rc_tx

#include <SPI.h>
#include "nRF24L01.h"
#include "RF24.h"
#include "CyberLib.h"

#define bitCheckSet(value, bit, res) if(res) {(value) |= (1UL << (bit));} else {(value) &= ~(1UL << (bit));}

// fast ADC
#ifndef cbi
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#endif
#ifndef sbi
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
#endif

#define j1x  0
#define j1y  1
#define j2x  2
#define j2y  3

#define tmax 50
#define rfch 0x00

bool sdebug = 0;
RF24 radio(9, 10);
byte address[][6] = {"z1", "z2", "z3", "z4", "z5", "z6"};

void setup() {
    // set ADC prescale to 16
//    ADCSRA |= (1 << ADPS2);
//    ADCSRA &= ~(1 << ADPS1 | 1 << ADPS0);
    sbi(ADCSRA,ADPS2) ;
    cbi(ADCSRA,ADPS1) ;
    cbi(ADCSRA,ADPS0) ;

    D2_In;
    D3_In;
    D4_In;
    D5_In;
    D6_In;
    D7_In;
    D2_High;
    D3_High;
    D4_High;
    D5_High;
    D6_High;
    D7_High;

    if (! D2_Read == 1 && ! D3_Read == 1) {
        sdebug = 1;
        Serial.begin(115200);
    }

    //setup radio
    radio.begin();
    radio.setAutoAck(0);
    radio.setRetries(0, 15);
    radio.enableAckPayload();
    radio.setPayloadSize(5);
    radio.openWritingPipe(address[0]);
    radio.setChannel(rfch);
    radio.setPALevel (RF24_PA_MAX); //RF24_PA_MIN, RF24_PA_LOW, RF24_PA_HIGH, RF24_PA_MAX
    radio.setDataRate (RF24_250KBPS); //RF24_2MBPS, RF24_1MBPS, RF24_250KBPS
    radio.powerUp();
    radio.stopListening();
}

void loop() {
    uint32_t last_time = 0;
    byte data[5] = {0};
    uint8_t count = 0;
    while(true) {
        if (millis() - last_time > tmax) {
            data[0] = map(analogRead(j1x), 0, 1023, 0, 255);
            data[1] = map(analogRead(j1y), 0, 1023, 255, 0);
            data[2] = map(analogRead(j2x), 0, 1023, 0, 255);
            data[3] = map(analogRead(j2y), 0, 1023, 255, 0);
            bitCheckSet(data[4], 0, (!D2_Read));
            bitCheckSet(data[4], 1, (!D3_Read));
            bitCheckSet(data[4], 2, (!D4_Read));
            bitCheckSet(data[4], 3, (!D5_Read));
            bitCheckSet(data[4], 4, (!D6_Read));
            bitCheckSet(data[4], 5, (!D7_Read));
            if (data[0] < 3) {
                data[0] = 0;
            }
            if (data[0] > 125 && data[0] < 133) {
                data[0] = 127;
            }
            if (data[0] > 252) {
                data[0] = 255;
            }
            if (data[1] < 3) {
                data[1] = 0;
            }
            if (data[1] > 124 && data[1] < 130) {
                data[1] = 127;
            }
            if (data[2] < 3) {
                data[2] = 0;
            }
            if (data[2] > 122 && data[2] < 130) {
                data[2] = 127;
            }
            if (data[2] > 252) {
                data[2] = 255;
            }
            if (data[3] < 3) {
                data[3] = 0;
            }
            if (data[3] > 112 && data[3] < 142) {
                data[3] = 127;
            }
            last_time = millis();
            radio.write(&data, sizeof(data));
            if (sdebug == 1) {
                count++;
                Serial.print(count);
                Serial.print("\t");
                Serial.print(data[0]);
                Serial.print("\t");
                Serial.print(data[1]);
                Serial.print("\t");
                Serial.print(data[2]);
                Serial.print("\t");
                Serial.print(data[3]);
                Serial.print("\t");
                Serial.println(data[4]);
            }
        }
    }
}