Joram _ / AR6210

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API Documentation at this revision

Revision 1:25aad26619fb, committed 2013-11-24

Comitter:
Joram
Date:
Sun Nov 24 09:46:45 2013 +0000
Parent:
0:9a1f7660704d
Commit message:
added mapping function

Changed in this revision

AR6210.cpp Show annotated file Show diff for this revision Revisions of this file
AR6210.h Show annotated file Show diff for this revision Revisions of this file 
--- a/AR6210.cpp	Wed Nov 20 10:26:54 2013 +0000
+++ b/AR6210.cpp	Sun Nov 24 09:46:45 2013 +0000
@@ -4,10 +4,10 @@
 // Modified by Joram Querner for Spektrum AR6210
 
 AR6210::AR6210() :
-  ChInt0(InterruptIn(p6)), // throttle
-  ChInt1(InterruptIn(p8)), // aileron
+  ChInt0(InterruptIn(p5)), // throttle
+  ChInt1(InterruptIn(p6)), // aileron
   ChInt2(InterruptIn(p7)), // elevator
-  ChInt3(InterruptIn(p5)), // rudder
+  ChInt3(InterruptIn(p8)), // rudder
   ChInt4(InterruptIn(p9)), // gear
   ChInt5(InterruptIn(p10)) // aux
 {}
@@ -37,12 +37,22 @@
     for(int i= 0; i<6; i++)
         RawChannels[i]= dTime[i];
     
-    //Steuerbefehle berechnen
-    Throttle= float(dTime[0]-1000) * 0.001;
-    Aileron= float(dTime[1]-1500) * 0.002;
-    Elevator= float(dTime[2]-1500) * 0.002;
-    Rudder= float(dTime[3]-1500) * 0.002;
+    Throttle= map(dTime[0], 1095, 1910, 0.0, 1.0);
+    Aileron= map(dTime[1], 1110, 1900, -1.0, 1.0);
+    Elevator= map(dTime[2], 1100, 1900, -1.0, 1.0);
+    Rudder= map(dTime[3], 1105, 1895, -1.0, 1.0);
     
-    Gear= float(dTime[4]-1500) * 0.002;
-    Aux= float(dTime[5]-1500) * 0.002;
+    Gear= map(dTime[4], 1095, 1910, 0.0, 1.0);
+    Aux= map(dTime[5], 1095, 1910, 0.0, 1.0);
+}
+
+float AR6210::map(int x, int in_min, int in_max, float out_min, float out_max)
+{
+    float returnValue = (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+    if (returnValue < out_min)
+        return out_min;
+    if (returnValue > out_max)
+        return out_max;
+
+      return returnValue;
 }
\ No newline at end of file

--- a/AR6210.h	Wed Nov 20 10:26:54 2013 +0000
+++ b/AR6210.h	Sun Nov 24 09:46:45 2013 +0000
@@ -30,6 +30,8 @@
     volatile int LastRise[6];       //Zeitpunkt der letzten steigende Flanke  
     volatile int dTime[6];          //Pulsdauer in us [1000...2000]
     
+    float map(int x, int in_min, int in_max, float out_min, float out_max);
+    
 public:
     int RawChannels[6]; //Rohdaten [1000...2000]