rc.h

00001 Timer tick;
00002 InterruptIn rc(p11);
00003 short buf_ppm[6];
00004 char i = 0, idx, cnt = 0;
00005 
00006 void get_PPM(){
00007     switch (idx){
00008         case 1:
00009             RC.roll = buf_ppm[2];
00010             RC.throttle = buf_ppm[3];
00011             RC.pitch = buf_ppm[4];
00012             RC.yaw = buf_ppm[5];
00013             RC.sw = buf_ppm[0];
00014             break;
00015             
00016         case 2:
00017             RC.roll = buf_ppm[3];
00018             RC.throttle = buf_ppm[4];
00019             RC.pitch = buf_ppm[5];
00020             RC.yaw = buf_ppm[0];
00021             RC.sw = buf_ppm[1];
00022             break;
00023             
00024         case 3:
00025             RC.roll = buf_ppm[4];
00026             RC.throttle = buf_ppm[5];
00027             RC.pitch = buf_ppm[0];
00028             RC.yaw = buf_ppm[1];
00029             RC.sw = buf_ppm[2];
00030             break;
00031             
00032         case 4:           
00033             RC.roll = buf_ppm[5];
00034             RC.throttle = buf_ppm[0];
00035             RC.pitch = buf_ppm[1];
00036             RC.yaw = buf_ppm[2];
00037             RC.sw = buf_ppm[3];
00038             break;
00039             
00040         case 5:            
00041             RC.roll = buf_ppm[0];
00042             RC.throttle = buf_ppm[1];
00043             RC.pitch = buf_ppm[2];
00044             RC.yaw = buf_ppm[3];
00045             RC.sw = buf_ppm[4];
00046             break;
00047             
00048         case 0:            
00049             RC.roll = buf_ppm[1];
00050             RC.throttle = buf_ppm[2];
00051             RC.pitch = buf_ppm[3];
00052             RC.yaw = buf_ppm[4];
00053             RC.sw = buf_ppm[5];
00054             break;
00055             
00056         default: break;  
00057     }    
00058     return;
00059 }                                                                 
00060     
00061 void getrc(){
00062     RC.rolls = (RC.roll - 1518) * 0.73;
00063     RC.throttles = (RC.throttle - 1105) * 0.3;
00064     RC.pitchs = (RC.pitch - 1514) * 0.73;
00065     RC.yaws = (RC.yaw - 1518) * 0.73;
00066     RC.sws = RC.sw - 1518;
00067     return;
00068 }    
00069     
00070     
00071 short rc_roll(){
00072     return (short)(RC.roll);// 1518);
00073 }    
00074 
00075 short rc_throttle(){
00076     return (short)(RC.throttle);// - 1105);
00077 } 
00078 
00079 short rc_pitch(){
00080     return (short)(RC.pitch);// - 1514);
00081 }
00082 
00083 short rc_yaw(){
00084     return (short)(RC.yaw);// - 1518);
00085 }
00086 
00087 short rc_sw(){
00088     return (short)(RC.sw);// - 1518);
00089 }    
00090      
00091 
00092 void PPM_rise() {
00093     tick.stop();                        // Stop timer
00094     buf_ppm[i]=tick.read_us();          // Read timer to buffer[i] i=turns
00095     tick.reset();                       // Reset timer
00096     tick.start();                       // Start timer
00097     i++;                                // increment i.
00098     if(buf_ppm[i]>5000) idx = i;    
00099     if(i==6) i = 0;       
00100     get_PPM();
00101     return;
00102 }
00103 
00104 
00105 /*
00106 Channel 1 = Roll  
00107 Channel 2 = Throttle
00108 Channel 3 = Pitch
00109 Channel 4 = Yaw   
00110 Channel 5 = Switch 
00111 */