Diff: SBUS.cpp

Revision:

1:b2a305158f89

Parent:

0:072c4589bc62

Child:

2:3241f9311a0e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SBUS.cpp	Thu Jan 21 15:30:16 2021 +0000
@@ -0,0 +1,103 @@
+#include "mbed.h"
+#include "SBUS.hpp"
+
+SBUS::SBUS(PinName tx, PinName rx) : sbus_(tx, rx)
+{
+    sbusIndex = 0;
+    for (int i = 0; i < 18; i++)
+        rcChannel[i] = 0;
+
+    failSafe = true;
+
+    sbus_.baud(100000);
+    sbus_.format(8, Serial::Even, 2);
+    sbus_.attach(this, &SBUS::sbusIrqRx, Serial::RxIrq);
+}
+
+void SBUS::sbusIrqRx ()
+{
+    static uint8_t sbus[25] = {0};
+
+    int val = sbus_.getc();
+
+
+    if (sbusIndex == 0 && val != 0x0F) {
+        return;
+    }
+
+    sbus[sbusIndex] = val;
+    sbusIndex++;
+
+
+    if (sbusIndex == 25) {
+        sbusIndex = 0;
+
+        if (sbus[24] != 0x0) {
+            rcChannel[0] = ((sbus[1] | sbus[2] << 8) & 0x07FF);
+            rcChannel[1] = ((sbus[2] >> 3 | sbus[3] << 5) & 0x07FF);
+            rcChannel[2] = ((sbus[3] >> 6 | sbus[4] << 2 | sbus[5] << 10) & 0x07FF);
+            rcChannel[3] = ((sbus[5] >> 1 | sbus[6] << 7) & 0x07FF);
+            rcChannel[4] = ((sbus[6] >> 4 | sbus[7] << 4) & 0x07FF);
+            rcChannel[5] = ((sbus[7] >> 7 | sbus[8] << 1 | sbus[9] << 9) & 0x07FF);
+            rcChannel[6] = ((sbus[9] >> 2 | sbus[10] << 6) & 0x07FF);
+            rcChannel[7] = ((sbus[10] >> 5 | sbus[11] << 3) & 0x07FF);
+            rcChannel[8] = ((sbus[12] | sbus[13] << 8) & 0x07FF);
+            rcChannel[9] = ((sbus[13] >> 3 | sbus[14] << 5) & 0x07FF);
+            rcChannel[10] = ((sbus[14] >> 6 | sbus[15] << 2 | sbus[16] << 10) & 0x07FF);
+            rcChannel[11] = ((sbus[16] >> 1 | sbus[17] << 7) & 0x07FF);
+            rcChannel[12] = ((sbus[17] >> 4 | sbus[18] << 4) & 0x07FF);
+            rcChannel[13] = ((sbus[18] >> 7 | sbus[19] << 1 | sbus[20] << 9) & 0x07FF);
+            rcChannel[14] = ((sbus[20] >> 2 | sbus[21] << 6) & 0x07FF);
+            rcChannel[15] = ((sbus[21] >> 5 | sbus[22] << 3) & 0x07FF);
+
+            if ((sbus[23] >> 3) & 0x0001) {
+                // コントローラがOFF状態
+                failSafe = true;
+            } else {
+                failSafe = false;
+            }
+        }
+    }
+}
+
+
+
+int16_t SBUS::getData(uint8_t ch)
+{
+    return rcChannel[ch];
+}
+
+int SBUS::getStickVal(int axis)
+{
+    if(!failSafe) {
+        switch (axis) {
+            case 0:
+                return SBUS::map(getData(3), 368, 1680, -255, 255);
+            case 1:
+                return SBUS::map(getData(1), 368, 1680, 255, -255);
+            case 2:
+                return SBUS::map(getData(0), 368, 1680, -255, 255);
+            case 3:
+                return SBUS::map(getData(2), 368, 1680, -255, 255);
+            default:
+                return 0;
+        }
+    } else return 0;
+}
+
+int SBUS::getSwitchVal(int parm)
+{
+    if(!failSafe) {
+        if (parm == 0)
+            return SBUS::map(getData(4), 144, 1904, 0, 2);
+        else if (parm <= 4)
+            return SBUS::map(getData(parm + 5), 144, 1904, 0, 2);
+        else
+            return 0;
+    } else return 3;
+}
+
+long SBUS::map(long x, long in_min, long in_max, long out_min, long out_max)
+{
+    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
\ No newline at end of file