Diff: Radio_Control_In.cpp

Revision:

11:bfb73f083009

Child:

12:d1d21a2941ef

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Radio_Control_In.cpp	Sat Jan 19 11:45:01 2019 +0000
@@ -0,0 +1,73 @@
+#include "mbed.h"
+#include "BufferedSerial.h"
+#include "Radio_Control_In.h"
+/**class   RControl_In
+    Jon Freeman
+    Jan 2019
+
+    Checks for __-__ duration 800-2200us
+    Checks repetition rate in range 5-25ms
+*/
+extern  BufferedSerial  pc;
+
+//    RControl_In::RControl_In   ()   {    //  Default Constructor
+//        pulse_width_us = period_us = pulse_count = 0;
+//        lost_chan_return_value = 0.0;
+//    }   ;
+//    RControl_In::RControl_In   (PinName inp) : pulse_in(inp)   {    //  Default Constructor
+//        pulse_width_us = period_us = pulse_count = 0;
+//        lost_chan_return_value = 0.0;
+//    }   ;
+/**
+*/
+void        RControl_In::set_lost_chan_return_value  (double d)  {
+    lost_chan_return_value = d;
+}
+
+uint32_t    RControl_In::pulsewidth   ()
+{
+    return  pulse_width_us;
+}
+
+uint32_t    RControl_In::pulsecount   ()
+{
+    return  pulse_count;
+}
+
+uint32_t    RControl_In::period   ()
+{
+    return  period_us;
+}
+
+bool    RControl_In::validate_rx ()
+{   //  Tests for pulse width and repetition rates being believable
+    return  !((period_us < 5000) || (period_us > 25000) || (pulse_width_us < 800) || (pulse_width_us > 2200));
+}
+
+double  RControl_In::normalised  ()  {
+    if  (!validate_rx())    {
+        pc.printf   ("Invalid RCin\r\n");
+        return  lost_chan_return_value;     //  ** WHAT TO RETURN WHEN RC NOT ACTIVE ? ** This is now user settable
+    }                                       //  Defaults to returning 0.0, user should call set_lost_chan_value (value) to alter
+    double norm = (double) (pulse_width_us - 1000);  //  left with -200 to + 1200 allowing for some margin
+    norm /= 1000.0;
+    if  (norm > 1.0)
+        norm = 1.0;
+    if  (norm < 0.0)
+        norm = 0.0;
+    return  norm;
+}
+
+void    RControl_In::RadC_rise    ()     //  December 2018 - Could not make Servo port bidirectional, fix by using PC_14 and 15 as inputs
+{                                   
+    period_us = t.read_us    ();
+    t.reset ();
+    t.start ();
+}
+
+void    RControl_In::RadC_fall    ()
+{
+    pulse_width_us = t.read_us   ();
+    pulse_count++;
+}
+//  end of RControl_In class