Diff: FutabaSBUS/FutabaSBUS.h

Revision:

0:83e415034198

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FutabaSBUS/FutabaSBUS.h	Wed Mar 07 18:18:43 2012 +0000
@@ -0,0 +1,121 @@
+/* mbed R/C Futaba SBUS Library
+ * Copyright (c) 2011-2012 digixx
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+
+#ifndef MBED_FUTABA_SBUS_H
+#define MBED_FUTABA_SBUS_H
+
+#define SBUS_SIGNAL_OK          0x00
+#define SBUS_SIGNAL_LOST        0x01
+#define SBUS_SIGNAL_FAILSAFE    0x03
+
+#include "MODSERIAL.h"
+#include "mbed.h"
+
+/** SBUS control class, based on MODSERIAL
+ *
+ * Example:
+ * @code
+ * // Continuously sweep the servo through it's full range
+ * #include "FutabaSBUS.h"
+ * #include "mbed.h"
+ * 
+ * FutabaSBUS sbus(p28, p27);
+ * 
+ * int main() {
+ *     sbus.passthrough(false);
+ *     while(1) {
+ *         for(int i=0; i<100; i++) {
+ *             sbus.servo(1) = i/100.0;
+ *             wait(0.01);
+ *         }
+ *         for(int i=100; i>0; i--) {
+ *             sbus.servo(1) = i/100.0;
+ *             wait(0.01);
+ *         }
+ *     }
+ * }
+ * @endcode
+ */
+
+class FutabaSBUS {
+public:
+    /** create a FutabaSBUS object connected to the specified serial pins
+    *
+    * &param pin serial tx,rx to connect to
+    */
+    FutabaSBUS(PinName tx, PinName rx);
+    
+    /** Read channel(1..16), digital raw data
+    *
+    * &param raw data from receiver range from 0 to 4096, normal from 352 1696
+    */
+    int16_t channel(uint8_t ch);
+    
+    /** Read digital channel(1..2), range 0..1
+    *
+    * &param range 0..1
+    */
+    uint8_t digichannel(uint8_t ch);
+
+    /** Set servo position, raw data, range 200..2000?
+    *
+    * &param raw data 0..2048
+    */
+    void servo(uint8_t ch, int16_t position);
+
+    /** Set digital channel, 0..1
+    *
+    * &param range 0..1
+    */
+    void digiservo(uint8_t ch, uint8_t position);
+
+    /** Read failsafe condition
+    *
+    * &param 0=no failsafe 1=lost signal 3=failsafe
+    */
+    uint8_t failsafe(void);
+
+    /** Set logical data passtrough - servo values are ignored, using received data
+    *
+    * &param bool
+    */
+    void passthrough(bool mode);
+
+    /** Read logical data passtrough
+    *
+    * &param bool
+    */
+    bool passthrough(void);
+
+private:
+    MODSERIAL sbus_;
+    Ticker  rxSBUS;
+    void SBUS_irq_rx(MODSERIAL_IRQ_INFO *q);
+    void rx_ticker_500us(void);
+    void update_channels(void);
+    void update_servos(void);
+    volatile int rx_timeout;
+    volatile int tx_timeout;
+};
+
+#endif
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