M N / spektRx

Driver for Spektrum (tm) serial receiver, for radio controlled helicopters etc.

main.cpp@1:7b595c4ff156, 2011-10-25 (annotated)

Committer:
offroad
Date:
Tue Oct 25 18:25:12 2011 +0000
Revision:
1:7b595c4ff156
included example main.cpp

Who changed what in which revision?

UserRevisionLine numberNew contents of line
offroad 1:7b595c4ff156 1 /* Example for Spektrum serial receiver driver
offroad 1:7b595c4ff156 2 * M. Nentwig, 2011
offroad 1:7b595c4ff156 3 * This program is provided "as is", without any express or implied warranty. */
offroad 1:7b595c4ff156 4
offroad 1:7b595c4ff156 5 #include "mbed.h"
offroad 1:7b595c4ff156 6 #include "spektRx.h"
offroad 1:7b595c4ff156 7
offroad 1:7b595c4ff156 8 /* Serial input
offroad 1:7b595c4ff156 9 * Connections:
offroad 1:7b595c4ff156 10 * - orange wire to 3.3V regulated out
offroad 1:7b595c4ff156 11 * - black wire to GND
offroad 1:7b595c4ff156 12 * - grey wire to pin 10 (for example)
offroad 1:7b595c4ff156 13 * - see also http://diydrones.ning.com/profiles/blog/show?id=705844%3ABlogPost%3A64228 */
offroad 1:7b595c4ff156 14 Serial serIn(p9, p10);
offroad 1:7b595c4ff156 15
offroad 1:7b595c4ff156 16 PwmOut l1(LED1);
offroad 1:7b595c4ff156 17 PwmOut l2(LED2);
offroad 1:7b595c4ff156 18 PwmOut l3(LED3);
offroad 1:7b595c4ff156 19 PwmOut l4(LED4);
offroad 1:7b595c4ff156 20
offroad 1:7b595c4ff156 21 int main(void){
offroad 1:7b595c4ff156 22 serIn.baud(115200);
offroad 1:7b595c4ff156 23
offroad 1:7b595c4ff156 24 /* Create parser "object" */
offroad 1:7b595c4ff156 25 spektRx_t p;
offroad 1:7b595c4ff156 26 spektRx_init(&p);
offroad 1:7b595c4ff156 27
offroad 1:7b595c4ff156 28 while(1) {
offroad 1:7b595c4ff156 29
offroad 1:7b595c4ff156 30 /* Process input data from interface, non-blocking */
offroad 1:7b595c4ff156 31 spektRx_runSerial(&p, &serIn);
offroad 1:7b595c4ff156 32
offroad 1:7b595c4ff156 33 /* check if (new) frame has been received */
offroad 1:7b595c4ff156 34 if (spektRx_hasValidFrame(&p)){
offroad 1:7b595c4ff156 35
offroad 1:7b595c4ff156 36 /* Dump every 10th received frame */
offroad 1:7b595c4ff156 37 long fn = spektRx_getFrameNum(&p);
offroad 1:7b595c4ff156 38 if (fn % 10 == 0){
offroad 1:7b595c4ff156 39 /* Get all channels in bit-accurate form */
offroad 1:7b595c4ff156 40 unsigned short* d = spektRx_getChannelData(&p);
offroad 1:7b595c4ff156 41
offroad 1:7b595c4ff156 42 printf("%08li\t", fn);
offroad 1:7b595c4ff156 43 printf("ail = %04x\t", (int)d[0]);
offroad 1:7b595c4ff156 44 printf("pit = %04x\t", (int)d[1]);
offroad 1:7b595c4ff156 45 printf("ele = %04x\t", (int)d[2]);
offroad 1:7b595c4ff156 46 printf("rud = %04x\t", (int)d[3]);
offroad 1:7b595c4ff156 47 printf("thr = %04x\t", (int)d[4]);
offroad 1:7b595c4ff156 48 printf("gear = %04x\t", (int)d[5]);
offroad 1:7b595c4ff156 49 printf("aux2 = %04x\t", (int)d[6]);
offroad 1:7b595c4ff156 50 printf("\n");
offroad 1:7b595c4ff156 51 } /* every 10th frame */
offroad 1:7b595c4ff156 52
offroad 1:7b595c4ff156 53 /* Get float values and use to dim the LEDs
offroad 1:7b595c4ff156 54 * The returned range is (-1 .. 1) if the radio has been set up carefully (endpoints / subtrims) */
offroad 1:7b595c4ff156 55 /* if this is the case, use f=1 */
offroad 1:7b595c4ff156 56 double f = 1.2; /* stretch the range a bit, so that we reach 0/100 % PWM */
offroad 1:7b595c4ff156 57 l1 = spektRx_getChannelValue(&p, 0) * 0.5 * f + 0.5;
offroad 1:7b595c4ff156 58 l2 = spektRx_getChannelValue(&p, 1) * 0.5 * f + 0.5;
offroad 1:7b595c4ff156 59 l3 = spektRx_getChannelValue(&p, 2) * 0.5 * f + 0.5;
offroad 1:7b595c4ff156 60 l4 = spektRx_getChannelValue(&p, 3) * 0.5 * f + 0.5;
offroad 1:7b595c4ff156 61
offroad 1:7b595c4ff156 62 /* Finished with the current frame. spectRx_hasValidFrame will return false
offroad 1:7b595c4ff156 63 * until the next frame has been received completely.
offroad 1:7b595c4ff156 64 * Notes:
offroad 1:7b595c4ff156 65 * - It is safe to repeatedly read the same frame.
offroad 1:7b595c4ff156 66 * - It is safe to read frame n, while frame n-1 has been partly received (driver uses double buffers)
offroad 1:7b595c4ff156 67 */
offroad 1:7b595c4ff156 68 spektRx_invalidateFrame(&p);
offroad 1:7b595c4ff156 69 }
offroad 1:7b595c4ff156 70 }
offroad 1:7b595c4ff156 71 }