Diff: main.cpp

Revision:

1:6bdeedba218c

Parent:

0:e0bef6b1aa57

Child:

2:2ffc4c0b0b90

--- a/main.cpp	Fri Feb 10 18:02:08 2012 +0000
+++ b/main.cpp	Wed Nov 26 19:10:21 2014 +0000
@@ -1,32 +1,154 @@
+//http://www.kerrywong.com/2012/08/27/reverse-engineering-the-syma-s107g-ir-protocol/
 #include "mbed.h"
-
-Serial pc(USBTX, USBRX); // tx, rx
-Serial device(p13, p14);  // tx, rx
-DigitalOut myled1(LED1);
-DigitalOut myled2(LED2);
+ 
 PwmOut IRLED(p21);
 //IR send and receive demo
-//LED1 and LED2 indicate TX/RX activity
-//Character typed in PC terminal application sent out and returned back using IR transmitter and receiver
+
+int ROTATION_STATIONARY = 60;
+int CAL_BYTE = 52; 
+ 
+int Throttle, LeftRight, FwdBack;
+
+
+
+ void PutHeader(void)
+{   // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED 
+IRLED = 0.5;
+wait(.001964);
+IRLED = 0.0;
+wait(.001972);
+}
+
+ void PutFooter(void)
+{   // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED 
+IRLED = 0.5;
+wait(.000305);
+IRLED = 0.0;
+wait(.088682);
+}
+ 
+ void PutZero(void)
+{   // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED 
+IRLED = 0.5;
+wait(.000305);
+IRLED = 0.0;
+wait(.000293);
+}
+
+void PutOne(void)
+{   // CODE HERE WILL RUN WHEN INTERUPT IS GENERATED 
+IRLED = 0.5;
+wait(.000306);
+IRLED = 0.0;
+wait(0.000687);
+}
 
+void sendCommand(int throttle, int leftRight, int forwardBackward)
+{
+  int b;
+ 
+  PutHeader();
+   
+  for (int i = 7; i >=0; i--)
+  {
+    b = ((ROTATION_STATIONARY + leftRight) & (1 << i)) >> i;    
+    if (b > 0) PutOne(); else PutZero();
+  }
+   
+  for (int i = 7; i >=0; i--)
+  {
+    b = ((63 + forwardBackward) & (1 << i)) >> i;    
+    if (b > 0) PutOne(); else PutZero();
+  } 
+   
+  for (int i = 7; i >=0; i--)
+  {
+    b = (throttle & (1 << i)) >> i;    
+    if (b > 0) PutOne(); else PutZero();
+  }
+   
+  for (int i = 7; i >=0; i--)
+  {
+    b = (CAL_BYTE & (1 << i)) >> i;    
+    if (b > 0) PutOne(); else PutZero();
+  } 
+  
+  PutFooter();
+  
+}
+
+void timerISR()
+{
+  //read control values from potentiometers
+  //Throttle = analogRead(0);
+  //LeftRight = analogRead(1);
+  //FwdBack = analogRead(2);
+   
+  //Throttle = Throttle / 4; //convert to 0 to 255
+  Throttle = 65;
+  //LeftRight = LeftRight / 8 - 64; //convert to -64 to 63
+  LeftRight = 0; //convert to -64 to 63
+  //FwdBack = FwdBack / 4 - 128; //convert to -128 to 127
+  FwdBack = 0; //convert to -128 to 127
+   
+  sendCommand(Throttle, LeftRight, FwdBack);
+}
+
+ 
+void Thrust(void) //Test function to test flying.
+{
+    //Header
+    PutHeader();
+    //First Byte 
+    PutZero(); //1
+    PutOne(); //2
+    PutZero(); //3
+    PutZero(); //4
+    PutOne(); //5
+    PutOne(); //6
+    PutZero(); //7
+    PutZero(); //8
+    //Second Byte 
+    PutZero(); //1
+    PutZero(); //2
+    PutOne(); //3
+    PutOne(); //4
+    PutOne(); //5
+    PutOne(); //6
+    PutOne(); //7
+    PutOne(); //8
+    //Third Byte 
+    PutZero(); //1
+    PutOne(); //2
+    PutZero(); //3
+    PutZero(); //4
+    PutZero(); //5
+    PutOne(); //6
+    PutOne(); //7
+    PutOne(); //8
+    //Fourth Byte 
+    PutZero(); //1
+    PutOne(); //2
+    PutOne(); //3
+    PutZero(); //4
+    PutOne(); //5
+    PutOne(); //6
+    PutOne(); //7
+    PutZero(); //8
+    //Footer
+    PutFooter();
+} 
+
+
+
+ 
 int main() {
     //IR Transmit code
     IRLED.period(1.0/38000.0);
-    IRLED = 0.5;
-    //Drive IR LED data pin with 38Khz PWM Carrier
-    //Drive IR LED gnd pin with serial TX
-    device.baud(2400);
+    //Drive IR LED data pin with 38Khz PWM Carrier 
     while(1) {
-        if(pc.readable()) {
-            myled1 = 1;
-            device.putc(pc.getc());
-            myled1 = 0;
-        }
-        //IR Receive code
-        if(device.readable()) {
-            myled2 = 1;
-            pc.putc(device.getc());
-            myled2 = 0;
-        }
+    //Thrust();
+      timerISR();
+    
     }
 }