Diff: Spektrum.h

Revision:

0:f4edd3407cc5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Spektrum.h	Thu Jan 17 00:28:07 2019 +0000
@@ -0,0 +1,115 @@
+/*
+  Spektrum.h
+  Spektrum serial receiver mbed library
+  Dennis Evangelista, 2018
+*/
+
+#ifndef SPEKTRUM_H
+#define SPEKTRUM_H
+#define SPEKTRUM_VERSION "1.0.1"
+
+#include "mbed.h"
+#include "rtos.h"
+
+// bind modes
+#define SPEKTRUM_INT_DSMX_22MS 7
+#define SPEKTRUM_EXT_DSMX_22MS 8
+#define SPEKTRUM_INT_DSMX_11MS 9
+#define SPEKTRUM_EXT_DSMX_11MS 10
+// DSM2 bind modes not recommended, not implemented
+// EXT(ernal) bind modes don't really work on solitary satellite receiver
+
+// field definitions
+// #define SPEKTRUM_MASK_1024_CHANID 0xfc00
+// #define SPEKTRUM_MASK_1024_SXPOS 0x03ff
+// first two only used in DSM2 which are not implemented
+#define SPEKTRUM_MASK_2048_CHANID 0x7800
+#define SPEKTRUM_MASK_2048_CHANID_MSB 0x78
+#define SPEKTRUM_MASK_2048_SXPOS 0x07ff
+
+// allowable system field values
+// #define SPEKTRUM_22MS_1024_DSM2 0x01
+// #define SPEKTRUM_11MS_2048_DSM2 0x12
+#define SPEKTRUM_22MS_2048_DSMX 0xa2
+#define SPEKTRUM_11MS_2048_DSMX 0xb2
+
+#define SPEKTRUM_BAUD 115200
+// Spektrum baud is supposed to be 125000, but the LPC1768 seems not
+// to support nonstandard baud rates.
+
+#define SPEKTRUM_SERVOS 7
+#define SPEKTRUM_PACKET_SIZE 16
+#define SPEKTRUM_CHANNELS 16
+#define SPEKTRUM_COUNT2US(x) (x*600/1024+900)
+
+
+
+
+/** Spektrum receiver object for connecting to eg SPM9745 receiver
+ */
+class Spektrum
+{
+public:
+    /** Number of fades (failed packets) from receiver */
+    unsigned int fades;
+
+    /** Tells if system is in DSMX 11ms or 22ms for example */
+    unsigned int system;
+
+    /** Contains 0-2048 values for all channels 0-15 */
+    unsigned int channel[SPEKTRUM_CHANNELS];
+
+    /** Contains approx 900-2100us pulsewidths corresponding to chan 0-15 */
+    unsigned int pulsewidth[SPEKTRUM_CHANNELS];
+
+    /** If true, data is value */
+    bool valid;  // TODO switch to EventFlags?
+
+    /** 11 or 22 ms */
+    unsigned int period_ms;
+
+    Spektrum(PinName tx, PinName rx); // constructor
+    ~Spektrum(); // destructor
+
+private:
+    UARTSerial _rx;
+    unsigned char _buf[SPEKTRUM_PACKET_SIZE];
+    Thread _packet_thread;
+    void _packet_callback(void);
+};
+
+
+
+
+
+
+
+/** For binding a Spektrum receiver to transmitter */
+class BindPlug
+{
+public:
+    /** e.g. SPEKTRUM_INT_DSMX_11MS, SPEKTRUM_INT_DSMX_22MS */
+    int mode;
+
+    BindPlug(PinName tx, PinName rx, int mode = SPEKTRUM_INT_DSMX_11MS);
+    ~BindPlug();
+    void bind();
+
+private:
+    DigitalOut _3Vpin;
+    DigitalOut _datapin;
+};
+
+/* LATER
+class SpektrumTestDevice{
+ public:
+  unsigned int fades;
+  unsigned int servo[7];
+  SpektrumTestDevice(PinName tx, PinName rx);
+  ~SpektrumTestDevice();
+ private:
+  Serial _receiver;
+};
+*/
+
+#endif
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