![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
a
Dependencies: mbed
Fork of GIMBAL_SAMPLE4_PPM by
PPM/PPMOut.cpp
- Committer:
- halusis
- Date:
- 2018-05-24
- Revision:
- 0:f0b20f502059
File content as of revision 0:f0b20f502059:
#include "mbed.h" #include "PPMOut.h" PpmOut::PpmOut(PinName pin, uint8_t channel_number): ppm(pin) { if(channel_number > MAX_CHANNELS){ this->channel_number = MAX_CHANNELS; } this->channel_number = channel_number; resetChannels(); pulse_out = 1; ppm = pulse_out; current_dot = 0; timeout.attach_us(this, &PpmOut::attimeout, FRAME_LEN); } void PpmOut::setChannel(int channel_no, uint16_t value) { //__disable_irq(); // Disable Interrupts if(channel_no > channel_number-1){ return; } if(value > MAX_CHANNEL_VALUE){ value = MAX_CHANNEL_VALUE; } dots[channel_no*2] = CHANNEL_SYNC; dots[channel_no*2+1] = CHANNEL_PAD_SYNC + value; setFrameSync(); //__enable_irq(); // Enable Interrupts } void PpmOut::setFrameSync(){ uint16_t sum_channels = 0; for(uint8_t channel = 0; channel < channel_number; channel++) { sum_channels += dots[channel*2+1]; } sum_channels += channel_number*CHANNEL_SYNC; dots[channel_number*2] = CHANNEL_SYNC; dots[channel_number*2+1] = FRAME_LEN - CHANNEL_SYNC - sum_channels; } void PpmOut::attimeout() { pulse_out = !pulse_out; ppm = pulse_out; timeout.attach_us(this, &PpmOut::attimeout, dots[current_dot]); current_dot++; if(current_dot == channel_number*2+2) { // 2 for FRAME_SYNC current_dot = 0; } } void PpmOut::resetChannels() { int8_t channel; current_dot = 0; memset(dots, 0x00, DOTS); for(channel = 0; channel < channel_number; channel++) { dots[channel*2] = CHANNEL_SYNC; dots[channel*2+1] = CHANNEL_PAD_SYNC; } setFrameSync(); }