{"id":2299,"date":"2013-03-18T00:59:17","date_gmt":"2013-03-17T15:59:17","guid":{"rendered":"https:\/\/blog.eldhrimnir.com?p=2299"},"modified":"2013-03-18T19:28:30","modified_gmt":"2013-03-18T10:28:30","slug":"multiwii%e3%81%abarduino%e3%81%8b%e3%82%89rc%e4%bf%a1%e5%8f%b7%e3%82%92%e3%82%b7%e3%83%aa%e3%82%a2%e3%83%ab%e9%80%81%e4%bf%a1%e3%81%97%e3%81%a6%e3%81%ae%e3%82%b3%e3%83%b3%e3%83%88%e3%83%ad%e3%83%bc","status":"publish","type":"post","link":"https:\/\/blog.eldhrimnir.com\/?p=2299","title":{"rendered":"MultiWii\u306bArduino\u304b\u3089RC\u4fe1\u53f7\u3092\u30b7\u30ea\u30a2\u30eb\u9001\u4fe1\u3057\u3066\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb"},"content":{"rendered":"

\u672c\u6765\u306f\u7c21\u5358\u306bPPM\u4fe1\u53f7\u3067RC\u30c7\u30fc\u30bf\u3092\u5165\u529b\u3057\u3088\u3046\u3068\u4f01\u3093\u3067\u3044\u305f\u306e\u3067\u3059\u304c\u3001LED-Arrey\u3092\u642d\u8f09\u3057\u3088\u3046\u3068\u3057\u305f\u6240\u3069\u3046\u3057\u3066\u3082TLC5940\u3092\u7a4d\u307f\u305f\u304f\u306a\u308a\u2026\u3002\u305d\u3046\u3059\u308b\u3068\u3001\u30bf\u30a4\u30de\u30fc\u304c\u4f7f\u3048\u306a\u304f\u306a\u308a\u3001\u540c\u6642\u306b\u5272\u308a\u8fbc\u307f\u3082\u4f7f\u3048\u306a\u304f\u306a\u308a\u3001PPM\u5165\u529b\u304c\u4e0d\u5b89\u5b9a\u306adelay\u95a2\u6570\u3084micros()\u3092\u4f7f\u308f\u306a\u3044\u3068\u3044\u3051\u306a\u304f\u306a\u3063\u3066\u3057\u307e\u3046\u305f\u3081\u3057\u3087\u3046\u304c\u306a\u304f\u7f6e\u304d\u63db\u306e\u305f\u3081\u691c\u8a0e\u3002\u305f\u304b\u3060\u304b\u3001LED\u306e\u70b9\u706f\u306e\u305f\u3081\u306b\u5b89\u5b9a\u3057\u305f\u9001\u4fe1\u304c\u53ef\u80fd\u306a\u30bf\u30a4\u30de\u30fc\u3092\u4f7f\u3063\u305fPPM\u4fe1\u53f7\u3092\u6368\u3066\u3066micros()\u95a2\u6570\u3068\u304b\u4f7f\u3063\u3066\u98db\u884c\u3092\u4e0d\u5b89\u5b9a\u306b\u3057\u305f\u304f\u306a\u3044\u3002\u3060\u3068\u3059\u308b\u3068\u3001BT\u306e\u30c7\u30fc\u30bf\u53d7\u4fe1\u6642\u306b\u4f7f\u3063\u3066\u3044\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u5185\u3067\u305d\u306e\u307e\u307e\u30c7\u30fc\u30bf\u3092\u30b7\u30ea\u30a2\u30eb\u9001\u4fe1\u3057\u3066\u3042\u3052\u305f\u307b\u3046\u304c\u306f\u308b\u304b\u306b\u52b9\u7387\u304c\u826f\u304b\u308d\u3046\u3068\u3044\u3046\u3053\u3068\u3067\u306e\u691c\u8a3c\u3067\u3059\u3002<\/p>\n

MultiWii\u306e2.1\u4ee5\u964d\u306b\u306f\u300cMultiwii serial protocol\u300d\u306a\u3069\u3068\u3044\u3046\u3082\u306e\u304c\u5b9f\u88c5\u3055\u308c\u3066\u3044\u308b\u3088\u3046\u3067\u3053\u308c\u3092\u4f7f\u3063\u3066\u306ePC\u4fe1\u53f7\u306e\u5165\u529b\u304c\u53ef\u80fd\u3067\u3059\u306e\u3067\u3053\u308c\u3092\u4f7f\u3063\u3066\u30c6\u30b9\u30c8\u3057\u307e\u3059\u3002<\/p>\n

\u4fe1\u53f7\u306e\u5f62\u5f0f\uff1a$M>[data length]<\/span><\/strong><\/p>\n

[code][\/code]<\/p>\n

[data][checksum]<\/span><\/strong><\/p>\n

\u30d8\u30c3\u30c0\u30b3\u30fc\u30c9\uff1a’$”M’
\n\u30c7\u30fc\u30bf\u306e\u5411\u304d\uff1a'<‘ or ‘>’
\n\u30c7\u30fc\u30bf\u9577(data length)\uff1a\u30b3\u30de\u30f3\u30c9\u3067\u9001\u4fe1\u3059\u308b\u30c7\u30fc\u30bf\u9577\uff088\u30d3\u30c3\u30c81\u6587\u5b57\u63db\u7b97\uff09
\n\u30b3\u30fc\u30c9(code)\uff1a\u6307\u793a\u30b3\u30fc\u30c9\uff08\u8a73\u7d30\u306f\u4ee5\u4e0b\u300cMultiwii Serial Protocol Code\u300d\u53c2\u7167
\n\u30c7\u30fc\u30bf(data)\uff1a\u300c\u30c7\u30fc\u30bf\u9577\u300d\u3067\u6307\u5b9a\u3057\u305f\u6570\u306e\u30d1\u30e9\u30e1\u30fc\u30bf
\n\u30c1\u30a7\u30c3\u30af\u30b5\u30e0(checksum)\uff1a\u30c7\u30fc\u30bf\u9577\u304b\u3089\u30c7\u30fc\u30bf\u8fc4\u3092\u9806\u6b21XOR\u3057\u305f\u5024\u306e\u4e0b\u4f4d8\u30d3\u30c3\u30c8
\n\u203b\uff1a\u30b3\u30fc\u30c9(code)\u306b\u95a2\u3057\u3066\u306f\u3001MultiWii\u30d7\u30ed\u30b0\u30e9\u30e0\u5185\u306e\u300cSerial.ino\u300d\u306b\u60c5\u5831\u304c\u3042\u308b\u306e\u3067\u53c2\u7167<\/p>\n

\u4eca\u56de\u306e\u30c6\u30b9\u30c8\u69cb\u6210\u306f\u30b7\u30ea\u30a2\u30eb\u901a\u4fe1\u3067\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u304c\u53ef\u80fd\u304b\u3092\u8a66\u3059\u3060\u3051\u306a\u306e\u3067Bluetooth\u3067\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u306f\u8003\u3048\u305a\u306b\u7c21\u5358\u306b\u3057\u307e\u3059\u3002<\/p>\n

\uff08ATMega\u306f\u30b7\u30ea\u30a2\u30eb\u30c7\u30fc\u30bf\u3092\u4e2d\u7d99\u3059\u308b\u9014\u4e2d\u3067RC\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30c7\u30fc\u30bf\u3092\u8ffd\u52a0\u9001\u4fe1\u3057\u307e\u3059\uff09<\/p>\n

<\/p>\n

\u8272\u3005\u3068\u30c7\u30fc\u30bf\u306e\u9001\u53d7\u4fe1\u304c\u53ef\u80fd\u306a\u306e\u3067\u3059\u304c\u3001\u98db\u884c\u4e2d\u306b\u5236\u5fa1\u3057\u305f\u3044\u30d1\u30e9\u30e1\u30bf\u306f\u305d\u3093\u306a\u306b\u5fc5\u8981\u306a\u3044\u3068\u601d\u308f\u308c\u308b\u3057IMU\u5468\u308a\u306e\u30c7\u30fc\u30bf\u306f\u53d6\u5f97\u3057\u3066\u3082\u53d6\u5f97\u6642\u9593\u306e\u30ba\u30ec\u304b\u3089\u4f7f\u3048\u306a\u305d\u3046\u306a\u4e88\u611f\u304c\u3057\u307e\u3059\u3002 \u306a\u3069\u3068\u8003\u3048\u307e\u3057\u3066\u3001\u57fa\u672c\u7684\u306b\u306fRC\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30c1\u30e3\u30f3\u30cd\u30eb\u306e\u30c7\u30fc\u30bf\u3092\u6295\u3052\u3063\u3071\u306a\u3057\u306b\u3059\u308b\u3053\u3068\u3067\u7c21\u5358\u304b\u3064\u8efd\u91cf\u306b\u4ed5\u4e0a\u3052\u307e\u3059\u3002<\/p>\n

\u25a0\u63a5\u7d9a\u30a4\u30e1\u30fc\u30b8<\/p>\n

\"\u30af\u30ea\u30c3\u30d7\u30dc\u30fc\u30c9\"<\/a><\/p>\n

\u25a0\u30b3\u30fc\u30c9<\/p>\n

[sourcecode]<\/p>\n

\/\/ RC Control
\nint lastRCSend;
\nstatic int16_t rcData[8]; \/\/ interval [1000;2000]<\/p>\n

\/\/ Debug
\n#define LED_PIN 13 \/\/ debug<\/p>\n

\/\/ initialize
\nvoid setup() {<\/p>\n

\/\/ initialize serial:
\n Serial.begin(115200);
\n Serial1.begin(115200);<\/p>\n

\/\/ initialize PIN_MODE
\n #if defined(LED_PIN)
\n pinMode(LED_PIN, OUTPUT);
\n #endif
\n}
\n\/\/ main loop
\nvoid loop() {<\/p>\n

\/\/ MCU-FCU SerialTransmit
\n uint8_t length_Rx = Serial.available();
\n uint8_t str_box_Rx[length_Rx-1];
\n for(uint8_t i = 0; i &lt; length_Rx; i++){
\n str_box_Rx[i]=Serial.read();
\n }
\n Serial1.write(str_box_Rx,length_Rx);<\/p>\n

\/\/ MCU-FCU SerialReceive
\n uint8_t length_Tx = Serial1.available();
\n uint8_t str_box_Tx[length_Tx-1];<\/p>\n

for(uint8_t i = 0; i &lt; length_Tx; i++) {
\n str_box_Tx[i]=Serial1.read();
\n }
\n Serial.write(str_box_Tx,length_Tx);<\/p>\n

\/\/ RC Control Data Send
\n if ((millis() % 100) == 0){
\n for(uint8_t i=0;i&lt;8;i++) {
\n rcData[i] = random(1000,2000);
\n }
\n sendrcData();
\n }<\/p>\n

\/\/ Debug LED Print
\n #if defined(LED_PIN)
\n if ((millis() % 1000) == 0){
\n digitalWrite(LED_PIN,!digitalRead(LED_PIN));
\n }
\n #endif
\n}<\/p>\n

\/\/ *******************************************************
\n\/\/ Interrupt driven UART transmitter – using a ring buffer
\n\/\/ *******************************************************
\n#define TX_BUFFER_SIZE 32<\/p>\n

static volatile uint8_t headTX,tailTX;
\nstatic uint8_t bufTX[TX_BUFFER_SIZE];<\/p>\n

\/\/ Multiwii Serial Protocol 0
\n#define MSP_SET_RAW_RC 200 \/\/in message 8 rc chan<\/p>\n

static uint8_t checksum;
\nstatic uint8_t cmdMSP;<\/p>\n

void headSerial_Tx(uint8_t s) {
\n serialize8(‘$’);
\n serialize8(‘M’);
\n serialize8(‘&lt;’);
\n checksum = 0; \/\/ start calculating a new checksum
\n serialize8(s);
\n serialize8(cmdMSP);
\n}
\nvoid tailSerial_Tx() {
\n serialize8(checksum);
\n UartSendData();
\n}
\nvoid sendrcData(){
\n cmdMSP = MSP_SET_RAW_RC;
\n headSerial_Tx(16);
\n for(uint8_t i=0;i&lt;8;i++) serialize16(rcData[i]);
\n tailSerial_Tx();
\n}
\nvoid serialize16(int16_t a) {
\n serialize8((a ) &amp; 0xFF);
\n serialize8((a&gt;&gt;8) &amp; 0xFF);
\n}<\/p>\n

void serialize8(uint8_t a) {
\n uint8_t t = headTX;
\n if (++t &gt;= TX_BUFFER_SIZE) t = 0;
\n bufTX[t] = a;
\n checksum ^= a;
\n headTX = t;
\n}<\/p>\n

void UartSendData() {
\n while(headTX != tailTX) {
\n if (++tailTX &gt;= TX_BUFFER_SIZE) tailTX = 0;
\n uint8_t* p = bufTX+tailTX;
\n Serial1.write(p,1);
\n }
\n}<\/p>\n

[\/sourcecode]<\/p>\n

\u4eca\u56de\u306e\u30c6\u30b9\u30c8\u30b3\u30fc\u30c9\u306fRC\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30c1\u30e3\u30f3\u30cd\u30eb8ch\u306b\u5bfe\u3057\u3066\u30e9\u30f3\u30c0\u30e0\u306b\u751f\u6210\u3057\u305f\u6570\u5024(1000-2000)\u306e\u5024\u3092\u9001\u4fe1\u3059\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u3068\u3057\u3066\u3044\u307e\u3059\u3002\uff08MultiWii\u306e\u300cSerial.ino\u300d\u304b\u3089\u5fc5\u8981\u306a\u90e8\u5206\u3060\u3051\u629c\u304d\u51fa\u3057\u3066\u4fee\u6b63\uff09
\n\u203b\uff1a\u5b9f\u969b\u306e\u98db\u884c\u30b3\u30fc\u30c9\u306b\u95a2\u3057\u3066\u306fPS3\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u304b\u3089\u306e\u30c7\u30fc\u30bf\u3092Bluetooth\u3067\u53d7\u4fe1\u3057\u3066\u5024\u3092\u5909\u63db\u3057\u305f\u4e0a\u3067\u6570\u5024\u30c7\u30fc\u30bf\u3092\u5165\u529b\u3057\u307e\u3059\u3002<\/p>\n

\u7d44\u307f\u5408\u308f\u305b\u3066\u3042\u3052\u308c\u3070\u52d5\u304f\u3088\u3046\u306b\u306a\u308b\u3068\u601d\u308f\u308c\u307e\u3059\u306e\u3067\u7d50\u679c\u3092\u5143\u306b\u3057\u3066\u56de\u8def\u69cb\u6210\u3068\u57fa\u677f\u306e\u30ec\u30a4\u30a2\u30a6\u30c8\u3092\u8003\u3048\u3066\u3044\u304d\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002\u6700\u5927\u306e\u554f\u984c\u306f\u57fa\u677f\u306b\u5168\u90e8\u56de\u8def\u304c\u4e57\u308b\u306e\u304b\uff1f\u3068\u8a00\u3046\u3053\u3068\u306a\u306e\u3067\u3059\u304c\u3001\u6700\u60aa\u3001\u57fa\u677f2\u679a\u91cd\u306d\u3068\u3057\u3066\u6a5f\u80fd\u3092\u4e00\u90e8\u30b5\u30d6\u30dc\u30fc\u30c9\u306b\u79fb\u884c\u3067\u3059\u304b\u306d\u2026\u3002<\/p>\n

\u25a0\u53c2\u8003\u60c5\u5831<\/p>\n

MultiWii ? View topic – New Multiwii Serial Protocol<\/a><\/p>\n

\u30de\u30eb\u30c1\u30b3\u30d7\u30bf\u30fc\u3000MultiWii Ver2.1\u901a\u4fe1\u30d7\u30ed\u30c8\u30b3\u30eb\u5bfe\u5fdc\u3000\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u958b\u767a<\/a><\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"

\u672c\u6765\u306f\u7c21\u5358\u306bPPM\u4fe1\u53f7\u3067RC\u30c7\u30fc\u30bf\u3092\u5165\u529b\u3057\u3088\u3046\u3068\u4f01\u3093\u3067\u3044\u305f\u306e\u3067\u3059\u304c\u3001LED-Arrey\u3092\u642d\u8f09\u3057\u3088\u3046\u3068\u3057\u305f\u6240\u3069\u3046\u3057\u3066\u3082TLC5940\u3092\u7a4d\u307f\u305f\u304f\u306a\u308a\u2026\u3002\u305d\u3046\u3059\u308b\u3068\u3001\u30bf\u30a4\u30de\u30fc\u304c\u4f7f\u3048\u306a\u304f\u306a\u308a\u3001\u540c\u6642\u306b\u5272\u308a\u8fbc\u307f\u3082\u4f7f\u3048\u306a\u304f\u306a\u308a\u3001PPM […]<\/p>\n","protected":false},"author":3,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[25,16],"tags":[],"_links":{"self":[{"href":"https:\/\/blog.eldhrimnir.com\/index.php?rest_route=\/wp\/v2\/posts\/2299"}],"collection":[{"href":"https:\/\/blog.eldhrimnir.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blog.eldhrimnir.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blog.eldhrimnir.com\/index.php?rest_route=\/wp\/v2\/users\/3"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.eldhrimnir.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2299"}],"version-history":[{"count":0,"href":"https:\/\/blog.eldhrimnir.com\/index.php?rest_route=\/wp\/v2\/posts\/2299\/revisions"}],"wp:attachment":[{"href":"https:\/\/blog.eldhrimnir.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2299"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blog.eldhrimnir.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2299"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blog.eldhrimnir.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2299"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}