Arduino Library für Jeti EX Eigenbau-Telemetrie

/* KISS ESC 24A Serial Example Code for Arduino. made for a nanowii / promicro / arduino leonardo / atmega32µ4 arduino compatible boards as it uses tim 1 compare 1 and serial 1 RX. connect the ESC's PWM signal to pin D9 and the telemetrie pin of the ESC to the RX(I)/D0 pin connect a signal source to pin D7 (servotester or RX or something else to give a throttle signal.. the oneshot 125 reading of the arduino will jitter a lot because of slow arduino ISR and SW reading) use a serial monitor (arduino serial monitor) with 9600 baud to view the ESC's telemetry */ ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// #include <Wire.h> //Global Variables ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// static int16_t ESC_telemetrie[5]; // Temperature, Voltage, Current, used mAh, eRpM static uint16_t requestTelemetrie = 0; static uint16_t regularThrottleSignal = 1000; static uint8_t receivedBytes = 0; //Setup ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void setup() { // init timer 1 pinMode(9,OUTPUT); TCNT1 = 0; TCCR1C = 0; TIMSK1 = 0; TCCR1A = B10101010; // PWM_WaveformMode=14 -> Fast_PWM, TOP=ICRn, PWM_OutputMode=non-inverting TCCR1B = B00011001; // Prescaler=clk/1 / Imp=125.. 250us @11Bit oder Imp=1000.. 2000us @14Bit ICR1 = 0xFFFF; // set TOP TIMER1 to max DDRE &= ~(1 << 6); // pin 7 to input PORTE |= (1 << 6); // enable pullups EIMSK |= (1 << INT6); // enable interuppt EICRB |= (1 << ISC60); Serial.begin(9600); // open seria0 for serial monitor Serial1.begin(115200); // open Serial1 for ESC communication } //Main Loop ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void loop() { static uint32_t loopTime = 0; static uint8_t tlemetrieCounter = 0; if(micros()-loopTime > 2000){ // 2000Hz looptime loopTime = micros(); receiveTelemtrie(); // look for incoming telemetrie if(++tlemetrieCounter == 20){ // get telemetrie with 25Hz tlemetrieCounter = 0; receivedBytes = 0; // reset bytes counter // request telemetrie with a 30µs signal OCR1A = 30<<4; }else{ OCR1A = regularThrottleSignal<<1; } //print the telemetry if(tlemetrieCounter == 10){ Serial.println("Requested Telemetrie"); Serial.print("Temperature (C): "); Serial.println(ESC_telemetrie[0]); Serial.print("Voltage: (V) /100: "); Serial.println(ESC_telemetrie[1]); Serial.print("Current (A) /100: "); Serial.println(ESC_telemetrie[2]); Serial.print("used mA/h: "); Serial.println(ESC_telemetrie[3]); Serial.print("eRpM *100: "); Serial.println(ESC_telemetrie[4]); Serial.println(" "); Serial.println(" "); }else{ //fire oneshot only when not sending the serial datas .. arduino serial library is too slow TCNT1 = 0xFFFF; OCR1A=0; } } } // get the Telemetrie from the ESC ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void receiveTelemtrie(){ static uint8_t SerialBuf[10]; if(receivedBytes < 9){ // collect bytes while(Serial1.available()){ SerialBuf[receivedBytes] = Serial1.read(); receivedBytes++; } if(receivedBytes == 10){ // transmission complete uint8_t crc8 = get_crc8(SerialBuf, 9); // get the 8 bit CRC if(crc8 != SerialBuf[9]) return; // transmission failure // compute the received values ESC_telemetrie[0] = SerialBuf[0]; // temperature ESC_telemetrie[1] = (SerialBuf[1]<<8)|SerialBuf[2]; // voltage ESC_telemetrie[2] = (SerialBuf[3]<<8)|SerialBuf[4]; // Current ESC_telemetrie[3] = (SerialBuf[5]<<8)|SerialBuf[6]; // used mA/h ESC_telemetrie[4] = (SerialBuf[7]<<8)|SerialBuf[8]; // eRpM *100 } } } // 8-Bit CRC ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// uint8_t update_crc8(uint8_t crc, uint8_t crc_seed){ uint8_t crc_u, i; crc_u = crc; crc_u ^= crc_seed; for ( i=0; i<8; i++) crc_u = ( crc_u & 0x80 ) ? 0x7 ^ ( crc_u << 1 ) : ( crc_u << 1 ); return (crc_u); } uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen){ uint8_t crc = 0, i; for( i=0; i<BufLen; i++) crc = update_crc8(Buf[i], crc); return (crc); } // read input PWM on D7 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ISR(INT6_vect){ static uint16_t now,diff; static uint16_t last = 0; now = micros(); if(!(PINE & (1<<6))){ delayMicroseconds(5); if((PINE & (1<<6))) return; uint16_t newDiff = now - last; diff = (diff+diff+diff+newDiff)>>2; // filter if(diff < 275 && diff > 100){ // oneshot125 regularThrottleSignal = diff<<3; }else if(diff < 2250 && diff > 850){ // normal PWM regularThrottleSignal = diff; }else regularThrottleSignal = 1000; }else{ delayMicroseconds(5); if(!(PINE & (1<<6))) return; last = now; } }