Thierry Pébayle / A7105_FLYSKY_RX_WITH_PPM

Flysky rc receiver with ppm output. made with KL05Z uc with internal clk (modified mbed lib)

Dependencies:   A7105_FLYSKY_RX FreescaleIAP SERVO_PPM mbed-src-KL05Z-internal-clk

Files at this revision

API Documentation at this revision

Revision 0:3c6963e96a05, committed 2015-11-13

Comitter:
pebayle
Date:
Fri Nov 13 09:00:51 2015 +0000
Commit message:
A flysky rc receiver with ppm ouput, KL05Z uc with internal clk. It uses my own libraries: A7105_FLYSKY_RX, SERVO_PPM and mbed-src-KL05Z-internal-clk. Also uses FreescaleIAP library to store TX ident (bind procedure) into KL05Z program memory.

Changed in this revision

A7105_FLYSKY_RX.lib Show annotated file Show diff for this revision Revisions of this file
FreescaleIAP.lib Show annotated file Show diff for this revision Revisions of this file
SERVO_PPM.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed-src-KL05Z-internal-clk.lib Show annotated file Show diff for this revision Revisions of this file 
diff -r 000000000000 -r 3c6963e96a05 A7105_FLYSKY_RX.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/A7105_FLYSKY_RX.lib	Fri Nov 13 09:00:51 2015 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/pebayle/code/A7105_FLYSKY_RX/#19d3601a7744

diff -r 000000000000 -r 3c6963e96a05 FreescaleIAP.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FreescaleIAP.lib	Fri Nov 13 09:00:51 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/Sissors/code/FreescaleIAP/#186db0d96fcf

diff -r 000000000000 -r 3c6963e96a05 SERVO_PPM.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SERVO_PPM.lib	Fri Nov 13 09:00:51 2015 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/pebayle/code/SERVO_PPM/#e57e8eee5411

diff -r 000000000000 -r 3c6963e96a05 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Nov 13 09:00:51 2015 +0000
@@ -0,0 +1,134 @@
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Flysky RC receiver 8 x servos PWM + PPM outputs
+//
+// tested with FRDM-KL05Z and A7105SY module 
+// tested with custom board with KL05ZLVC4 chip and A7105SY module
+//
+// In order to program an external KL05Z32VLC4, I take a FRDM-KL25Z board (don't take FRDM-KL05Z board, there's a bug on layout!),
+// cut wire under JP11 connector to disconnect onboard KL25Z chip, do a special cable (see FRDM-KL25Z schematic, J6 SWD CONNECTOR, 
+// you just need to solder 5 wires: 3.3V, GND, SWD_DIO, SWD_CLK, RST_TGT) to link your custom KL05Z32VLC4 board, and program FRDM-KL25Z
+// board with an FRDM-KL05Z firmware and it works fine as a cheap programmer interface!
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+//compiler option
+#define DEBUG               1   //display status through serial
+#define STORE_TX_ID_KLxx    1   //store in flash memory previous TX ID in KLxx flash memory
+                                //not necessary, but you'll need to bind transmitter each time you turn off your receiver 
+
+//include
+#include "mbed.h"
+#include "A7105_FLYSKY_RX.h"    //Flysky protocol dialog with A7105 2.4Ghz module
+#include "servo_ppm.h"          //servo PWM and PPM outputs
+#if STORE_TX_ID_KLxx
+#include "FreescaleIAP.h"       //to store TX ID in KLxx flash memory, only works for freescale KLxx
+#endif                          //you need to use suitable lib for other arm family,
+                                //and modify code linked to "#if STORE_TX_ID_KLxx" below...
+
+//A7105 <-> KL05Z pin assignment
+#define PIN_SDIO    PTA7    //SPI mosi
+#define PIN_GIO1    PTA6    //SPI miso
+#define PIN_SCK     PTB0    //SPI sck  
+#define PIN_CS      PTA10   //CS
+#define PIN_GIO2    PTA11   //wait rx
+
+//servo <-> KL05Z pin assignment
+#define PIN_SERVO1  PTB5
+#define PIN_SERVO2  PTA12
+#define PIN_SERVO3  PTB6
+#define PIN_SERVO4  PTB7
+#define PIN_SERVO5  PTB11
+#define PIN_SERVO6  PTA5
+#define PIN_SERVO7  PTA9
+#define PIN_SERVO8  PTA8
+
+//PPM <-> KL05Z pin assignment
+#define PIN_PPM     PTB3
+
+//serial debug
+#if DEBUG
+Serial pc(USBTX, USBRX);
+#endif
+
+//A7105 flysky RX
+A7105_flysky_RX rx(PIN_SDIO, PIN_GIO1, PIN_SCK, PIN_CS, PIN_GIO2, LED_GREEN); //mosi, miso, sck, cs, wait_rx, status_led)
+
+//servo and ppm outputs
+//servo_ppm servoPpmOut( PIN_PPM, PIN_SERVO1, PIN_SERVO2, PIN_SERVO3,  PIN_SERVO4,  PIN_SERVO5,  PIN_SERVO6,  PIN_SERVO7,  PIN_SERVO8);
+servo_ppm servoPpmOut( NC, PIN_SERVO1, PIN_SERVO2, NC,  PIN_SERVO4,  PIN_SERVO5,  PIN_SERVO6,  PIN_SERVO7,  PIN_SERVO8);
+ 
+/////////////
+// M A I N
+/////////////
+
+int main()
+{      
+    int i;
+    bool ok;
+       
+    #if DEBUG
+    //say hello!
+    pc.printf("\n\rHello!");
+    #endif
+    
+    //start servo/ppm frame
+    servoPpmOut.startServoPpmOutput();
+     
+    //init A7105
+    ok = rx.init();
+    if (ok)
+    {
+        //bind TX
+        ok = rx.bind(); //if bind failed, TX Id take "default_tx_id" value found in A7105_FLYSKY_RX.h
+        
+        #if STORE_TX_ID_KLxx
+            //if bind ok, stores TX ID in flash memory
+            int address = flash_size() - SECTOR_SIZE;           //Write in last sector
+            if (ok)
+            {
+                erase_sector(address);
+                #if DEBUG
+                    printf("\n\r bind ok: write TX ID in Flash: %X,%X,%X,%X", rx.txId[0], rx.txId[1], rx.txId[2], rx.txId[3]);
+                #endif
+                program_flash(address, (char*)rx.txId, 4); //4 bytes
+            }
+            //if bind not ok, get previous bind TX ID, stored in flash memory
+            else
+            {
+                char *data = (char*)address;
+                rx.txId[0] = data[0]; rx.txId[1] = data[1]; rx.txId[2] = data[2]; rx.txId[3] = data[3];
+                #if DEBUG
+                    printf("\n\r bind failed, TX ID readden in Flash: %X,%X,%X,%X", rx.txId[0], rx.txId[1], rx.txId[2], rx.txId[3]);
+                #endif
+            }
+        #else
+            #if DEBUG
+            //display bind status
+            if (ok) printf("\r\nbind ok, TX ID  : %X,%X,%X,%X", rx.txId[0], rx.txId[1], rx.txId[2], rx.txId[3]);
+            else printf("\r\nbind failed, take default TX ID  : %X,%X,%X,%X", rx.txId[0], rx.txId[1], rx.txId[2], rx.txId[3]);
+            #endif
+        #endif                    
+        //infinite loop, receive packet and update servos
+        int cptError = 0;
+        while (1)
+        {   
+            //wait packet (1.46ms) or timeout(1.5ms) since last call to this function
+            switch( rx.waitPacket() )
+            {
+                case NO_ERROR: //update servo position
+                    for (i=0; i<6; i++) servoPpmOut.setServoPulseDuration_us( i+1, rx.servoPulseDur[i] ); break;
+                case TIME_OUT_ERROR:
+                    printf("\r\n%d: time out error", cptError); cptError++; break;
+                case VALIDITY_ERROR:
+                    printf("\r\n%d: validity error", cptError); cptError++; break;
+                case TX_ID_ERROR:
+                    printf("\r\n%d: tx id error", cptError); cptError++; break;
+            }           
+        }
+    }
+    #if DEBUG
+    else
+    {
+         printf("\r\ninit failed !!!");
+    }
+    #endif
+}

diff -r 000000000000 -r 3c6963e96a05 mbed-src-KL05Z-internal-clk.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-src-KL05Z-internal-clk.lib	Fri Nov 13 09:00:51 2015 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/users/pebayle/code/mbed-src-KL05Z-internal-clk/#0ccc70d792b0