3/18/19
Dependencies: mbed BNO055 MBed_Adafruit-GPS-Library
Spektrum.h
- Committer:
- LukeMar
- Date:
- 2019-01-17
- Revision:
- 0:f4edd3407cc5
File content as of revision 0:f4edd3407cc5:
/* 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