File content as of revision 6:da6b1350783c:

#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));
    local_ti.start();
    local_ti.reset();
    }

// *****************************************************************************
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)
    {
     local_ti.reset();
     }

// *****************************************************************************
void RCin::fall_edge(void)
   {
        uint32_t time_us = local_ti.read_us();
        if(time_us > 2500){
            if(cou<200)
                cou++;
            chnr = 0;
            map_pwm_2_PM1();
        }
        else
        {
            pwms[++chnr] = time_us;
            test_pwms[cou][chnr-1]=time_us;
        }
    }
// *****************************************************************************
uint8_t RCin::get_flightmode(void){
    if(isAlive){
        flightmode_changed = (old_flightmode != current_flightmode);
        old_flightmode = current_flightmode;
        return current_flightmode;
        }
    else 
        return 0;
    }
// *****************************************************************************
void RCin::map_pwm_2_PM1(void){
    PM1[1]=CH1_2_PM1((float)pwms[1]);
    PM1[2]=CH2_2_PM1((float)pwms[2]);
    PM1[3]=CH3_2_PM1((float)pwms[3]);
    PM1[4]=CH4_2_PM1((float)pwms[4]);
    if(pwms[5] >620 && pwms[5] < 720)
        current_flightmode = LOITER;
    else if(pwms[5] >720 && pwms[5] < 850)
        current_flightmode = AUTO;
    else if(pwms[5] >870 && pwms[5] < 970)
        current_flightmode = RTL;
    else if(pwms[5] >1000 && pwms[5] < 1100)
        current_flightmode = STABILIZED;
    else if(pwms[5] >1100 && pwms[5] < 1200)
        current_flightmode = ACRO;
    else if(pwms[5] >1200 && pwms[5] < 1350)
        current_flightmode = LAND;
    else
        current_flightmode = STABILIZED;
    if(pwms[3]>550)
        isAlive = true;

    }