Konkuk asml team / Mbed 2 deprecated GIMBAL_SAMPLE4_PPM

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Dependencies:   mbed

PPM/PPMOut.cpp@0:f0b20f502059, 2018-05-24 (annotated)

Committer:
halusis
Date:
Thu May 24 10:19:44 2018 +0000
Revision:
0:f0b20f502059
AA

Who changed what in which revision?

UserRevisionLine numberNew contents of line
halusis 0:f0b20f502059 1 #include "mbed.h"
halusis 0:f0b20f502059 2 #include "PPMOut.h"
halusis 0:f0b20f502059 3
halusis 0:f0b20f502059 4 PpmOut::PpmOut(PinName pin, uint8_t channel_number): ppm(pin) {
halusis 0:f0b20f502059 5 if(channel_number > MAX_CHANNELS){
halusis 0:f0b20f502059 6 this->channel_number = MAX_CHANNELS;
halusis 0:f0b20f502059 7 }
halusis 0:f0b20f502059 8 this->channel_number = channel_number;
halusis 0:f0b20f502059 9 resetChannels();
halusis 0:f0b20f502059 10 pulse_out = 1;
halusis 0:f0b20f502059 11 ppm = pulse_out;
halusis 0:f0b20f502059 12 current_dot = 0;
halusis 0:f0b20f502059 13 timeout.attach_us(this, &PpmOut::attimeout, FRAME_LEN);
halusis 0:f0b20f502059 14 }
halusis 0:f0b20f502059 15
halusis 0:f0b20f502059 16 void PpmOut::setChannel(int channel_no, uint16_t value) {
halusis 0:f0b20f502059 17 //__disable_irq(); // Disable Interrupts
halusis 0:f0b20f502059 18 if(channel_no > channel_number-1){
halusis 0:f0b20f502059 19 return;
halusis 0:f0b20f502059 20 }
halusis 0:f0b20f502059 21 if(value > MAX_CHANNEL_VALUE){
halusis 0:f0b20f502059 22 value = MAX_CHANNEL_VALUE;
halusis 0:f0b20f502059 23 }
halusis 0:f0b20f502059 24 dots[channel_no*2] = CHANNEL_SYNC;
halusis 0:f0b20f502059 25 dots[channel_no*2+1] = CHANNEL_PAD_SYNC + value;
halusis 0:f0b20f502059 26
halusis 0:f0b20f502059 27 setFrameSync();
halusis 0:f0b20f502059 28 //__enable_irq(); // Enable Interrupts
halusis 0:f0b20f502059 29 }
halusis 0:f0b20f502059 30
halusis 0:f0b20f502059 31 void PpmOut::setFrameSync(){
halusis 0:f0b20f502059 32 uint16_t sum_channels = 0;
halusis 0:f0b20f502059 33 for(uint8_t channel = 0; channel < channel_number; channel++) {
halusis 0:f0b20f502059 34 sum_channels += dots[channel*2+1];
halusis 0:f0b20f502059 35 }
halusis 0:f0b20f502059 36 sum_channels += channel_number*CHANNEL_SYNC;
halusis 0:f0b20f502059 37 dots[channel_number*2] = CHANNEL_SYNC;
halusis 0:f0b20f502059 38 dots[channel_number*2+1] = FRAME_LEN - CHANNEL_SYNC - sum_channels;
halusis 0:f0b20f502059 39 }
halusis 0:f0b20f502059 40
halusis 0:f0b20f502059 41 void PpmOut::attimeout() {
halusis 0:f0b20f502059 42 pulse_out = !pulse_out;
halusis 0:f0b20f502059 43 ppm = pulse_out;
halusis 0:f0b20f502059 44
halusis 0:f0b20f502059 45 timeout.attach_us(this, &PpmOut::attimeout, dots[current_dot]);
halusis 0:f0b20f502059 46 current_dot++;
halusis 0:f0b20f502059 47
halusis 0:f0b20f502059 48 if(current_dot == channel_number*2+2) { // 2 for FRAME_SYNC
halusis 0:f0b20f502059 49 current_dot = 0;
halusis 0:f0b20f502059 50 }
halusis 0:f0b20f502059 51 }
halusis 0:f0b20f502059 52
halusis 0:f0b20f502059 53 void PpmOut::resetChannels() {
halusis 0:f0b20f502059 54 int8_t channel;
halusis 0:f0b20f502059 55
halusis 0:f0b20f502059 56 current_dot = 0;
halusis 0:f0b20f502059 57 memset(dots, 0x00, DOTS);
halusis 0:f0b20f502059 58 for(channel = 0; channel < channel_number; channel++) {
halusis 0:f0b20f502059 59 dots[channel*2] = CHANNEL_SYNC;
halusis 0:f0b20f502059 60 dots[channel*2+1] = CHANNEL_PAD_SYNC;
halusis 0:f0b20f502059 61 }
halusis 0:f0b20f502059 62 setFrameSync();
halusis 0:f0b20f502059 63 }