Revision 0:35253c4bb774, committed 2018-11-28

Comitter:

LukeMar

Date:

Wed Nov 28 20:08:13 2018 +0000

Commit message:

bind code

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Spektrum.cpp	Wed Nov 28 20:08:13 2018 +0000
@@ -0,0 +1,166 @@
+/*
+  Spektrum.cpp
+  Implementation file for Spektrum serial receiver mbed library
+  Dennis Evangelista, 2018
+*/
+
+#include "mbed.h"
+#include "rtos.h"
+
+#include "Spektrum.h"
+
+
+
+
+
+
+/** Spektrum is used for a working connection to a Spektrum Satellite receiver
+    @param tx orange wire, 3.3V supply pin (should be held high normally)
+    @param rx gray wire, rx pin from the receiver
+    The black wire should be connected to ground. 
+    The receiver should first be bound using a BindPlug object. 
+*/
+Spektrum::Spektrum(PinName tx, PinName rx):
+  _rx(tx, rx, SPEKTRUM_BAUD){
+  
+  // receiver uses e.g. p13, p14 and 115200 baud. 
+  _rx.set_blocking(false); // want receiver to not block
+  period_ms = 11; // start with 11ms period.
+
+  // initialize public variables... 
+  system = 0; // should be 0xa2 or 0xb2 for DSMX modes
+  fades = 0;
+  for (int i=0; i<SPEKTRUM_CHANNELS; i++){
+    channel[i] = 0; 
+    pulsewidth[i] = 0;
+  }
+  valid = false; 
+
+  // start the packet reading thread
+  _packet_thread.start(callback(this,&Spektrum::_packet_callback)); 
+} // Spektrum(tx, rx) constructor
+
+
+
+
+/** Destructor for Spektrum object 
+ */
+Spektrum::~Spektrum(){
+} // ~Spektrum() destructor
+
+
+
+/** Private callback for when a packet is received
+ */
+void Spektrum::_packet_callback(void){
+  // local variables
+  int count; // used to get error code -11 or num of bytes _rx.read()
+  uint64_t now; // for getting 11 or 22 ms period via ThisThread::sleep_until()
+  unsigned int i; // counter for for loop
+  unsigned int data; // for assembling 2 bytes into uint16_t
+  unsigned int chanid; // for decoding channel ID with mask 0x7800
+  unsigned int servopos; // for decoding servo value with mask 0x07ff
+  
+  // setup
+  debug("Spektrum::_packet_thread started\r\n");
+
+  // loop
+  _rx.sync(); // flush buffer
+  while(1){
+    now = rtos::Kernel::get_ms_count(); // for timing
+    count = _rx.read(_buf,SPEKTRUM_PACKET_SIZE); // try to read packet
+    
+    if (count == SPEKTRUM_PACKET_SIZE){
+      // got a full sized packet
+      if (_buf[1] == SPEKTRUM_22MS_2048_DSMX){
+    period_ms = 22; 
+    valid = true;
+      } // got 22ms packets
+      else if (_buf[1] == SPEKTRUM_11MS_2048_DSMX){
+    period_ms = 11;
+    valid = true;
+      } // got 11ms packets
+      else
+    // if system is not 0xa2 or 0xb2, treat as invalid
+    valid = false;
+    } // if count == 16
+    else {
+      // count wasn't 16 so some kind of error
+      valid = false;
+      _rx.sync(); // not getting enough bytes, so sync()
+    }
+
+    if (valid){
+      // got a valid packet so parse it 
+      fades = _buf[0];
+      system = _buf[1];
+      for (i=0; i<SPEKTRUM_SERVOS; i++){
+    data = (_buf[2*i+2]<<8) | _buf[2*i+2+1];
+    chanid = (data & SPEKTRUM_MASK_2048_CHANID) >> 11;
+    servopos = data & SPEKTRUM_MASK_2048_SXPOS;
+    channel[chanid] = servopos;
+    pulsewidth[chanid] = SPEKTRUM_COUNT2US(servopos); 
+      } // for each servo in packet
+    } // if(valid)
+
+    ThisThread::sleep_until(now+period_ms); // sleep to get right rate
+  } // while(1)
+} // _packet_callback() 
+
+
+
+
+
+
+
+
+
+/** BindPlug is used to bind a Spektrum Satellite receiver
+    @param tx orange wire, 3.3V supply pin, here used as a DigitalOut
+    @param rx gray wire, rx pin, here used as a DigitalOut
+    @param mode is mode, e.g. internal or external, DSM2 or DSMX, 11 or 22ms
+    The black wire should be connected to ground.
+    Default mode is internal, DSMX, 11 ms. Once created, this object will 
+    send a number of falling pulses over the 3.3V supply pin to trigger 
+    the satellite receiver to go into bind mode. 
+*/
+BindPlug::BindPlug(PinName tx, PinName rx, int mode): _3Vpin(tx),_datapin(rx){
+  int i; // counter
+  
+  // within 200 ms of applying power, supply a bunch of falling pulses
+  // according to table in Spektrum docs, most likely 9 pulses for
+  // internal mode, DSMX, 11 ms.
+  _3Vpin = 0;
+  _datapin = 0; 
+  wait(1);
+  _3Vpin = 1; 
+  _datapin = 1;
+  wait_ms(72);
+  debug("pulse ");
+  for(i=0; i<mode; i++){
+    debug("%d ",i);
+    wait_us(116);
+    _datapin = 0; // this is the falling pulse
+    wait_us(116);
+    _datapin = 1; 
+  }
+  debug("\r\n"); 
+} // BindPlug(bind, mode) constructor
+
+/** Destructor for BindPlug object
+ */
+BindPlug::~BindPlug(){
+} // ~BindPlug() destructor
+
+
+
+
+
+
+/* LATER
+SpektrumTestDevice::SpektrumTestDevice(PinName tx, PinName rx): _receiver(tx,rx){
+  _receiver.baud(SPEKTRUM_BAUD);
+} // SpektrumTestDevice(tx, rx) constructor
+SpektrumTestDevice::~SpektrumTestDevice(){
+} // ~SpektrumTestDevice() destructor
+*/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Spektrum.h	Wed Nov 28 20:08:13 2018 +0000
@@ -0,0 +1,113 @@
+/*
+  Spektrum.h
+  Spektrum serial receiver mbed library
+  Dennis Evangelista, 2018
+*/
+
+#ifndef SPEKTRUM_H
+#define SPEKTRUM_H
+#define SPEKTRUM_VERSION "1.0.1"
+
+#include "mbed.h"
+#include "rtos.h"
+
+// bind modes
+#define SPEKTRUM_INT_DSMX_22MS 7
+#define SPEKTRUM_EXT_DSMX_22MS 8
+#define SPEKTRUM_INT_DSMX_11MS 9
+#define SPEKTRUM_EXT_DSMX_11MS 10
+// DSM2 bind modes not recommended, not implemented
+// EXT(ernal) bind modes don't really work on solitary satellite receiver
+
+// field definitions
+// #define SPEKTRUM_MASK_1024_CHANID 0xfc00
+// #define SPEKTRUM_MASK_1024_SXPOS 0x03ff
+// first two only used in DSM2 which are not implemented
+#define SPEKTRUM_MASK_2048_CHANID 0x7800
+#define SPEKTRUM_MASK_2048_CHANID_MSB 0x78
+#define SPEKTRUM_MASK_2048_SXPOS 0x07ff
+
+// allowable system field values
+// #define SPEKTRUM_22MS_1024_DSM2 0x01
+// #define SPEKTRUM_11MS_2048_DSM2 0x12
+#define SPEKTRUM_22MS_2048_DSMX 0xa2
+#define SPEKTRUM_11MS_2048_DSMX 0xb2
+
+#define SPEKTRUM_BAUD 115200
+// Spektrum baud is supposed to be 125000, but the LPC1768 seems not
+// to support nonstandard baud rates.
+
+#define SPEKTRUM_SERVOS 7
+#define SPEKTRUM_PACKET_SIZE 16
+#define SPEKTRUM_CHANNELS 16
+#define SPEKTRUM_COUNT2US(x) (x*600/1024+900)
+
+
+
+
+/** Spektrum receiver object for connecting to eg SPM9745 receiver
+ */
+class Spektrum{
+ public:
+  /** Number of fades (failed packets) from receiver */
+  unsigned int fades;
+  
+  /** Tells if system is in DSMX 11ms or 22ms for example */
+  unsigned int system; 
+
+  /** Contains 0-2048 values for all channels 0-15 */ 
+  unsigned int channel[SPEKTRUM_CHANNELS];
+
+  /** Contains approx 900-2100us pulsewidths corresponding to chan 0-15 */
+  unsigned int pulsewidth[SPEKTRUM_CHANNELS];
+
+  /** If true, data is value */ 
+  bool valid;  // TODO switch to EventFlags?
+
+  /** 11 or 22 ms */ 
+  unsigned int period_ms;
+  
+  Spektrum(PinName tx, PinName rx); // constructor
+  ~Spektrum(); // destructor
+
+ private:
+  UARTSerial _rx;
+  unsigned char _buf[SPEKTRUM_PACKET_SIZE]; 
+  Thread _packet_thread;
+  void _packet_callback(void); 
+};
+
+
+
+
+
+
+
+/** For binding a Spektrum receiver to transmitter */ 
+class BindPlug{
+ public:
+  /** e.g. SPEKTRUM_INT_DSMX_11MS, SPEKTRUM_INT_DSMX_22MS */
+  int mode;
+  
+  BindPlug(PinName tx, PinName rx, int mode = SPEKTRUM_INT_DSMX_11MS);
+  ~BindPlug();
+  void bind();
+
+ private:
+  DigitalOut _3Vpin;
+  DigitalOut _datapin;
+};
+
+/* LATER
+class SpektrumTestDevice{
+ public:
+  unsigned int fades;
+  unsigned int servo[7];
+  SpektrumTestDevice(PinName tx, PinName rx);
+  ~SpektrumTestDevice();
+ private:
+  Serial _receiver; 
+};
+*/
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Nov 28 20:08:13 2018 +0000
@@ -0,0 +1,32 @@
+/*
+  TESTS/binding/int_dsmx_22ms/main.cpp
+  Spektrum binding test, internal DSMX 22ms
+  D Evangelista, 2018
+  Test passed on 13 Nov 2018
+  //official sailbot bind program
+*/
+
+#include "mbed.h"
+#include "rtos.h"
+#include "Spektrum.h"
+#include "unity.h"
+
+Serial pc(USBTX, USBRX); 
+BindPlug bind_Plug(p13, p14, SPEKTRUM_INT_DSMX_22MS);
+char c;
+
+
+
+int main(){
+  
+  pc.printf("Spektrum library version ");
+  pc.printf(SPEKTRUM_VERSION); 
+  pc.printf("\r\nSpektrum binding test, internal DSMX 22ms\r\n");
+  pc.printf("Be sure to connect orange to p13, gray to p14, blk to gnd\r\n");
+  pc.printf("Should see blinking light, transmitter should attempt bind\r\n");
+  pc.printf("Was binding successful (y/n)? ");
+  pc.scanf(" %c",&c);
+
+  TEST_ASSERT_EQUAL_MESSAGE('y',c,"Binding test failed.\r\n");
+
+} // main() for TESTS/binding/int_dsmx_22ms
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Wed Nov 28 20:08:13 2018 +0000
@@ -0,0 +1,1 @@
+https://github.com/armmbed/mbed-os/#2fd0c5cfbd83fce62da6308f9d64c0ab64e1f0d6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Nov 28 20:08:13 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187
\ No newline at end of file