#define TIMELOOP 5000
#define ELRS_ADDRESS 0xEE
#define TYPE_CHANNELS 0x16
#define CRSF_PACKET_SIZE 26
#define CRSF_MAX_CHANNEL 16
#define CRSF_CMD_PACKET_SIZE 8
#define CRSF_DIGITAL_CHANNEL_MIN 172
#define CRSF_DIGITAL_CHANNEL_MAX 1811
#define CH_MAX 10
uint8_t crsfPacket[CRSF_PACKET_SIZE];
int16_t rcChannels[CRSF_MAX_CHANNEL];
uint8_t crsfCmdPacket[CRSF_CMD_PACKET_SIZE];
uint32_t last_time = micros();
uint32_t last_press,com1,last_bat_time = millis();
uint32_t crsfTime = 0;
int a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,k1,k2=0;
//bool inv_flag[9] = {0,1,0,1,0,1,1,0,0};
//int8_t trim_value[9] = {45,-50,0,31,0,0,0,0,0};
void setup() {
for (uint8_t i = 0; i < CRSF_MAX_CHANNEL; i++) rcChannels[i] = CRSF_DIGITAL_CHANNEL_MIN;
Serial.begin(115200);
Serial3.begin(400000);
}
void loop() {
if ((millis() - com1) >= 50) {
com1 = millis();
a1 = analogRead(PA0);
a2 = analogRead(PA1);
a3 = analogRead(PA2);
a4 = analogRead(PA3);
a5 = analogRead(PA4);
a6 = analogRead(PA5);
a7 = analogRead(PA6);
a8 = analogRead(PA7);
a9 = analogRead(PB0);
a10 = analogRead(PB1);
k1 = digitalRead(PB3);
k2 = digitalRead(PB4);
Serial.print(a1); Serial.print('\t');
Serial.print(a2); Serial.print('\t');
Serial.print(a3); Serial.print('\t');
Serial.print(a4); Serial.print('\t');
Serial.print(a5); Serial.print('\t');
Serial.print(a6); Serial.print('\t');
Serial.print(a7); Serial.print('\t');
Serial.print(a8); Serial.print('\t');
Serial.print(a9); Serial.print('\t');
Serial.print(a10); Serial.print('\t');
Serial.print(k1); Serial.print('\t');
Serial.println(k2);
}
if ((micros() - last_time) >= TIMELOOP) {
last_time = micros();
dataRead();
crsfPrepareDataPacket(crsfPacket, rcChannels);
CrsfWritePacket(crsfPacket, CRSF_PACKET_SIZE);
}
}
// crc implementation from CRSF protocol document rev7
static uint8_t crsf_crc8tab[256] = {
0x00, 0xD5, 0x7F, 0xAA, 0xFE, 0x2B, 0x81, 0x54, 0x29, 0xFC, 0x56, 0x83, 0xD7, 0x02, 0xA8, 0x7D,
0x52, 0x87, 0x2D, 0xF8, 0xAC, 0x79, 0xD3, 0x06, 0x7B, 0xAE, 0x04, 0xD1, 0x85, 0x50, 0xFA, 0x2F,
0xA4, 0x71, 0xDB, 0x0E, 0x5A, 0x8F, 0x25, 0xF0, 0x8D, 0x58, 0xF2, 0x27, 0x73, 0xA6, 0x0C, 0xD9,
0xF6, 0x23, 0x89, 0x5C, 0x08, 0xDD, 0x77, 0xA2, 0xDF, 0x0A, 0xA0, 0x75, 0x21, 0xF4, 0x5E, 0x8B,
0x9D, 0x48, 0xE2, 0x37, 0x63, 0xB6, 0x1C, 0xC9, 0xB4, 0x61, 0xCB, 0x1E, 0x4A, 0x9F, 0x35, 0xE0,
0xCF, 0x1A, 0xB0, 0x65, 0x31, 0xE4, 0x4E, 0x9B, 0xE6, 0x33, 0x99, 0x4C, 0x18, 0xCD, 0x67, 0xB2,
0x39, 0xEC, 0x46, 0x93, 0xC7, 0x12, 0xB8, 0x6D, 0x10, 0xC5, 0x6F, 0xBA, 0xEE, 0x3B, 0x91, 0x44,
0x6B, 0xBE, 0x14, 0xC1, 0x95, 0x40, 0xEA, 0x3F, 0x42, 0x97, 0x3D, 0xE8, 0xBC, 0x69, 0xC3, 0x16,
0xEF, 0x3A, 0x90, 0x45, 0x11, 0xC4, 0x6E, 0xBB, 0xC6, 0x13, 0xB9, 0x6C, 0x38, 0xED, 0x47, 0x92,
0xBD, 0x68, 0xC2, 0x17, 0x43, 0x96, 0x3C, 0xE9, 0x94, 0x41, 0xEB, 0x3E, 0x6A, 0xBF, 0x15, 0xC0,
0x4B, 0x9E, 0x34, 0xE1, 0xB5, 0x60, 0xCA, 0x1F, 0x62, 0xB7, 0x1D, 0xC8, 0x9C, 0x49, 0xE3, 0x36,
0x19, 0xCC, 0x66, 0xB3, 0xE7, 0x32, 0x98, 0x4D, 0x30, 0xE5, 0x4F, 0x9A, 0xCE, 0x1B, 0xB1, 0x64,
0x72, 0xA7, 0x0D, 0xD8, 0x8C, 0x59, 0xF3, 0x26, 0x5B, 0x8E, 0x24, 0xF1, 0xA5, 0x70, 0xDA, 0x0F,
0x20, 0xF5, 0x5F, 0x8A, 0xDE, 0x0B, 0xA1, 0x74, 0x09, 0xDC, 0x76, 0xA3, 0xF7, 0x22, 0x88, 0x5D,
0xD6, 0x03, 0xA9, 0x7C, 0x28, 0xFD, 0x57, 0x82, 0xFF, 0x2A, 0x80, 0x55, 0x01, 0xD4, 0x7E, 0xAB,
0x84, 0x51, 0xFB, 0x2E, 0x7A, 0xAF, 0x05, 0xD0, 0xAD, 0x78, 0xD2, 0x07, 0x53, 0x86, 0x2C, 0xF9
};
uint8_t crsf_crc8(const uint8_t *ptr, uint8_t len) {
uint8_t crc = 0;
for (uint8_t i = 0; i < len; i++) {
crc = crsf_crc8tab[crc ^ *ptr++];
}
return crc;
}
void crsfPrepareDataPacket(uint8_t packet[], int16_t channels[]) {
packet[0] = ELRS_ADDRESS; // Header
packet[1] = 24; // length of type (24) + payload + crc
packet[2] = TYPE_CHANNELS;
packet[3] = (uint8_t)(channels[0] & 0x07FF);
packet[4] = (uint8_t)((channels[0] & 0x07FF) >> 8 | (channels[1] & 0x07FF) << 3);
packet[5] = (uint8_t)((channels[1] & 0x07FF) >> 5 | (channels[2] & 0x07FF) << 6);
packet[6] = (uint8_t)((channels[2] & 0x07FF) >> 2);
packet[7] = (uint8_t)((channels[2] & 0x07FF) >> 10 | (channels[3] & 0x07FF) << 1);
packet[8] = (uint8_t)((channels[3] & 0x07FF) >> 7 | (channels[4] & 0x07FF) << 4);
packet[9] = (uint8_t)((channels[4] & 0x07FF) >> 4 | (channels[5] & 0x07FF) << 7);
packet[10] = (uint8_t)((channels[5] & 0x07FF) >> 1);
packet[11] = (uint8_t)((channels[5] & 0x07FF) >> 9 | (channels[6] & 0x07FF) << 2);
packet[12] = (uint8_t)((channels[6] & 0x07FF) >> 6 | (channels[7] & 0x07FF) << 5);
packet[13] = (uint8_t)((channels[7] & 0x07FF) >> 3);
packet[14] = (uint8_t)((channels[8] & 0x07FF));
packet[15] = (uint8_t)((channels[8] & 0x07FF) >> 8 | (channels[9] & 0x07FF) << 3);
packet[16] = (uint8_t)((channels[9] & 0x07FF) >> 5 | (channels[10] & 0x07FF) << 6);
packet[17] = (uint8_t)((channels[10] & 0x07FF) >> 2);
packet[18] = (uint8_t)((channels[10] & 0x07FF) >> 10 | (channels[11] & 0x07FF) << 1);
packet[19] = (uint8_t)((channels[11] & 0x07FF) >> 7 | (channels[12] & 0x07FF) << 4);
packet[20] = (uint8_t)((channels[12] & 0x07FF) >> 4 | (channels[13] & 0x07FF) << 7);
packet[21] = (uint8_t)((channels[13] & 0x07FF) >> 1);
packet[22] = (uint8_t)((channels[13] & 0x07FF) >> 9 | (channels[14] & 0x07FF) << 2);
packet[23] = (uint8_t)((channels[14] & 0x07FF) >> 6 | (channels[15] & 0x07FF) << 5);
packet[24] = (uint8_t)((channels[15] & 0x07FF) >> 3);
packet[25] = crsf_crc8(&packet[2], packet[1] - 1); // CRC
}
void CrsfWritePacket(uint8_t packet[], uint8_t packetLength) {
Serial3.write(packet, packetLength);
}
void dataRead() {
int16_t read_value = 0;
int16_t raw;
//1
raw = analogRead(PA0)+45;
read_value = map(raw, 3055,490,172,1811);//490 3055
if (read_value < 173) read_value = 172;
if (read_value > 1810) read_value = 1811;
if (read_value > 1008) read_value = map(read_value, 1811,1008,1811,992);
else if (read_value < 976) read_value = map(read_value, 976,172,992,172);
else read_value = 992;
rcChannels[0] = read_value;
//2
raw = analogRead(PA1)-52;
read_value = map(raw, 3367,930,172,1811);
if (read_value < 173) read_value = 172;
if (read_value > 1810) read_value = 1811;
if (read_value > 1008) read_value = map(read_value, 1811,1008,1811,992);
else if (read_value < 976) read_value = map(read_value, 976,172,992,172);
else read_value = 992;
rcChannels[1] = read_value;
//3
raw = analogRead(PA2)+0;
read_value = map(raw, 1087,3829,172,1811);
if (read_value < 173) read_value = 172;
if (read_value > 1810) read_value = 1811;
rcChannels[2] = read_value;
//4
raw = analogRead(PA3)+31;
read_value = map(raw, 3484,771,172,1811);
if (read_value < 173) read_value = 172;
if (read_value > 1810) read_value = 1811;
if (read_value > 1008) read_value = map(read_value, 1811,1008,1811,992);
else if (read_value < 976) read_value = map(read_value, 976,172,992,172);
else read_value = 992;
rcChannels[3] = read_value;
//5
raw = analogRead(PA4)+0;
read_value = map(raw, 19,4095,172,1811);
if (read_value < 173) read_value = 172;
if (read_value > 1810) read_value = 1811;
rcChannels[4] = read_value;
//6
raw = analogRead(PA5)+0;
read_value = map(raw, 3471,749,172,1811);
if (read_value < 173) read_value = 172;
if (read_value > 1810) read_value = 1811;
rcChannels[5] = read_value;
//7
raw = analogRead(PA6)+0;
read_value = map(raw, 3341,785,172,1811);
if (read_value < 173) read_value = 172;
if (read_value > 1810) read_value = 1811;
rcChannels[6] = read_value;
//8
raw = analogRead(PA7)+0;
read_value = map(raw, 581,3388,172,1811);
if (read_value < 173) read_value = 172;
if (read_value > 1810) read_value = 1811;
rcChannels[7] = read_value;
//9
raw = analogRead(PB0)+0;
read_value = map(raw, 895,3431,172,1811);
if (read_value < 173) read_value = 172;
if (read_value > 1810) read_value = 1811;
rcChannels[8] = read_value;
//10
raw = analogRead(PB1)+0;
read_value = map(raw, 0,4095,172,1811);
if (read_value < 173) read_value = 172;
if (read_value > 1810) read_value = 1811;
rcChannels[9] = read_value;
}