stellaris_mwc_rx.ino

//use bitlash fork from https://github.com/murix/bitlash
#include "bitlash.h"
//
#include <SPI.h>
#include <AIR430BoostFCC.h>

#define ADDRESS_LOCAL    0x01
#define ADDRESS_REMOTE   0x02

struct sPacket
{
  uint8_t from;           
  uint8_t message[59];    
};

struct sPacket rxPacket;




int na;
int nb;
int nc;
int nd;
int ba;
int bb;
int bc;
int bd;
numvar func_joy(void) {
  //back
  ba=na;
  bb=nb;
  bc=nc;
  bd=nd;
  //now (get Xbox controller values)
  na=getarg(1);
  nb=getarg(2);
  nc=getarg(3);
  nd=getarg(4);
  //map from xbox controller range to mwc input range.
  int ma=map(na,-32768,32768,122,255);
  int mb=map(nb,-32768,32768,122,255);
  int mc=map(nc,-32768,32768,122,255);
  int md=map(nd,-32768,32768,122,255);
  //touch PWM only necessary
  if(ba!=na){ 
    analogWrite(PC_6,ma);
  }
  if(bb!=nb){ 
    analogWrite(PC_7,mb);
  }
  if(bc!=nc){ 
    analogWrite(PD_6,mc);
  }
  if(bd!=nd){ 
    analogWrite(PD_7,md);
  }

  Serial.println("ok");
  return 0;
}


void setup()
{
  Radio.begin(ADDRESS_LOCAL, CHANNEL_1, POWER_MAX);

  rxPacket.from = 0;
  memset(rxPacket.message, 0, sizeof(rxPacket.message));

  initBitlash(115200);	
  addBitlashFunction("joy", (bitlash_function) func_joy);

  //Stellaris Pins -> Arduino Pins
  pinMode(PC_6,OUTPUT); //d2-throttle
  pinMode(PC_7,OUTPUT); //d4-roll
  pinMode(PD_6,OUTPUT); //d5-pitch
  pinMode(PD_7,OUTPUT); //d6-yaw

  pinMode(BLUE_LED, OUTPUT);
  digitalWrite(BLUE_LED, LOW);
}

void loop()
{
  runBitlash();

  rxPacket.from = 0;
  memset(rxPacket.message, 0, sizeof(rxPacket.message));

  int len = Radio.receiverOn((unsigned char*)&rxPacket, sizeof(rxPacket), 1000);
  if (len > 0)
  {
    digitalWrite(BLUE_LED, HIGH);
    doCommand((char*)rxPacket.message);
    digitalWrite(BLUE_LED, LOW);
  }
}