not include takeoff
Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of AutoFlight2017_now2 by
sbus/sbus.h@2:f5f33eb8d44b, 2018-09-09 (annotated)
- Committer:
- HARUKIDELTA
- Date:
- Sun Sep 09 14:26:38 2018 +0000
- Revision:
- 2:f5f33eb8d44b
- Parent:
- 0:92024886c0be
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
TUATBM | 0:92024886c0be | 1 | #ifndef MBED_SUBS_H |
TUATBM | 0:92024886c0be | 2 | #define MBED_SUBS_H |
TUATBM | 0:92024886c0be | 3 | |
TUATBM | 0:92024886c0be | 4 | |
TUATBM | 0:92024886c0be | 5 | #include "mbed.h" |
TUATBM | 0:92024886c0be | 6 | |
TUATBM | 0:92024886c0be | 7 | #define SBUS_SIGNAL_OK 0x00 |
TUATBM | 0:92024886c0be | 8 | #define SBUS_SIGNAL_LOST 0x01 |
TUATBM | 0:92024886c0be | 9 | #define SBUS_SIGNAL_FAILSAFE 0x03 |
TUATBM | 0:92024886c0be | 10 | |
TUATBM | 0:92024886c0be | 11 | typedef void (*V_FUNC_V)(void); |
TUATBM | 0:92024886c0be | 12 | |
TUATBM | 0:92024886c0be | 13 | class SBUS |
TUATBM | 0:92024886c0be | 14 | { |
TUATBM | 0:92024886c0be | 15 | public: |
TUATBM | 0:92024886c0be | 16 | uint16_t manualpwm[8]; //pwmの数値 1000~2000で表記 main文ではこの変数を使う |
TUATBM | 0:92024886c0be | 17 | uint8_t failsafe_status; |
TUATBM | 0:92024886c0be | 18 | bool flg_ch_update; |
TUATBM | 0:92024886c0be | 19 | |
TUATBM | 0:92024886c0be | 20 | //コンストラクタ |
TUATBM | 0:92024886c0be | 21 | SBUS(); |
TUATBM | 0:92024886c0be | 22 | SBUS(PinName tx, PinName rx); |
TUATBM | 0:92024886c0be | 23 | //デストラクタ |
TUATBM | 0:92024886c0be | 24 | virtual ~SBUS(); //この場合virtualをつける必要はなさそうだが参考プログラムについてたため一応入れる |
TUATBM | 0:92024886c0be | 25 | |
TUATBM | 0:92024886c0be | 26 | void initialize(void); //初期化 |
TUATBM | 0:92024886c0be | 27 | void startInterrupt(void); //シリアル割り込み開始 |
TUATBM | 0:92024886c0be | 28 | //void stopInterrupt(void); |
TUATBM | 0:92024886c0be | 29 | void setLastfuncPoint(void (*func)(void)); //割り込み処理実行後に行う関数を設定 PWM出力用 |
TUATBM | 0:92024886c0be | 30 | |
TUATBM | 0:92024886c0be | 31 | |
TUATBM | 0:92024886c0be | 32 | private: |
TUATBM | 0:92024886c0be | 33 | RawSerial *rawserial_p; |
TUATBM | 0:92024886c0be | 34 | RawSerial &rawserial; |
TUATBM | 0:92024886c0be | 35 | |
TUATBM | 0:92024886c0be | 36 | volatile uint8_t buf_sbus[25]; |
TUATBM | 0:92024886c0be | 37 | volatile int cnt_sbus; |
TUATBM | 0:92024886c0be | 38 | uint8_t byte_in_sbus; |
TUATBM | 0:92024886c0be | 39 | uint8_t bit_in_sbus; |
TUATBM | 0:92024886c0be | 40 | uint8_t ch; |
TUATBM | 0:92024886c0be | 41 | uint8_t bit_in_channel; |
TUATBM | 0:92024886c0be | 42 | int16_t channels[18]; //元はstatic int16_t channels[18]; |
TUATBM | 0:92024886c0be | 43 | V_FUNC_V lastfunc; |
TUATBM | 0:92024886c0be | 44 | |
TUATBM | 0:92024886c0be | 45 | void func_interrupt(void); //シリアル割り込みで実行する関数 |
TUATBM | 0:92024886c0be | 46 | int8_t catchSerial(void); //シリアルデータを取得 |
TUATBM | 0:92024886c0be | 47 | void unpackSerialdata(void); //シリアルデータから各チャンネルの情報を取得 |
TUATBM | 0:92024886c0be | 48 | void inputPwm(void); //manualpwm変数に値を入力 |
TUATBM | 0:92024886c0be | 49 | }; |
TUATBM | 0:92024886c0be | 50 | |
TUATBM | 0:92024886c0be | 51 | |
TUATBM | 0:92024886c0be | 52 | #endif |