Diff: main.cpp

Revision:

1:7b595c4ff156

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 25 18:25:12 2011 +0000
@@ -0,0 +1,71 @@
+/* Example for Spektrum serial receiver driver
+ * M. Nentwig, 2011 
+ * This program is provided "as is", without any express or implied warranty.  */
+
+#include "mbed.h"
+#include "spektRx.h"
+
+/* Serial input
+ * Connections:
+ * - orange wire to 3.3V regulated out
+ * - black wire to GND
+ * - grey wire to pin 10 (for example)
+ * - see also http://diydrones.ning.com/profiles/blog/show?id=705844%3ABlogPost%3A64228 */
+Serial serIn(p9, p10);
+
+PwmOut l1(LED1);
+PwmOut l2(LED2);
+PwmOut l3(LED3);
+PwmOut l4(LED4);
+
+int main(void){
+    serIn.baud(115200);
+
+    /* Create parser "object" */
+    spektRx_t p;
+    spektRx_init(&p);
+
+    while(1) {
+
+        /* Process input data from interface, non-blocking */
+        spektRx_runSerial(&p, &serIn);
+
+        /* check if (new) frame has been received */
+        if (spektRx_hasValidFrame(&p)){
+            
+            /* Dump every 10th received frame */
+            long fn = spektRx_getFrameNum(&p);
+            if (fn % 10 == 0){
+                /* Get all channels in bit-accurate form */
+                unsigned short* d = spektRx_getChannelData(&p);
+
+                printf("%08li\t", fn);
+                printf("ail = %04x\t", (int)d[0]);
+                printf("pit = %04x\t", (int)d[1]);
+                printf("ele = %04x\t", (int)d[2]);
+                printf("rud = %04x\t", (int)d[3]);
+                printf("thr = %04x\t", (int)d[4]);
+                printf("gear = %04x\t", (int)d[5]);
+                printf("aux2 = %04x\t", (int)d[6]);
+                printf("\n");
+            } /* every 10th frame */ 
+
+            /* Get float values and use to dim the LEDs 
+            * The returned range is (-1 .. 1) if the radio has been set up carefully (endpoints / subtrims) */
+            /* if this is the case, use f=1 */
+            double f = 1.2; /* stretch the range a bit, so that we reach 0/100 % PWM */
+            l1 = spektRx_getChannelValue(&p, 0) * 0.5 * f + 0.5;
+            l2 = spektRx_getChannelValue(&p, 1) * 0.5 * f + 0.5;
+            l3 = spektRx_getChannelValue(&p, 2) * 0.5 * f + 0.5;
+            l4 = spektRx_getChannelValue(&p, 3) * 0.5 * f + 0.5;
+
+            /* Finished with the current frame. spectRx_hasValidFrame will return false
+             * until the next frame has been received completely. 
+             * Notes: 
+             * - It is safe to repeatedly read the same frame.
+             * - It is safe to read frame n, while frame n-1 has been partly received (driver uses double buffers)
+             */
+            spektRx_invalidateFrame(&p);
+        }
+    }
+}