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‎SBUS_ROBOTMaker_20161228_v1a/SBUS_ROBOTMaker_20161228_v1a.ino

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/* ROBOTmaker 28.12.2016
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* This example decodes a Futaba SBUS or compatible stream and convert it to soft switches or PPM.
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*
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* Thanks goes to https://www.ordinoscope.net/index.php/Electronique/Protocoles/SBUS for the arduino code which was converted to for our use
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* It is based on a verion found :
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* - https://github.com/zendes/SBUS
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* - http://forum.arduino.cc/index.php?topic=99708.0
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* - https://mbed.org/users/Digixx/notebook/futaba-s-bus-controlled-by-mbed/
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*
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* There are some inexpensibe SBUS to PPM decoders, such as
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* http://www.hobbyking.com/hobbyking/store/__37953__frsky_4_channel_s_bus_to_pwm_decoder.html
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* This code is more a proof of concept than a real alternative.
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*
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*Further details on our website:
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*http://www.robotmaker.eu/ROBOTmaker/quadcopter-3d-proximity-sensing/sbus-graphical-representation
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*
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* This code uses the RX0 as input. It's not possible to use a software serial port, because
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* there are too many conflicting interrupts between serial input and PWM generation.
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*
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* Since RX0 is also used to communicate with the FTDI, the SBUS must be disconnected while
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* flashing the Arduino.
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*
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* Furthermore, the SBUS uses an inverted serial communication. Why should the Futaba designers of the SBUS make life simple when
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* it's so much fun to make it more difficult? Inverting the signal is easy and can be done with a simple transistor / resistor (see our website) or an inverter:
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* http://www.hobbyking.com/hobbyking/store/__24523__ZYX_S_S_BUS_Connection_Cable.html
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* (the shortest end goes to the receiver, the longest to the Arduino)
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* Alternatively, if you use an X4R you can tap directly into the inverted signal provided on the PCB for a side connector. Details of how to do this are on our website.
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* See http://www.robotmaker.eu/ROBOTmaker/quadcopter-3d-proximity-sensing/sbus-graphical-representation
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*
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* The code works on an Arduino Pro Mini. It will probably work on others too, but I haven't tried on other versions yet
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* Ensure to Download the library -> <SoftwareSerial.h> and <Servo.h> via the Arduino IDE otherwise the code won't compile
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*
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*
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*
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*
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*/
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#include <SoftwareSerial.h>
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//#include <SoftwareServo.h>
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#include <Servo.h>
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#define rxPin 7
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#define txPin 8
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Servo myservo8; // create servo object to control a servo
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int pos = 0; // variable to store the servo position
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//Not used in the Demo
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//Servo myservo9; // create servo object to control a servo
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//Servo myservo10; // create servo object to control a servo
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//Servo myservo11; // create servo object to control a servo
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//SoftwareSerial InvertedSerialPort = SoftwareSerial(rxPin, txPin, true); //(Tx,TX, Inverted mode ping this device uses inverted signaling
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//For Piezo Buzzer
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//***********************************************************************
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// Setup
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//***********************************************************************
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void setup ()
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{
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//The pins on the Arduino need to be defined. In this demo pin 9-13 are used. Pin 13 is the LED on the Arduino which is
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//a simple mehod for debugging. The demo turns this on when the Channel 1 (often used for throttle) exceeds a predefined SBUS level.
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pinMode(13, OUTPUT); //Debug with LED
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pinMode(12, OUTPUT); //Debug with LED
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pinMode(11, OUTPUT); //Debug with LED
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pinMode(10, OUTPUT); //Debug with LED
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pinMode(9, OUTPUT); //Debug with LED
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pinMode(rxPin, INPUT);
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pinMode(txPin, OUTPUT);
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myservo8.attach(8); // attaches the servo on pin 8 to the servo object
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//myservo11.attach(11); // attaches the servo on pin 11 to the servo object
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Serial.begin(100000,SERIAL_8E2); //The SBUS is a non standard baud rate which can be confirmed using an oscilloscope
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}
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//***********************************************************************
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// Loop
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//***********************************************************************
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void loop ()
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{
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//Declare the variabes
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static byte buffer[25];
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static int channels[18];
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static int errors = 0;
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static bool failsafe = 0;
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static int idx;
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static unsigned long last_refresh = 0;
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static int lost = 0;
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byte b;
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int i;
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int redPin = 3;
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int greenPin = 5;
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int bluePin = 6;
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word results;
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//Check the serial port for incoming data
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//This could also be done via the serialEvent()
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if (Serial.available ()) {
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b = Serial.read ();
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//this is a new package and it' not zero byte then it's probably the start byte B11110000 (sent MSB)
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//so start reading the 25 byte package
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if (idx == 0 && b != 0x0F) { // start byte 15?
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// error - wait for the start byte
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} else {
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buffer[idx++] = b; // fill the buffer with the bytes until the end byte B0000000 is recived
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}
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if (idx == 25) { // If we've got 25 bytes then this is a good package so start to decode
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idx = 0;
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if (buffer[24] != 0x00) {
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errors++;
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} else
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{
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// Serial.println("Found Packet");
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// 25 byte packet received is little endian. Details of how the package is explained on our website:
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//http://www.robotmaker.eu/ROBOTmaker/quadcopter-3d-proximity-sensing/sbus-graphical-representation
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channels[1] = ((buffer[1] |buffer[2]<<8) & 0x07FF);
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channels[2] = ((buffer[2]>>3 |buffer[3]<<5) & 0x07FF);
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channels[3] = ((buffer[3]>>6 |buffer[4]<<2 |buffer[5]<<10) & 0x07FF);
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channels[4] = ((buffer[5]>>1 |buffer[6]<<7) & 0x07FF);
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channels[5] = ((buffer[6]>>4 |buffer[7]<<4) & 0x07FF);
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channels[6] = ((buffer[7]>>7 |buffer[8]<<1 |buffer[9]<<9) & 0x07FF);
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channels[7] = ((buffer[9]>>2 |buffer[10]<<6) & 0x07FF);
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channels[8] = ((buffer[10]>>5|buffer[11]<<3) & 0x07FF);
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channels[9] = ((buffer[12] |buffer[13]<<8) & 0x07FF);
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channels[10] = ((buffer[13]>>3|buffer[14]<<5) & 0x07FF);
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channels[11] = ((buffer[14]>>6|buffer[15]<<2|buffer[16]<<10) & 0x07FF);
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channels[12] = ((buffer[16]>>1|buffer[17]<<7) & 0x07FF);
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channels[13] = ((buffer[17]>>4|buffer[18]<<4) & 0x07FF);
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channels[14] = ((buffer[18]>>7|buffer[19]<<1|buffer[20]<<9) & 0x07FF);
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channels[15] = ((buffer[20]>>2|buffer[21]<<6) & 0x07FF);
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channels[16] = ((buffer[21]>>5|buffer[22]<<3) & 0x07FF);
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channels[17] = ((buffer[23]) & 0x0001) ? 2047 : 0;
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channels[18] = ((buffer[23] >> 1) & 0x0001) ? 2047 : 0;
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failsafe = ((buffer[23] >> 3) & 0x0001) ? 1 : 0;
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if ((buffer[23] >> 2) & 0x0001) lost++;
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//serialPrint (lost); debg the signals lost
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//For this demo, the corresponding channels mapped below need to be also configured on the FrSky Taranis tranmitter accordingly.
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//Any of the Channels can of course be used trigger any of the pins on the Arduino
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//Channels used in the demo are 5,6,7. Mapped these to the sliders on the transmitter to change RGB LED values
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//Channel 1 set to trigger the Internal Arduino LED on pin 13 once the threshold exceeds 1500
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//Channel 10 needs to be mapped to one of the switches on the Taranis which triggers a buzzer on pin 10 of the Arduino
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//Channel 1 also triggers a servo connected to pin 8 on the Arduino. So moving the throttle will also move the servo accordingly
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//***********************************************************************
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//Create RGB 3 colour LED display using PWM on pins mapped to Ch5=S1, Ch6=S2 Ch7=LS
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//The channels used in the demo are 5,6,7. Mapped these to the sliders on the transmitter to change
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//The amount of RGB values
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//***********************************************************************
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int RedLed = map(channels[5],0,2000,0,255);
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int GreenLed = map(channels[6],0,2000,0,255);
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int BlueLed = map(channels[7],0,2000,0,255);
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analogWrite(redPin, RedLed);
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analogWrite(greenPin, GreenLed);
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analogWrite(bluePin, BlueLed);
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//***********************************************************************
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//Turn on internal Arduino LED 13 if channel 1 (thrust) exceeds 1500.
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//***********************************************************************
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results=channels[1];
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Serial.write (results);
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if (channels[1] > 1500){
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digitalWrite(13, HIGH);
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}
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else
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{
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digitalWrite(13, LOW);
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}
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//***********************************************************************
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//Turn on LED. Channel 16 mapped to switch SF to trigger Buzzer on pin 12
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//***********************************************************************
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serialPrint (channels[1]);
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if (channels[16] > 500){
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digitalWrite(12, HIGH);
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}
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else
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{
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digitalWrite(12, LOW);
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}
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//***********************************************************************
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//Drive a Servo connected to channel 1 (which is mapped to thrust if you are using Mode 2)
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//Servo connected to pin 8 on the Arduino
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//***********************************************************************
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// Proportionaly Map the position of the S.BUS channel to the server position
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int servoPosition = map(channels[1],0,2000,0,180);
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myservo8.write(servoPosition ); // tell servo to go to position in variable servoPosition
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//***********************************************************************
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//Turn on or off a buzzer. Channel 10 is mapped to switch SH.
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// Buzzer connected to pin 10 on Arduino
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//***********************************************************************
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if (channels[10] > 1500){
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digitalWrite(10, HIGH);
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}
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else
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{
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digitalWrite(10, LOW);
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}
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} //closing - else
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} //closing - if (idx == 25)
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} //closing - if (Serial.available ())
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} //closing void loop

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