Matthew Marino / Mbed 2 deprecated sailbot_RUDDER

Rudder program

Dependencies:   mbed

Spektrum.h@1:9e727d54e80c, 2018-11-28 (annotated)

Committer:
LukeMar
Date:
Wed Nov 28 15:17:04 2018 +0000
Revision:
1:9e727d54e80c
Parent:
0:8ed926c84e2f 
RUdder version of sailbot RC code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
LukeMar 0:8ed926c84e2f 1 /*
LukeMar 0:8ed926c84e2f 2 Spektrum.h
LukeMar 0:8ed926c84e2f 3 Spektrum serial receiver mbed library
LukeMar 0:8ed926c84e2f 4 Dennis Evangelista, 2018
LukeMar 0:8ed926c84e2f 5 */
LukeMar 0:8ed926c84e2f 6
LukeMar 0:8ed926c84e2f 7 #ifndef SPEKTRUM_H
LukeMar 0:8ed926c84e2f 8 #define SPEKTRUM_H
LukeMar 0:8ed926c84e2f 9 #define SPEKTRUM_VERSION "1.0.1"
LukeMar 0:8ed926c84e2f 10
LukeMar 0:8ed926c84e2f 11 #include "mbed.h"
LukeMar 0:8ed926c84e2f 12 #include "rtos.h"
LukeMar 0:8ed926c84e2f 13
LukeMar 0:8ed926c84e2f 14 // bind modes
LukeMar 0:8ed926c84e2f 15 #define SPEKTRUM_INT_DSMX_22MS 7
LukeMar 0:8ed926c84e2f 16 #define SPEKTRUM_EXT_DSMX_22MS 8
LukeMar 0:8ed926c84e2f 17 #define SPEKTRUM_INT_DSMX_11MS 9
LukeMar 0:8ed926c84e2f 18 #define SPEKTRUM_EXT_DSMX_11MS 10
LukeMar 0:8ed926c84e2f 19 // DSM2 bind modes not recommended, not implemented
LukeMar 0:8ed926c84e2f 20 // EXT(ernal) bind modes don't really work on solitary satellite receiver
LukeMar 0:8ed926c84e2f 21
LukeMar 0:8ed926c84e2f 22 // field definitions
LukeMar 0:8ed926c84e2f 23 // #define SPEKTRUM_MASK_1024_CHANID 0xfc00
LukeMar 0:8ed926c84e2f 24 // #define SPEKTRUM_MASK_1024_SXPOS 0x03ff
LukeMar 0:8ed926c84e2f 25 // first two only used in DSM2 which are not implemented
LukeMar 0:8ed926c84e2f 26 #define SPEKTRUM_MASK_2048_CHANID 0x7800
LukeMar 0:8ed926c84e2f 27 #define SPEKTRUM_MASK_2048_CHANID_MSB 0x78
LukeMar 0:8ed926c84e2f 28 #define SPEKTRUM_MASK_2048_SXPOS 0x07ff
LukeMar 0:8ed926c84e2f 29
LukeMar 0:8ed926c84e2f 30 // allowable system field values
LukeMar 0:8ed926c84e2f 31 // #define SPEKTRUM_22MS_1024_DSM2 0x01
LukeMar 0:8ed926c84e2f 32 // #define SPEKTRUM_11MS_2048_DSM2 0x12
LukeMar 0:8ed926c84e2f 33 #define SPEKTRUM_22MS_2048_DSMX 0xa2
LukeMar 0:8ed926c84e2f 34 #define SPEKTRUM_11MS_2048_DSMX 0xb2
LukeMar 0:8ed926c84e2f 35
LukeMar 0:8ed926c84e2f 36 #define SPEKTRUM_BAUD 115200
LukeMar 0:8ed926c84e2f 37 // Spektrum baud is supposed to be 125000, but the LPC1768 seems not
LukeMar 0:8ed926c84e2f 38 // to support nonstandard baud rates.
LukeMar 0:8ed926c84e2f 39
LukeMar 0:8ed926c84e2f 40 #define SPEKTRUM_SERVOS 7
LukeMar 0:8ed926c84e2f 41 #define SPEKTRUM_PACKET_SIZE 16
LukeMar 0:8ed926c84e2f 42 #define SPEKTRUM_CHANNELS 16
LukeMar 0:8ed926c84e2f 43 #define SPEKTRUM_COUNT2US(x) (x*600/1024+900)
LukeMar 0:8ed926c84e2f 44
LukeMar 0:8ed926c84e2f 45
LukeMar 0:8ed926c84e2f 46
LukeMar 0:8ed926c84e2f 47
LukeMar 0:8ed926c84e2f 48 /** Spektrum receiver object for connecting to eg SPM9745 receiver
LukeMar 0:8ed926c84e2f 49 */
LukeMar 0:8ed926c84e2f 50 class Spektrum
LukeMar 0:8ed926c84e2f 51 {
LukeMar 0:8ed926c84e2f 52 public:
LukeMar 0:8ed926c84e2f 53 /** Number of fades (failed packets) from receiver */
LukeMar 0:8ed926c84e2f 54 unsigned int fades;
LukeMar 0:8ed926c84e2f 55
LukeMar 0:8ed926c84e2f 56 /** Tells if system is in DSMX 11ms or 22ms for example */
LukeMar 0:8ed926c84e2f 57 unsigned int system;
LukeMar 0:8ed926c84e2f 58
LukeMar 0:8ed926c84e2f 59 /** Contains 0-2048 values for all channels 0-15 */
LukeMar 0:8ed926c84e2f 60 unsigned int channel[SPEKTRUM_CHANNELS];
LukeMar 0:8ed926c84e2f 61
LukeMar 0:8ed926c84e2f 62 /** Contains approx 900-2100us pulsewidths corresponding to chan 0-15 */
LukeMar 0:8ed926c84e2f 63 unsigned int pulsewidth[SPEKTRUM_CHANNELS];
LukeMar 0:8ed926c84e2f 64
LukeMar 0:8ed926c84e2f 65 /** If true, data is value */
LukeMar 0:8ed926c84e2f 66 bool valid; // TODO switch to EventFlags?
LukeMar 0:8ed926c84e2f 67
LukeMar 0:8ed926c84e2f 68 /** 11 or 22 ms */
LukeMar 0:8ed926c84e2f 69 unsigned int period_ms;
LukeMar 0:8ed926c84e2f 70
LukeMar 0:8ed926c84e2f 71 Spektrum(PinName tx, PinName rx); // constructor
LukeMar 0:8ed926c84e2f 72 ~Spektrum(); // destructor
LukeMar 0:8ed926c84e2f 73
LukeMar 0:8ed926c84e2f 74 private:
LukeMar 0:8ed926c84e2f 75 UARTSerial _rx;
LukeMar 0:8ed926c84e2f 76 unsigned char _buf[SPEKTRUM_PACKET_SIZE];
LukeMar 0:8ed926c84e2f 77 Thread _packet_thread;
LukeMar 0:8ed926c84e2f 78 void _packet_callback(void);
LukeMar 0:8ed926c84e2f 79 };
LukeMar 0:8ed926c84e2f 80
LukeMar 0:8ed926c84e2f 81
LukeMar 0:8ed926c84e2f 82
LukeMar 0:8ed926c84e2f 83
LukeMar 0:8ed926c84e2f 84
LukeMar 0:8ed926c84e2f 85
LukeMar 0:8ed926c84e2f 86
LukeMar 0:8ed926c84e2f 87 /** For binding a Spektrum receiver to transmitter */
LukeMar 0:8ed926c84e2f 88 class BindPlug
LukeMar 0:8ed926c84e2f 89 {
LukeMar 0:8ed926c84e2f 90 public:
LukeMar 0:8ed926c84e2f 91 /** e.g. SPEKTRUM_INT_DSMX_11MS, SPEKTRUM_INT_DSMX_22MS */
LukeMar 0:8ed926c84e2f 92 int mode;
LukeMar 0:8ed926c84e2f 93
LukeMar 0:8ed926c84e2f 94 BindPlug(PinName tx, PinName rx, int mode = SPEKTRUM_INT_DSMX_11MS);
LukeMar 0:8ed926c84e2f 95 ~BindPlug();
LukeMar 0:8ed926c84e2f 96 void bind();
LukeMar 0:8ed926c84e2f 97
LukeMar 0:8ed926c84e2f 98 private:
LukeMar 0:8ed926c84e2f 99 DigitalOut _3Vpin;
LukeMar 0:8ed926c84e2f 100 DigitalOut _datapin;
LukeMar 0:8ed926c84e2f 101 };
LukeMar 0:8ed926c84e2f 102
LukeMar 0:8ed926c84e2f 103 /* LATER
LukeMar 0:8ed926c84e2f 104 class SpektrumTestDevice{
LukeMar 0:8ed926c84e2f 105 public:
LukeMar 0:8ed926c84e2f 106 unsigned int fades;
LukeMar 0:8ed926c84e2f 107 unsigned int servo[7];
LukeMar 0:8ed926c84e2f 108 SpektrumTestDevice(PinName tx, PinName rx);
LukeMar 0:8ed926c84e2f 109 ~SpektrumTestDevice();
LukeMar 0:8ed926c84e2f 110 private:
LukeMar 0:8ed926c84e2f 111 Serial _receiver;
LukeMar 0:8ed926c84e2f 112 };
LukeMar 0:8ed926c84e2f 113 */
LukeMar 0:8ed926c84e2f 114
LukeMar 0:8ed926c84e2f 115 #endif