Arduino CW Keyer Radio Artisan. Updated 2. 01. 7 0. This is an open source Arduino based CW Morse Code keyer with a lot of features and flexibility, rivaling commercial keyers which often cost significantly more. The code can be used with a full blown Arduino board or an AVR microcontroller chip can be programmed and used directly in a circuit. This keyer is suitable as a standalone keyer or for use permanently installed inside a rig, especially homebrew QRP rigs. Its open source code so you can fully customize it to fit your needs and also perhaps learn from it or find coding ideas for other projects. A circuit board and parts kits called the nano. Eagle Pcb G Code Download' title='Eagle Pcb G Code Download' />Keyer is available from DJ0. MY, and Hamshop offers a kit called Open CW Keyer which uses this software. Remote. QTH also offers the Open Interface which runs this code. Consult this page for code support information. PCB software. Printed circuit boards how to design them at home or school. Calculate prices for PCBs by Beta LAYOUT directly in EAGLE with EAGLE version 5. PCBPOOL Button installation guide PDF guide 181 KB. Features. CW speed adjustable from 1 to 9. WPMUp to six selectable transmitter keying lines. Programming and interfacing via USB port command line interfaceUSB or PS2 Keyboard Interface for CW keyboard operation without a computer. Logging and Contest Program Interfacing via K1. EL Winkey 1. 0 and 2. Optional PTT outputs with configurable lead, tail, and hang times. Optional LCD Display Classic 4 bit mode , Adafruit I2. C RGB display or Your. Duino I2. C LCD Display. Eagle Pcb G Code Download' title='Eagle Pcb G Code Download' />Up to 1. Serial numbers. CW keyboard via a terminal server program like Putty or the Arduino Serial programSpeed potentiometer optional speed also adjustable with commandsQRSS and HSCWBeacon Fox mode. Iambic A and BStraight key support. Single Paddle. Ultimatic mode. Bug mode. CMOS Super Keyer Iambic B Timing. Paddle reverse. Hellschreiber mode keyboard sending, memory macro, beaconFarnsworth Timing. More flight video in the final Step The idea of making a PCBbased quadrotor isnt unique see links below for other examples, and 4pcb definitely isnt the. Adjustable frequency sidetone. Sidetone disable sidetone highlow output for keying outboard audio oscillator. Command mode for using the paddle to change settings, program memories, etc. Keying Compensation. Dah to Dit Ratio adjustment. Weighting. Callsign receive practice. Send practice. Memory stackingDead Operator WatchdogAutospace. Wordspace Adjustment. Pre configured and Custom Prosigns. Non volatile storage of most settings. Modular code design allowing selection of features and easy code modification. Non English Character Support. CW Receive Decoder. Rotary Encoder Speed Control. Sleep Mode. USB Mouse Support. Alphabet Sending Practice. QLF Messy Straight Key Emulation. USB Keyboard HID Human Interface Device Interface Keyer keyboard for your computerWeb Interface. Training Module Some videos featuring the keyer Basic Schematic Click to EnlargeNote Ignore the numbers on the outside of the Arduino symbol and refer to the numbers within the box for pin connections i. D2, D3, A0, etc.  All capacitor values are in microfarads u. F, unless otherwise stated. No values are super critical and typical tolerance components may be used. K ohm resistors are better suited than the 1. Use 1k resistors I am in the process of updating the schematic. A Fritzing breadboard plan of the keyer. KF4. BZT Article  Good information for new builders DL1. SMF Keyer Project English. Deutsch Stefan has details on his hardware which is pin compatible with this software and his own software. Jeff, AC0. C, wrote of his efforts to find a CW keyer with an Old School Feel. Barry, ZS2. EZ, published a web page on his K3. NG CW Keyer build, including a schematic and PC board artwork. Still reading You should go to the wiki Connecting the Keyer. Here are the main pins you need to connect up to get started Left Paddle pin 2 connect to your left paddle grounding will send ditsRight Paddle pin 5 connect to your right paddle grounding will send dahsTransmitter Key pin 1. TX key. Sidetone pin 4 this outputs square wave sidetone to drive a speaker schematic coming out shortly for driving with a transistor. The sidetone can be deactivated on transmit for transmitters that generate their own sidetone. The command button pin A1 and at least R7. Memory buttons, up to 1. Add buttons and resistors R8, R9, R1. You can do just a few memory buttons, all 1. Additional pins you may be interested in for other functionality PTT push to talk described in more detail belowAdditional TX Key lines for multi transmitter capability. Potentiometer Speed Control pin A0 connect one end of the pot to 5. V, the other end to ground, and connect the wiper to pin A0. Rotary Encode Speed Control no default pins are defined two pins are required, defined by rotarypin. All pins can be easily changed at the beginning of the code if desired, though note that if the PS2 keyboard functionality is used, the clock pin must remain at pin 3 due to interrupt requirements. Optional I2. C functionality uses pins A4 and A5 avoid using these pins if you plan to add the Adafruit I2. C LCD display now or in the future. Configuring the Keyer Code. Starting with stable release Version 2. Radio Artisan group asks you to enable debugging and post the debug logs for troubleshooting purposeskeyer. This is for defining custom or preset configurations. More detail is below. Dont touch this file. Youll shoot your eye out. This may look complicated and daunting at first, however the instructions below go into detail on what to configure at compile time in order to get the features you want, so dont fear. It is recommended to start with a minimal software and hardware feature set, then add additional features as needed or if you just want to play around. Be patient and youll be rewarded with a darn fun and useful keyer. Command Buttons. To enable the command buttons, uncomment this line in keyerfeaturesandoptions. FEATURECOMMANDBUTTONSButton 0 is the command button. Pressing it will put the keyer into command mode which is described in detail below. Holding down the command button and pressing the left or right paddles will increase or decrease the CW speed. Buttons 1 through 1. To have a memory autorepeat such as for doing a repetitive CQ, hold down the memory button and tap the left paddle. Holding buttons 1 through 6 down for a half second will switch the transmitter 1 through 6, if multiple PTT lines are enabled. Buttons are multiplexed on one analog line using a voltage divider. You do not have to install all the buttons, and you can actually configure the number of buttons by changing this compile time setting in keyersettings. Two other settings are used to define the voltage divider resitor values define analogbuttonsr. R7 in the schematic in K kilo ohms, and analogbuttonsr. R8, R9, R1. 0, R1. R1. 2, etc. The code calculates the voltage values for each button at runtime based on the three settings above. If you decide to use other resistor values you can adjust these values in the code, just be sure to do the math and make sure the resistors you chose make reasonable voltages and currents. Command Mode. To enter command mode, press button 0, the command button and you will hear a boop beep, after which you can enter various commands by sending character using the paddle. Note that if youre in bug or straight key mode, you will temporarily be switched to iambic in command mode. If you enter a bogus command or the keyer didnt recognize the character you sent, it will send a question mark, upon which you can retry your command. To exit command mode, send X in CW using the paddles or just press the command button again upon which you will hear beep boop and youll be back in regular sending mode. A Switch to Iambic A mode. B Switch to Iambic B mode. C Switch to Single Paddle mode. D Switch to Ultimatic mode. E Announce the speed in WPM. F Adjust sidetone frequency. G Switch to bug mode. I TX enable disable. J Dah to dit ratio adjust. N Toggle paddle reverse. O Toggle sidetone on off. P Program a memory. S Alphabet Send Practice. V Toggle potentiometer active inactive. W Change speed. PCB Quadrotor Brushless 2. Steps with PicturesIn an ideal world, you could just take the four inputs throttle, pitch, roll, yaw and directly map them to the four motor outputs using the command matrix from the previous step. But there are some things which make it impractical to do this in real life 1. Disturbances such as wind and non idealities such as differences in the motors and propellers cause the real life dynamics to be noisy and variable. Direct command mapping doesnt take these into account, and our mind, eyes, and hands might not be fast enough to react to these in real time, especially on a small quadrotor. We want the quadrotor to have some degree of autonomy. Particularly, it would be nice if the quadrotor could self level, returning to nearly horizontal when we command zero pitch, roll, and yaw. With direct mapping, we are commanding the quadrotor to rotate but it wont know to return to horizontal when were done. This is where feedback control comes in. Despite its complex mathematical notations, the concept of feedback control is simple. Imagine washing your hands in a sink youve never used before. You set the faucet knob to some middle position. If the waters too cold, you turn it up. If the waters too warm, you turn it down. How much you turn it up or down depends on how hot or cold it is compared to your liking. If the water starts cold, but then rapidly heats up, you may preemptively turn the knob back down to prevent it from overshooting and burning your hands. All these concepts are mathematically formalized in feedback control. Feedback Control on a Quadrotor A common structure for feedback control is called PID Proportional Integral Derivative control. The thing to be controlled in this case is the angle pitch, roll, or yaw angle of the quadrotor. This is analogous to the temperature of the water in the sink. With no input commands, we try to control the angle to be zero. However, we can also command a non zero angle to make the quadrotor move. The commands we send to the motors are based on the error between the angle we want and the angle we actually have, as measured by the IMU. Proportional P The command is proportional to how much angular error we have. It helps return the quadrotor to zero angle, or push it to whatever angle you command. Integral I The command is proportional to the accumulated error over time. It can help fight disturbances like wind or asymmetric motor performance. I dont use this on my quad, although I left placeholder code for it in the Arduino project. Derivative D The command is proportional to the rate of change of the error. It resists motion and it keeps the angle from overshooting the target. Mass Spring Damper Analogy The effects of PD control no integral term on a quadrotor are similar to adding a virtual spring and virtual damper shock absorber to the quadrotor, which is the mass. See the first image for a graphical depiction of this. The spring stiffness is set by a constant, Kp, the proportional gain. The damping rate is set by another constant, Kd, the derivative gain. The desired angle, r, defines the angle at which the springs are evenly stretched. Imagine attaching the springs to a movable plank, and rotating the plank to command the quadrotor to go to a certain angle. Increasing Kp pushes the quadrotor toward the reference angle faster, but can also result in more overshoot and oscillation. Increasing Kd slows down the rotation rate of the quadrotor, but can also damp out oscillations. Note that the gains can be increased to a point where this model breaks down. If Kp, Kd, or both are too high, the controller will start amplifying noise, leading to oscillations and instability. These oscillations tend to be at a faster frequency than the oscillations that would be seen from a high Kp Kd ratio. If you see fast oscillations, the best thing to do is turn both gains down. Tuning the gains takes practice and experience, and depends on your exact frame and flying preference. A really good guide to PID tuning for multirotors, with video example to show the various types of oscillations, can be found here. Hopefully, the springdamper analogy helps you think about the gains intuitively. The error only exists in software and computing the derivative of it can be noisy. Practically speaking, using the measured rate of rotation directly from the gyro works just fine. To map this into the mass spring damper analogy, the dampers are connected to ground zero angle instead of to the plank. In this configuration, they resist all rotation, even commanded rotation. Pitch, Roll, and Yaw Controllers The quadrotor actually has three independent feedback controllers, one each for pitch, roll, and yaw. Throttle is directly mapped to all four motors with no feedback control in this quadrotor. Rags Designer Serial Killer. With an altitude sensor, a fourth feedback controller could be added. The pitch and roll controllers are PD controllers that match up exactly with the first image. To the extent that the quadrotor is symmetric, the pitch and roll gains should be the same. The outputs from the proportional and the derivative gains are summed together and sent to the motors through the command matrix in the previous Step. The second image shows the pitch and roll PD controllers in block diagram form. The variables are Kp Proportional Gain. Kd Derivative Gainr ReferenceCommand Angle Measured Angle from the IMU Measured Rate of Rotation from the IMU. The output command. The yaw controller is only based on rate, so it doesnt exactly match the images. The error is just the difference between the commanded yaw rate and the measured yaw rate from the IMU. The magnetometer in the IMU could be used to measure absolute yaw angle to implement a full PD controller, but I havent tried this yet.