Ruprecht Altenburger / Lib_Misc

Miscellaneous Library, read Encoder etc.

Dependents:   My_Libraries

RCin.cpp@2:1c5c71a6fac9, 2019-03-06 (annotated)

Committer:
altb
Date:
Wed Mar 06 14:38:04 2019 +0000
Revision:
2:1c5c71a6fac9
Parent:
0:3312872854c4 
.....

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb 0:3312872854c4 1 #include "RCin.h"
altb 0:3312872854c4 2
altb 0:3312872854c4 3
altb 0:3312872854c4 4 using namespace std;
altb 0:3312872854c4 5
altb 0:3312872854c4 6 RCin::RCin(PinName pin) : pwm1(pin){
altb 0:3312872854c4 7 pwm1.fall(callback(this, &RCin::fall_edge));
altb 0:3312872854c4 8 pwm1.rise(callback(this, &RCin::rise_edge));
altb 0:3312872854c4 9 local_ti.start();
altb 0:3312872854c4 10 local_ti.reset();
altb 0:3312872854c4 11 }
altb 0:3312872854c4 12
altb 0:3312872854c4 13 // *****************************************************************************
altb 0:3312872854c4 14 void RCin::map_Channels(void){
altb 0:3312872854c4 15 CH1_2_PM1.setup(600.0,1400.0,-1.0,1.0);
altb 0:3312872854c4 16 CH2_2_PM1.setup(1400.0,600.0,-1.0,1.0);
altb 0:3312872854c4 17 CH3_2_PM1.setup(600.0,1400.0,-1.0,1.0);
altb 0:3312872854c4 18 CH4_2_PM1.setup(600.0,1400.0,-1.0,1.0);
altb 0:3312872854c4 19 }
altb 0:3312872854c4 20
altb 0:3312872854c4 21 // *****************************************************************************
altb 0:3312872854c4 22 void RCin::rise_edge(void)
altb 0:3312872854c4 23 {
altb 0:3312872854c4 24 local_ti.reset();
altb 0:3312872854c4 25 }
altb 0:3312872854c4 26
altb 0:3312872854c4 27 // *****************************************************************************
altb 0:3312872854c4 28 void RCin::fall_edge(void)
altb 0:3312872854c4 29 {
altb 0:3312872854c4 30 uint32_t time_us = local_ti.read_us();
altb 0:3312872854c4 31 if(time_us > 2500){
altb 0:3312872854c4 32 if(cou<200)
altb 0:3312872854c4 33 cou++;
altb 0:3312872854c4 34 chnr = 0;
altb 0:3312872854c4 35 map_pwm_2_PM1();
altb 0:3312872854c4 36 }
altb 0:3312872854c4 37 else
altb 0:3312872854c4 38 {
altb 0:3312872854c4 39 pwms[++chnr] = time_us;
altb 0:3312872854c4 40 test_pwms[cou][chnr-1]=time_us;
altb 0:3312872854c4 41 }
altb 0:3312872854c4 42 }
altb 0:3312872854c4 43 // *****************************************************************************
altb 0:3312872854c4 44 uint8_t RCin::get_flightmode(void){
altb 0:3312872854c4 45 if(isAlive){
altb 0:3312872854c4 46 flightmode_changed = (old_flightmode != current_flightmode);
altb 0:3312872854c4 47 old_flightmode = current_flightmode;
altb 0:3312872854c4 48 return current_flightmode;
altb 0:3312872854c4 49 }
altb 0:3312872854c4 50 else
altb 0:3312872854c4 51 return 0;
altb 0:3312872854c4 52 }
altb 0:3312872854c4 53 // *****************************************************************************
altb 0:3312872854c4 54 void RCin::map_pwm_2_PM1(void){
altb 0:3312872854c4 55 PM1[1]=CH1_2_PM1((float)pwms[1]);
altb 0:3312872854c4 56 PM1[2]=CH2_2_PM1((float)pwms[2]);
altb 0:3312872854c4 57 PM1[3]=CH3_2_PM1((float)pwms[3]);
altb 0:3312872854c4 58 PM1[4]=CH4_2_PM1((float)pwms[4]);
altb 0:3312872854c4 59 if(pwms[5] >620 && pwms[5] < 720)
altb 0:3312872854c4 60 current_flightmode = LOITER;
altb 0:3312872854c4 61 else if(pwms[5] >720 && pwms[5] < 850)
altb 0:3312872854c4 62 current_flightmode = AUTO;
altb 0:3312872854c4 63 else if(pwms[5] >870 && pwms[5] < 970)
altb 0:3312872854c4 64 current_flightmode = RTL;
altb 0:3312872854c4 65 else if(pwms[5] >1000 && pwms[5] < 1100)
altb 0:3312872854c4 66 current_flightmode = STABILIZED;
altb 0:3312872854c4 67 else if(pwms[5] >1100 && pwms[5] < 1200)
altb 0:3312872854c4 68 current_flightmode = ACRO;
altb 0:3312872854c4 69 else if(pwms[5] >1200 && pwms[5] < 1350)
altb 0:3312872854c4 70 current_flightmode = LAND;
altb 0:3312872854c4 71 else
altb 0:3312872854c4 72 current_flightmode = STABILIZED;
altb 0:3312872854c4 73 if(pwms[3]>550)
altb 0:3312872854c4 74 isAlive = true;
altb 0:3312872854c4 75
altb 0:3312872854c4 76 }