File content as of revision 4:288253c4da29:

#include "RCin.h"


using namespace std;

RCin::RCin(PinName pin) : pwm1(pin){
    pwm1.fall(callback(this, &RCin::fall_edge));
    pwm1.rise(callback(this, &RCin::rise_edge));
    loc_ti.start();
    loc_ti.reset();
    }

uint8_t RCin::map_CH5_2_Flightmode(uint16_t pwm){
    if(pwm >620 && pwm < 720)
        return LOITER;
    else if(pwm >720 && pwm < 850)
        return AUTO;
    else if(pwm >870 && pwm < 970)
        return RTL;
    else if(pwm >1000 && pwm < 1100)
        return STABILIZED;
    else if(pwm >1100 && pwm < 1200)
        return ACRO;
    else if(pwm >1200 && pwm < 1350)
        return LAND;
    else
        return STABILIZED;
}


void RCin::map_Channels(void){
    CH1_2_PM1.setup(600.0,1400.0,-1.0,1.0);
    CH2_2_PM1.setup(1400.0,600.0,-1.0,1.0);
    CH3_2_PM1.setup(600.0,1400.0,-1.0,1.0);
    CH4_2_PM1.setup(600.0,1400.0,-1.0,1.0);
    }

void RCin::rise_edge(void)
    {
     loc_ti.reset();
     }
void RCin::fall_edge(void)
   {
        uint32_t time_us = loc_ti.read_us();
        if(time_us > 2500){
        if(cou<200)
            cou++;
        chnr = 0;
        }
        else
        {
            pwms[++chnr] = time_us;
            test_pwms[cou][chnr-1]=time_us;
            switch(chnr){
                case 1:
                    this->PM1[1]=this->CH1_2_PM1((float)pwms[1]);
                    break;
                case 2:
                    this->PM1[2]=this->CH2_2_PM1((float)pwms[2]);
                    break;
                case 3:
                    this->PM1[3]=this->CH3_2_PM1((float)pwms[3]);
                    break;
                case 4:
                    this->PM1[4]=this->CH4_2_PM1((float)pwms[4]);
                    break;
                default: break;
                }
        }
    }
bool RCin::isAlive(void){
        if(pwms[3]>550)
            return true;
        else 
            return false;
}


uint8_t RCin::get_flightmode(void){
    if(isAlive())
        return map_CH5_2_Flightmode(pwms[5]);
    else 
        return 0;
    }