Spektrum.h

00001 /*
00002   Spektrum.h
00003   Spektrum serial receiver mbed library
00004   Dennis Evangelista, 2018
00005 */
00006 
00007 #ifndef SPEKTRUM_H
00008 #define SPEKTRUM_H
00009 #define SPEKTRUM_VERSION "1.0.1"
00010 
00011 #include "mbed.h"
00012 #include "rtos.h"
00013 
00014 // bind modes
00015 #define SPEKTRUM_INT_DSMX_22MS 7
00016 #define SPEKTRUM_EXT_DSMX_22MS 8
00017 #define SPEKTRUM_INT_DSMX_11MS 9
00018 #define SPEKTRUM_EXT_DSMX_11MS 10
00019 // DSM2 bind modes not recommended, not implemented
00020 // EXT(ernal) bind modes don't really work on solitary satellite receiver
00021 
00022 // field definitions
00023 // #define SPEKTRUM_MASK_1024_CHANID 0xfc00
00024 // #define SPEKTRUM_MASK_1024_SXPOS 0x03ff
00025 // first two only used in DSM2 which are not implemented
00026 #define SPEKTRUM_MASK_2048_CHANID 0x7800
00027 #define SPEKTRUM_MASK_2048_CHANID_MSB 0x78
00028 #define SPEKTRUM_MASK_2048_SXPOS 0x07ff
00029 
00030 // allowable system field values
00031 // #define SPEKTRUM_22MS_1024_DSM2 0x01
00032 // #define SPEKTRUM_11MS_2048_DSM2 0x12
00033 #define SPEKTRUM_22MS_2048_DSMX 0xa2
00034 #define SPEKTRUM_11MS_2048_DSMX 0xb2
00035 
00036 #define SPEKTRUM_BAUD 115200
00037 // Spektrum baud is supposed to be 125000, but the LPC1768 seems not
00038 // to support nonstandard baud rates.
00039 
00040 #define SPEKTRUM_SERVOS 7
00041 #define SPEKTRUM_PACKET_SIZE 16
00042 #define SPEKTRUM_CHANNELS 16
00043 #define SPEKTRUM_COUNT2US(x) (x*600/1024+900)
00044 
00045 
00046 
00047 
00048 /** Spektrum receiver object for connecting to eg SPM9745 receiver
00049  */
00050 class Spektrum
00051 {
00052 public:
00053     /** Number of fades (failed packets) from receiver */
00054     unsigned int fades;
00055 
00056     /** Tells if system is in DSMX 11ms or 22ms for example */
00057     unsigned int system;
00058 
00059     /** Contains 0-2048 values for all channels 0-15 */
00060     unsigned int channel[SPEKTRUM_CHANNELS];
00061 
00062     /** Contains approx 900-2100us pulsewidths corresponding to chan 0-15 */
00063     unsigned int pulsewidth[SPEKTRUM_CHANNELS];
00064 
00065     /** If true, data is value */
00066     bool valid;  // TODO switch to EventFlags?
00067 
00068     /** 11 or 22 ms */
00069     unsigned int period_ms;
00070 
00071     Spektrum(PinName tx, PinName rx); // constructor
00072     ~Spektrum(); // destructor
00073 
00074 private:
00075     UARTSerial _rx;
00076     unsigned char _buf[SPEKTRUM_PACKET_SIZE];
00077     Thread _packet_thread;
00078     void _packet_callback(void);
00079 };
00080 
00081 
00082 
00083 
00084 
00085 
00086 
00087 /** For binding a Spektrum receiver to transmitter */
00088 class BindPlug
00089 {
00090 public:
00091     /** e.g. SPEKTRUM_INT_DSMX_11MS, SPEKTRUM_INT_DSMX_22MS */
00092     int mode;
00093 
00094     BindPlug(PinName tx, PinName rx, int mode = SPEKTRUM_INT_DSMX_11MS);
00095     ~BindPlug();
00096     void bind();
00097 
00098 private:
00099     DigitalOut _3Vpin;
00100     DigitalOut _datapin;
00101 };
00102 
00103 /* LATER
00104 class SpektrumTestDevice{
00105  public:
00106   unsigned int fades;
00107   unsigned int servo[7];
00108   SpektrumTestDevice(PinName tx, PinName rx);
00109   ~SpektrumTestDevice();
00110  private:
00111   Serial _receiver;
00112 };
00113 */
00114 
00115 #endif