Hi,
I am hoping that someone might be able to help me here. I have all the parts to complete this project and have tested the code. I have been able to get the keypad working however when it came to moving servos with the joysticks I could move them so far and them nothing!!! It like the recever would not respond!!! I had no problem doing the bind between the TX & RX but i think it might be the different readings of the joysticks themselves. I got them from Lynxmotion (Part No: GIM-02) and when I did some A/D reading of the pots it got 0 - 1024 on the X & Y axes.
So my question is has someone here used these joysticks??? Is it possible that you made be able to help me to get the correct readings so then I can adjust the code posted to get this thing working. Is there something I have misted!!!
Here is the code I have been using. Its from page 14 from that post.
Greg
[code];Description: Lynxmotion costum RC radio
;Software version: V1.1
;Date: 29-12-2008
;Programmer: Jim Frye (aka RobotDude), Kurt (aka Kurte), Jeroen Janssen (aka Xan)
;
;Hardware setup: ABB2 with ATOM 28 Pro, Spectrum DM8, 2 joysticks, 2 sliders, HEX keypath, display
;
;NEW IN V1.0
; - As released
;
;NEW IN V1.1
; - Added calibration sub. Calibrates the joysticks at powerup. (Xan)
; CAUTION: Be sure that the left joystick is in the outer down position by powerup!
; - Added small offset at the pulses to decrease the send error. (Xan)
; - Added Alive meganism. Sends 1000 on the buttons channel every 4 cycles
;
;New in V1.2
; - More use of arrays and zero index variable names (Kurt)
; - Assembly language output of pulses - should be vary accurate (Kurt)
; - Removed alive function
; - calibrate of left joystick up/down has a little validation.
; - Add Bind function, set pulses to predefined values to bind with,
; Once bound with this, this is the values will use if it loses connection
; with transmitter.
; If Receiver is powered up without transmitter, all channels will go to default
; except for channel 0 (Throttle - by manual). If receiver loses contact with
; receiver channel 0 will go to default.
;
;KNOWN BUGS:
; - None at the moment 
;
;====================================================================
Display con 8
Speaker con 9
Row0 con 10
Row1 con 11
Row2 con 12
Row3 con 13
DM8PPM con 15 ; Spectrum DM8 signal
;DO_IN_BASIC con 1
#ifndef DO_IN_BASIC
PULSE_FIX con 20
#else
PULSE_FIX con 20
#endif
Calibrated var bit
ChaVals var word(7)
ChaOffset var word(6)
iFudge var byte ; used as an array index in our fudge values code
wButtonPulseWidth var word
keypress var byte
col1 var bit
col2 var bit
col3 var bit
col4 var bit
; create variables for averaging code
index var byte
buffer0 var word(8)
buffer1 var word(8)
buffer2 var word(8)
buffer3 var word(8)
buffer4 var word(8)
buffer5 var word(8)
sum0 var word
sum1 var word
sum2 var word
sum3 var word
sum4 var word
sum5 var word
input p4
input p5
input p6
input p7
output p10
output p11
output p12
output p13
; initialize each buffer element, each sum, and then index to 0
for index = 0 to 7
buffer0(index) = 542
buffer1(index) = 542
buffer2(index) = 542
buffer3(index) = 542
buffer4(index) = 542
buffer5(index) = 542
next
sum0 = 4336
sum1 = 4336
sum2 = 4336
sum3 = 4336
sum4 = 4336
sum5 = 4336
index = 0
; chirpy squeak kinda thing
sound Speaker, [100\880, 100\988, 100\1046, 100\1175] ;musical notes, A,B,C,D.
; wake up the Matrix Orbital display module
serout Display ,i19200, [254, 66, 0] ;Backlight on, no timeout.
serout Display ,i19200, [254, 64, “The D-I-Y 2.4ghzRobot Radio Set!”] ;startup screen. Do only once…
pause 3000
; Mark for calibration
Calibrated = 0
; initialize the ppm output signal
low DM8PPM
; check to see if we should do a bind operation
gosub CheckKeypad
if wButtonPulseWidth <> 1100 then
gosub DoRadioBind
endif
;====================================================================
; — top of main loop —
start:
gosub CheckKeypad
ChaVals(6) = wButtonPulseWidth
; averaging expects that the a/d values are < 4096
; for each channel
; read the a/d
; subtract the previous value from 8 samples ago from the sum
; store the new value in the circular buffer
; add the new value to the sum
; divide the sum by 8 to get the average value
; convert joystick values 392 - 692 to servo values 1000uS - 2000uS
adin 2, ChaVals(0) ; right vertical 16
sum0 = sum0 - buffer0(index)
buffer0(index) = ChaVals(0)
sum0 = sum0 + ChaVals(0)
ChaVals(0) = sum0 / 8
ChaVals(0) = (((ChaVals(0)*42)-6500)/10)
ChaVals(0) = ChaVals(0) + chaOffset(0)
adin 3, ChaVals(1) ; right horizontal 17
sum1 = sum1 - buffer1(index)
buffer1(index) = ChaVals(1)
sum1 = sum1 + ChaVals(1)
ChaVals(1) = sum1 / 8
ChaVals(1) = (((ChaVals(1)*42)-6500)/10)
ChaVals(1) = ChaVals(1) + chaOffset(1)
adin 0, ChaVals(2) ; left vertical 18
sum2 = sum2 - buffer2(index)
buffer2(index) = ChaVals(2)
sum2 = sum2 + ChaVals(2)
ChaVals(2) = sum2 / 8
ChaVals(2) = (((ChaVals(2)*42)-6500)/10)
ChaVals(2) = ChaVals(2) + chaOffset(2)
adin 1, ChaVals(3) ; left horizontal 19
sum3 = sum3 - buffer3(index)
buffer3(index) = ChaVals(3)
sum3 = sum3 + ChaVals(3)
ChaVals(3) = sum3 / 8
ChaVals(3) = (((ChaVals(3)*42)-6500)/10)
ChaVals(3) = ChaVals(3) + chaOffset(3)
adin 18, ChaVals(4) ; Left slider
sum4 = sum4 - buffer4(index)
buffer4(index) = ChaVals(4)
sum4 = sum4 + ChaVals(4)
ChaVals(4) = sum4 / 8
ChaVals(4) = ChaVals(4) + 988
adin 19, ChaVals(5) ; Right slider
sum5 = sum5 - buffer5(index)
buffer5(index) = ChaVals(5)
sum5 = sum5 + ChaVals(5)
ChaVals(5) = sum5 / 8
ChaVals(5) = ChaVals(5) + 988
; finally increment the index and limit its range to 0 to 7.
index = (index + 1) & 7
if Calibrated=1 then
; update the display module
branch index, [update1,update2,update3,update4,update5,update6,update7,update8]
update8:
update7:
serout Display, i19200, [254, 71, 11, 1, keypress]
goto makepulses
update6:
if ChaVals(5)<1000 then
serout Display, i19200, [254, 71, 6, 2, " ", dec ChaVals(5)]
else
serout Display, i19200, [254, 71, 6, 2, dec ChaVals(5)]
endif
goto makepulses
update5:
if ChaVals(4)<1000 then
serout Display, i19200, [254, 71, 6, 1, " ", dec ChaVals(4)]
else
serout Display, i19200, [254, 71, 6, 1, dec ChaVals(4)]
endif
goto makepulses
update4:
if ChaVals(3)<1000 then
serout Display, i19200, [254, 71, 1, 2, " ", dec ChaVals(3)]
else
serout Display, i19200, [254, 71, 1, 2, dec ChaVals(3)]
endif
goto makepulses
update3:
if ChaVals(2)<1000 then
serout Display, i19200, [254, 71, 1, 1, " ", dec ChaVals(2)]
else
serout Display, i19200, [254, 71, 1, 1, dec ChaVals(2)]
endif
goto makepulses
update2:
if ChaVals(1)<1000 then
serout Display, i19200, [254, 71, 13, 2, " ", dec ChaVals(1)]
else
serout Display, i19200, [254, 71, 13, 2, dec ChaVals(1)]
endif
goto makepulses
update1:
if ChaVals(0)<1000 then
serout Display, i19200, [254, 71, 13, 1, " ", dec ChaVals(0)]
else
serout Display, i19200, [254, 71, 13, 1, dec ChaVals(0)]
endif
goto makepulses
; build and send the ppm output
makepulses:
gosub GeneratePulses
endif
if Calibrated=0 & index=0 then
gosub Calibrate
endif
; do it again ad infinitum
goto start
;------------------------------------------------------------------------------
; Generate Pulse function
;
; Variables used: ChanVals array has the pulse widths in us
GeneratePulses:
#ifndef DO_IN_BASIC
; fudge the values. It looks like the transmitter may not fully accuratly take
; the signals in and give them out 100% correctly. So try to fudge…
for iFudge = 0 to 6
ChaVals(iFudge) = chaVals(iFudge) - 3 + (ChaVals(iFudge)-988)/70
next
output DM8PPM
; The DM8PPM pin should already be configured for output…
; This is P15 on BAP which is P87 on the underlying H8/3694
; transistion to assembly language.
; fist setup loop counters and the like before we manipulate the IO port
mov.l #CHAVALS:32, er3 ; er3 has pointer to our array of desired values
mov.b #7, r2l ; r2l has count of how many channels we wish to output
bset.b #7,@PCR8:8 ; make sure set to output, basic should have done earlier!
_MP_LOOP:
bset.b #7,@PDR8:8 ; (L8)set P15 high (Low over head here 26)
mov.w #200, r1 ; (H4) - We want to pause 400 .5us (pauseus does .5 us)
nop ; (H2)
nop ; (H2)
nop ; (H2)
nop ; (H2)
jsr @_MP_PAUSE:24 ; (H8) - Call our wait function.
bclr.b #7,@PDR8:8 ; (H8) Go low again - so high overhead here (26)
mov.w @er3+, r1 ; (L6) Get the wait count for current channel from array and increment array pointer
sub.w #400, r1 ; (L4) subtract off our high pulse widths…
jsr @_MP_PAUSE:24 ; (L8) call our wait function
dec.b r2l ; (L2) decrement our counter for how many items to output
bne _MP_LOOP:8 ; (L4) still more channels to output
; loop is done, need to do trailing pulse
bset.b #7,@PDR8:8 ; (8)set P15 high
mov.w #200, r1 ; (4) - We want to pause 400
jsr @_MP_PAUSE:24 ; (8) - Call our wait function.
bclr.b #7,@PDR8:8 ; (8) Go low again
bra _MP_DONE:8 ; we are done!
; internal assembly function to wait a number of us
; Overhead of setup and call to here: 28 or 30
; setup and return overhead: 20: so total of 48/16 = 3us
; add/subtract some fudge
_MP_PAUSE:
sub.w #3, r1 ; (4) - subtract call/setup overhead from counter
shal.w r1 ; (2) - will multply by 16 to get clock cycles
shal.w r1 ; (2) - Should be safe max value ~2000
shal.w r1 ; (2)
shal.w r1 ; (2)
nop ; fudge
nop ;
_MP_PAUSE_LOOP:
sub.w #8, r1 ; (4) - decrement the time per loop cycle from loop
bne _MP_PAUSE_LOOP:8 ; (4) - hard spin in the loop. - since round number can simply test for zero
rts ; (8) - return
_MP_DONE:
; will fall through to return and transition back into basic
#else
ChaVals(0) = (((ChaVals(0)-PULSE_FIX)*2)-800) ; right vertical
ChaVals(1) = (((ChaVals(1)-PULSE_FIX)*2)-800) ; right horizontal
ChaVals(2) = (((ChaVals(2)-PULSE_FIX)*2)-800) ; left vertical
ChaVals(3) = (((ChaVals(3)-PULSE_FIX)*2)-800) ; left horizontal
ChaVals(4) = (((ChaVals(4)-PULSE_FIX)*2)-800)
ChaVals(5) = (((ChaVals(5)-PULSE_FIX)*2)-800)
ChaVals(6) = ((ChaVals(6)*2)-800)
high DM8PPM ;pulsout 15,800
pauseus 400
low DM8PPM
pauseus ChaVals(0)
high DM8PPM ;pulsout 15,800
pauseus 400
low DM8PPM
pauseus ChaVals(1)
high DM8PPM ;pulsout 15,800
pauseus 400
low DM8PPM
pauseus ChaVals(2)
high DM8PPM ;pulsout 15,800
pauseus 400
low DM8PPM
pauseus ChaVals(3)
high DM8PPM ;pulsout 15,800
pauseus 400
low DM8PPM
pauseus ChaVals(4)
high DM8PPM ;pulsout 15,800
pauseus 400
low DM8PPM
pauseus ChaVals(5)
high DM8PPM ;pulsout 15,800
pauseus 400
low DM8PPM
pauseus ChaVals(6)
high DM8PPM ;pulsout 15,800
pauseus 400
low DM8PPM
#endif
return
;------------------------------------------------------------------------------
; CheckKeypad function
;
; Variables updated:
; wButtonPulseWidth - The pulse width
; keypress - the ascii value associated with that key.
CheckKeypad:
low Row0
high Row1
high Row2
high Row3
col1 = in4
col2 = in5
col3 = in6
col4 = in7
;Read buttons
if col1 = 0 then
wButtonPulseWidth = 1200; 1
keypress = “1”
elseif col2 = 0
wButtonPulseWidth = 1250; 2
keypress = “2”
elseif col3 = 0
wButtonPulseWidth = 1300; 3
keypress = “3”
elseif col4 = 0
wButtonPulseWidth = 1650; A
keypress = “A”
else
high Row0
low Row1
col1 = in4
col2 = in5
col3 = in6
col4 = in7
if col1 = 0 then
wButtonPulseWidth = 1350; 4
keypress = “4”
elseif col2 = 0
wButtonPulseWidth = 1400; 5
keypress = “5”
elseif col3 = 0
wButtonPulseWidth = 1450; 6
keypress = “6”
elseif col4 = 0
wButtonPulseWidth = 1700; B
keypress = “B”
else
high Row1
low Row2
col1 = in4
col2 = in5
col3 = in6
col4 = in7
if col1 = 0 then
wButtonPulseWidth = 1500; 7
keypress = “7”
elseif col2 = 0
wButtonPulseWidth = 1550; 8
keypress = “8”
elseif col3 = 0
wButtonPulseWidth = 1600; 9
keypress = “9”
elseif col4 = 0
wButtonPulseWidth = 1750; C
keypress = “C”
else
high Row2
low Row3
col1 = in4
col2 = in5
col3 = in6
col4 = in7
if col1 = 0 then
wButtonPulseWidth = 1150; 0
keypress = “0”
elseif col2 = 0
wButtonPulseWidth = 1900; F
keypress = “F”
elseif col3 = 0
wButtonPulseWidth = 1850 ; E
keypress = “E”
elseif col4 = 0
wButtonPulseWidth = 1800; D
keypress = “D”
else
wButtonPulseWidth = 1100; None is pushed
keypress = " "
endif
endif
endif
endif
return
;====================================================================
;Calibrates middle positions of the sticks to 1500
;Calibrates left vertical stick to be total down
Calibrate:
serout Display, i19200, [254, 88] ;clear screen
serout Display, i19200, [254, 0, “Calibrating…”]
pause 1000
ChaOffset(0) = 1500 - ChaVals(0) ; right vertical 16
ChaOffset(1) = 1500 - ChaVals(1) ; right horizontal 17
; special care for this one as user(me) may forget to put down to bottom
; if (chaVals(2) > 975) and (chaVals(2) < 1125) then
ChaOffset(2) = 1000 - ChaVals(2) ; left vertical 18
; else
; ChaOffset(2) = 0
; endif
ChaOffset(3) = 1500 - ChaVals(3) ; left horizontal 19
serout Display, i19200, [254, 88] ;clear screen
; Mark as calibrated
Calibrated=1
return
;------------------------------------------------------------------------------
; DoRadioBind function
;
; This function will set the 7 channels to fixed values that are transmitted
; This is used when the user is trying to bind the transmitter to the receiver
; Once bound, the receiver will use these values whenever it loses contact
; with the transmitter. This will allow us to have code on the receiver side
; that can detect this and put the robot into a safe state.
;
; TBD: Could allow the values to be set by each user, by where the sticks are, or
; could use keypad to enter…
;
; This function does not return.
DoRadioBind:
serout Display, i19200, [254, 88] ;clear screen
serout Display ,i19200, [254, 0, “>>Radio Bind!<<”] ;startup screen. Do only once…
while 1
ChaVals = 1500, 1500, 800, 1500, 988, 988, 2000
gosub GeneratePulses ; output pulses.
pause 6 ; not sure
wend
return ; will never happen![/code]