Added Bluetooth Support

Author: Jovian-Dsouza

Alarms.cpp

@@ -0,0 +1,94 @@
+#define REMOTEXY_MODE__SOFTSERIAL
+
+#include "Arduino.h"
+#include "config.h"
+#include "def.h"
+#include "types.h"
+#include "MultiWii.h"
+
+#include <SoftwareSerial.h> 
+#include <RemoteXY.h> 
+
+// RemoteXY connection settings  
+#define REMOTEXY_SERIAL_RX 8 
+#define REMOTEXY_SERIAL_TX 7 
+#define REMOTEXY_SERIAL_SPEED 9600
+
+#if defined(Bluetooth)
+
+#pragma pack(push, 1) 
+uint8_t RemoteXY_CONF[] = 
+  { 255,7,0,1,0,80,0,8,162,0,
+  5,37,68,12,42,42,38,26,31,5,
+  2,-11,13,41,41,64,26,16,2,1,
+  52,4,22,11,38,26,31,31,79,78,
+  0,79,70,70,0,66,0,42,18,13,
+  28,246,26,2,1,22,4,22,11,2,
+  26,31,31,79,78,0,79,70,70,0,
+  2,0,38,51,21,7,121,26,31,31,
+  79,78,0,79,70,70,0 };
+
+struct { 
+
+    // input variable
+  int8_t right_x; // =-100..100 x-coordinate joystick position 
+  int8_t right_y; // =-100..100 y-coordinate joystick position 
+  int8_t left_x; // =-100..100 x-coordinate joystick position 
+  int8_t left_y; // =-100..100 y-coordinate joystick position 
+  uint8_t aux2; // =1 if switch ON and =0 if OFF 
+  uint8_t aux1; // =1 if switch ON and =0 if OFF 
+  uint8_t aux3; // =1 if switch ON and =0 if OFF
+   
+    // output variable
+  int8_t height; // =0..100 level position 
+
+    // other variable
+  uint8_t connect_flag;  // =1 if wire connected, else =0 
+
+} RemoteXY; 
+#pragma pack(pop)   
+
+
+int16_t bluetooth_rcData[RC_CHANS];// defined in RX.cpp
+
+
+void resetbluetoothData() 
+{
+  RemoteXY.left_y = -100;
+  RemoteXY.left_x = 0;
+  RemoteXY.right_y = 0;
+  RemoteXY.right_x = 0;
+
+  RemoteXY.aux1 = 0;
+  RemoteXY.aux2 = 0;
+  RemoteXY.aux3 = 0; 
+}
+
+
+void bluetooth_Init() { //setup
+
+  RemoteXY_Init (); 
+  resetbluetoothData();
+  
+}
+
+void bluetooth_Read_RC() { //loop
+  static unsigned long lastRecvTime = 0;
+  RemoteXY_Handler ();
+   //unsigned long now = millis();
+ // if ( now - lastRecvTime > 1000 ) {
+    // signal lost?
+   // resetbluetoothData();
+//  }
+   
+  bluetooth_rcData[THROTTLE] =  map(RemoteXY.left_y,-100,100, 1000, 2000); //If your channels are inverted, reverse the map value. Example. From 1000 to 2000 ---> 2000 to 1000
+  bluetooth_rcData[ROLL] =      map(RemoteXY.right_x,-100,100, 1000, 2000);
+  bluetooth_rcData[PITCH] =     map(RemoteXY.right_y,-100,100, 1000, 2000);
+  bluetooth_rcData[YAW] =       map(RemoteXY.left_x,-100,100, 1000, 2000);
+
+  bluetooth_rcData[AUX1] =       map(RemoteXY.aux1,     0, 1, 1000, 2000);
+  bluetooth_rcData[AUX2] =       map(RemoteXY.aux2,     0, 1, 1000, 2000);
+  bluetooth_rcData[AUX3] =       map(RemoteXY.aux3,     0, 1, 1000, 2000);
+}
+
+#endif

Alarms.h

@@ -0,0 +1,39 @@
+
+#ifndef Bluetooth_H_
+#define Bluetooth_H_
+
+#include "config.h"
+
+#if defined(Bluetooth)
+
+// The sizeof this struct should not exceed 32 bytes
+struct bluetoothData {
+  byte throttle;
+  byte yaw;
+  byte pitch;
+  byte roll;
+  byte AUX1;
+  byte AUX2;
+  byte switches;
+};
+
+struct bluetoothAckPayload {
+  float lat;
+  float lon;
+  int16_t heading;
+  int16_t pitch;
+  int16_t roll;  
+  int32_t alt;
+  byte flags;
+};
+
+extern bluetoothData bluetoothData;
+extern bluetoothAckPayload bluetoothAckPayload;
+extern int16_t bluetooth_rcData[RC_CHANS];
+
+void bluetooth_Init();
+void bluetooth_Read_RC();
+
+#endif
+
+#endif /* Bluetooth_H_ */