Raharja Agie
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)
to_gcs.h@0:7ccd56e1c3b1, 2010-08-11 (annotated)
- Committer:
- agiembed
- Date:
- Wed Aug 11 01:23:42 2010 +0000
- Revision:
- 0:7ccd56e1c3b1
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| agiembed | 0:7ccd56e1c3b1 | 1 | #define FCC_DATA_SIZE 52 //39 Direct from IMU |
| agiembed | 0:7ccd56e1c3b1 | 2 | |
| agiembed | 0:7ccd56e1c3b1 | 3 | void toGCS(){ |
| agiembed | 0:7ccd56e1c3b1 | 4 | |
| agiembed | 0:7ccd56e1c3b1 | 5 | fcc.US++;// = 11; |
| agiembed | 0:7ccd56e1c3b1 | 6 | if(fcc.US>1000) fcc.US = 0; |
| agiembed | 0:7ccd56e1c3b1 | 7 | |
| agiembed | 0:7ccd56e1c3b1 | 8 | char *FtoG = (char *)&fcc, i; //&IMU |
| agiembed | 0:7ccd56e1c3b1 | 9 | |
| agiembed | 0:7ccd56e1c3b1 | 10 | |
| agiembed | 0:7ccd56e1c3b1 | 11 | radio.putc(0xFF); |
| agiembed | 0:7ccd56e1c3b1 | 12 | radio.putc(0xFF); |
| agiembed | 0:7ccd56e1c3b1 | 13 | for (i=0;i<FCC_DATA_SIZE;i++) radio.putc(*FtoG++); |
| agiembed | 0:7ccd56e1c3b1 | 14 | radio.putc(0x0D); |
| agiembed | 0:7ccd56e1c3b1 | 15 | |
| agiembed | 0:7ccd56e1c3b1 | 16 | } |