File content as of revision 0:f0b20f502059:

#include "mbed.h"
#include "Pin_Assign.h"
#include "GIMBAL_CMD.h"
#include "GET_ANGLE_FUNC.h"
#include "Global_Variables.h"
#include "PWMOut.h"
#include "RFDevCOMM.h"
#include "PPMIn.h"
#include "PPMOut.h"
#include "RCInputProc.h"

Ticker GetAngleTimer;
Ticker DebugTimer;
Timeout InitialPWM;

bool fGetAngleTimer=0;
bool fDebugTimer=0;
uint8_t fInitialPWM=0;

void GetAngleTimer_isr(void)
{
    fGetAngleTimer=1;
}
void DebugTimer_isr(void)
{
    fDebugTimer=1;
}
void InitialPWM_isr(void)
{
    fInitialPWM++;
    //pc.printf("1 %d\n",fInitialPWM);
}



int main() 
{
    pc.baud(115200);
    Fcc.baud(115200);        //reserved
    RF.baud(115200);        //RF Commucation Serial
    Gimbal.baud(115200); //DO NOT CHANGE gimbal baudrate cannot changes.
    
    YawCMD.period_ms(100);
    PitchCMD.period_ms(100);
    
    GetAngleTimer.attach(&GetAngleTimer_isr,dt); //5Hz
    DebugTimer.attach(&DebugTimer_isr,0.5);
    
    YawTarPWM=IdlePWM;
    PitchTarPWM=IdlePWM;
    
    pc.printf("start\n");
    
    SndRFCMD();
    
    while(1)
    {
        if(fpc==0)RCInputProc();
        
        if(fGetAngleTimer==1)
        {
            CMD_GET_ANGLE();
            fGetAngleTimer=0;
            
            if(fInitialPWM==2)
            {
                //pc.printf("2 %d\n",fInitialPWM);
                PWMOut();
            }
            
        }
        if(Gimbal.readable())
        {
            GET_ANGLE_FUNC();
            if(fInitialPWM==0&&YawRel!=0.0f&&PitchRel!=0.0f)
            {
                //pc.printf("0 %d\n",fInitialPWM);
                InitialPWM.attach(&InitialPWM_isr,5);
                fInitialPWM=1;
            }
        }
        if(RF.readable())
        {
            RcvRFCMD();
        }
        
        if(pc.readable())     //   for intant exp erase before final test
        {
            pcBuf=pc.getc();
            fpc=1;
            
            //pc.printf("pc\n");
            if(pcBuf==0x00)
            {
                //pc.printf("pc\n");
                if(fLock!=3){fLock=3; fpc=1; pc.printf("Controllable with Keyboard\n"); YawT=0; PitchT=0;}
                else if(fLock==3){fpc=0;pc.printf("Controllable with RC\n"); }
            }
            else if(pcBuf==0x05)
            {
                fLock=1; pc.printf("Lock on target\n");
            }
            else if(pcBuf==0x01) //
            {
                YawT+=5;
            }
            else if(pcBuf==0x02)
            {
                YawT-=5;
            }
            else if(pcBuf==0x03)
            {
                PitchT+=5;
            }
            else if(pcBuf==0x04)
            {
                PitchT-=5;
            }
            else if(pcBuf==0x09)
            {
                SndRFCMD(); //RF Device offset data
                pc.printf("RF Device offset data\n");
                }
        }
        
        if(fDebugTimer==1)
        {
            
            //pc.printf("%f %f %f %f %d\n",PitchRel, YawRel,PitchTar,YawTar, YawPWM);
            //pc.printf("%f %f %f %f %d\n",YawRel,YawTar, YawT, ErrorYI,(int)YawPWM);
            //pc.printf("%f %f %f %f\n",YawRel,PitchRel, YawT, PitchT);
            //pc.printf("%f %f %f %f\n",Ele,Azi, Ele_raw, Azi_raw);
            //pc.printf("%x\n",rEle);
            //pc.printf("%d %d %d \n", ppmin.channels[5],ppmin.channels[6],ppmin.channels[7]);
            
            //pc.printf("%f %f %d\n", YawDegCMD, PitchDegCMD, fLock);
            //pc.printf("%d %d %d\n", YawPPM, PitchPPM, fLock);
            //pc.printf("%d %d %d\n", (int)YawPWM, (int)PitchPWM, fLock);
            
            
            pc.printf("%.0f %.0f %.0f %.0f %.0f %.0f %d\n",YawRel,PitchRel,YawT,PitchT,YawPWM,PitchPWM, fLock);
            //pc.printf("%.0f %.0f %.0f %d\n",YawRel,YawT,YawPWM, fLock);
            //pc.printf("%.0f %.0f %.0f %d\n",PitchRel,PitchT,PitchPWM, fLock);
            //pc.printf("%.0f %.0f %.1f %.1f %.1f %.1f %d\n",Azi,Ele,V1,V2,V3,V4, fLock);
            //pc.printf("%.0f %.0f %.1f %.1f %.1f %.1f %d\n",YawRel,PitchRel,V1,V2,V3,V4, fLock);
            //pc.printf("%.0f %.0f %.0f %.0f %d\n",YawRel,PitchRel,Azi,Ele, fLock);
            //pc.printf("%.3f %.3f %.3f %.3f %.3f %.3f %d\n",YawRel,Azi,V1,V2,V3,V4, fLock);
            
            RF2FCC();

            fDebugTimer=0;
        }
    }
}