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Read IMU data at Serial port (p28, p27), data rate <100Hz @115200bps Read 5 channels PPM signal at p11 using InterruptIn Send data via RF Modem at serial port (p13, p14) in 36Hz @115200 Drive i2C motor speed controller at I2C port (p9, p10) in every 10mS (control loop delay time)
2gcs.h
- Committer:
- agiembed
- Date:
- 2010-08-12
- Revision:
- 0:bd282c11d296
File content as of revision 0:bd282c11d296:
#define FCC_DATA_SIZE 52 //39 Direct from IMU void toGCS(){ fcc.US++;// = 11; if(fcc.US>1000) fcc.US = 0; char *FtoG = (char *)&fcc, i; //&IMU radio.putc(0xFF); radio.putc(0xFF); for (i=0;i<FCC_DATA_SIZE;i++) radio.putc(*FtoG++); radio.putc(0x0D); myled = !myled; }