RC Submarine

How to make a radio-controlled submarine with a video camera

May 13, 2020

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toys

remote control

robots

Components and supplies

IMU Sensor

GPS/GLONASS

Iskra Nano Pro

Arduino Mega 2560

Tools and machines

Hot glue gun (generic)

Soldering iron (generic)

Drill, Screwdriver

Project description

Code

UartAndPinConfig.h

arduino

1#include "Arduino.h"
2
3#define  SetBit(reg, bita)         reg |=  (1<<bita)            
4#define  ClearBit(reg, bita)       reg &= (~(1<<bita))
5#define  InvBit(reg, bita)         reg ^= (1<<bita)
6#define  BitIsSet(reg, bita)       ((reg  & (1<<bita)) != 0)
7#define  BitIsClear(reg, bita)     ((reg & (1<<bita)) == 0)
8
9//  Arduino Duemilanove, Diecimila, and NG
10#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)  || defined(__AVR_ATmega328__)
11
12#define LedPinOut() DDRB  |= (1<<5)
13#define  LedPinOn()  PORTB |= (1<<5)
14#define LedPinOFF() PORTB &= (~(1<<5))
15
16//  Arduino Mega
17#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
18
19#define  LedPinOut() DDRB  |= (1<<7)
20#define LedPinOn()  PORTB |= (1<<7)
21#define LedPinOFF()  PORTB &= (~(1<<7))
22
23// Leonardo
24#elif defined(__AVR_ATmega32U4__)
25
26#define  LedPinOut() DDRC  |= (1<<7)
27#define LedPinOn()  PORTC |= (1<<7)
28#define LedPinOFF()  PORTC &= (~(1<<7))
29
30// anything else
31#else
32#error "Board not supported"
33#endif
34
35#if  defined(Serial_0) 			//UART0
36
37#if defined(UBRRH) && defined(UBRRL) 
38	#define  UDRn     UDR
39	#define  UBRRnH   UBRRH
40	#define  UBRRnL   UBRRL
41	#define  UCSRnA   UCSRA 
42	#define  UCSRnB   UCSRB  
43	#define  UCSRnC   UCSRC      
44#else
45	#define  UDRn     UDR0
46	#define  UBRRnH   UBRR0H
47	#define  UBRRnL   UBRR0L
48	#define  UCSRnA   UCSR0A 
49	#define  UCSRnB   UCSR0B  
50	#define  UCSRnC   UCSR0C
51#endif
52
53#if  defined(USART_RX_vect)
54  #define BYTEin USART_RX_vect  
55#elif defined(USART0_RX_vect)
56  #define BYTEin USART0_RX_vect
57#elif defined(USART_RXC_vect)
58  #define BYTEin  USART_RXC_vect //ATmega8
59#else
60  #error "Board not supported"
61#endif
62
63#endif  			  			//UART0
64
65
66#if defined(Serial_1) 			//UART1
67
68	#define  UDRn     UDR1
69	#define  UBRRnH   UBRR1H
70	#define  UBRRnL   UBRR1L
71	#define  UCSRnA   UCSR1A 
72	#define  UCSRnB   UCSR1B  
73	#define  UCSRnC   UCSR1C  
74	
75	#if defined(UART1_RX_vect)
76		#define	BYTEin UART1_RX_vect
77	#elif  defined(USART1_RX_vect)
78		#define BYTEin USART1_RX_vect
79	#else
80	#error  "Board not supported"
81	#endif
82		
83#endif							//UART1
84
85
86#if  defined(Serial_2)			//UART2
87
88	#define  UDRn     UDR2
89	#define  UBRRnH   UBRR2H
90	#define  UBRRnL   UBRR2L  
91	#define  UCSRnA   UCSR2A 
92	#define  UCSRnB   UCSR2B  
93	#define  UCSRnC   UCSR2C 
94	#define  BYTEin   USART2_RX_vect
95			
96#endif							//UART2
97
98
99#if  defined(Serial_3)			//UART3
100
101	#define  UDRn     UDR3
102	#define  UBRRnH   UBRR3H
103	#define  UBRRnL   UBRR3L
104	#define  UCSRnA   UCSR3A 
105	#define  UCSRnB   UCSR3B  
106	#define  UCSRnC   UCSR3C 
107	#define  BYTEin   USART3_RX_vect
108			
109#endif							//UART3
110
111#if  !defined(TXC0)
112#if defined(TXC)
113// Some chips like ATmega8 don't have UPE,  only PE. The other bits are
114// named as expected.
115#if !defined(UPE) && defined(PE)
116#define  UPE PE
117#endif
118// On ATmega8, the uart and its bits are not numbered, so there  is no TXC0 etc.
119#define TXC0 TXC
120#define RXEN0 RXEN
121#define TXEN0 TXEN
122#define  RXCIE0 RXCIE
123#define UDRIE0 UDRIE
124#define U2X0 U2X
125#define UPE0 UPE
126#define  UDRE0 UDRE
127#elif defined(TXC1)
128// Some devices have uart1 but no uart0
129#define  TXC0 TXC1
130#define RXEN0 RXEN1
131#define TXEN0 TXEN1
132#define RXCIE0 RXCIE1
133#define  UDRIE0 UDRIE1
134#define U2X0 U2X1
135#define UPE0 UPE1
136#define UDRE0 UDRE1
137#else
138#error  No UART found in HardwareSerial.cpp
139#endif
140#endif // !defined TXC0
141
142

#include "Arduino.h"

#define  SetBit(reg, bita)         reg |=  (1<<bita)            
#define  ClearBit(reg, bita)       reg &= (~(1<<bita))
#define  InvBit(reg, bita)         reg ^= (1<<bita)
#define  BitIsSet(reg, bita)       ((reg  & (1<<bita)) != 0)
#define  BitIsClear(reg, bita)     ((reg & (1<<bita)) == 0)

//  Arduino Duemilanove, Diecimila, and NG
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)  || defined(__AVR_ATmega328__)

#define LedPinOut() DDRB  |= (1<<5)
#define  LedPinOn()  PORTB |= (1<<5)
#define LedPinOFF() PORTB &= (~(1<<5))

//  Arduino Mega
#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)

#define  LedPinOut() DDRB  |= (1<<7)
#define LedPinOn()  PORTB |= (1<<7)
#define LedPinOFF()  PORTB &= (~(1<<7))

// Leonardo
#elif defined(__AVR_ATmega32U4__)

#define  LedPinOut() DDRC  |= (1<<7)
#define LedPinOn()  PORTC |= (1<<7)
#define LedPinOFF()  PORTC &= (~(1<<7))

// anything else
#else
#error "Board not supported"
#endif

#if  defined(Serial_0) 			//UART0

#if defined(UBRRH) && defined(UBRRL) 
	#define  UDRn     UDR
	#define  UBRRnH   UBRRH
	#define  UBRRnL   UBRRL
	#define  UCSRnA   UCSRA 
	#define  UCSRnB   UCSRB  
	#define  UCSRnC   UCSRC      
#else
	#define  UDRn     UDR0
	#define  UBRRnH   UBRR0H
	#define  UBRRnL   UBRR0L
	#define  UCSRnA   UCSR0A 
	#define  UCSRnB   UCSR0B  
	#define  UCSRnC   UCSR0C
#endif

#if  defined(USART_RX_vect)
  #define BYTEin USART_RX_vect  
#elif defined(USART0_RX_vect)
  #define BYTEin USART0_RX_vect
#elif defined(USART_RXC_vect)
  #define BYTEin  USART_RXC_vect //ATmega8
#else
  #error "Board not supported"
#endif

#endif  			  			//UART0


#if defined(Serial_1) 			//UART1

	#define  UDRn     UDR1
	#define  UBRRnH   UBRR1H
	#define  UBRRnL   UBRR1L
	#define  UCSRnA   UCSR1A 
	#define  UCSRnB   UCSR1B  
	#define  UCSRnC   UCSR1C  
	
	#if defined(UART1_RX_vect)
		#define	BYTEin UART1_RX_vect
	#elif  defined(USART1_RX_vect)
		#define BYTEin USART1_RX_vect
	#else
	#error  "Board not supported"
	#endif
		
#endif							//UART1


#if  defined(Serial_2)			//UART2

	#define  UDRn     UDR2
	#define  UBRRnH   UBRR2H
	#define  UBRRnL   UBRR2L  
	#define  UCSRnA   UCSR2A 
	#define  UCSRnB   UCSR2B  
	#define  UCSRnC   UCSR2C 
	#define  BYTEin   USART2_RX_vect
			
#endif							//UART2


#if  defined(Serial_3)			//UART3

	#define  UDRn     UDR3
	#define  UBRRnH   UBRR3H
	#define  UBRRnL   UBRR3L
	#define  UCSRnA   UCSR3A 
	#define  UCSRnB   UCSR3B  
	#define  UCSRnC   UCSR3C 
	#define  BYTEin   USART3_RX_vect
			
#endif							//UART3

#if  !defined(TXC0)
#if defined(TXC)
// Some chips like ATmega8 don't have UPE,  only PE. The other bits are
// named as expected.
#if !defined(UPE) && defined(PE)
#define  UPE PE
#endif
// On ATmega8, the uart and its bits are not numbered, so there  is no TXC0 etc.
#define TXC0 TXC
#define RXEN0 RXEN
#define TXEN0 TXEN
#define  RXCIE0 RXCIE
#define UDRIE0 UDRIE
#define U2X0 U2X
#define UPE0 UPE
#define  UDRE0 UDRE
#elif defined(TXC1)
// Some devices have uart1 but no uart0
#define  TXC0 TXC1
#define RXEN0 RXEN1
#define TXEN0 TXEN1
#define RXCIE0 RXCIE1
#define  UDRIE0 UDRIE1
#define U2X0 U2X1
#define UPE0 UPE1
#define UDRE0 UDRE1
#else
#error  No UART found in HardwareSerial.cpp
#endif
#endif // !defined TXC0

Serial27bTransmitter.h

arduino

1#include "Arduino.h"
2#include "UartAndPinConfig.h"
3
4const  uint8_t transmStart = 129;  	//   
5const uint8_t transmEnd = 130;	  	//   
6
7const  uint8_t receiverStart =254; 	//   	 
8const uint8_t receiverEnd = 255;  	//   
9
10//       
11volatile uint32_t Serial34bSendTimeOUT;
12//    		
13volatile  uint32_t Serial34bTimeCore = 0;
14//   true /   false
15volatile boolean tTimeOut  = true;
16//    
17volatile uint8_t tErrTime = 0;
18//    
19volatile uint8_t  tErrCRC = 0;
20//    
21volatile uint8_t BYTEinCount = 0;
22//   
23volatile  uint8_t inUart_arr[32];
24
25ISR (TIMER0_COMPA_vect) {
26Serial34bTimeCore ++;
27
28	if  (Serial34bTimeCore >	Serial34bSendTimeOUT) {		//   
29	Serial34bTimeCore =  0;
30
31	if (tTimeOut) {										//  /  !!!
32	tTimeOut = false;
33	
34//       UART
35uint8_t uart_arr[32];
36for (uint8_t i = 0; i <= 31; i++) uart_arr[i]=0;
37
38//    b8_arr[28];
39uint8_t b8_arr[28];
40//      
41b8_arr[0] = 0;
42for (uint8_t  i = 1; i <= 27; i++) b8_arr[i] = transm_arr[i-1];
43
44//         
45int8_t uartCount  = 0;
46for (uartCount = 27; uartCount >= 0; uartCount--) {
47    if (b8_arr[uartCount]  != 0) break; 		//   uartCount 
48  }
49
50if (uartCount != -1) { 		//    -     
51// 
52//           
53uint16_t crc16 = 0;	
54uint8_t crc8 = 0;
55for  (uint8_t i = 1; i <= uartCount; i++) crc16 = crc16 + b8_arr[i] * 44111;
56crc8  = crc16 & 255;	
57b8_arr[0] = crc8;
58
59	//  8-    7- 
60	uint8_t k = 0;
61	uint8_t  q = 1; 		
62   for (uint8_t j = 0; j <= 24; j=j+8) { // 0, 8, 16, 24  
63	for  (uint8_t i = k; i <= k+6; i++) { // 0...6 / 7...13 /14...20 / 21...27 / 
64	uart_arr[i+q]  = b8_arr[i];
65	uart_arr[i+q] &= B01111111;
66	b8_arr[i]     &= B10000000;
67	uart_arr[j]  |= b8_arr[i];
68	uart_arr[j] >>= 1;
69	} 									// 0...6 / 7...13  /14...20 / 21...27 /  
70  if (uartCount<j) break;	    		//    
71  uartCount  ++;  
72  k = k + 7; 
73  q = q + 1;
74   }								 	// 0, 8, 16, 24      
75}		//        UART uart_arr[32] 
76	
77	//    
78	while ( !( UCSRnA  & (1<<UDRE0)) );
79	UDRn = receiverStart;
80	//  uart_arr[32]		
81	for (int8_t  i = 0; i <= uartCount; i++) {
82	while ( !( UCSRnA & (1<<UDRE0)) );
83	UDRn  = uart_arr[i];
84	}	
85	//    
86	while ( !( UCSRnA & (1<<UDRE0)) );
87	UDRn  = receiverEnd;
88	
89	}  else { 											//     transmTOUT = false;
90	//    
91	tTimeOut = true;
92	//     
93	tErrTime++;
94	//    
95	LedPinOFF();									
96}
97	}													//   													
98}														//   											
99
100ISR  (BYTEin) {										    	
101	//     !!!
102	uint8_t	dat = 0;										
103	dat  = UDRn;
104
105	if (transmStart == dat){								//     
106	BYTEinCount  = 0;
107	for (uint8_t i = 0; i <= 31; i++) inUart_arr[i] = 0; 	//   inUart_arr[32]
108	return;
109	}
110	
111	if  (transmEnd == dat){									//      
112		
113	if (BYTEinCount == 0)  {								    //       									
114	for (uint8_t i = 0; i <= 26;  i++) receiv_arr[i] = 0;	//     
115	Serial34bTimeCore = 0;									//   
116    LedPinOn();										//       -  
117	tTimeOut = true;										//    	
118	return;
119	} else {											
120	uint8_t b8_arr[28];										//   
121	for (uint8_t i = 0; i <= 27; i++) b8_arr[i] = 0;		//   	
122   
123   //  	
124   uint8_t k = 0;
125   uint8_t q = 1;		
126   for (uint8_t j = 0;  j <= 27; j=j+7) { // 0, 7, 14, 31	
127	for (uint8_t i = j; i <= j+6; i++) {   //  0...6 / 7...13 /14...20 / 21...27 /
128		b8_arr[i] = inUart_arr[k];
129		b8_arr[i]  <<= (7+j-i);
130		b8_arr[i] &= B10000000;
131		b8_arr[i] |= inUart_arr[i+q];	
132	}									   // 0...6 / 7...13 /14...20 / 21...27 /			   
133   k = k + 8;
134   q = q  + 1;  
135  }										   // 0, 7, 14, 31										   
136	//  
137
138	//  
139	uint16_t crc16 = 0;
140	for (int i = 1; i <= 27; i++) crc16  = crc16 + b8_arr[i] * 44111;
141	uint8_t crc8 = 0;
142	crc8 = crc16 & 255;	
143	//  
144	if (b8_arr[0] == crc8) {
145	//    !!!  
146	for (int i = 0; i <=26; i++)  receiv_arr[i] = b8_arr[i+1];
147	//  
148	LedPinOn();
149	//   
150	Serial34bTimeCore  = 0;
151	//    
152	tTimeOut = true;
153	} else {
154	//  
155	LedPinOFF();
156	//     
157	tErrCRC++;
158	}
159	}
160	return;
161	}	
162	//      
163	inUart_arr[BYTEinCount]  = dat;
164    BYTEinCount++;	
165}														// -   !!!
166
167void  startTransmitter (uint32_t baudRate, uint32_t timeSend) {
168//    !!!
169uint16_t  ubrr = 0;
170if (baudRate == 115200) ubrr = 8;
171else ubrr = 16000000/16/baudRate-1;
172//    !!!
173UBRRnH = (unsigned char)(ubrr>>8);
174UBRRnL = (unsigned char)ubrr;
175//  
176SetBit(UCSRnB, TXEN0);
177//  
178SetBit(UCSRnB, RXEN0);
179//       
180SetBit(UCSRnB,  RXCIE0);
181//    8 data 1 stop bit
182SetBit(UCSRnC, 1);
183SetBit(UCSRnC, 2);
184//  
185Serial34bSendTimeOUT = timeSend;
186OCR0A = 0xA0;			//  
187SetBit(TIMSK0,  OCIE0A);	//  
188//   PIN 13
189LedPinOut();
190//  
191for (uint8_t i = 0; i <=  26; i++) transm_arr[i] = 0;
192for (uint8_t i = 0; i <= 26; i++) receiv_arr[i] =  0;
193}

#include "Arduino.h"
#include "UartAndPinConfig.h"

const  uint8_t transmStart = 129;  	//   
const uint8_t transmEnd = 130;	  	//   

const  uint8_t receiverStart =254; 	//   	 
const uint8_t receiverEnd = 255;  	//   

//       
volatile uint32_t Serial34bSendTimeOUT;
//    		
volatile  uint32_t Serial34bTimeCore = 0;
//   true /   false
volatile boolean tTimeOut  = true;
//    
volatile uint8_t tErrTime = 0;
//    
volatile uint8_t  tErrCRC = 0;
//    
volatile uint8_t BYTEinCount = 0;
//   
volatile  uint8_t inUart_arr[32];

ISR (TIMER0_COMPA_vect) {
Serial34bTimeCore ++;

	if  (Serial34bTimeCore >	Serial34bSendTimeOUT) {		//   
	Serial34bTimeCore =  0;

	if (tTimeOut) {										//  /  !!!
	tTimeOut = false;
	
//       UART
uint8_t uart_arr[32];
for (uint8_t i = 0; i <= 31; i++) uart_arr[i]=0;

//    b8_arr[28];
uint8_t b8_arr[28];
//      
b8_arr[0] = 0;
for (uint8_t  i = 1; i <= 27; i++) b8_arr[i] = transm_arr[i-1];

//         
int8_t uartCount  = 0;
for (uartCount = 27; uartCount >= 0; uartCount--) {
    if (b8_arr[uartCount]  != 0) break; 		//   uartCount 
  }

if (uartCount != -1) { 		//    -     
// 
//           
uint16_t crc16 = 0;	
uint8_t crc8 = 0;
for  (uint8_t i = 1; i <= uartCount; i++) crc16 = crc16 + b8_arr[i] * 44111;
crc8  = crc16 & 255;	
b8_arr[0] = crc8;

	//  8-    7- 
	uint8_t k = 0;
	uint8_t  q = 1; 		
   for (uint8_t j = 0; j <= 24; j=j+8) { // 0, 8, 16, 24  
	for  (uint8_t i = k; i <= k+6; i++) { // 0...6 / 7...13 /14...20 / 21...27 / 
	uart_arr[i+q]  = b8_arr[i];
	uart_arr[i+q] &= B01111111;
	b8_arr[i]     &= B10000000;
	uart_arr[j]  |= b8_arr[i];
	uart_arr[j] >>= 1;
	} 									// 0...6 / 7...13  /14...20 / 21...27 /  
  if (uartCount<j) break;	    		//    
  uartCount  ++;  
  k = k + 7; 
  q = q + 1;
   }								 	// 0, 8, 16, 24      
}		//        UART uart_arr[32] 
	
	//    
	while ( !( UCSRnA  & (1<<UDRE0)) );
	UDRn = receiverStart;
	//  uart_arr[32]		
	for (int8_t  i = 0; i <= uartCount; i++) {
	while ( !( UCSRnA & (1<<UDRE0)) );
	UDRn  = uart_arr[i];
	}	
	//    
	while ( !( UCSRnA & (1<<UDRE0)) );
	UDRn  = receiverEnd;
	
	}  else { 											//     transmTOUT = false;
	//    
	tTimeOut = true;
	//     
	tErrTime++;
	//    
	LedPinOFF();									
}
	}													//   													
}														//   											

ISR  (BYTEin) {										    	
	//     !!!
	uint8_t	dat = 0;										
	dat  = UDRn;

	if (transmStart == dat){								//     
	BYTEinCount  = 0;
	for (uint8_t i = 0; i <= 31; i++) inUart_arr[i] = 0; 	//   inUart_arr[32]
	return;
	}
	
	if  (transmEnd == dat){									//      
		
	if (BYTEinCount == 0)  {								    //       									
	for (uint8_t i = 0; i <= 26;  i++) receiv_arr[i] = 0;	//     
	Serial34bTimeCore = 0;									//   
    LedPinOn();										//       -  
	tTimeOut = true;										//    	
	return;
	} else {											
	uint8_t b8_arr[28];										//   
	for (uint8_t i = 0; i <= 27; i++) b8_arr[i] = 0;		//   	
   
   //  	
   uint8_t k = 0;
   uint8_t q = 1;		
   for (uint8_t j = 0;  j <= 27; j=j+7) { // 0, 7, 14, 31	
	for (uint8_t i = j; i <= j+6; i++) {   //  0...6 / 7...13 /14...20 / 21...27 /
		b8_arr[i] = inUart_arr[k];
		b8_arr[i]  <<= (7+j-i);
		b8_arr[i] &= B10000000;
		b8_arr[i] |= inUart_arr[i+q];	
	}									   // 0...6 / 7...13 /14...20 / 21...27 /			   
   k = k + 8;
   q = q  + 1;  
  }										   // 0, 7, 14, 31										   
	//  

	//  
	uint16_t crc16 = 0;
	for (int i = 1; i <= 27; i++) crc16  = crc16 + b8_arr[i] * 44111;
	uint8_t crc8 = 0;
	crc8 = crc16 & 255;	
	//  
	if (b8_arr[0] == crc8) {
	//    !!!  
	for (int i = 0; i <=26; i++)  receiv_arr[i] = b8_arr[i+1];
	//  
	LedPinOn();
	//   
	Serial34bTimeCore  = 0;
	//    
	tTimeOut = true;
	} else {
	//  
	LedPinOFF();
	//     
	tErrCRC++;
	}
	}
	return;
	}	
	//      
	inUart_arr[BYTEinCount]  = dat;
    BYTEinCount++;	
}														// -   !!!

void  startTransmitter (uint32_t baudRate, uint32_t timeSend) {
//    !!!
uint16_t  ubrr = 0;
if (baudRate == 115200) ubrr = 8;
else ubrr = 16000000/16/baudRate-1;
//    !!!
UBRRnH = (unsigned char)(ubrr>>8);
UBRRnL = (unsigned char)ubrr;
//  
SetBit(UCSRnB, TXEN0);
//  
SetBit(UCSRnB, RXEN0);
//       
SetBit(UCSRnB,  RXCIE0);
//    8 data 1 stop bit
SetBit(UCSRnC, 1);
SetBit(UCSRnC, 2);
//  
Serial34bSendTimeOUT = timeSend;
OCR0A = 0xA0;			//  
SetBit(TIMSK0,  OCIE0A);	//  
//   PIN 13
LedPinOut();
//  
for (uint8_t i = 0; i <=  26; i++) transm_arr[i] = 0;
for (uint8_t i = 0; i <= 26; i++) receiv_arr[i] =  0;
}

Serial27bReceiver.h

arduino

1#include "Arduino.h"
2#include "UartAndPinConfig.h"
3
4const  uint8_t transmStart = 129;  	//   
5const uint8_t transmEnd = 130;	  	//   
6
7const  uint8_t receiverStart =254; 	//   	 
8const uint8_t receiverEnd = 255;  	//   
9
10//       
11volatile uint32_t Serial34bSendTimeOUT;
12//    		
13volatile  uint32_t Serial34bTimeCore = 0;
14//    -  
15volatile boolean transmTOUT = true;
16//    
17volatile uint8_t BYTEinCount = 0;
18//   
19volatile uint8_t inUart_arr[32];
20//    
21volatile uint8_t rErrTime = 0;
22//    
23volatile uint8_t rErrCRC = 0;  
24
25
26ISR (TIMER0_COMPA_vect) {
27Serial34bTimeCore ++;
28if (Serial34bTimeCore  >	Serial34bSendTimeOUT) {		//   
29Serial34bTimeCore = 0;								//  
30LedPinOFF();										//   -  
31rErrTime ++;										//    												
32}				
33}
34
35ISR (BYTEin) {										//    
36	
37	uint8_t	dat = 0;								//     !!!
38	dat = UDRn;
39
40if  (receiverStart == dat){							//     
41	BYTEinCount = 0;
42	//   inUart_arr[32]
43	for  (uint8_t i = 0; i <= 31; i++) inUart_arr[i] = 0;
44	return;
45	}
46
47if (receiverEnd  == dat){
48													
49	//   
50	uint8_t b8_arr[28];
51	//   
52	for (uint8_t i = 0; i <= 27; i++) b8_arr[i] = 0;
53	
54	//  	
55	uint8_t  k = 0;
56	uint8_t q = 1;		
57	for (uint8_t j = 0; j <= 27; j=j+7) { // 0,  7, 14, 31
58		
59	for (uint8_t i = j; i <= j+6; i++) {   // 0...6 / 7...13  /14...20 / 21...27 /
60		b8_arr[i] = inUart_arr[k];
61		b8_arr[i] <<= (7+j-i);
62		b8_arr[i]  &= B10000000;
63		b8_arr[i] |= inUart_arr[i+q];	
64	}									   //  0...6 / 7...13 /14...20 / 21...27 /			   
65	k = k + 8;
66	q = q + 1;  
67  }										   // 0, 7, 14, 31										   
68	//  
69
70	//  
71	uint16_t crc16 = 0;
72	for (int i = 1; i <= 27; i++) crc16 = crc16 + b8_arr[i]  * 44111;
73	uint8_t crc8 = 0;
74	crc8 = crc16 & 255;	
75	//  
76	if (b8_arr[0]  == crc8) {
77	//    !!!  
78	for (int i = 0; i <=26; i++) transm_arr[i] = b8_arr[i+1];
79	//  
80	LedPinOn();
81	//   
82	Serial34bTimeCore = 0;	
83	} else {
84	//  
85	LedPinOFF();
86	//     
87	rErrCRC++;
88	}
89		
90	//    receiv_arr  [27] !!!!	
91	
92	//       UART
93	uint8_t uart_arr[32];
94	for (uint8_t  i = 0; i <= 31; i++) uart_arr[i]=0;
95
96	//    b8_arr[28];
97	b8_arr[0] =  0;
98	//      
99	for (uint8_t i = 1; i <= 27; i++) b8_arr[i] = receiv_arr[i-1];
100	
101	//         
102	int8_t uartCount = 0;
103	for (uartCount = 27; uartCount >= 0; uartCount--)  {
104    if (b8_arr[uartCount] != 0) break; 		//   uartCount 
105	}
106	
107	if  (uartCount != -1) { 		//    -     
108	// 
109	//           
110	crc16 = 0;	
111	crc8  = 0;
112	for (uint8_t i = 1; i <= uartCount; i++) crc16 = crc16 + b8_arr[i] * 44111;
113	crc8  = crc16 & 255;	
114	b8_arr[0] = crc8;
115
116	//  8-    7- 
117
118	k = 0;
119	q  = 1; 		
120	for (uint8_t j = 0; j <= 24; j=j+8) { // 0, 8, 16, 24  
121	for  (uint8_t i = k; i <= k+6; i++) { // 0...6 / 7...13 /14...20 / 21...27 / 
122	uart_arr[i+q]  = b8_arr[i];
123	uart_arr[i+q] &= B01111111;
124	b8_arr[i]     &= B10000000;
125	uart_arr[j]  |= b8_arr[i];
126	uart_arr[j] >>= 1;
127	} 									 // 0...6 / 7...13  /14...20 / 21...27 /  
128	if (uartCount<j) break;	    //    
129	uartCount ++;  
130	k = k + 7; 
131	q = q + 1;
132   }								 	// 0, 8, 16, 24      
133}	//        UART uart_arr[32] 
134	
135	//    
136	while ( !( UCSRnA & (1<<UDRE0))  );
137	UDRn = transmStart;
138	//  uart_arr[32]		
139	for (int8_t i = 0; i  <= uartCount; i++) {
140	while ( !( UCSRnA & (1<<UDRE0)) );
141	UDRn = uart_arr[i];
142	}	
143	//    
144	while ( !( UCSRnA & (1<<UDRE0)) );
145	UDRn = transmEnd;				
146		
147	return;	
148}
149	//      
150	inUart_arr[BYTEinCount] = dat;
151    BYTEinCount++;
152	
153} 											//    
154
155
156
157void startReceiver (uint32_t baudRate, uint32_t timeSend) {
158//    !!!
159uint16_t ubrr = 0;
160if (baudRate == 115200) ubrr = 8;
161else ubrr  = 16000000/16/baudRate-1;
162//    !!!
163UBRRnH = (unsigned char)(ubrr>>8);
164UBRRnL  = (unsigned char)ubrr;
165//  
166SetBit(UCSRnB, TXEN0);
167//  
168SetBit(UCSRnB,  RXEN0);
169//       
170SetBit(UCSRnB, RXCIE0);
171//    8 data 1 stop bit
172SetBit(UCSRnC,  1);
173SetBit(UCSRnC, 2);
174// 
175Serial34bSendTimeOUT = timeSend;
176OCR0A =  0xA0;			//  
177SetBit(TIMSK0, OCIE0A);	//  
178//   PIN 13
179LedPinOut();
180//  
181for (uint8_t i = 0; i <= 26; i++) transm_arr[i] = 0;
182for (uint8_t i = 0;  i <= 26; i++) receiv_arr[i] = 0; 
183}
184
185
186
187
188
189
190
191
192
193
194
195

#include "Arduino.h"
#include "UartAndPinConfig.h"

const  uint8_t transmStart = 129;  	//   
const uint8_t transmEnd = 130;	  	//   

const  uint8_t receiverStart =254; 	//   	 
const uint8_t receiverEnd = 255;  	//   

//       
volatile uint32_t Serial34bSendTimeOUT;
//    		
volatile  uint32_t Serial34bTimeCore = 0;
//    -  
volatile boolean transmTOUT = true;
//    
volatile uint8_t BYTEinCount = 0;
//   
volatile uint8_t inUart_arr[32];
//    
volatile uint8_t rErrTime = 0;
//    
volatile uint8_t rErrCRC = 0;  


ISR (TIMER0_COMPA_vect) {
Serial34bTimeCore ++;
if (Serial34bTimeCore  >	Serial34bSendTimeOUT) {		//   
Serial34bTimeCore = 0;								//  
LedPinOFF();										//   -  
rErrTime ++;										//    												
}				
}

ISR (BYTEin) {										//    
	
	uint8_t	dat = 0;								//     !!!
	dat = UDRn;

if  (receiverStart == dat){							//     
	BYTEinCount = 0;
	//   inUart_arr[32]
	for  (uint8_t i = 0; i <= 31; i++) inUart_arr[i] = 0;
	return;
	}

if (receiverEnd  == dat){
													
	//   
	uint8_t b8_arr[28];
	//   
	for (uint8_t i = 0; i <= 27; i++) b8_arr[i] = 0;
	
	//  	
	uint8_t  k = 0;
	uint8_t q = 1;		
	for (uint8_t j = 0; j <= 27; j=j+7) { // 0,  7, 14, 31
		
	for (uint8_t i = j; i <= j+6; i++) {   // 0...6 / 7...13  /14...20 / 21...27 /
		b8_arr[i] = inUart_arr[k];
		b8_arr[i] <<= (7+j-i);
		b8_arr[i]  &= B10000000;
		b8_arr[i] |= inUart_arr[i+q];	
	}									   //  0...6 / 7...13 /14...20 / 21...27 /			   
	k = k + 8;
	q = q + 1;  
  }										   // 0, 7, 14, 31										   
	//  

	//  
	uint16_t crc16 = 0;
	for (int i = 1; i <= 27; i++) crc16 = crc16 + b8_arr[i]  * 44111;
	uint8_t crc8 = 0;
	crc8 = crc16 & 255;	
	//  
	if (b8_arr[0]  == crc8) {
	//    !!!  
	for (int i = 0; i <=26; i++) transm_arr[i] = b8_arr[i+1];
	//  
	LedPinOn();
	//   
	Serial34bTimeCore = 0;	
	} else {
	//  
	LedPinOFF();
	//     
	rErrCRC++;
	}
		
	//    receiv_arr  [27] !!!!	
	
	//       UART
	uint8_t uart_arr[32];
	for (uint8_t  i = 0; i <= 31; i++) uart_arr[i]=0;

	//    b8_arr[28];
	b8_arr[0] =  0;
	//      
	for (uint8_t i = 1; i <= 27; i++) b8_arr[i] = receiv_arr[i-1];
	
	//         
	int8_t uartCount = 0;
	for (uartCount = 27; uartCount >= 0; uartCount--)  {
    if (b8_arr[uartCount] != 0) break; 		//   uartCount 
	}
	
	if  (uartCount != -1) { 		//    -     
	// 
	//           
	crc16 = 0;	
	crc8  = 0;
	for (uint8_t i = 1; i <= uartCount; i++) crc16 = crc16 + b8_arr[i] * 44111;
	crc8  = crc16 & 255;	
	b8_arr[0] = crc8;

	//  8-    7- 

	k = 0;
	q  = 1; 		
	for (uint8_t j = 0; j <= 24; j=j+8) { // 0, 8, 16, 24  
	for  (uint8_t i = k; i <= k+6; i++) { // 0...6 / 7...13 /14...20 / 21...27 / 
	uart_arr[i+q]  = b8_arr[i];
	uart_arr[i+q] &= B01111111;
	b8_arr[i]     &= B10000000;
	uart_arr[j]  |= b8_arr[i];
	uart_arr[j] >>= 1;
	} 									 // 0...6 / 7...13  /14...20 / 21...27 /  
	if (uartCount<j) break;	    //    
	uartCount ++;  
	k = k + 7; 
	q = q + 1;
   }								 	// 0, 8, 16, 24      
}	//        UART uart_arr[32] 
	
	//    
	while ( !( UCSRnA & (1<<UDRE0))  );
	UDRn = transmStart;
	//  uart_arr[32]		
	for (int8_t i = 0; i  <= uartCount; i++) {
	while ( !( UCSRnA & (1<<UDRE0)) );
	UDRn = uart_arr[i];
	}	
	//    
	while ( !( UCSRnA & (1<<UDRE0)) );
	UDRn = transmEnd;				
		
	return;	
}
	//      
	inUart_arr[BYTEinCount] = dat;
    BYTEinCount++;
	
} 											//    



void startReceiver (uint32_t baudRate, uint32_t timeSend) {
//    !!!
uint16_t ubrr = 0;
if (baudRate == 115200) ubrr = 8;
else ubrr  = 16000000/16/baudRate-1;
//    !!!
UBRRnH = (unsigned char)(ubrr>>8);
UBRRnL  = (unsigned char)ubrr;
//  
SetBit(UCSRnB, TXEN0);
//  
SetBit(UCSRnB,  RXEN0);
//       
SetBit(UCSRnB, RXCIE0);
//    8 data 1 stop bit
SetBit(UCSRnC,  1);
SetBit(UCSRnC, 2);
// 
Serial34bSendTimeOUT = timeSend;
OCR0A =  0xA0;			//  
SetBit(TIMSK0, OCIE0A);	//  
//   PIN 13
LedPinOut();
//  
for (uint8_t i = 0; i <= 26; i++) transm_arr[i] = 0;
for (uint8_t i = 0;  i <= 26; i++) receiv_arr[i] = 0; 
}

rc_submarine_transmitter_v2.ino

arduino

1//     I2C
2#include <Wire.h>
3//     
4#include <Adafruit_INA219.h>
5//      
6Adafruit_INA219 ina219;
7
8#include <LiquidCrystal.h>
9LiquidCrystal   lcd(2, 3, 4, 5, 6, 7);
10
11//    UART
12#define Serial_2
13
14byte transm_arr[27];   //     
15byte receiv_arr[27];  //     
16
17//   
18#include <Serial27bTransmitter.h>
19
20boolean   backL = 0;  //  enable fix
21boolean backR = 0;  //  enable fix
22boolean frontL   = 0; //  enable fix
23boolean frontR = 0; //  enable fix
24
25boolean RL3 = 0;   // RL3 ~  
26boolean LL3 = 0; // LL3 ~  
27boolean RL2 = 0; // RL2 ~ airPump 
28boolean   LL2 = 0; // LL2 ~ airPump 
29
30boolean RL3y = 0; // RL3 ~  
31boolean LL3y =   0; // LL3 ~  
32boolean RL2y = 0; // RL2 ~ airPump 
33boolean LL2y = 0; // LL2   ~ airPump 
34
35boolean key4 = 0; // KEY BC547B LED-LIGHT
36
37boolean fixEnaB   = 0; //    
38boolean fixEnaS = 0; //    
39
40void setup() {
41  //  ,   ()
42   startTransmitter(9600, 200);
43
44  pinMode(42, INPUT_PULLUP); //  
45  pinMode(36,   INPUT_PULLUP); // 1 ULN2803 (1-2) enable
46  pinMode(37, INPUT_PULLUP); // 1 ULN2803   (3-4) enable
47  pinMode(38, INPUT_PULLUP); // 1 ULN2803 (5-6) enable
48  pinMode(39,   INPUT_PULLUP); // 1 ULN2803 (7-8) enable
49
50  pinMode(40, INPUT_PULLUP); //   autodiving
51  pinMode(25, INPUT_PULLUP); // autodiving cancel
52
53  pinMode(29,   INPUT_PULLUP); // QE4 2 ULN2803 (1-2) // 
54  pinMode(30, INPUT_PULLUP); // QG6   2 ULN2803 (5-6) // 
55  pinMode(22, INPUT_PULLUP); // QF5 2 ULN2803 (3-4) // 
56   pinMode(23, INPUT_PULLUP); // QH7 2 ULN2803 (7-8) // 
57
58  pinMode(41, INPUT_PULLUP);   // enable Fix Motor button
59
60  lcd.begin(20, 4);
61
62  //   
63  ina219.begin();
64
65   //   RX/TX  
66  pinMode(14, OUTPUT);   digitalWrite(14, 1);
67  pinMode(15,   OUTPUT);   digitalWrite(15, 1);
68  pinMode(18, OUTPUT);   digitalWrite(18, 1);
69   pinMode(19, OUTPUT);   digitalWrite(19, 1);
70}
71
72void loop() {
73
74   //     
75  if (digitalRead(41))   fixEnaB = false;
76  if (!digitalRead(41)   && !fixEnaB) {
77    fixEnaS = !fixEnaS;
78    fixEnaB = true;
79  }
80
81   //   fix
82  if (digitalRead(42))   key4 = false;
83  if (!digitalRead(42) &&   !key4) {
84    bitWrite(transm_arr[0], 0, !bitRead(transm_arr[0], 0));
85    key4   = true;
86  }
87  // bitWrite(transm_arr[0], 0, !digitalRead(42)); no fix
88
89   // autodiving 
90  if (!digitalRead(40)) {
91  bitWrite(transm_arr[0], 1, !digitalRead(40));   // no fix
92  transm_arr[5] = map(analogRead(A12), 0, 1023, 0, 255); 
93  } else   {
94  bitWrite(transm_arr[0], 1, 0);
95  transm_arr[5] = 0;  
96  }
97  // autodiving   cancel
98  bitWrite(transm_arr[0], 2, !digitalRead(25)); // no fix
99    
100   if (digitalRead(36))   RL3 = false;
101  if (!digitalRead(36) && !RL3) {
102    RL3y   = !RL3y;
103    RL3 = true;
104  }
105  //bitWrite(transm_arr[0], 4, !digitalRead(36));   nofix
106
107  if (digitalRead(37))   LL3 = false;
108  if (!digitalRead(37) &&   !LL3) {
109    LL3y = !LL3y;
110    LL3 = true;
111  }
112  //bitWrite(transm_arr[0],   5, !digitalRead(37)); nofix
113
114  if (digitalRead(38))   RL2 = false;
115  if   (!digitalRead(38) && !RL2) {
116    RL2y = !RL2y;
117    RL2 = true;
118  }
119   // bitWrite(transm_arr[0], 6, !digitalRead(38)); nofix
120
121  if (digitalRead(39))    LL2 = false;
122  if (!digitalRead(39) && !LL2) {
123    LL2y = !LL2y;
124    LL2   = true;
125  }
126
127  //         
128  if (RL3y) transm_arr[1] = map(analogRead(A8),   0, 1023, 0, 255); else  transm_arr[1] = 0; // RL3 ~  
129  if (LL3y) transm_arr[2]   = map(analogRead(A9), 0, 1023, 0, 255); else  transm_arr[2] = 0; // LL3 ~  
130   if (RL2y) transm_arr[3] = map(analogRead(A10), 0, 1023, 0, 255); else transm_arr[3]   = 0; // RL2 ~ airPump 
131  if (LL2y) transm_arr[4] = map(analogRead(A11), 0, 1023,   0, 255); else transm_arr[4] = 0; // LL2 ~ airPump 
132
133  //  L293D    pwm
134   uint16_t leftRES = analogRead(A14);
135  uint16_t righRES = analogRead(A15);
136
137   //   EN2
138  uint8_t pwmL;
139
140  if (leftRES >= 563) {
141    // 
142    pwmL   = map(analogRead(A14), 563, 1023, 0, 127);
143    bitWrite(pwmL,7,1);
144  } else   if (leftRES <= 460) {
145    // 
146    pwmL = map(analogRead(A14), 460, 0, 0, 127);
147   } else {
148    // 
149    pwmL = 0;
150  }
151
152  //   EN1
153  uint8_t pwmR;
154   if (righRES >= 563) {
155    // 
156    pwmR = map(analogRead(A15), 563, 1023,   0, 127);
157    bitWrite(pwmR,7,1);    
158  } else if (righRES <= 460) {
159    //   
160    pwmR = map(analogRead(A15), 460, 0, 0, 127);
161  } else {
162    // 
163     pwmR = 0;
164  }
165  //    
166  transm_arr[6] = pwmL;
167  transm_arr[7] =   pwmR;
168  
169  //     PWM     
170  if (fixEnaS) {
171
172    // 
173    if (digitalRead(30))    backL = false;
174    if (!digitalRead(30) && !backL) {
175      bitWrite(transm_arr[0],   4, !bitRead(transm_arr[0], 4));
176      backL = true;
177    }
178
179    // 
180     if (digitalRead(23))   backR = false;
181    if (!digitalRead(23) && !backR)   {
182      bitWrite(transm_arr[0], 5, !bitRead(transm_arr[0], 5));
183      backR   = true;
184    }
185
186    // 
187    if (digitalRead(29))   frontL = false;
188     if (!digitalRead(29) && !frontL) {
189      bitWrite(transm_arr[0], 6, !bitRead(transm_arr[0],   6));
190      frontL = true;
191    }
192
193    // 
194    if (digitalRead(22))    frontR = false;
195    if (!digitalRead(22) && !frontR) {
196      bitWrite(transm_arr[0],   7, !bitRead(transm_arr[0], 7));
197      frontR = true;
198    }
199  } else {
200     bitWrite(transm_arr[0], 4, !digitalRead(30));
201    bitWrite(transm_arr[0],   5, !digitalRead(23));
202    bitWrite(transm_arr[0], 6, !digitalRead(29));
203    bitWrite(transm_arr[0],   7, !digitalRead(22));
204  }
205
206
207  //   
208  lcd.clear();
209
210  lcd.setCursor(0,   0);
211  lcd.print(transm_arr[1]);
212  lcd.setCursor(0, 1);
213  lcd.print(transm_arr[2]);
214   lcd.setCursor(0, 2);
215  lcd.print(transm_arr[3]);
216  lcd.setCursor(0, 3);
217   lcd.print(transm_arr[4]);
218
219  lcd.setCursor(4, 0);
220  lcd.print('-');
221   lcd.print(pwmL);
222
223  lcd.setCursor(4, 1);
224  lcd.print('-');
225  lcd.print(pwmR);
226   
227  lcd.setCursor(4, 2);
228  lcd.print("d-");
229  lcd.print(bitRead(transm_arr[0],   1));  
230  
231  lcd.setCursor(4, 3);
232  lcd.print(map(analogRead(A12), 0, 1023,   0, 255));
233
234  //  c pwm
235  lcd.setCursor(9, 0);
236  lcd.print(RL3y);
237   lcd.setCursor(9, 1);
238  lcd.print(LL3y);
239  lcd.setCursor(9, 2);
240  lcd.print(RL2y);
241   lcd.setCursor(9, 3);
242  lcd.print(LL2y);
243
244  //   pwm
245  lcd.setCursor(18,   0);
246  lcd.print(bitRead(transm_arr[0], 6));
247  lcd.print(bitRead(transm_arr[0],   7));
248  lcd.setCursor(18, 1);
249  lcd.print(bitRead(transm_arr[0], 4));
250  lcd.print(bitRead(transm_arr[0],   5));
251
252  //  
253  lcd.setCursor(15, 2);
254  lcd.print("rV");
255  float   ShowV = receiv_arr[0];
256  ShowV = ShowV / 10;
257  lcd.print(ShowV, 1);
258
259   //   
260  float busvoltage = 0;
261  //    GND  V-
262  busvoltage = ina219.getBusVoltage_V();
263   lcd.setCursor(15, 3);
264  lcd.print("tV");
265  lcd.print(busvoltage, 1);
266
267   //    
268  lcd.setCursor(15, 0);
269  lcd.print(fixEnaS);
270  lcd.print(bitRead(transm_arr[0],   0));
271
272  delay(100);
273}
274
275/*
276   
277  0 
278  Bit0 KEY BC547B LED-LIGHT   // 42 
279  1  74HC595
280  QA0
281  QB1
282  QC2
283  QD3
284  QE4 2 ULN2803   (1-2)
285  QF5 2 ULN2803 (3-4)
286  QG6 2 ULN2803 (5-6)
287  QH7 2 ULN2803 (7-8)
288
289*/
290

//     I2C
#include <Wire.h>
//     
#include <Adafruit_INA219.h>
//      
Adafruit_INA219 ina219;

#include <LiquidCrystal.h>
LiquidCrystal   lcd(2, 3, 4, 5, 6, 7);

//    UART
#define Serial_2

byte transm_arr[27];   //     
byte receiv_arr[27];  //     

//   
#include <Serial27bTransmitter.h>

boolean   backL = 0;  //  enable fix
boolean backR = 0;  //  enable fix
boolean frontL   = 0; //  enable fix
boolean frontR = 0; //  enable fix

boolean RL3 = 0;   // RL3 ~  
boolean LL3 = 0; // LL3 ~  
boolean RL2 = 0; // RL2 ~ airPump 
boolean   LL2 = 0; // LL2 ~ airPump 

boolean RL3y = 0; // RL3 ~  
boolean LL3y =   0; // LL3 ~  
boolean RL2y = 0; // RL2 ~ airPump 
boolean LL2y = 0; // LL2   ~ airPump 

boolean key4 = 0; // KEY BC547B LED-LIGHT

boolean fixEnaB   = 0; //    
boolean fixEnaS = 0; //    

void setup() {
  //  ,   ()
   startTransmitter(9600, 200);

  pinMode(42, INPUT_PULLUP); //  
  pinMode(36,   INPUT_PULLUP); // 1 ULN2803 (1-2) enable
  pinMode(37, INPUT_PULLUP); // 1 ULN2803   (3-4) enable
  pinMode(38, INPUT_PULLUP); // 1 ULN2803 (5-6) enable
  pinMode(39,   INPUT_PULLUP); // 1 ULN2803 (7-8) enable

  pinMode(40, INPUT_PULLUP); //   autodiving
  pinMode(25, INPUT_PULLUP); // autodiving cancel

  pinMode(29,   INPUT_PULLUP); // QE4 2 ULN2803 (1-2) // 
  pinMode(30, INPUT_PULLUP); // QG6   2 ULN2803 (5-6) // 
  pinMode(22, INPUT_PULLUP); // QF5 2 ULN2803 (3-4) // 
   pinMode(23, INPUT_PULLUP); // QH7 2 ULN2803 (7-8) // 

  pinMode(41, INPUT_PULLUP);   // enable Fix Motor button

  lcd.begin(20, 4);

  //   
  ina219.begin();

   //   RX/TX  
  pinMode(14, OUTPUT);   digitalWrite(14, 1);
  pinMode(15,   OUTPUT);   digitalWrite(15, 1);
  pinMode(18, OUTPUT);   digitalWrite(18, 1);
   pinMode(19, OUTPUT);   digitalWrite(19, 1);
}

void loop() {

   //     
  if (digitalRead(41))   fixEnaB = false;
  if (!digitalRead(41)   && !fixEnaB) {
    fixEnaS = !fixEnaS;
    fixEnaB = true;
  }

   //   fix
  if (digitalRead(42))   key4 = false;
  if (!digitalRead(42) &&   !key4) {
    bitWrite(transm_arr[0], 0, !bitRead(transm_arr[0], 0));
    key4   = true;
  }
  // bitWrite(transm_arr[0], 0, !digitalRead(42)); no fix

   // autodiving 
  if (!digitalRead(40)) {
  bitWrite(transm_arr[0], 1, !digitalRead(40));   // no fix
  transm_arr[5] = map(analogRead(A12), 0, 1023, 0, 255); 
  } else   {
  bitWrite(transm_arr[0], 1, 0);
  transm_arr[5] = 0;  
  }
  // autodiving   cancel
  bitWrite(transm_arr[0], 2, !digitalRead(25)); // no fix
    
   if (digitalRead(36))   RL3 = false;
  if (!digitalRead(36) && !RL3) {
    RL3y   = !RL3y;
    RL3 = true;
  }
  //bitWrite(transm_arr[0], 4, !digitalRead(36));   nofix

  if (digitalRead(37))   LL3 = false;
  if (!digitalRead(37) &&   !LL3) {
    LL3y = !LL3y;
    LL3 = true;
  }
  //bitWrite(transm_arr[0],   5, !digitalRead(37)); nofix

  if (digitalRead(38))   RL2 = false;
  if   (!digitalRead(38) && !RL2) {
    RL2y = !RL2y;
    RL2 = true;
  }
   // bitWrite(transm_arr[0], 6, !digitalRead(38)); nofix

  if (digitalRead(39))    LL2 = false;
  if (!digitalRead(39) && !LL2) {
    LL2y = !LL2y;
    LL2   = true;
  }

  //         
  if (RL3y) transm_arr[1] = map(analogRead(A8),   0, 1023, 0, 255); else  transm_arr[1] = 0; // RL3 ~  
  if (LL3y) transm_arr[2]   = map(analogRead(A9), 0, 1023, 0, 255); else  transm_arr[2] = 0; // LL3 ~  
   if (RL2y) transm_arr[3] = map(analogRead(A10), 0, 1023, 0, 255); else transm_arr[3]   = 0; // RL2 ~ airPump 
  if (LL2y) transm_arr[4] = map(analogRead(A11), 0, 1023,   0, 255); else transm_arr[4] = 0; // LL2 ~ airPump 

  //  L293D    pwm
   uint16_t leftRES = analogRead(A14);
  uint16_t righRES = analogRead(A15);

   //   EN2
  uint8_t pwmL;

  if (leftRES >= 563) {
    // 
    pwmL   = map(analogRead(A14), 563, 1023, 0, 127);
    bitWrite(pwmL,7,1);
  } else   if (leftRES <= 460) {
    // 
    pwmL = map(analogRead(A14), 460, 0, 0, 127);
   } else {
    // 
    pwmL = 0;
  }

  //   EN1
  uint8_t pwmR;
   if (righRES >= 563) {
    // 
    pwmR = map(analogRead(A15), 563, 1023,   0, 127);
    bitWrite(pwmR,7,1);    
  } else if (righRES <= 460) {
    //   
    pwmR = map(analogRead(A15), 460, 0, 0, 127);
  } else {
    // 
     pwmR = 0;
  }
  //    
  transm_arr[6] = pwmL;
  transm_arr[7] =   pwmR;
  
  //     PWM     
  if (fixEnaS) {

    // 
    if (digitalRead(30))    backL = false;
    if (!digitalRead(30) && !backL) {
      bitWrite(transm_arr[0],   4, !bitRead(transm_arr[0], 4));
      backL = true;
    }

    // 
     if (digitalRead(23))   backR = false;
    if (!digitalRead(23) && !backR)   {
      bitWrite(transm_arr[0], 5, !bitRead(transm_arr[0], 5));
      backR   = true;
    }

    // 
    if (digitalRead(29))   frontL = false;
     if (!digitalRead(29) && !frontL) {
      bitWrite(transm_arr[0], 6, !bitRead(transm_arr[0],   6));
      frontL = true;
    }

    // 
    if (digitalRead(22))    frontR = false;
    if (!digitalRead(22) && !frontR) {
      bitWrite(transm_arr[0],   7, !bitRead(transm_arr[0], 7));
      frontR = true;
    }
  } else {
     bitWrite(transm_arr[0], 4, !digitalRead(30));
    bitWrite(transm_arr[0],   5, !digitalRead(23));
    bitWrite(transm_arr[0], 6, !digitalRead(29));
    bitWrite(transm_arr[0],   7, !digitalRead(22));
  }


  //   
  lcd.clear();

  lcd.setCursor(0,   0);
  lcd.print(transm_arr[1]);
  lcd.setCursor(0, 1);
  lcd.print(transm_arr[2]);
   lcd.setCursor(0, 2);
  lcd.print(transm_arr[3]);
  lcd.setCursor(0, 3);
   lcd.print(transm_arr[4]);

  lcd.setCursor(4, 0);
  lcd.print('-');
   lcd.print(pwmL);

  lcd.setCursor(4, 1);
  lcd.print('-');
  lcd.print(pwmR);
   
  lcd.setCursor(4, 2);
  lcd.print("d-");
  lcd.print(bitRead(transm_arr[0],   1));  
  
  lcd.setCursor(4, 3);
  lcd.print(map(analogRead(A12), 0, 1023,   0, 255));

  //  c pwm
  lcd.setCursor(9, 0);
  lcd.print(RL3y);
   lcd.setCursor(9, 1);
  lcd.print(LL3y);
  lcd.setCursor(9, 2);
  lcd.print(RL2y);
   lcd.setCursor(9, 3);
  lcd.print(LL2y);

  //   pwm
  lcd.setCursor(18,   0);
  lcd.print(bitRead(transm_arr[0], 6));
  lcd.print(bitRead(transm_arr[0],   7));
  lcd.setCursor(18, 1);
  lcd.print(bitRead(transm_arr[0], 4));
  lcd.print(bitRead(transm_arr[0],   5));

  //  
  lcd.setCursor(15, 2);
  lcd.print("rV");
  float   ShowV = receiv_arr[0];
  ShowV = ShowV / 10;
  lcd.print(ShowV, 1);

   //   
  float busvoltage = 0;
  //    GND  V-
  busvoltage = ina219.getBusVoltage_V();
   lcd.setCursor(15, 3);
  lcd.print("tV");
  lcd.print(busvoltage, 1);

   //    
  lcd.setCursor(15, 0);
  lcd.print(fixEnaS);
  lcd.print(bitRead(transm_arr[0],   0));

  delay(100);
}

/*
   
  0 
  Bit0 KEY BC547B LED-LIGHT   // 42 
  1  74HC595
  QA0
  QB1
  QC2
  QD3
  QE4 2 ULN2803   (1-2)
  QF5 2 ULN2803 (3-4)
  QG6 2 ULN2803 (5-6)
  QH7 2 ULN2803 (7-8)

*/

Serial27bTransmitter.h

arduino

1#include "Arduino.h"
2#include "UartAndPinConfig.h"
3
4const   uint8_t transmStart = 129;  	//   
5const uint8_t transmEnd = 130;	  	//   
6
7const   uint8_t receiverStart =254; 	//   	 
8const uint8_t receiverEnd = 255;  	//    
9
10//       
11volatile uint32_t Serial34bSendTimeOUT;
12//    		
13volatile   uint32_t Serial34bTimeCore = 0;
14//   true /   false
15volatile boolean tTimeOut   = true;
16//    
17volatile uint8_t tErrTime = 0;
18//    
19volatile uint8_t   tErrCRC = 0;
20//    
21volatile uint8_t BYTEinCount = 0;
22//   
23volatile   uint8_t inUart_arr[32];
24
25ISR (TIMER0_COMPA_vect) {
26Serial34bTimeCore ++;
27
28	if   (Serial34bTimeCore >	Serial34bSendTimeOUT) {		//   
29	Serial34bTimeCore =   0;
30
31	if (tTimeOut) {										//  /  !!!
32	tTimeOut = false;
33	
34//        UART
35uint8_t uart_arr[32];
36for (uint8_t i = 0; i <= 31; i++) uart_arr[i]=0;
37
38//     b8_arr[28];
39uint8_t b8_arr[28];
40//      
41b8_arr[0] = 0;
42for (uint8_t   i = 1; i <= 27; i++) b8_arr[i] = transm_arr[i-1];
43
44//         
45int8_t uartCount   = 0;
46for (uartCount = 27; uartCount >= 0; uartCount--) {
47    if (b8_arr[uartCount]   != 0) break; 		//   uartCount 
48  }
49
50if (uartCount != -1) { 		//    -      
51// 
52//           
53uint16_t crc16 = 0;	
54uint8_t crc8 = 0;
55for   (uint8_t i = 1; i <= uartCount; i++) crc16 = crc16 + b8_arr[i] * 44111;
56crc8   = crc16 & 255;	
57b8_arr[0] = crc8;
58
59	//  8-    7- 
60	uint8_t k = 0;
61	uint8_t   q = 1; 		
62   for (uint8_t j = 0; j <= 24; j=j+8) { // 0, 8, 16, 24  
63	for   (uint8_t i = k; i <= k+6; i++) { // 0...6 / 7...13 /14...20 / 21...27 / 
64	uart_arr[i+q]   = b8_arr[i];
65	uart_arr[i+q] &= B01111111;
66	b8_arr[i]     &= B10000000;
67	uart_arr[j]   |= b8_arr[i];
68	uart_arr[j] >>= 1;
69	} 									// 0...6 / 7...13   /14...20 / 21...27 /  
70  if (uartCount<j) break;	    		//    
71  uartCount   ++;  
72  k = k + 7; 
73  q = q + 1;
74   }								 	// 0, 8, 16, 24       
75}		//        UART uart_arr[32] 
76	
77	//    
78	while ( !( UCSRnA   & (1<<UDRE0)) );
79	UDRn = receiverStart;
80	//  uart_arr[32]		
81	for (int8_t   i = 0; i <= uartCount; i++) {
82	while ( !( UCSRnA & (1<<UDRE0)) );
83	UDRn   = uart_arr[i];
84	}	
85	//    
86	while ( !( UCSRnA & (1<<UDRE0)) );
87	UDRn   = receiverEnd;
88	
89	}  else { 											//     transmTOUT = false;
90	//     
91	tTimeOut = true;
92	//     
93	tErrTime++;
94	//    
95	LedPinOFF();									
96}
97	}													//    													
98}														//   											
99
100ISR   (BYTEin) {										    	
101	//     !!!
102	uint8_t	dat = 0;										
103	dat   = UDRn;
104
105	if (transmStart == dat){								//     
106	BYTEinCount   = 0;
107	for (uint8_t i = 0; i <= 31; i++) inUart_arr[i] = 0; 	//   inUart_arr[32]
108	return;
109	}
110	
111	if   (transmEnd == dat){									//      
112		
113	if (BYTEinCount == 0)   {								    //       									
114	for (uint8_t i = 0; i <= 26;   i++) receiv_arr[i] = 0;	//     
115	Serial34bTimeCore = 0;									//    
116    LedPinOn();										//       -  
117	tTimeOut = true;										//     	
118	return;
119	} else {											
120	uint8_t b8_arr[28];										//    
121	for (uint8_t i = 0; i <= 27; i++) b8_arr[i] = 0;		//   	
122   
123    //  	
124   uint8_t k = 0;
125   uint8_t q = 1;		
126   for (uint8_t j = 0;   j <= 27; j=j+7) { // 0, 7, 14, 31	
127	for (uint8_t i = j; i <= j+6; i++) {   //   0...6 / 7...13 /14...20 / 21...27 /
128		b8_arr[i] = inUart_arr[k];
129		b8_arr[i]   <<= (7+j-i);
130		b8_arr[i] &= B10000000;
131		b8_arr[i] |= inUart_arr[i+q];	
132	}									    // 0...6 / 7...13 /14...20 / 21...27 /			   
133   k = k + 8;
134   q = q   + 1;  
135  }										   // 0, 7, 14, 31										   
136	//   
137
138	//  
139	uint16_t crc16 = 0;
140	for (int i = 1; i <= 27; i++) crc16   = crc16 + b8_arr[i] * 44111;
141	uint8_t crc8 = 0;
142	crc8 = crc16 & 255;	
143	//   
144	if (b8_arr[0] == crc8) {
145	//    !!!  
146	for (int i = 0; i <=26; i++)   receiv_arr[i] = b8_arr[i+1];
147	//  
148	LedPinOn();
149	//   
150	Serial34bTimeCore   = 0;
151	//    
152	tTimeOut = true;
153	} else {
154	//  
155	LedPinOFF();
156	//      
157	tErrCRC++;
158	}
159	}
160	return;
161	}	
162	//      
163	inUart_arr[BYTEinCount]   = dat;
164    BYTEinCount++;	
165}														// -   !!!
166
167void   startTransmitter (uint32_t baudRate, uint32_t timeSend) {
168//    !!!
169uint16_t   ubrr = 0;
170if (baudRate == 115200) ubrr = 8;
171else ubrr = 16000000/16/baudRate-1;
172//     !!!
173UBRRnH = (unsigned char)(ubrr>>8);
174UBRRnL = (unsigned char)ubrr;
175//   
176SetBit(UCSRnB, TXEN0);
177//  
178SetBit(UCSRnB, RXEN0);
179//       
180SetBit(UCSRnB,   RXCIE0);
181//    8 data 1 stop bit
182SetBit(UCSRnC, 1);
183SetBit(UCSRnC, 2);
184//   
185Serial34bSendTimeOUT = timeSend;
186OCR0A = 0xA0;			//  
187SetBit(TIMSK0,   OCIE0A);	//  
188//   PIN 13
189LedPinOut();
190//  
191for (uint8_t i = 0; i <=   26; i++) transm_arr[i] = 0;
192for (uint8_t i = 0; i <= 26; i++) receiv_arr[i] =   0;
193}

#include "Arduino.h"
#include "UartAndPinConfig.h"

const   uint8_t transmStart = 129;  	//   
const uint8_t transmEnd = 130;	  	//   

const   uint8_t receiverStart =254; 	//   	 
const uint8_t receiverEnd = 255;  	//    

//       
volatile uint32_t Serial34bSendTimeOUT;
//    		
volatile   uint32_t Serial34bTimeCore = 0;
//   true /   false
volatile boolean tTimeOut   = true;
//    
volatile uint8_t tErrTime = 0;
//    
volatile uint8_t   tErrCRC = 0;
//    
volatile uint8_t BYTEinCount = 0;
//   
volatile   uint8_t inUart_arr[32];

ISR (TIMER0_COMPA_vect) {
Serial34bTimeCore ++;

	if   (Serial34bTimeCore >	Serial34bSendTimeOUT) {		//   
	Serial34bTimeCore =   0;

	if (tTimeOut) {										//  /  !!!
	tTimeOut = false;
	
//        UART
uint8_t uart_arr[32];
for (uint8_t i = 0; i <= 31; i++) uart_arr[i]=0;

//     b8_arr[28];
uint8_t b8_arr[28];
//      
b8_arr[0] = 0;
for (uint8_t   i = 1; i <= 27; i++) b8_arr[i] = transm_arr[i-1];

//         
int8_t uartCount   = 0;
for (uartCount = 27; uartCount >= 0; uartCount--) {
    if (b8_arr[uartCount]   != 0) break; 		//   uartCount 
  }

if (uartCount != -1) { 		//    -      
// 
//           
uint16_t crc16 = 0;	
uint8_t crc8 = 0;
for   (uint8_t i = 1; i <= uartCount; i++) crc16 = crc16 + b8_arr[i] * 44111;
crc8   = crc16 & 255;	
b8_arr[0] = crc8;

	//  8-    7- 
	uint8_t k = 0;
	uint8_t   q = 1; 		
   for (uint8_t j = 0; j <= 24; j=j+8) { // 0, 8, 16, 24  
	for   (uint8_t i = k; i <= k+6; i++) { // 0...6 / 7...13 /14...20 / 21...27 / 
	uart_arr[i+q]   = b8_arr[i];
	uart_arr[i+q] &= B01111111;
	b8_arr[i]     &= B10000000;
	uart_arr[j]   |= b8_arr[i];
	uart_arr[j] >>= 1;
	} 									// 0...6 / 7...13   /14...20 / 21...27 /  
  if (uartCount<j) break;	    		//    
  uartCount   ++;  
  k = k + 7; 
  q = q + 1;
   }								 	// 0, 8, 16, 24       
}		//        UART uart_arr[32] 
	
	//    
	while ( !( UCSRnA   & (1<<UDRE0)) );
	UDRn = receiverStart;
	//  uart_arr[32]		
	for (int8_t   i = 0; i <= uartCount; i++) {
	while ( !( UCSRnA & (1<<UDRE0)) );
	UDRn   = uart_arr[i];
	}	
	//    
	while ( !( UCSRnA & (1<<UDRE0)) );
	UDRn   = receiverEnd;
	
	}  else { 											//     transmTOUT = false;
	//     
	tTimeOut = true;
	//     
	tErrTime++;
	//    
	LedPinOFF();									
}
	}													//    													
}														//   											

ISR   (BYTEin) {										    	
	//     !!!
	uint8_t	dat = 0;										
	dat   = UDRn;

	if (transmStart == dat){								//     
	BYTEinCount   = 0;
	for (uint8_t i = 0; i <= 31; i++) inUart_arr[i] = 0; 	//   inUart_arr[32]
	return;
	}
	
	if   (transmEnd == dat){									//      
		
	if (BYTEinCount == 0)   {								    //       									
	for (uint8_t i = 0; i <= 26;   i++) receiv_arr[i] = 0;	//     
	Serial34bTimeCore = 0;									//    
    LedPinOn();										//       -  
	tTimeOut = true;										//     	
	return;
	} else {											
	uint8_t b8_arr[28];										//    
	for (uint8_t i = 0; i <= 27; i++) b8_arr[i] = 0;		//   	
   
    //  	
   uint8_t k = 0;
   uint8_t q = 1;		
   for (uint8_t j = 0;   j <= 27; j=j+7) { // 0, 7, 14, 31	
	for (uint8_t i = j; i <= j+6; i++) {   //   0...6 / 7...13 /14...20 / 21...27 /
		b8_arr[i] = inUart_arr[k];
		b8_arr[i]   <<= (7+j-i);
		b8_arr[i] &= B10000000;
		b8_arr[i] |= inUart_arr[i+q];	
	}									    // 0...6 / 7...13 /14...20 / 21...27 /			   
   k = k + 8;
   q = q   + 1;  
  }										   // 0, 7, 14, 31										   
	//   

	//  
	uint16_t crc16 = 0;
	for (int i = 1; i <= 27; i++) crc16   = crc16 + b8_arr[i] * 44111;
	uint8_t crc8 = 0;
	crc8 = crc16 & 255;	
	//   
	if (b8_arr[0] == crc8) {
	//    !!!  
	for (int i = 0; i <=26; i++)   receiv_arr[i] = b8_arr[i+1];
	//  
	LedPinOn();
	//   
	Serial34bTimeCore   = 0;
	//    
	tTimeOut = true;
	} else {
	//  
	LedPinOFF();
	//      
	tErrCRC++;
	}
	}
	return;
	}	
	//      
	inUart_arr[BYTEinCount]   = dat;
    BYTEinCount++;	
}														// -   !!!

void   startTransmitter (uint32_t baudRate, uint32_t timeSend) {
//    !!!
uint16_t   ubrr = 0;
if (baudRate == 115200) ubrr = 8;
else ubrr = 16000000/16/baudRate-1;
//     !!!
UBRRnH = (unsigned char)(ubrr>>8);
UBRRnL = (unsigned char)ubrr;
//   
SetBit(UCSRnB, TXEN0);
//  
SetBit(UCSRnB, RXEN0);
//       
SetBit(UCSRnB,   RXCIE0);
//    8 data 1 stop bit
SetBit(UCSRnC, 1);
SetBit(UCSRnC, 2);
//   
Serial34bSendTimeOUT = timeSend;
OCR0A = 0xA0;			//  
SetBit(TIMSK0,   OCIE0A);	//  
//   PIN 13
LedPinOut();
//  
for (uint8_t i = 0; i <=   26; i++) transm_arr[i] = 0;
for (uint8_t i = 0; i <= 26; i++) receiv_arr[i] =   0;
}

rc_submarine_receiver_v2.ino

arduino

1//     I2C
2#include <Wire.h>
3//     
4#include <Adafruit_INA219.h>
5//     
6Adafruit_INA219 ina219;
7/*----------------------------------------------------*/
8
9#define  LL1 8
10#define RL1 7
11#define LL2 6 //~
12#define RL2 5 //~
13#define LL4  4
14#define LL3 3 //~
15#define RL3 2 //~
16#define RL4 21
17#define LED 20
18#define  LMrev 16
19#define LMpwm 9  //~
20#define RMrev 17
21#define RMpwm 10 //~
22
23//    UART (    )
24#define Serial_0
25
26byte transm_arr[27];  //     
27byte  receiv_arr[27];  //    
28
29//   
30#include <Serial27bReceiver.h>
31
32long  previousMillis = 0;
33long interval = 0;
34
35
36void setup() {
37  //   ,      ()
38  startReceiver(9600, 400);
39  //   
40  ina219.begin();
41  pinMode(LED,  OUTPUT); // KEY BC547B LED-LIGHT
42  pinMode(LL1, OUTPUT);  // LL1  BLesft
43  pinMode(RL1, OUTPUT);  // RL1  RRight
44  pinMode(LL2, OUTPUT);  // LL2 ~ airPump  
45  pinMode(RL2, OUTPUT);  // RL2 ~ airPump 
46  pinMode(LL4, OUTPUT);  // LL4  FLesft
47  pinMode(LL3, OUTPUT);  // LL3 ~  
48  pinMode(RL3, OUTPUT);  // RL3  ~  
49  pinMode(RL4, OUTPUT);  // RL4  FRight
50  pinMode(LMrev, OUTPUT);  //   
51  pinMode(LMpwm, OUTPUT);  //   
52  pinMode(RMrev, OUTPUT);  //    
53  pinMode(RMpwm, OUTPUT);  //   
54}
55
56void loop() {
57  
58  // 
59  digitalWrite(LED,  bitRead(transm_arr[0], 0));
60  // 
61  digitalWrite(LL1, bitRead(transm_arr[0],  4));
62  digitalWrite(RL1, bitRead(transm_arr[0], 5));
63  digitalWrite(LL4, bitRead(transm_arr[0],  6));
64  digitalWrite(RL4, bitRead(transm_arr[0], 7));
65  //    
66  analogWrite(RL3,  transm_arr[1]); // RL3 ~  
67  analogWrite(LL3, transm_arr[2]); // LL3 ~  
68  analogWrite(RL2, transm_arr[3]); // RL2 ~ airPump  
69  analogWrite(LL2, transm_arr[4]);  // LL2 ~ airPump 
70  //  ,       
71  digitalWrite(LMrev, bitRead(transm_arr[6],  7));   //    
72  digitalWrite(RMrev, bitRead(transm_arr[7], 7));   //      
73  uint8_t SpeedLM = transm_arr[6];
74  uint8_t SpeedRM = transm_arr[7];   
75  bitClear(SpeedLM, 7);
76  bitClear(SpeedRM, 7);  
77  analogWrite(LMpwm, map(SpeedLM,  0, 127, 0, 255));
78  analogWrite(RMpwm, map(SpeedRM, 0, 127, 0, 255)); 
79  //   !!!
80  //   INA219
81  float busvoltage = 0;
82  //    GND  V-
83  busvoltage  = ina219.getBusVoltage_V() * 10;
84  busvoltage = round(busvoltage);
85  //    
86  receiv_arr[0] = busvoltage;
87  if (digitalRead(13) == LOW) {
88    if (rErrTime  > 1) {
89    transm_arr[0] = 1;
90    transm_arr[1] = 0;
91    transm_arr[2]  = 0;
92    transm_arr[3] = 0;
93    transm_arr[4] = 0;
94    transm_arr[6] =  0;
95    transm_arr[7] = 0;
96    }
97  } else rErrTime =0;
98  // autodiving  
99  if (bitRead(transm_arr[0],1)) {
100  interval = transm_arr[5] * 1000;
101  analogWrite(RL3, 255); // RL3 ~  
102  analogWrite(LL3, 255); // LL3 ~  
103  analogWrite(RL2,  255); // RL2 ~ airPump  
104  analogWrite(LL2, 255); // LL2 ~ airPump 
105  autodiving_label:
106  unsigned long currentMillis = millis(); 
107  //     ,   
108  if(currentMillis  - previousMillis > interval) {
109    //    
110    previousMillis = currentMillis;        
111  }  else {
112  //      
113  if (bitRead(transm_arr[0],2)) interval=0;
114  goto autodiving_label;
115  }
116  }  
117  delay(100);
118}
119

//     I2C
#include <Wire.h>
//     
#include <Adafruit_INA219.h>
//     
Adafruit_INA219 ina219;
/*----------------------------------------------------*/

#define  LL1 8
#define RL1 7
#define LL2 6 //~
#define RL2 5 //~
#define LL4  4
#define LL3 3 //~
#define RL3 2 //~
#define RL4 21
#define LED 20
#define  LMrev 16
#define LMpwm 9  //~
#define RMrev 17
#define RMpwm 10 //~

//    UART (    )
#define Serial_0

byte transm_arr[27];  //     
byte  receiv_arr[27];  //    

//   
#include <Serial27bReceiver.h>

long  previousMillis = 0;
long interval = 0;


void setup() {
  //   ,      ()
  startReceiver(9600, 400);
  //   
  ina219.begin();
  pinMode(LED,  OUTPUT); // KEY BC547B LED-LIGHT
  pinMode(LL1, OUTPUT);  // LL1  BLesft
  pinMode(RL1, OUTPUT);  // RL1  RRight
  pinMode(LL2, OUTPUT);  // LL2 ~ airPump  
  pinMode(RL2, OUTPUT);  // RL2 ~ airPump 
  pinMode(LL4, OUTPUT);  // LL4  FLesft
  pinMode(LL3, OUTPUT);  // LL3 ~  
  pinMode(RL3, OUTPUT);  // RL3  ~  
  pinMode(RL4, OUTPUT);  // RL4  FRight
  pinMode(LMrev, OUTPUT);  //   
  pinMode(LMpwm, OUTPUT);  //   
  pinMode(RMrev, OUTPUT);  //    
  pinMode(RMpwm, OUTPUT);  //   
}

void loop() {
  
  // 
  digitalWrite(LED,  bitRead(transm_arr[0], 0));
  // 
  digitalWrite(LL1, bitRead(transm_arr[0],  4));
  digitalWrite(RL1, bitRead(transm_arr[0], 5));
  digitalWrite(LL4, bitRead(transm_arr[0],  6));
  digitalWrite(RL4, bitRead(transm_arr[0], 7));
  //    
  analogWrite(RL3,  transm_arr[1]); // RL3 ~  
  analogWrite(LL3, transm_arr[2]); // LL3 ~  
  analogWrite(RL2, transm_arr[3]); // RL2 ~ airPump  
  analogWrite(LL2, transm_arr[4]);  // LL2 ~ airPump 
  //  ,       
  digitalWrite(LMrev, bitRead(transm_arr[6],  7));   //    
  digitalWrite(RMrev, bitRead(transm_arr[7], 7));   //      
  uint8_t SpeedLM = transm_arr[6];
  uint8_t SpeedRM = transm_arr[7];   
  bitClear(SpeedLM, 7);
  bitClear(SpeedRM, 7);  
  analogWrite(LMpwm, map(SpeedLM,  0, 127, 0, 255));
  analogWrite(RMpwm, map(SpeedRM, 0, 127, 0, 255)); 
  //   !!!
  //   INA219
  float busvoltage = 0;
  //    GND  V-
  busvoltage  = ina219.getBusVoltage_V() * 10;
  busvoltage = round(busvoltage);
  //    
  receiv_arr[0] = busvoltage;
  if (digitalRead(13) == LOW) {
    if (rErrTime  > 1) {
    transm_arr[0] = 1;
    transm_arr[1] = 0;
    transm_arr[2]  = 0;
    transm_arr[3] = 0;
    transm_arr[4] = 0;
    transm_arr[6] =  0;
    transm_arr[7] = 0;
    }
  } else rErrTime =0;
  // autodiving  
  if (bitRead(transm_arr[0],1)) {
  interval = transm_arr[5] * 1000;
  analogWrite(RL3, 255); // RL3 ~  
  analogWrite(LL3, 255); // LL3 ~  
  analogWrite(RL2,  255); // RL2 ~ airPump  
  analogWrite(LL2, 255); // LL2 ~ airPump 
  autodiving_label:
  unsigned long currentMillis = millis(); 
  //     ,   
  if(currentMillis  - previousMillis > interval) {
    //    
    previousMillis = currentMillis;        
  }  else {
  //      
  if (bitRead(transm_arr[0],2)) interval=0;
  goto autodiving_label;
  }
  }  
  delay(100);
}

Serial27bReceiver.h

arduino

1#include "Arduino.h"
2#include "UartAndPinConfig.h"
3
4const   uint8_t transmStart = 129;  	//   
5const uint8_t transmEnd = 130;	  	//   
6
7const   uint8_t receiverStart =254; 	//   	 
8const uint8_t receiverEnd = 255;  	//    
9
10//       
11volatile uint32_t Serial34bSendTimeOUT;
12//    		
13volatile   uint32_t Serial34bTimeCore = 0;
14//    -  
15volatile boolean transmTOUT = true;
16//     
17volatile uint8_t BYTEinCount = 0;
18//   
19volatile uint8_t inUart_arr[32];
20//     
21volatile uint8_t rErrTime = 0;
22//    
23volatile uint8_t rErrCRC = 0;   
24
25
26ISR (TIMER0_COMPA_vect) {
27Serial34bTimeCore ++;
28if (Serial34bTimeCore   >	Serial34bSendTimeOUT) {		//   
29Serial34bTimeCore = 0;								//   
30LedPinOFF();										//   -  
31rErrTime ++;										//     												
32}				
33}
34
35ISR (BYTEin) {										//     
36	
37	uint8_t	dat = 0;								//     !!!
38	dat = UDRn;
39
40if   (receiverStart == dat){							//     
41	BYTEinCount = 0;
42	//   inUart_arr[32]
43	for   (uint8_t i = 0; i <= 31; i++) inUart_arr[i] = 0;
44	return;
45	}
46
47if (receiverEnd   == dat){
48													
49	//   
50	uint8_t b8_arr[28];
51	//    
52	for (uint8_t i = 0; i <= 27; i++) b8_arr[i] = 0;
53	
54	//  	
55	uint8_t   k = 0;
56	uint8_t q = 1;		
57	for (uint8_t j = 0; j <= 27; j=j+7) { // 0,   7, 14, 31
58		
59	for (uint8_t i = j; i <= j+6; i++) {   // 0...6 / 7...13   /14...20 / 21...27 /
60		b8_arr[i] = inUart_arr[k];
61		b8_arr[i] <<= (7+j-i);
62		b8_arr[i]   &= B10000000;
63		b8_arr[i] |= inUart_arr[i+q];	
64	}									   //   0...6 / 7...13 /14...20 / 21...27 /			   
65	k = k + 8;
66	q = q + 1;  
67   }										   // 0, 7, 14, 31										   
68	//  
69
70	//   
71	uint16_t crc16 = 0;
72	for (int i = 1; i <= 27; i++) crc16 = crc16 + b8_arr[i]   * 44111;
73	uint8_t crc8 = 0;
74	crc8 = crc16 & 255;	
75	//  
76	if (b8_arr[0]   == crc8) {
77	//    !!!  
78	for (int i = 0; i <=26; i++) transm_arr[i] = b8_arr[i+1];
79	//   
80	LedPinOn();
81	//   
82	Serial34bTimeCore = 0;	
83	} else {
84	//   
85	LedPinOFF();
86	//     
87	rErrCRC++;
88	}
89		
90	//    receiv_arr   [27] !!!!	
91	
92	//       UART
93	uint8_t uart_arr[32];
94	for (uint8_t   i = 0; i <= 31; i++) uart_arr[i]=0;
95
96	//    b8_arr[28];
97	b8_arr[0] =   0;
98	//      
99	for (uint8_t i = 1; i <= 27; i++) b8_arr[i] = receiv_arr[i-1];
100	
101	//          
102	int8_t uartCount = 0;
103	for (uartCount = 27; uartCount >= 0; uartCount--)   {
104    if (b8_arr[uartCount] != 0) break; 		//   uartCount 
105	}
106	
107	if   (uartCount != -1) { 		//    -     
108	// 
109	//           
110	crc16 = 0;	
111	crc8   = 0;
112	for (uint8_t i = 1; i <= uartCount; i++) crc16 = crc16 + b8_arr[i] * 44111;
113	crc8   = crc16 & 255;	
114	b8_arr[0] = crc8;
115
116	//  8-    7- 
117
118	k = 0;
119	q   = 1; 		
120	for (uint8_t j = 0; j <= 24; j=j+8) { // 0, 8, 16, 24  
121	for   (uint8_t i = k; i <= k+6; i++) { // 0...6 / 7...13 /14...20 / 21...27 / 
122	uart_arr[i+q]   = b8_arr[i];
123	uart_arr[i+q] &= B01111111;
124	b8_arr[i]     &= B10000000;
125	uart_arr[j]   |= b8_arr[i];
126	uart_arr[j] >>= 1;
127	} 									 // 0...6 / 7...13   /14...20 / 21...27 /  
128	if (uartCount<j) break;	    //    
129	uartCount ++;   
130	k = k + 7; 
131	q = q + 1;
132   }								 	// 0, 8, 16, 24      
133}	//         UART uart_arr[32] 
134	
135	//    
136	while ( !( UCSRnA & (1<<UDRE0))   );
137	UDRn = transmStart;
138	//  uart_arr[32]		
139	for (int8_t i = 0; i   <= uartCount; i++) {
140	while ( !( UCSRnA & (1<<UDRE0)) );
141	UDRn = uart_arr[i];
142	}	
143	//     
144	while ( !( UCSRnA & (1<<UDRE0)) );
145	UDRn = transmEnd;				
146		
147	return;	
148}
149	//       
150	inUart_arr[BYTEinCount] = dat;
151    BYTEinCount++;
152	
153} 											//     
154
155
156
157void startReceiver (uint32_t baudRate, uint32_t timeSend) {
158//     !!!
159uint16_t ubrr = 0;
160if (baudRate == 115200) ubrr = 8;
161else ubrr   = 16000000/16/baudRate-1;
162//    !!!
163UBRRnH = (unsigned char)(ubrr>>8);
164UBRRnL   = (unsigned char)ubrr;
165//  
166SetBit(UCSRnB, TXEN0);
167//  
168SetBit(UCSRnB,   RXEN0);
169//       
170SetBit(UCSRnB, RXCIE0);
171//    8 data 1 stop bit
172SetBit(UCSRnC,   1);
173SetBit(UCSRnC, 2);
174// 
175Serial34bSendTimeOUT = timeSend;
176OCR0A =   0xA0;			//  
177SetBit(TIMSK0, OCIE0A);	//  
178//   PIN 13
179LedPinOut();
180//   
181for (uint8_t i = 0; i <= 26; i++) transm_arr[i] = 0;
182for (uint8_t i = 0;   i <= 26; i++) receiv_arr[i] = 0; 
183}
184
185
186
187
188
189
190
191
192
193
194
195

#include "Arduino.h"
#include "UartAndPinConfig.h"

const   uint8_t transmStart = 129;  	//   
const uint8_t transmEnd = 130;	  	//   

const   uint8_t receiverStart =254; 	//   	 
const uint8_t receiverEnd = 255;  	//    

//       
volatile uint32_t Serial34bSendTimeOUT;
//    		
volatile   uint32_t Serial34bTimeCore = 0;
//    -  
volatile boolean transmTOUT = true;
//     
volatile uint8_t BYTEinCount = 0;
//   
volatile uint8_t inUart_arr[32];
//     
volatile uint8_t rErrTime = 0;
//    
volatile uint8_t rErrCRC = 0;   


ISR (TIMER0_COMPA_vect) {
Serial34bTimeCore ++;
if (Serial34bTimeCore   >	Serial34bSendTimeOUT) {		//   
Serial34bTimeCore = 0;								//   
LedPinOFF();										//   -  
rErrTime ++;										//     												
}				
}

ISR (BYTEin) {										//     
	
	uint8_t	dat = 0;								//     !!!
	dat = UDRn;

if   (receiverStart == dat){							//     
	BYTEinCount = 0;
	//   inUart_arr[32]
	for   (uint8_t i = 0; i <= 31; i++) inUart_arr[i] = 0;
	return;
	}

if (receiverEnd   == dat){
													
	//   
	uint8_t b8_arr[28];
	//    
	for (uint8_t i = 0; i <= 27; i++) b8_arr[i] = 0;
	
	//  	
	uint8_t   k = 0;
	uint8_t q = 1;		
	for (uint8_t j = 0; j <= 27; j=j+7) { // 0,   7, 14, 31
		
	for (uint8_t i = j; i <= j+6; i++) {   // 0...6 / 7...13   /14...20 / 21...27 /
		b8_arr[i] = inUart_arr[k];
		b8_arr[i] <<= (7+j-i);
		b8_arr[i]   &= B10000000;
		b8_arr[i] |= inUart_arr[i+q];	
	}									   //   0...6 / 7...13 /14...20 / 21...27 /			   
	k = k + 8;
	q = q + 1;  
   }										   // 0, 7, 14, 31										   
	//  

	//   
	uint16_t crc16 = 0;
	for (int i = 1; i <= 27; i++) crc16 = crc16 + b8_arr[i]   * 44111;
	uint8_t crc8 = 0;
	crc8 = crc16 & 255;	
	//  
	if (b8_arr[0]   == crc8) {
	//    !!!  
	for (int i = 0; i <=26; i++) transm_arr[i] = b8_arr[i+1];
	//   
	LedPinOn();
	//   
	Serial34bTimeCore = 0;	
	} else {
	//   
	LedPinOFF();
	//     
	rErrCRC++;
	}
		
	//    receiv_arr   [27] !!!!	
	
	//       UART
	uint8_t uart_arr[32];
	for (uint8_t   i = 0; i <= 31; i++) uart_arr[i]=0;

	//    b8_arr[28];
	b8_arr[0] =   0;
	//      
	for (uint8_t i = 1; i <= 27; i++) b8_arr[i] = receiv_arr[i-1];
	
	//          
	int8_t uartCount = 0;
	for (uartCount = 27; uartCount >= 0; uartCount--)   {
    if (b8_arr[uartCount] != 0) break; 		//   uartCount 
	}
	
	if   (uartCount != -1) { 		//    -     
	// 
	//           
	crc16 = 0;	
	crc8   = 0;
	for (uint8_t i = 1; i <= uartCount; i++) crc16 = crc16 + b8_arr[i] * 44111;
	crc8   = crc16 & 255;	
	b8_arr[0] = crc8;

	//  8-    7- 

	k = 0;
	q   = 1; 		
	for (uint8_t j = 0; j <= 24; j=j+8) { // 0, 8, 16, 24  
	for   (uint8_t i = k; i <= k+6; i++) { // 0...6 / 7...13 /14...20 / 21...27 / 
	uart_arr[i+q]   = b8_arr[i];
	uart_arr[i+q] &= B01111111;
	b8_arr[i]     &= B10000000;
	uart_arr[j]   |= b8_arr[i];
	uart_arr[j] >>= 1;
	} 									 // 0...6 / 7...13   /14...20 / 21...27 /  
	if (uartCount<j) break;	    //    
	uartCount ++;   
	k = k + 7; 
	q = q + 1;
   }								 	// 0, 8, 16, 24      
}	//         UART uart_arr[32] 
	
	//    
	while ( !( UCSRnA & (1<<UDRE0))   );
	UDRn = transmStart;
	//  uart_arr[32]		
	for (int8_t i = 0; i   <= uartCount; i++) {
	while ( !( UCSRnA & (1<<UDRE0)) );
	UDRn = uart_arr[i];
	}	
	//     
	while ( !( UCSRnA & (1<<UDRE0)) );
	UDRn = transmEnd;				
		
	return;	
}
	//       
	inUart_arr[BYTEinCount] = dat;
    BYTEinCount++;
	
} 											//     



void startReceiver (uint32_t baudRate, uint32_t timeSend) {
//     !!!
uint16_t ubrr = 0;
if (baudRate == 115200) ubrr = 8;
else ubrr   = 16000000/16/baudRate-1;
//    !!!
UBRRnH = (unsigned char)(ubrr>>8);
UBRRnL   = (unsigned char)ubrr;
//  
SetBit(UCSRnB, TXEN0);
//  
SetBit(UCSRnB,   RXEN0);
//       
SetBit(UCSRnB, RXCIE0);
//    8 data 1 stop bit
SetBit(UCSRnC,   1);
SetBit(UCSRnC, 2);
// 
Serial34bSendTimeOUT = timeSend;
OCR0A =   0xA0;			//  
SetBit(TIMSK0, OCIE0A);	//  
//   PIN 13
LedPinOut();
//   
for (uint8_t i = 0; i <= 26; i++) transm_arr[i] = 0;
for (uint8_t i = 0;   i <= 26; i++) receiv_arr[i] = 0; 
}

rc_submarine_transmitter_v2.ino

arduino

1//     I2C
2#include <Wire.h>
3//     
4#include <Adafruit_INA219.h>
5//     
6Adafruit_INA219 ina219;
7
8#include <LiquidCrystal.h>
9LiquidCrystal  lcd(2, 3, 4, 5, 6, 7);
10
11//    UART
12#define Serial_2
13
14byte transm_arr[27];  //     
15byte receiv_arr[27];  //     
16
17//   
18#include <Serial27bTransmitter.h>
19
20boolean  backL = 0;  //  enable fix
21boolean backR = 0;  //  enable fix
22boolean frontL  = 0; //  enable fix
23boolean frontR = 0; //  enable fix
24
25boolean RL3 = 0;  // RL3 ~  
26boolean LL3 = 0; // LL3 ~  
27boolean RL2 = 0; // RL2 ~ airPump 
28boolean  LL2 = 0; // LL2 ~ airPump 
29
30boolean RL3y = 0; // RL3 ~  
31boolean LL3y =  0; // LL3 ~  
32boolean RL2y = 0; // RL2 ~ airPump 
33boolean LL2y = 0; // LL2  ~ airPump 
34
35boolean key4 = 0; // KEY BC547B LED-LIGHT
36
37boolean fixEnaB  = 0; //    
38boolean fixEnaS = 0; //    
39
40void setup() {
41  //  ,   ()
42  startTransmitter(9600, 200);
43
44  pinMode(42, INPUT_PULLUP); //  
45  pinMode(36,  INPUT_PULLUP); // 1 ULN2803 (1-2) enable
46  pinMode(37, INPUT_PULLUP); // 1 ULN2803  (3-4) enable
47  pinMode(38, INPUT_PULLUP); // 1 ULN2803 (5-6) enable
48  pinMode(39,  INPUT_PULLUP); // 1 ULN2803 (7-8) enable
49
50  pinMode(40, INPUT_PULLUP); //  autodiving
51  pinMode(25, INPUT_PULLUP); // autodiving cancel
52
53  pinMode(29,  INPUT_PULLUP); // QE4 2 ULN2803 (1-2) // 
54  pinMode(30, INPUT_PULLUP); // QG6  2 ULN2803 (5-6) // 
55  pinMode(22, INPUT_PULLUP); // QF5 2 ULN2803 (3-4) // 
56  pinMode(23, INPUT_PULLUP); // QH7 2 ULN2803 (7-8) // 
57
58  pinMode(41, INPUT_PULLUP);  // enable Fix Motor button
59
60  lcd.begin(20, 4);
61
62  //   
63  ina219.begin();
64
65  //   RX/TX  
66  pinMode(14, OUTPUT);   digitalWrite(14, 1);
67  pinMode(15,  OUTPUT);   digitalWrite(15, 1);
68  pinMode(18, OUTPUT);   digitalWrite(18, 1);
69  pinMode(19, OUTPUT);   digitalWrite(19, 1);
70}
71
72void loop() {
73
74  //     
75  if (digitalRead(41))   fixEnaB = false;
76  if (!digitalRead(41)  && !fixEnaB) {
77    fixEnaS = !fixEnaS;
78    fixEnaB = true;
79  }
80
81  //   fix
82  if (digitalRead(42))   key4 = false;
83  if (!digitalRead(42) &&  !key4) {
84    bitWrite(transm_arr[0], 0, !bitRead(transm_arr[0], 0));
85    key4  = true;
86  }
87  // bitWrite(transm_arr[0], 0, !digitalRead(42)); no fix
88
89  // autodiving 
90  if (!digitalRead(40)) {
91  bitWrite(transm_arr[0], 1, !digitalRead(40));  // no fix
92  transm_arr[5] = map(analogRead(A12), 0, 1023, 0, 255); 
93  } else  {
94  bitWrite(transm_arr[0], 1, 0);
95  transm_arr[5] = 0;  
96  }
97  // autodiving  cancel
98  bitWrite(transm_arr[0], 2, !digitalRead(25)); // no fix
99    
100  if (digitalRead(36))   RL3 = false;
101  if (!digitalRead(36) && !RL3) {
102    RL3y  = !RL3y;
103    RL3 = true;
104  }
105  //bitWrite(transm_arr[0], 4, !digitalRead(36));  nofix
106
107  if (digitalRead(37))   LL3 = false;
108  if (!digitalRead(37) &&  !LL3) {
109    LL3y = !LL3y;
110    LL3 = true;
111  }
112  //bitWrite(transm_arr[0],  5, !digitalRead(37)); nofix
113
114  if (digitalRead(38))   RL2 = false;
115  if  (!digitalRead(38) && !RL2) {
116    RL2y = !RL2y;
117    RL2 = true;
118  }
119  // bitWrite(transm_arr[0], 6, !digitalRead(38)); nofix
120
121  if (digitalRead(39))   LL2 = false;
122  if (!digitalRead(39) && !LL2) {
123    LL2y = !LL2y;
124    LL2  = true;
125  }
126
127  //         
128  if (RL3y) transm_arr[1] = map(analogRead(A8),  0, 1023, 0, 255); else  transm_arr[1] = 0; // RL3 ~  
129  if (LL3y) transm_arr[2]  = map(analogRead(A9), 0, 1023, 0, 255); else  transm_arr[2] = 0; // LL3 ~  
130  if (RL2y) transm_arr[3] = map(analogRead(A10), 0, 1023, 0, 255); else transm_arr[3]  = 0; // RL2 ~ airPump 
131  if (LL2y) transm_arr[4] = map(analogRead(A11), 0, 1023,  0, 255); else transm_arr[4] = 0; // LL2 ~ airPump 
132
133  //  L293D    pwm
134  uint16_t leftRES = analogRead(A14);
135  uint16_t righRES = analogRead(A15);
136
137  //   EN2
138  uint8_t pwmL;
139
140  if (leftRES >= 563) {
141    // 
142    pwmL  = map(analogRead(A14), 563, 1023, 0, 127);
143    bitWrite(pwmL,7,1);
144  } else  if (leftRES <= 460) {
145    // 
146    pwmL = map(analogRead(A14), 460, 0, 0, 127);
147  } else {
148    // 
149    pwmL = 0;
150  }
151
152  //   EN1
153  uint8_t pwmR;
154  if (righRES >= 563) {
155    // 
156    pwmR = map(analogRead(A15), 563, 1023,  0, 127);
157    bitWrite(pwmR,7,1);    
158  } else if (righRES <= 460) {
159    //  
160    pwmR = map(analogRead(A15), 460, 0, 0, 127);
161  } else {
162    // 
163    pwmR = 0;
164  }
165  //    
166  transm_arr[6] = pwmL;
167  transm_arr[7] =  pwmR;
168  
169  //     PWM     
170  if (fixEnaS) {
171
172    // 
173    if (digitalRead(30))   backL = false;
174    if (!digitalRead(30) && !backL) {
175      bitWrite(transm_arr[0],  4, !bitRead(transm_arr[0], 4));
176      backL = true;
177    }
178
179    // 
180    if (digitalRead(23))   backR = false;
181    if (!digitalRead(23) && !backR)  {
182      bitWrite(transm_arr[0], 5, !bitRead(transm_arr[0], 5));
183      backR  = true;
184    }
185
186    // 
187    if (digitalRead(29))   frontL = false;
188    if (!digitalRead(29) && !frontL) {
189      bitWrite(transm_arr[0], 6, !bitRead(transm_arr[0],  6));
190      frontL = true;
191    }
192
193    // 
194    if (digitalRead(22))   frontR = false;
195    if (!digitalRead(22) && !frontR) {
196      bitWrite(transm_arr[0],  7, !bitRead(transm_arr[0], 7));
197      frontR = true;
198    }
199  } else {
200    bitWrite(transm_arr[0], 4, !digitalRead(30));
201    bitWrite(transm_arr[0],  5, !digitalRead(23));
202    bitWrite(transm_arr[0], 6, !digitalRead(29));
203    bitWrite(transm_arr[0],  7, !digitalRead(22));
204  }
205
206
207  //   
208  lcd.clear();
209
210  lcd.setCursor(0,  0);
211  lcd.print(transm_arr[1]);
212  lcd.setCursor(0, 1);
213  lcd.print(transm_arr[2]);
214  lcd.setCursor(0, 2);
215  lcd.print(transm_arr[3]);
216  lcd.setCursor(0, 3);
217  lcd.print(transm_arr[4]);
218
219  lcd.setCursor(4, 0);
220  lcd.print('-');
221  lcd.print(pwmL);
222
223  lcd.setCursor(4, 1);
224  lcd.print('-');
225  lcd.print(pwmR);
226  
227  lcd.setCursor(4, 2);
228  lcd.print("d-");
229  lcd.print(bitRead(transm_arr[0],  1));  
230  
231  lcd.setCursor(4, 3);
232  lcd.print(map(analogRead(A12), 0, 1023,  0, 255));
233
234  //  c pwm
235  lcd.setCursor(9, 0);
236  lcd.print(RL3y);
237  lcd.setCursor(9, 1);
238  lcd.print(LL3y);
239  lcd.setCursor(9, 2);
240  lcd.print(RL2y);
241  lcd.setCursor(9, 3);
242  lcd.print(LL2y);
243
244  //   pwm
245  lcd.setCursor(18,  0);
246  lcd.print(bitRead(transm_arr[0], 6));
247  lcd.print(bitRead(transm_arr[0],  7));
248  lcd.setCursor(18, 1);
249  lcd.print(bitRead(transm_arr[0], 4));
250  lcd.print(bitRead(transm_arr[0],  5));
251
252  //  
253  lcd.setCursor(15, 2);
254  lcd.print("rV");
255  float  ShowV = receiv_arr[0];
256  ShowV = ShowV / 10;
257  lcd.print(ShowV, 1);
258
259  //   
260  float busvoltage = 0;
261  //    GND  V-
262  busvoltage = ina219.getBusVoltage_V();
263  lcd.setCursor(15, 3);
264  lcd.print("tV");
265  lcd.print(busvoltage, 1);
266
267  //    
268  lcd.setCursor(15, 0);
269  lcd.print(fixEnaS);
270  lcd.print(bitRead(transm_arr[0],  0));
271
272  delay(100);
273}
274
275/*
276   
277  0 
278  Bit0 KEY BC547B LED-LIGHT  // 42 
279  1  74HC595
280  QA0
281  QB1
282  QC2
283  QD3
284  QE4 2 ULN2803  (1-2)
285  QF5 2 ULN2803 (3-4)
286  QG6 2 ULN2803 (5-6)
287  QH7 2 ULN2803 (7-8)
288
289*/
290

//     I2C
#include <Wire.h>
//     
#include <Adafruit_INA219.h>
//     
Adafruit_INA219 ina219;

#include <LiquidCrystal.h>
LiquidCrystal  lcd(2, 3, 4, 5, 6, 7);

//    UART
#define Serial_2

byte transm_arr[27];  //     
byte receiv_arr[27];  //     

//   
#include <Serial27bTransmitter.h>

boolean  backL = 0;  //  enable fix
boolean backR = 0;  //  enable fix
boolean frontL  = 0; //  enable fix
boolean frontR = 0; //  enable fix

boolean RL3 = 0;  // RL3 ~  
boolean LL3 = 0; // LL3 ~  
boolean RL2 = 0; // RL2 ~ airPump 
boolean  LL2 = 0; // LL2 ~ airPump 

boolean RL3y = 0; // RL3 ~  
boolean LL3y =  0; // LL3 ~  
boolean RL2y = 0; // RL2 ~ airPump 
boolean LL2y = 0; // LL2  ~ airPump 

boolean key4 = 0; // KEY BC547B LED-LIGHT

boolean fixEnaB  = 0; //    
boolean fixEnaS = 0; //    

void setup() {
  //  ,   ()
  startTransmitter(9600, 200);

  pinMode(42, INPUT_PULLUP); //  
  pinMode(36,  INPUT_PULLUP); // 1 ULN2803 (1-2) enable
  pinMode(37, INPUT_PULLUP); // 1 ULN2803  (3-4) enable
  pinMode(38, INPUT_PULLUP); // 1 ULN2803 (5-6) enable
  pinMode(39,  INPUT_PULLUP); // 1 ULN2803 (7-8) enable

  pinMode(40, INPUT_PULLUP); //  autodiving
  pinMode(25, INPUT_PULLUP); // autodiving cancel

  pinMode(29,  INPUT_PULLUP); // QE4 2 ULN2803 (1-2) // 
  pinMode(30, INPUT_PULLUP); // QG6  2 ULN2803 (5-6) // 
  pinMode(22, INPUT_PULLUP); // QF5 2 ULN2803 (3-4) // 
  pinMode(23, INPUT_PULLUP); // QH7 2 ULN2803 (7-8) // 

  pinMode(41, INPUT_PULLUP);  // enable Fix Motor button

  lcd.begin(20, 4);

  //   
  ina219.begin();

  //   RX/TX  
  pinMode(14, OUTPUT);   digitalWrite(14, 1);
  pinMode(15,  OUTPUT);   digitalWrite(15, 1);
  pinMode(18, OUTPUT);   digitalWrite(18, 1);
  pinMode(19, OUTPUT);   digitalWrite(19, 1);
}

void loop() {

  //     
  if (digitalRead(41))   fixEnaB = false;
  if (!digitalRead(41)  && !fixEnaB) {
    fixEnaS = !fixEnaS;
    fixEnaB = true;
  }

  //   fix
  if (digitalRead(42))   key4 = false;
  if (!digitalRead(42) &&  !key4) {
    bitWrite(transm_arr[0], 0, !bitRead(transm_arr[0], 0));
    key4  = true;
  }
  // bitWrite(transm_arr[0], 0, !digitalRead(42)); no fix

  // autodiving 
  if (!digitalRead(40)) {
  bitWrite(transm_arr[0], 1, !digitalRead(40));  // no fix
  transm_arr[5] = map(analogRead(A12), 0, 1023, 0, 255); 
  } else  {
  bitWrite(transm_arr[0], 1, 0);
  transm_arr[5] = 0;  
  }
  // autodiving  cancel
  bitWrite(transm_arr[0], 2, !digitalRead(25)); // no fix
    
  if (digitalRead(36))   RL3 = false;
  if (!digitalRead(36) && !RL3) {
    RL3y  = !RL3y;
    RL3 = true;
  }
  //bitWrite(transm_arr[0], 4, !digitalRead(36));  nofix

  if (digitalRead(37))   LL3 = false;
  if (!digitalRead(37) &&  !LL3) {
    LL3y = !LL3y;
    LL3 = true;
  }
  //bitWrite(transm_arr[0],  5, !digitalRead(37)); nofix

  if (digitalRead(38))   RL2 = false;
  if  (!digitalRead(38) && !RL2) {
    RL2y = !RL2y;
    RL2 = true;
  }
  // bitWrite(transm_arr[0], 6, !digitalRead(38)); nofix

  if (digitalRead(39))   LL2 = false;
  if (!digitalRead(39) && !LL2) {
    LL2y = !LL2y;
    LL2  = true;
  }

  //         
  if (RL3y) transm_arr[1] = map(analogRead(A8),  0, 1023, 0, 255); else  transm_arr[1] = 0; // RL3 ~  
  if (LL3y) transm_arr[2]  = map(analogRead(A9), 0, 1023, 0, 255); else  transm_arr[2] = 0; // LL3 ~  
  if (RL2y) transm_arr[3] = map(analogRead(A10), 0, 1023, 0, 255); else transm_arr[3]  = 0; // RL2 ~ airPump 
  if (LL2y) transm_arr[4] = map(analogRead(A11), 0, 1023,  0, 255); else transm_arr[4] = 0; // LL2 ~ airPump 

  //  L293D    pwm
  uint16_t leftRES = analogRead(A14);
  uint16_t righRES = analogRead(A15);

  //   EN2
  uint8_t pwmL;

  if (leftRES >= 563) {
    // 
    pwmL  = map(analogRead(A14), 563, 1023, 0, 127);
    bitWrite(pwmL,7,1);
  } else  if (leftRES <= 460) {
    // 
    pwmL = map(analogRead(A14), 460, 0, 0, 127);
  } else {
    // 
    pwmL = 0;
  }

  //   EN1
  uint8_t pwmR;
  if (righRES >= 563) {
    // 
    pwmR = map(analogRead(A15), 563, 1023,  0, 127);
    bitWrite(pwmR,7,1);    
  } else if (righRES <= 460) {
    //  
    pwmR = map(analogRead(A15), 460, 0, 0, 127);
  } else {
    // 
    pwmR = 0;
  }
  //    
  transm_arr[6] = pwmL;
  transm_arr[7] =  pwmR;
  
  //     PWM     
  if (fixEnaS) {

    // 
    if (digitalRead(30))   backL = false;
    if (!digitalRead(30) && !backL) {
      bitWrite(transm_arr[0],  4, !bitRead(transm_arr[0], 4));
      backL = true;
    }

    // 
    if (digitalRead(23))   backR = false;
    if (!digitalRead(23) && !backR)  {
      bitWrite(transm_arr[0], 5, !bitRead(transm_arr[0], 5));
      backR  = true;
    }

    // 
    if (digitalRead(29))   frontL = false;
    if (!digitalRead(29) && !frontL) {
      bitWrite(transm_arr[0], 6, !bitRead(transm_arr[0],  6));
      frontL = true;
    }

    // 
    if (digitalRead(22))   frontR = false;
    if (!digitalRead(22) && !frontR) {
      bitWrite(transm_arr[0],  7, !bitRead(transm_arr[0], 7));
      frontR = true;
    }
  } else {
    bitWrite(transm_arr[0], 4, !digitalRead(30));
    bitWrite(transm_arr[0],  5, !digitalRead(23));
    bitWrite(transm_arr[0], 6, !digitalRead(29));
    bitWrite(transm_arr[0],  7, !digitalRead(22));
  }


  //   
  lcd.clear();

  lcd.setCursor(0,  0);
  lcd.print(transm_arr[1]);
  lcd.setCursor(0, 1);
  lcd.print(transm_arr[2]);
  lcd.setCursor(0, 2);
  lcd.print(transm_arr[3]);
  lcd.setCursor(0, 3);
  lcd.print(transm_arr[4]);

  lcd.setCursor(4, 0);
  lcd.print('-');
  lcd.print(pwmL);

  lcd.setCursor(4, 1);
  lcd.print('-');
  lcd.print(pwmR);
  
  lcd.setCursor(4, 2);
  lcd.print("d-");
  lcd.print(bitRead(transm_arr[0],  1));  
  
  lcd.setCursor(4, 3);
  lcd.print(map(analogRead(A12), 0, 1023,  0, 255));

  //  c pwm
  lcd.setCursor(9, 0);
  lcd.print(RL3y);
  lcd.setCursor(9, 1);
  lcd.print(LL3y);
  lcd.setCursor(9, 2);
  lcd.print(RL2y);
  lcd.setCursor(9, 3);
  lcd.print(LL2y);

  //   pwm
  lcd.setCursor(18,  0);
  lcd.print(bitRead(transm_arr[0], 6));
  lcd.print(bitRead(transm_arr[0],  7));
  lcd.setCursor(18, 1);
  lcd.print(bitRead(transm_arr[0], 4));
  lcd.print(bitRead(transm_arr[0],  5));

  //  
  lcd.setCursor(15, 2);
  lcd.print("rV");
  float  ShowV = receiv_arr[0];
  ShowV = ShowV / 10;
  lcd.print(ShowV, 1);

  //   
  float busvoltage = 0;
  //    GND  V-
  busvoltage = ina219.getBusVoltage_V();
  lcd.setCursor(15, 3);
  lcd.print("tV");
  lcd.print(busvoltage, 1);

  //    
  lcd.setCursor(15, 0);
  lcd.print(fixEnaS);
  lcd.print(bitRead(transm_arr[0],  0));

  delay(100);
}

/*
   
  0 
  Bit0 KEY BC547B LED-LIGHT  // 42 
  1  74HC595
  QA0
  QB1
  QC2
  QD3
  QE4 2 ULN2803  (1-2)
  QF5 2 ULN2803 (3-4)
  QG6 2 ULN2803 (5-6)
  QH7 2 ULN2803 (7-8)

*/

rc_submarine_receiver_v2.ino

arduino

1//     I2C
2#include <Wire.h>
3//     
4#include <Adafruit_INA219.h>
5//
6     
7Adafruit_INA219 ina219;
8/*----------------------------------------------------*/
9
10#define
11  LL1 8
12#define RL1 7
13#define LL2 6 //~
14#define RL2 5 //~
15#define LL4
16  4
17#define LL3 3 //~
18#define RL3 2 //~
19#define RL4 21
20#define LED 20
21#define
22  LMrev 16
23#define LMpwm 9  //~
24#define RMrev 17
25#define RMpwm 10 //~
26
27//
28    UART (    )
29#define Serial_0
30
31byte transm_arr[27];  //     
32byte
33  receiv_arr[27];  //    
34
35//   
36#include <Serial27bReceiver.h>
37
38long
39  previousMillis = 0;
40long interval = 0;
41
42
43void setup() {
44  //   ,
45      ()
46  startReceiver(9600, 400);
47  //   
48  ina219.begin();
49  pinMode(LED,
50  OUTPUT); // KEY BC547B LED-LIGHT
51  pinMode(LL1, OUTPUT);  // LL1  BLesft
52
53  pinMode(RL1, OUTPUT);  // RL1  RRight
54  pinMode(LL2, OUTPUT);  // LL2 ~ airPump
55  
56  pinMode(RL2, OUTPUT);  // RL2 ~ airPump 
57  pinMode(LL4, OUTPUT);  // LL4
58  FLesft
59  pinMode(LL3, OUTPUT);  // LL3 ~  
60  pinMode(RL3, OUTPUT);  // RL3
61  ~  
62  pinMode(RL4, OUTPUT);  // RL4  FRight
63  pinMode(LMrev, OUTPUT);  //
64   
65  pinMode(LMpwm, OUTPUT);  //   
66  pinMode(RMrev, OUTPUT);  //    
67
68  pinMode(RMpwm, OUTPUT);  //   
69}
70
71void loop() {
72  
73  // 
74  digitalWrite(LED,
75  bitRead(transm_arr[0], 0));
76  // 
77  digitalWrite(LL1, bitRead(transm_arr[0],
78  4));
79  digitalWrite(RL1, bitRead(transm_arr[0], 5));
80  digitalWrite(LL4, bitRead(transm_arr[0],
81  6));
82  digitalWrite(RL4, bitRead(transm_arr[0], 7));
83  //    
84  analogWrite(RL3,
85  transm_arr[1]); // RL3 ~  
86  analogWrite(LL3, transm_arr[2]); // LL3 ~  
87
88  analogWrite(RL2, transm_arr[3]); // RL2 ~ airPump  
89  analogWrite(LL2, transm_arr[4]);
90  // LL2 ~ airPump 
91  //  ,       
92  digitalWrite(LMrev, bitRead(transm_arr[6],
93  7));   //    
94  digitalWrite(RMrev, bitRead(transm_arr[7], 7));   //      
95
96  uint8_t SpeedLM = transm_arr[6];
97  uint8_t SpeedRM = transm_arr[7];   
98
99  bitClear(SpeedLM, 7);
100  bitClear(SpeedRM, 7);  
101  analogWrite(LMpwm, map(SpeedLM,
102  0, 127, 0, 255));
103  analogWrite(RMpwm, map(SpeedRM, 0, 127, 0, 255)); 
104  //
105   !!!
106  //   INA219
107  float busvoltage = 0;
108  //    GND  V-
109  busvoltage
110  = ina219.getBusVoltage_V() * 10;
111  busvoltage = round(busvoltage);
112  //    
113
114  receiv_arr[0] = busvoltage;
115  if (digitalRead(13) == LOW) {
116    if (rErrTime
117  > 1) {
118    transm_arr[0] = 1;
119    transm_arr[1] = 0;
120    transm_arr[2]
121  = 0;
122    transm_arr[3] = 0;
123    transm_arr[4] = 0;
124    transm_arr[6] =
125  0;
126    transm_arr[7] = 0;
127    }
128  } else rErrTime =0;
129  // autodiving
130  
131  if (bitRead(transm_arr[0],1)) {
132  interval = transm_arr[5] * 1000;
133
134  analogWrite(RL3, 255); // RL3 ~  
135  analogWrite(LL3, 255); // LL3 ~  
136  analogWrite(RL2,
137  255); // RL2 ~ airPump  
138  analogWrite(LL2, 255); // LL2 ~ airPump 
139  autodiving_label:
140
141  unsigned long currentMillis = millis(); 
142  //     ,   
143  if(currentMillis
144  - previousMillis > interval) {
145    //    
146    previousMillis = currentMillis;
147        
148  }  else {
149  //      
150  if (bitRead(transm_arr[0],2)) interval=0;
151
152  goto autodiving_label;
153  }
154  }  
155  delay(100);
156}
157

//     I2C
#include <Wire.h>
//     
#include <Adafruit_INA219.h>
//
     
Adafruit_INA219 ina219;
/*----------------------------------------------------*/

#define
  LL1 8
#define RL1 7
#define LL2 6 //~
#define RL2 5 //~
#define LL4
  4
#define LL3 3 //~
#define RL3 2 //~
#define RL4 21
#define LED 20
#define
  LMrev 16
#define LMpwm 9  //~
#define RMrev 17
#define RMpwm 10 //~

//
    UART (    )
#define Serial_0

byte transm_arr[27];  //     
byte
  receiv_arr[27];  //    

//   
#include <Serial27bReceiver.h>

long
  previousMillis = 0;
long interval = 0;


void setup() {
  //   ,
      ()
  startReceiver(9600, 400);
  //   
  ina219.begin();
  pinMode(LED,
  OUTPUT); // KEY BC547B LED-LIGHT
  pinMode(LL1, OUTPUT);  // LL1  BLesft

  pinMode(RL1, OUTPUT);  // RL1  RRight
  pinMode(LL2, OUTPUT);  // LL2 ~ airPump
  
  pinMode(RL2, OUTPUT);  // RL2 ~ airPump 
  pinMode(LL4, OUTPUT);  // LL4
  FLesft
  pinMode(LL3, OUTPUT);  // LL3 ~  
  pinMode(RL3, OUTPUT);  // RL3
  ~  
  pinMode(RL4, OUTPUT);  // RL4  FRight
  pinMode(LMrev, OUTPUT);  //
   
  pinMode(LMpwm, OUTPUT);  //   
  pinMode(RMrev, OUTPUT);  //    

  pinMode(RMpwm, OUTPUT);  //   
}

void loop() {
  
  // 
  digitalWrite(LED,
  bitRead(transm_arr[0], 0));
  // 
  digitalWrite(LL1, bitRead(transm_arr[0],
  4));
  digitalWrite(RL1, bitRead(transm_arr[0], 5));
  digitalWrite(LL4, bitRead(transm_arr[0],
  6));
  digitalWrite(RL4, bitRead(transm_arr[0], 7));
  //    
  analogWrite(RL3,
  transm_arr[1]); // RL3 ~  
  analogWrite(LL3, transm_arr[2]); // LL3 ~  

  analogWrite(RL2, transm_arr[3]); // RL2 ~ airPump  
  analogWrite(LL2, transm_arr[4]);
  // LL2 ~ airPump 
  //  ,       
  digitalWrite(LMrev, bitRead(transm_arr[6],
  7));   //    
  digitalWrite(RMrev, bitRead(transm_arr[7], 7));   //      

  uint8_t SpeedLM = transm_arr[6];
  uint8_t SpeedRM = transm_arr[7];   

  bitClear(SpeedLM, 7);
  bitClear(SpeedRM, 7);  
  analogWrite(LMpwm, map(SpeedLM,
  0, 127, 0, 255));
  analogWrite(RMpwm, map(SpeedRM, 0, 127, 0, 255)); 
  //
   !!!
  //   INA219
  float busvoltage = 0;
  //    GND  V-
  busvoltage
  = ina219.getBusVoltage_V() * 10;
  busvoltage = round(busvoltage);
  //    

  receiv_arr[0] = busvoltage;
  if (digitalRead(13) == LOW) {
    if (rErrTime
  > 1) {
    transm_arr[0] = 1;
    transm_arr[1] = 0;
    transm_arr[2]
  = 0;
    transm_arr[3] = 0;
    transm_arr[4] = 0;
    transm_arr[6] =
  0;
    transm_arr[7] = 0;
    }
  } else rErrTime =0;
  // autodiving
  
  if (bitRead(transm_arr[0],1)) {
  interval = transm_arr[5] * 1000;

  analogWrite(RL3, 255); // RL3 ~  
  analogWrite(LL3, 255); // LL3 ~  
  analogWrite(RL2,
  255); // RL2 ~ airPump  
  analogWrite(LL2, 255); // LL2 ~ airPump 
  autodiving_label:

  unsigned long currentMillis = millis(); 
  //     ,   
  if(currentMillis
  - previousMillis > interval) {
    //    
    previousMillis = currentMillis;
        
  }  else {
  //      
  if (bitRead(transm_arr[0],2)) interval=0;

  goto autodiving_label;
  }
  }  
  delay(100);
}

Downloadable files

rc submarine circuit diagram

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