- Generated by
1.8.13
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Robot Control Library
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DSM2 and DSMX radio interface.
<rc/dsm.h>
DSM2 and DSMX are common standards for remote control plane and car radios. Typically, a receiver outputs pulse width modulated signals to individual servos or ESCs over separate servo connectors. Commonly a satellite-receiver is mounted on the outside of an RC plane to provide better signal strength and sends the same information as a serial packet over a 3-pin wire. These receivers have nothing to do with satellites but instead are named due to their remote mounting away from the standard receiver.
The Robotics Cape supports direct connection of satellite receivers as well as binding to transmitters without the need for a standard receiver and bind plug as is traditionally used. The software has been tested with Orange brand DSM2 receivers, as well as Spektrum and JR branded DSMX receivers.
See rc_balance, rc_test_dsm, rc_bind_dsm, rc_calibrate_dsm, and rc_dsm_passthroguh examples.
Macros | |
| #define | RC_MAX_DSM_CHANNELS 9 |
Functions | |
| int | rc_dsm_init (void) |
| Starts the DSM background service. More... | |
| int | rc_dsm_cleanup (void) |
| stops the DSM background service More... | |
| int | rc_dsm_ch_raw (int ch) |
| Returns the pulse width in microseconds commanded by the transmitter for a particular channel. More... | |
| double | rc_dsm_ch_normalized (int ch) |
| Returns a scaled value from -1 to 1 corresponding to the min and max values recorded during calibration. More... | |
| int | rc_dsm_is_new_data (void) |
| This is a check to see if new data is available. More... | |
| void | rc_dsm_set_callback (void(*func)(void)) |
| Set your own callback function to be called when new DSM data is ready. More... | |
| void | rc_dsm_set_disconnect_callback (void(*func)(void)) |
| Set your own callback function to be called when DSM loses connection. More... | |
| int | rc_dsm_is_connection_active (void) |
| Easily check on the state of the DSM radio packets without checking timeouts yourself. More... | |
| int64_t | rc_dsm_nanos_since_last_packet (void) |
| Measures time since the last DSM packet was received. More... | |
| int | rc_dsm_resolution (void) |
| Used to determine if DSM packets are arriving with 10 or 11-bit resolution. More... | |
| int | rc_dsm_channels (void) |
| fetches number of DSM channels currently being received. More... | |
| int | rc_dsm_bind_routine (void) |
| Begins the binding routine and prints instructions to the screen along the way. More... | |
| int | rc_dsm_calibrate_routine (void) |
| routine for measuring the min and max values from a transmitter on each channel and save to disk for future use. More... | |
| #define RC_MAX_DSM_CHANNELS 9 |
| int rc_dsm_init | ( | void | ) |
Starts the DSM background service.
| int rc_dsm_cleanup | ( | void | ) |
stops the DSM background service
| int rc_dsm_ch_raw | ( | int | ch | ) |
Returns the pulse width in microseconds commanded by the transmitter for a particular channel.
The user can specify channels 1 through 9 but non-zero values will only be returned for channels the transmitter is actually using. The raw values in microseconds typically range from 900-2100us for a standard radio with default settings.
| [in] | ch | channel (1-9) |
| double rc_dsm_ch_normalized | ( | int | ch | ) |
Returns a scaled value from -1 to 1 corresponding to the min and max values recorded during calibration.
The user MUST run the rc_calibrate_dsm example to ensure the normalized values returned by this function are correct. It is possible that values outside of the range from -1 to 1 are returned if the calibration is not perfect.
| [in] | ch | channel (1-9) |
| int rc_dsm_is_new_data | ( | void | ) |
This is a check to see if new data is available.
After new data is received this will return 1. It will return 0 as soon as any channel has been read by either rc_dsm_ch_raw or rc_dsm_ch_normalized.
| void rc_dsm_set_callback | ( | void(*)(void) | func | ) |
Set your own callback function to be called when new DSM data is ready.
| [in] | func | callback function |
| void rc_dsm_set_disconnect_callback | ( | void(*)(void) | func | ) |
Set your own callback function to be called when DSM loses connection.
| [in] | func | callback function |
| int rc_dsm_is_connection_active | ( | void | ) |
Easily check on the state of the DSM radio packets without checking timeouts yourself.
| int64_t rc_dsm_nanos_since_last_packet | ( | void | ) |
Measures time since the last DSM packet was received.
| int rc_dsm_resolution | ( | void | ) |
Used to determine if DSM packets are arriving with 10 or 11-bit resolution.
| int rc_dsm_channels | ( | void | ) |
fetches number of DSM channels currently being received.
| int rc_dsm_bind_routine | ( | void | ) |
Begins the binding routine and prints instructions to the screen along the way.
The user doesn't need to call this function unless they really want to. Use the rc_bind_dsm example program instead.
DSM satellite receivers are put into bind mode by sending them a sequence of pulses right after it receives power and starts up. This program puts the normally UART signal pin into GPIO pulldown mode temporarily, detects when the user unplugs and plugs back in the receiver, then sends the binding pulses.
The number of pulses dictates the mode the satellite receiver will request the transmitter to use. The transmitter may bind but use a different mode. I suggest configuring your radio to use DSMX 11ms fast mode if it allows that.
2048 & 1024 indicates 10 or 11 bit resolution. 11ms & 22ms indicates the time period between the transmitter sending frames. 11ms is required for transmitters with 8 or more channels.
Testing done with DX7s, DX6i, DX8, and Orange T-SIX
Table of Bind Modes
| pulses | mode |
|---|---|
| 3 | DSM 1024/22ms |
| 5 | DSM 2048/11ms |
| 7 | DSMX 1024/22ms |
| 9 | DSMX 2048/11ms |
This is a bit of a finicky process and may require a few attempts to work.
| int rc_dsm_calibrate_routine | ( | void | ) |
routine for measuring the min and max values from a transmitter on each channel and save to disk for future use.
If a channel isn't used by the transmitter then default values are saved. if the user forgot to move one of the channels during the calibration process then defualt values are also saved.
1.8.13