rc.h

00001 Timer tick;
00002 InterruptIn rc(p11);
00003 short buf_ppm[6];
00004 char i = 0, idx, cnt = 0;
00005 
00006 
00007 void get_PPM(){
00008     switch (idx){
00009         case 1:
00010             RC.roll = buf_ppm[2];
00011             RC.throttle = buf_ppm[3];
00012             RC.pitch = buf_ppm[4];
00013             RC.yaw = buf_ppm[5];
00014             RC.sw = buf_ppm[0];
00015             break;
00016             
00017         case 2:
00018             RC.roll = buf_ppm[3];
00019             RC.throttle = buf_ppm[4];
00020             RC.pitch = buf_ppm[5];
00021             RC.yaw = buf_ppm[0];
00022             RC.sw = buf_ppm[1];
00023             break;
00024             
00025         case 3:
00026             RC.roll = buf_ppm[4];
00027             RC.throttle = buf_ppm[5];
00028             RC.pitch = buf_ppm[0];
00029             RC.yaw = buf_ppm[1];
00030             RC.sw = buf_ppm[2];
00031             break;
00032             
00033         case 4:           
00034             RC.roll = buf_ppm[5];
00035             RC.throttle = buf_ppm[0];
00036             RC.pitch = buf_ppm[1];
00037             RC.yaw = buf_ppm[2];
00038             RC.sw = buf_ppm[3];
00039             break;
00040             
00041         case 5:            
00042             RC.roll = buf_ppm[0];
00043             RC.throttle = buf_ppm[1];
00044             RC.pitch = buf_ppm[2];
00045             RC.yaw = buf_ppm[3];
00046             RC.sw = buf_ppm[4];
00047             break;
00048             
00049         case 0:            
00050             RC.roll = buf_ppm[1];
00051             RC.throttle = buf_ppm[2];
00052             RC.pitch = buf_ppm[3];
00053             RC.yaw = buf_ppm[4];
00054             RC.sw = buf_ppm[5];
00055             break;
00056             
00057         default: break;  
00058     }           
00059     test = buf_ppm[2];
00060     if(cnt<100)test1 = test;
00061     return;
00062 }                                                                 
00063 
00064 
00065 
00066 void gets_PPM(){
00067     test = buf_ppm[2];
00068     if(cnt<100)test1 = test;
00069     //eyetosee(); 
00070 }    
00071 
00072 void PPM_rise() {
00073     tick.stop();                        // Stop timer
00074     buf_ppm[i]=tick.read_us();          // Read timer to buffer[i] i=turns
00075     tick.reset();                       // Reset timer
00076     i++;                                // increment i.
00077     if(buf_ppm[i]>5000) idx = i;    
00078     if(i==6) i = 0; 
00079     get_PPM();
00080     cnt++;
00081     if(cnt>200) cnt = 200;
00082     tick.start();  
00083 }
00084 
00085 
00086 /*
00087 Channel 1 = Roll  
00088 Channel 2 = Throttle
00089 Channel 3 = Pitch
00090 Channel 4 = Yaw   
00091 Channel 5 = Switch 
00092 */