWITCH_2, CH_SWITCH_3, CH_SWITCH_4}; //Key1,Key2, Key3 and Key4  

boolean key_status[4];			//Key 
boolean key_cache[4];		//Detect key cache when loosening it. 
void key_init()
{
  for (uint8_t a = 0; a < 4; a++)
  {
    key_status[a] = LOW;
    key_cache[a] = HIGH;
  }
}

boolean key_get(uint8_t _key_num, boolean _key_type)
{
  key_cache[_key_num] = key_status[_key_num];		//Judge from the cache 

  key_status[_key_num] = !Joypad.readButton(key_pin[_key_num]);	//When triggering 

  switch (_key_type)
  {
    case 0:
      if (!key_status[_key_num] && key_cache[_key_num])		// After pressing down and loosening  
        return true;
      else
        return false;
      break;
    case 1:
      if (key_status[_key_num] && !key_cache[_key_num])		// After pressing down and loosening  
        return true;
      else
        return false;
      break;
  }
}

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"

MPU6050 mpu;

//MPU-------------
#define MPU_maximum 70

// MPU control/status vars
boolean dmpReady = false;  // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

void initMPU()
{
  Wire.begin();
#ifdef Serial_DEBUG
  Serial.println(F("Initializing I2C devices..."));
#endif
  mpu.initialize();
  // verify connection
#ifdef Serial_DEBUG
  Serial.println(F("Testing device connections..."));
#endif
  if (mpu.testConnection())
  {
#ifdef Serial_DEBUG
    Serial.println("MPU6050 connection successful");
#endif
  }
#ifdef Serial_DEBUG
  else
    Serial.println(F("MPU6050 connection failed"));
#endif

  // load and configure the DMP
#ifdef Serial_DEBUG
  Serial.println(F("Initializing DMP..."));
#endif
  devStatus = mpu.dmpInitialize();

  // make sure it worked (returns 0 if so)
  if (devStatus == 0) {
    // turn on the DMP, now that it's ready
#ifdef Serial_DEBUG
    Serial.println(F("Enabling DMP..."));
#endif
    mpu.setDMPEnabled(true);

    mpuIntStatus = mpu.getIntStatus();

    // set our DMP Ready flag so the main loop() function knows it's okay to use it
    //    Serial.println(F("DMP ready! Waiting for first interrupt..."));
    dmpReady = true;

    // get expected DMP packet size for later comparison
    packetSize = mpu.dmpGetFIFOPacketSize();
  }
  else {
    // ERROR!
    // 1 = initial memory load failed
    // 2 = DMP configuration updates failed
    // (if it's going to break, usually the code will be 1)
#ifdef Serial_DEBUG
    Serial.print(F("DMP Initialization failed (code "));
    Serial.print(devStatus);
    Serial.println(F(")"));
#endif
  }
}

void getMPU()
{
  if (!dmpReady) return;
  {
    // reset interrupt flag and get INT_STATUS byte
    mpuIntStatus = mpu.getIntStatus();

    // get current FIFO count
    fifoCount = mpu.getFIFOCount();

    // check for overflow (this should never happen unless our code is too inefficient)
    if ((mpuIntStatus & 0x10) || fifoCount == 1024)
    {
      // reset so we can continue cleanly
      mpu.resetFIFO();
#ifdef Serial_DEBUG
      Serial.println(F("FIFO overflow!"));
#endif
      // otherwise, check for DMP data ready interrupt (this should happen frequently)
    }
    else if (mpuIntStatus & 0x02)
    {
      // wait for correct available data length, should be a VERY short wait
      while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

      // read a packet from FIFO
      mpu.getFIFOBytes(fifoBuffer, packetSize);

      // track FIFO count here in case there is > 1 packet available
      // (this lets us immediately read more without waiting for an interrupt)
      fifoCount -= packetSize;

      // display ypr angles in degrees
      mpu.dmpGetQuaternion(&q, fifoBuffer);
      mpu.dmpGetGravity(&gravity, &q);
      mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

      //Serial.print("ypr\t");
      //Serial.print(ypr[0] * 180/M_PI);
      //Serial.print("\t");
      //Serial.print(ypr[1] * 180/M_PI);
      //Serial.print("\t");
      // Serial.println(ypr[2] * 180/M_PI);
    }
  }
}

#endif

#include "Arduino.h"

#if defined(__AVR_ATmega128RFA1__)
#include <ZigduinoRadio.h>
#endif

int16_t RCin[8], RCoutA[8], RCoutB[8];

int16_t p;
uint16_t read16()
{
  uint16_t r = (inBuf[p++] & 0xFF);
  r += (inBuf[p++] & 0xFF) << 8;
  return r;
}

uint16_t t, t1, t2;
uint16_t write16(boolean a)
{
  if (a)
  {
    t1 = outBuf[p++] >> 8;
    t2 = outBuf[p - 1] - (t1 << 8);
    t = t1;
  }
  else
    t = t2;
  return t;
}

typedef  unsigned char byte;
byte getChecksum(byte length, byte cmd, byte mydata[])
{
  //Three parameters: Data length, instruction code and real data array. 
  byte checksum = 0;
  checksum ^= (length & 0xFF);
  checksum ^= (cmd & 0xFF);
  for (uint8_t i = 0; i < length; i++)
  {
    checksum ^= (mydata[i] & 0xFF);
  }
  return checksum;
}

void data_rx()
{
  //  s_struct_w((int*)&inBuf,16);
  p = 0;
  for (uint8_t i = 0; i < 8; i++)
  {
    RCin[i] = read16();
    /*
    Serial.print("RC[");
     Serial.print(i+1);
     Serial.print("]:");

     Serial.print(inBuf[2*i],DEC);
     Serial.print(",");
     Serial.print(inBuf[2*i+1],DEC);

     Serial.print("---");
     Serial.println(RCin[i]);
     */
    //    delay(50);        // delay in between reads for stability
  }
}

void data_tx()
{
  p = 0;
  for (uint8_t i = 0; i < 8; i++)
  {
    RCoutA[i] = write16(1);
    RCoutB[i] = write16(0);

    /*
    Serial.print("RC[");
     Serial.print(i+1);
     Serial.print("]:");

     Serial.print(RCout[i]);

     Serial.print("---");

     Serial.print(RCoutA[i],DEC);
     Serial.print(",");
     Serial.print(RCoutB[i],DEC);

     Serial.println("");
     */
    //    delay(50);        // delay in between reads for stability
  }
}

/*
if Core RF
[head,2byte,0xAA 0xBB] [type,1byte,0xCC] [data,16byte] [body,1byte(from getChecksum())]
 Example:
 AA BB CC 1A 01 1A 01 1A 01 2A 01 3A 01 4A 01 5A 01 6A 01 0D **
 */
void data_send()
{
  data_tx();

#if !defined(__AVR_ATmega128RFA1__)
  static byte buf_head[3];
  buf_head[0] = 0x24;
  buf_head[1] = 0x4D;
  buf_head[2] = 0x3C;
#endif

#define buf_length 0x10   //16
#define buf_code 0xC8     //200

  static byte buf_data[buf_length];
  for (uint8_t a = 0; a < (buf_length / 2); a++)
  {
    buf_data[2 * a] = RCoutB[a];
    buf_data[2 * a + 1] = RCoutA[a];
  }

  static byte buf_body;
  buf_body = getChecksum(buf_length, buf_code, buf_data);

  //----------------------
#if defined(__AVR_ATmega128RFA1__)
  mwc_port.beginTransmission();
  mwc_port.write(0xaa);
  mwc_port.write(0xbb);
  mwc_port.write(0xcc);
#else
  for (uint8_t a = 0; a < 3; a++) {
    mwc_port.write(buf_head[a]);
  }
  mwc_port.write(buf_length);
  mwc_port.write(buf_code);
#endif
  for (uint8_t a = 0; a < buf_length; a++) {
    mwc_port.write(buf_data[a]);
  }
  mwc_port.write(buf_body);
#if defined(__AVR_ATmega128RFA1__)
  mwc_port.endTransmission();
#endif
}

#include "Arduino.h"

#include <RF24Network.h>
#include <RF24.h>
#include <SPI.h>

// nRF24L01(+) radio attached using Getting Started board
RF24 radio(9, 10);   //ce,cs
RF24Network network(radio);

#define this_node  0	//Set ID 
#define other_node 1

//--------------------------------
struct send_a	//Send 
{
  uint32_t ms;
  uint16_t rf_CH0;
  uint16_t rf_CH1;
  uint16_t rf_CH2;
  uint16_t rf_CH3;
  uint16_t rf_CH4;
  uint16_t rf_CH5;
  uint16_t rf_CH6;
  uint16_t rf_CH7;
};

struct receive_a	//Receive 
{
  uint32_t node_ms;
};

//--------------------------------
unsigned long node_clock, node_clock_debug, node_clock_cache = 0;		//Node running time, node response detection time and time cache. 

//debug--------------------------
boolean node_clock_error = false;	//Node response status 
unsigned long time_debug = 0;		//Timer 


//======================================
void vodebug()
{
  if (millis() - time_debug > interval_debug)
  {
    node_clock_error = boolean(node_clock == node_clock_debug);		//In a certain time, if the running time for the node returning don't change, it means there is a problem. 

    node_clock_debug = node_clock;

    time_debug = millis();
  }
}


void nrf_send()
{
#ifdef Serial_DEBUG
  Serial.print("Sending...");
#endif

  send_a sen = {
    millis(), outBuf[0], outBuf[1], outBuf[2], outBuf[3], outBuf[4], outBuf[5], outBuf[6], outBuf[7]
  };		//Send out the data corresponding to the original sending array. 
  RF24NetworkHeader header(other_node);
  if (network.write(header, &sen, sizeof(sen)))
  {
#ifdef Serial_DEBUG
    Serial.print("Is ok.");
#endif

    delay(50);
    network.update();
    // If it's time to send a message, send it!
    while ( network.available() )
    {
      // If so, grab it and print it out
      RF24NetworkHeader header;
      receive_a rec;
      network.read(header, &rec, sizeof(rec));

      node_clock = rec.node_ms;		//Assign values of the running time. 
    }
  }
#ifdef Serial_DEBUG
  else
    Serial.print("Is failed.");

  Serial.println("");
#endif
}

#include "Arduino.h"

#include <Adafruit_GFX.h>    // Core graphics library
#include <Adafruit_ST7735.h> // Hardware-specific library
#include <SPI.h>

Adafruit_ST7735 tft = Adafruit_ST7735(5, 4, -1);    //cs,dc,rst
//-------Font setting. Big/medium/small. 
#define setFont_M tft.setTextSize(2)
#define setFont_S tft.setTextSize(0)

#define tft_width  128
#define tft_height 160

boolean tft_theme = false;  //0 is white,1 is black
boolean tft_rotation = 1;

#define TFT_TOP ST7735_BLACK
#define TFT_BUT ST7735_WHITE

uint16_t  tft_colorA = TFT_BUT;
uint16_t  tft_colorB = TFT_TOP;
uint16_t  tft_colorC = 0x06FF;
uint16_t  tft_colorD = 0xEABF;

#define tft_bat_x 24
#define tft_bat_y 12
#define tft_bat_x_s 2
#define tft_bat_y_s 6

#define tft_font_s_height 8
#define tft_font_m_height 16
#define tft_font_l_height 24

#define _Q_x 33
#define _Q_y 36
#define _W_x 93
#define _W_y 5

#define _Q_font_x 2
#define _Q_font_y (_Q_y - 1)

int8_t tft_cache = 1;

//======================================
void TFT_clear()
{
  tft.fillScreen(tft_colorB);
}

void TFT_init(boolean _init, boolean _rot)
{
  tft_colorB = tft_theme ? TFT_TOP : TFT_BUT;
  tft_colorA = tft_theme ? TFT_BUT : TFT_TOP;

  if (_init) {
    tft.initR(INITR_BLACKTAB);   // initialize a ST7735S chip, black tab
    //  Serial.println("init");
    tft.fillScreen(tft_colorB);

    if (_rot)
      tft.setRotation(2);
  }

  tft.fillRect(0, 0, tft_width, 40, tft_colorA);
  tft.setTextColor(tft_colorB);
  setFont_M;
  tft.setCursor(26, 6);
  tft.print("Joypad");
  setFont_S;
  tft.setCursor(32, 24);
  tft.print("Microduino");
  tft.fillRect(0, 40, tft_width, 120, tft_colorB);
}

void TFT_begin()
{
  setFont_S;

  tft.setTextColor(tft_colorA);
  tft.setCursor(_Q_font_x, 44);
  tft.println("[key1] enter config");

  setFont_M;
  tft.setCursor(4, 150);
  for (uint8_t a = 0; a < (millis() - TIME1) / (interval_TIME1 / 10); a++) {
    tft.print("-");
  }
}

int8_t menu_num_A = 0;
int8_t menu_num_B = 0;
int8_t menu_sta = 0;

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
char *menu_str_a[5] = {
  "Joystick Config", "Protocol Config", "System Config", "Gyroscope Config", "Exit"
};
#else
char *menu_str_a[4] = {
  "Joystick Config", "Protocol Config", "System Config", "Exit"
};
#endif

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
char *menu_str_b[4][3] = {
  {"Joystick Correct.", "Dead Zone config"},
  {"Mode", "Quadrotor Channel", "nRF24 Channel"},
  {"TFT Theme", "TFT Rotation", "MCU Voltage"},
  {"Gyroscope OFF", "Gyroscope ON"}
};
#else
char *menu_str_b[3][3] = {
  {"Joystick Correct.", "Dead Zone config"},
  {"Mode", "Quadrotor Channel", "nRF24 Channel"},
  {"TFT Theme", "TFT Rotation", "MCU Voltage"},
};
#endif

void TFT_menu(int8_t _num, char *_data)
{
  tft.drawRect(7, 49 + 15 * _num, 114, 16, tft_colorA);
  tft.setCursor(10, 54 + 15 * _num);
  tft.print(_data);
}

void TFT_menu(int8_t _num, int16_t _data)
{
  tft.drawRect(7, 49 + 15 * _num, 114, 16, tft_colorA);
  tft.setCursor(10, 54 + 15 * _num);
  tft.print(_data);
}

void TFT_cursor(int8_t _num)
{
  tft.drawLine(1, 51 + 15 * _num, 4, 56 + 15 * _num, tft_colorA);
  tft.drawLine(4, 57 + 15 * _num, 1, 62 + 15 * _num, tft_colorA);
  tft.drawLine(1, 51 + 15 * _num, 1, 62 + 15 * _num, tft_colorA);
}

boolean return_menu = false;

boolean TFT_config()
{
  tft.setTextColor( tft_colorA);

  if (key_get(0, 1)) {
    menu_sta --;
    tft_cache = 1;

    if (menu_sta <= 0)
      menu_num_B = 0; //zero
  }
  if (key_get(1, 1)) {
    if (return_menu)
      menu_sta --;
    else
      menu_sta ++;
    tft_cache = 1;
  }

  if (menu_sta > 2)
    menu_sta = 2;
  if (menu_sta < 0)
    menu_sta = 0;

  return_menu = false;
  //-------------------------------
  if (tft_cache)
    tft.fillRect(0, 40, tft_width, 100, tft_colorB);

  if (menu_sta == 2) {
    switch (menu_num_A) {
      case 0: {
          switch (menu_num_B) {
            case 0: {
                if (tft_cache)
                {
                  for (uint8_t a = 0; a < 4; a++)
                  {
                    joy_correct_min[a] = 0;
                    joy_correct_max[a] = 0;
                  }
                }
                for (uint8_t a = 0; a < 4; a++) {
                  tft.setCursor(2, 120);
                  tft.print("Move Joystick MaxGear");
                  int16_t _c = Joy_i(a, false, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
                  if (_c > joy_correct_max[a]) {
                    tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                    joy_correct_max[a] = _c;
                  }
                  //                  joy_correct_max[a] = constrain(joy_correct_max[a], 0, Joy_maximum);
                  if (_c < joy_correct_min[a]) {
                    tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                    joy_correct_min[a] = _c;
                  }
                  //                  joy_correct_min[a] = constrain(joy_correct_min[a], -Joy_maximum, 0);
                }

                for (uint8_t d = 0; d < 2; d++) {
                  tft.drawFastHLine(12 + 70 * d, 80, 33, tft_colorA);
                  tft.drawFastVLine(28 + 70 * d, 64, 33, tft_colorA);
                  //                tft.fillRect(2, 90-4, 20, 12, tft_colorB);
                  tft.drawCircle(44 + 70 * d, 80, map(joy_correct_min[0 + 2 * d], 0, -512, 1, 10), tft_colorA);
                  tft.drawCircle(12 + 70 * d, 80, map(joy_correct_max[0 + 2 * d], 0, 512, 1, 10), tft_colorA);
                  tft.drawCircle(28 + 70 * d, 64, map(joy_correct_min[1 + 2 * d], 0, -512, 1, 10), tft_colorA);
                  tft.drawCircle(28 + 70 * d, 96, map(joy_correct_max[1 + 2 * d], 0, 512, 1, 10), tft_colorA);
                }
                return_menu = true;
              }
              break;
            case 1: {
                if (key_get(2, 1)) {
                  Joy_deadzone_val--;
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                }
                if (key_get(3, 1)) {
                  Joy_deadzone_val++;
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                }
                Joy_deadzone_val = constrain(Joy_deadzone_val, 0, 25);

                TFT_menu(0, Joy_deadzone_val);
                TFT_cursor(0);
                return_menu = true;
              }
              break;
          }
        }
        break;

      case 1: {
          switch (menu_num_B) {
            case 0: {
                char *menu_str_c[2] = { "Quadro.", "nRF24"};
                if (key_get(2, 1) || key_get(3, 1)) {
                  mode_protocol = !mode_protocol;
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                }
                for (uint8_t c = 0; c < 2; c++) {
                  TFT_menu(c, menu_str_c[c]);
                }

                TFT_cursor(mode_protocol);
                return_menu = true;
              }
              break;
            case 1: {
#if !defined(__AVR_ATmega128RFA1__)
                char *menu_str_c[5] = {"9600", "19200", "38400", "57600", "115200"};
#endif
                if (key_get(2, 1)) {
                  mwc_channal--;
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                }
                if (key_get(3, 1)) {
                  mwc_channal++;
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                }

#if !defined(__AVR_ATmega128RFA1__)
                mwc_channal = constrain(mwc_channal, 0, 4);
                TFT_menu(0, menu_str_c[mwc_channal]);
#else
                mwc_channal = constrain(mwc_channal, 11, 26);
                TFT_menu(0, mwc_channal);
#endif
                TFT_cursor(0);
                return_menu = true;
              }
              break;

            case 2: {
                if (key_get(2, 1)) {
                  nrf_channal--;
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                }
                if (key_get(3, 1)) {
                  nrf_channal++;
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                }
                nrf_channal = constrain(nrf_channal, 0, 125);

                TFT_menu(0, nrf_channal);
                TFT_cursor(0);
                return_menu = true;
              }
              break;
          }
        }
        break;
      case 2: {
          switch (menu_num_B) {
            case 0: {
                tft_theme = !tft_theme;
                TFT_init(true, tft_rotation);
                tft_cache = 1;
                tft.setTextColor(tft_colorA);
                menu_sta --;
              }
              break;
            case 1: {
                tft_rotation = !tft_rotation;
                TFT_init(true, tft_rotation);
                tft_cache = 1;
                tft.setTextColor(tft_colorA);
                menu_sta --;
              }
              break;
            case 2: {
                char *menu_str_c[2] = { "3.3V", "5.0V"};
                return_menu = true;

                if (key_get(2, 1) || key_get(3, 1)) {
                  mcu_voltage = !mcu_voltage;
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                }

                TFT_cursor(mcu_voltage);

                for (uint8_t c = 0; c < 2; c++) {
                  TFT_menu(c, menu_str_c[c]);
                }
                //                tft.fillRect(0, 40, tft_width, 100,tft_colorB);
              }
              break;
          }

        }
        break;

#if !(defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__))
      case 3: { //mpu
          mode_mpu = menu_num_B;
          tft_cache = 1;
          menu_sta = 0; //back main menu
          menu_num_B = 0; //zero
        }
        break;
#endif
    }
  }

  /*
    Serial.print(menu_sta);
    Serial.print(",");
    Serial.print(menu_num_A);
    Serial.print(",");
    Serial.println(menu_num_B);
  */
  //----------------------------
  if (menu_sta == 1) {
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
    int8_t meun_b_max[5] = {1, 2, 2, 1, 0};
#else
    int8_t meun_b_max[4] = {1, 2, 2, 0};
#endif
    if (!meun_b_max[menu_num_A])
      return false;
    else {
      if (key_get(2, 1)) {
        tft.fillRect(0, 40, 5, 100, tft_colorB);
        menu_num_B--;
      }
      if (key_get(3, 1)) {
        tft.fillRect(0, 40, 5, 100, tft_colorB);
        menu_num_B++;
      }
      menu_num_B = constrain(menu_num_B, 0, meun_b_max[menu_num_A]);

      TFT_cursor(menu_num_B);

      if (tft_cache) {
        for (uint8_t b = 0; b < (meun_b_max[menu_num_A] + 1); b++) {
          TFT_menu(b, menu_str_b[menu_num_A][b]);
        }
      }
    }
  }

  //main menu
  if (menu_sta == 0) {
    //custer
    if (key_get(2, 1)) {
      tft.fillRect(0, 40, 5, 100, tft_colorB);
      menu_num_A--;
    }
    if (key_get(3, 1)) {
      tft.fillRect(0, 40, 5, 100, tft_colorB);
      menu_num_A++;
    }
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
    menu_num_A = constrain(menu_num_A, 0, 4);
#else
    menu_num_A = constrain(menu_num_A, 0, 3);
#endif

    TFT_cursor(menu_num_A);

    if (tft_cache) {
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
      for (uint8_t a = 0; a < 5; a++) {
#else
      for (uint8_t a = 0; a < 4; a++) {
#endif
        TFT_menu(a, menu_str_a[a]);
      }
    }
  }

  if (tft_cache) {
    //BACK
    tft.fillCircle(12, 149, 8, tft_colorA);
    tft.drawLine(11, 145, 7, 149, tft_colorB);
    tft.drawLine(7, 149, 11, 153, tft_colorB);
    tft.drawLine(7, 149, 17, 149, tft_colorB);
    //ENTER
    tft.fillCircle(12 + 20, 149, 8, tft_colorA);
    tft.drawLine(10 + 20, 146, 7 + 20, 149, tft_colorB);
    tft.drawLine(7 + 20, 149, 10 + 20, 152, tft_colorB);
    tft.drawLine(7 + 20, 149, 15 + 20, 149, tft_colorB);
    tft.drawLine(15 + 20, 146, 15 + 20, 149, tft_colorB);
    //PREV
    tft.fillCircle(127 - 12, 149, 8, tft_colorA);
    tft.drawLine(127 - 12, 153, 127 - 8, 149, tft_colorB);
    tft.drawLine(127 - 12, 153, 127 - 16, 149, tft_colorB);
    tft.drawLine(127 - 12, 153, 127 - 12, 145, tft_colorB);
    //NEXT
    tft.fillCircle(127 - 32, 149, 8, tft_colorA);
    tft.drawLine(127 - 32, 145, 127 - 28, 149, tft_colorB);
    tft.drawLine(127 - 32, 145, 127 - 36, 149, tft_colorB);
    tft.drawLine(127 - 32, 145, 127 - 32, 153, tft_colorB);
  }
  tft_cache --;
  if (tft_cache < 0)  tft_cache = 0;

  return true;
}

//------------------
#define _C_x_S  (_Q_x + 1)
#define _C_x_M  (_Q_x + ((_W_x + 1) / 2))
#define _C_x_E  (_Q_x + _W_x - 1)

char *NAME[8] = {
  "ROLL", "PITCH", "YAW", "THROT", "AUX1", "AUX2", "AUX3", "AUX4"
};

void TFT_ready()
{
  tft.fillRect(0, 0, 128, 26, tft_colorA);

  tft.drawRect(tft_width - tft_bat_x - tft_bat_x_s - 2, 2, tft_bat_x, tft_bat_y, tft_colorB);
  tft.drawRect(tft_width - tft_bat_x_s - 2, 2 + (tft_bat_y - tft_bat_y_s) / 2, tft_bat_x_s, tft_bat_y_s, tft_colorB);

  tft.setTextColor(tft_colorB);
  setFont_S;

  tft.setCursor(_Q_font_x, 3);
  tft.print(mode_protocol ? "nRF24" : "Quadr");
  tft.print(" CHAN.");
  tft.print(mode_protocol ? nrf_channal : mwc_channal);
  tft.setCursor(_Q_font_x, 16);
  tft.print("Time:");

  tft.setTextColor(tft_colorA);
  for (uint8_t a = 0; a < 8; a++) {
    tft.setCursor(_Q_font_x, _Q_font_y + a * 15);
    tft.print(NAME[a]);
    //------------------------------------------
    tft.drawRect(_Q_x, _Q_y + a * 15, _W_x, _W_y, tft_colorA);
  }
}

boolean _a = false, _b = false;
void TFT_run()
{
  if (outBuf[3] > (Joy_MID - Joy_maximum)) {
    if (_a) {
      Joy_time[0] = millis() - Joy_time[1];
      _a = false;
    }
    Joy_time[1] = millis() - Joy_time[0];
  }
  else
    _a = true;

  if (!_b && ((Joy_time[1] / 1000) % 2)) {
    _b = !_b;
    tft.fillRect(_Q_font_x + 30, 16, 50, 7, tft_colorA);
    tft.setTextColor(tft_colorB);
    tft.setCursor(_Q_font_x + 30, 16);
    tft.print((Joy_time[1] / 1000) / 60);
    tft.print("m");
    tft.print((Joy_time[1] / 1000) % 60);
    tft.print("s");
  }
  _b = boolean((Joy_time[1] / 1000) % 2);

  //battery------------------
  tft.fillRect(tft_width - tft_bat_x - 3, 3, map(_V_bat, _V_min, _V_max, 0, tft_bat_x - 2) , tft_bat_y - 2, tft_colorB);
  tft.fillRect(tft_width - tft_bat_x - 3 + 
  map(_V_bat, _V_min, _V_max, 0, tft_bat_x - 2), 3, map(_V_bat, _V_min, _V_max, tft_bat_x - 2, 0) , tft_bat_y - 2, tft_colorA);

  for (uint8_t a = 0; a < 8; a++) {
    int8_t _C_x_A0, _C_x_B0, _C_x_A, _C_x_B, _C_x_A1, _C_x_B1;
    int8_t _C_x;

    if (outBuf[a] < Joy_MID) {
      _C_x = map(outBuf[a], Joy_MID - Joy_maximum, Joy_MID, _C_x_S, _C_x_M);

      _C_x_A0 = _C_x_S;
      _C_x_B0 = _C_x - _C_x_S;

      _C_x_A = _C_x;
      _C_x_B = _C_x_M - _C_x;

      _C_x_A1 = _C_x_M;
      _C_x_B1 = _C_x_E - _C_x_M;
    } else if (outBuf[a] > Joy_MID) {
      _C_x = map(outBuf[a], Joy_MID, Joy_MID + Joy_maximum, _C_x_M, _C_x_E);

      _C_x_A0 = _C_x_S;
      _C_x_B0 = _C_x_M - _C_x_S;

      _C_x_A = _C_x_M;
      _C_x_B = _C_x - _C_x_M;

      _C_x_A1 = _C_x;
      _C_x_B1 = _C_x_E - _C_x;
    } else {
      _C_x_A0 = _C_x_S;
      _C_x_B0 = _C_x_M - _C_x_S;

      _C_x_A = _C_x_M;
      _C_x_B = 0;

      _C_x_A1 = _C_x_M;
      _C_x_B1 = _C_x_E - _C_x_M;
    }
    tft.fillRect(_C_x_A0,  _Q_y + a * 15 + 1, _C_x_B0, _W_y - 2, tft_colorB);
    tft.fillRect(_C_x_A,  _Q_y + a * 15 + 1, _C_x_B, _W_y - 2, tft_colorC);
    tft.fillRect(_C_x_A1,  _Q_y + a * 15 + 1, _C_x_B1, _W_y - 2, tft_colorB);

    tft.fillRect(_C_x_M,  _Q_y + a * 15 - 1, 1, _W_y + 2, tft_colorD);
  }
  //netsta------------------
  tft.fillRect(0, 158, 128, 2, node_clock_error ? tft_colorD : tft_colorC);
}

#include "Arduino.h"

//unsigned long time;
unsigned long TIME1;            //setup delay
unsigned long time2; //send data
unsigned long time3; //battery
unsigned long Joy_time[2] = {0, 0}; //joy