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)
rcrx.h
- Committer:
- agiembed
- Date:
- 2010-08-11
- Revision:
- 0:7ccd56e1c3b1
File content as of revision 0:7ccd56e1c3b1:
Timer tick; InterruptIn rc(p11); short buf_ppm[5]; char i = 0; void PPM_rise() { tick.stop(); // Stop timer buf_ppm[i]=tick.read_us(); // Read timer to buffer[i] i=turns tick.reset(); // Reset timer i++; // increment i. if (i==6) i = 0; return; } void PPM_fall() { // Rising edge on the serial comm tick.start(); // Start the timer return; }