rc_rx

#include <Arduino.h>
#include <CyberLib.h>
#include <SPI.h>
#include "nRF24L01.h"
#include "RF24.h"
#include <ServoTimer2.h>

#define rfch 0x00
#define tmax 1000
#define dpin 9
#define sdebug 1

uint8_t m1 = 0;
uint8_t m2 = 0;
uint8_t m3 = 0;
uint8_t m4 = 0;
uint8_t scount = 4;
uint32_t tm1 = 0;
uint32_t tm2 = 0;
uint32_t tm3 = 0;
uint32_t b5 = 0;
bool lr = 0;
bool dual = 0;
bool strobe = 0;
bool light = 0;
bool nodata;

RF24 radio(7, 8);
uint8_t address[][6] = {"z1", "z2", "z3", "z4", "z5", "z6"};

ServoTimer2 servo;

void setup() {
    //For ports 9,10 set PWM freq to 62500 Hz
    TCCR1A = TCCR1A & 0xe0 | 1;
    TCCR1B = TCCR1B & 0xe0 | 0x09;

    D2_Out;
    D4_Out;
    D5_Out;
    D6_Out;
    D9_Out;
    D10_Out;
    D2_Low;
    D4_Low;
    D5_Low;
    D6_Low;
    D9_Low;
    D10_Low;
    if (sdebug) {
        Serial.begin(115200);
    }
    radio.begin();
    radio.setAutoAck(0);
    radio.setRetries(0,15);
    radio.enableAckPayload();
    radio.setPayloadSize(5);
    radio.openReadingPipe(1,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.startListening();
    servo.attach(3);
}

void loop() {
    uint32_t last_time;
    uint8_t data[5] = {0};
    uint8_t pipeNo;
    int8_t dspeed = 0;
    uint16_t srvdeg = 90;
    uint8_t count = 0;
    while(true) {
        if (radio.available(&pipeNo)) {
            last_time = millis();
            nodata = 0;
            radio.read(&data, sizeof(data));
            srvdeg = map(data[2], 0, 255, 850, 2150);
            if (srvdeg > 1475 && srvdeg < 1516) {
                srvdeg = 1480;
            }
            if (data[1] > 127) {
                D4_Low;
                D5_High;
                if (data[1] < 134) {
                    dspeed = 0;
                } else {
                    data[1] = map(data[1], 134, 255, 180, 255);
                    dspeed = map(data[1], 128, 255, 0, 255);
                }
            } else {
                D4_High;
                D5_Low;
                if (data[1] > 119) {
                    dspeed = 0;
                } else {
                    data[1] = map(data[1], 120, 0, 80, 0);
                    dspeed = map(data[1], 128, 0, 0, 255);
                }
            }
            // Debug to serial
            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.print(data[4]);
                Serial.print("\t");
                Serial.print("dspeed ");
                Serial.print(dspeed);
                Serial.print("\t");
                Serial.print("srvdeg ");
                Serial.println(srvdeg);
            }
        }
        if (millis() - last_time > tmax) {
            srvdeg = 1480;
            dspeed = 0;
            nodata = 1;
            if (D10_Read == 1) {
                D2_High;
                D6_High;
                D10_Low;
            } else {
                D2_Low;
                D6_Low;
                D10_High;
            }
            last_time = millis();
            if (sdebug == 1) {
                Serial.println("No data");
            }
        }
        analogWrite(dpin, dspeed);
        servo.write(srvdeg);
        if (bitRead(data[4], 5) == 1) {
            if (millis() - b5 > 500) {
                if (strobe == 1) {
                    strobe = 0;
                } else if (light == 1) {
                    strobe = 1;
                    light = 0;
                } else {
                    light = 1;
                }
                b5 = millis();
            }
        }
        stroboscope();
        lights();
    }
}

void lights() {
    if (strobe == 1 || nodata == 1) {
        return 0;
    }
    if (light == 1) {
        D2_High;
        D6_High;
        D10_High;
    } else {
        D2_Low;
        D6_Low;
        D10_Low;
    }
}

void stroboscope() {
    if (strobe == 0 || nodata == 1) {
        m1 = 0;
        m2 = 0;
        m3 = 0;
        m4 = 0;
        return 0;
    }
    if (m1 < scount) {
        if (m2 < 12) {
            if (millis() > tm1 + 30) {
                if (! lr) {
                    D2_Inv;
                    D6_Low;
                    D10_Low;
                } else {
                    D2_Low;
                    D6_Inv;
                    D10_Inv;
                }
                tm1 = millis();
                m2++;
            }
        } else {
            if (lr) {
                m1++;
            }
            lr = !lr;
            m2 = 0;
        }
        tm2 = millis();
    } else {
        if (m3 < scount) {
            if (m4 < 12) {
                if (millis() > tm3 + 30) {
                    if (! dual) {
                        D2_Inv;
                        D6_Inv;
                        D10_Low;
                    } else {
                        D2_Low;
                        D6_Low;
                        D10_Inv;
                    }
                    tm3 = millis();
                    m4++;
                }
            } else {
                if (dual) {
                    m3++;
                }
                dual = !dual;
                m4 = 0;
            }
        } else {
            m1 = 0;
            m3 = 0;
        }
    }
}