Diff: PpmRegen.cpp

Revision:

3:2d4d05f95c1a

Child:

4:380e7c35e466

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PpmRegen.cpp	Wed Sep 27 17:05:59 2017 +0000
@@ -0,0 +1,59 @@
+#include "mbed.h"
+#include "PpmRegen.h"
+
+PpmRegen::PpmRegen(PinName InterruptPort, PinName roll, PinName pitch, PinName yaw, PinName throttle, PinName aux1, PinName aux2): 
+ppmPin(InterruptPort), _roll(roll), _pitch(pitch), _yaw(yaw), _throttle(throttle), _aux1(aux1), _aux2(aux2){
+    current_channel = 0;
+    first_reading = true;
+    timer.start();
+    ppmPin.fall(this, &PpmRegen::fall);
+}
+    
+
+void PpmRegen::getAllChannels(uint16_t all_channels[]){
+    for(int i = 0; i < CHANNELS; i++){
+        all_channels[i] = channels[i];   
+    }           
+    
+}
+            
+void PpmRegen::fall(){
+    //__disable_irq();
+    uint16_t time = timer.read_us();
+    
+    // we are in synchro zone
+    if(time > 2500)
+    {
+        if(first_reading){
+            //channel_correction();   
+            first_reading = false;     
+        }
+        
+        current_channel = 0;
+        
+        _roll.pulsewidth_us(    channels[0]);
+        _pitch.pulsewidth_us(   channels[1]);
+        _yaw.pulsewidth_us(     channels[2]);
+        _throttle.pulsewidth_us(channels[3]);
+        _aux1.pulsewidth_us(    channels[4]);
+        _aux2.pulsewidth_us(    channels[5]);
+    }
+    else
+    {
+        channels[current_channel] = timer.read_us();  
+        current_channel += 1;     
+    }
+    
+    timer.reset();
+    
+    //__enable_irq();
+}
+
+void PpmRegen::channel_correction(){
+    corrections[0] = 1500 - channels[0];    
+    corrections[1] = 1500 - channels[1];
+    corrections[2] = 1500 - channels[2];
+    corrections[3] = 1010 - channels[3];
+    corrections[4] = 1010 - channels[4];
+    corrections[5] = 1010 - channels[5];
+}
\ No newline at end of file