Revision 3:2d4d05f95c1a, committed 2017-09-27

Comitter:

edy05

Date:

Wed Sep 27 17:05:59 2017 +0000

Parent:

2:64f90dca7f36

Child:

4:380e7c35e466

Commit message:

Class PpmRegen which read PPM signal and generate PwmOut

Changed in this revision

--- a/PPMIn.cpp	Fri Sep 22 11:28:39 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,57 +0,0 @@
-#include "mbed.h"
-#include "PPMIn.h"
-
-PpmIn::PpmIn(PinName pin): ppm(pin)
-{
-    //__disable_irq();
-    current_channel = 0;
-    state = false;
-    timer.start();
-    ppm.fall(callback(this, &PpmIn::rise));
-    
-    //__enable_irq(); 
-}
-
-void PpmIn::getAllChannels(uint16_t all_channels[])
-{
-    for(int i = 0; i < CHANNELS; i++){
-        all_channels[i] = channels[i];   
-    }           
-    
-}
-
-bool PpmIn::rise_captured(){
-    if(rise_value){
-        rise_value = false;
-        return true;
-    }
-    else{
-        return false;
-    }
-}
-            
-void PpmIn::rise()
-{
-    //__disable_irq();
-    uint16_t time = timer.read_us();
-    
-    rise_value = true;
-    
-    // we are in synchro zone
-    if(time > 2500)
-    {
-       current_channel = 0;
-       // return values 
-       state = true;
-    }
-    else
-    {
-        channels[current_channel] = timer.read_us();  
-        current_channel += 1;     
-    }
-    
-    timer.reset();
-    
-    //if (current_channel > (CHANNELS + 2 - 1)); //+frame and - 1 indexing of channels list
-    //__enable_irq();
-}
\ No newline at end of file

--- a/PPMIn.h	Fri Sep 22 11:28:39 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,31 +0,0 @@
-#ifndef CH_PPM_IN
-#define CH_PPM_IN
-
-class PpmIn
-{
-    public:
-    
-        static const uint8_t CHANNELS = 6;
-        uint16_t period;
-        uint16_t channels[CHANNELS+2]; 
-        bool state;
-        
-        PpmIn(PinName pin);
-        
-        void getAllChannels(uint16_t all_channels[]);
-        void rise();
-        
-        bool rise_captured(void);
-        
- 
-    private:
-        InterruptIn ppm;
-        Timer timer;
-        uint8_t current_channel;
-        
-        volatile bool rise_value;
-        
-        
-};
-
-#endif
\ No newline at end of file

--- a/PPMOut.cpp	Fri Sep 22 11:28:39 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,115 +0,0 @@
-#include "mbed.h"
-#include "PPMOut.h"
-
-PpmOut::PpmOut(PinName pin, uint8_t channel_number): ppm(pin){
-    //__disable_irq();
-    if(channel_number > MAX_CHANNELS){
-        this->channel_number = MAX_CHANNELS;
-    }
-    this->channel_number = channel_number;
-    resetChannels();
-    pulse_out = 0;
-    ppm = pulse_out;
-    current_dot = 0;
-    timeout.attach_us(this, &PpmOut::attimeout, FRAME_LEN);
-    //__enable_irq(); 
-}
-
-void PpmOut::setChannel(int channel_no, uint16_t value) {
-    //__disable_irq();     // Disable Interrupts
-    
-    //pc.printf("channel was set \r\n ");
-    
-    if(channel_no > channel_number-1){
-        return;
-    }
-    if(value > MAX_CHANNEL_VALUE){
-        value = MAX_CHANNEL_VALUE;
-    }
-    if(value < MIN_CHANNEL_VALUE){
-        value = MIN_CHANNEL_VALUE;
-    }
-    
-    dots[channel_no*2] = CHANNEL_SYNC;
-    //dots[channel_no*2+1] = CHANNEL_PAD_SYNC + value;
-    dots[channel_no*2+1] = value - CHANNEL_SYNC + channel_correction[channel_no] - GENERAL_CORRECTION;
-    //dots[channel_no*2+1] = CHANNEL_MID_VALUE - CHANNEL_SYNC;
-
-    setFrameSync();
-    //__enable_irq();     // Enable Interrupts
-}
-
-void PpmOut::setAllChannels(uint16_t new_channels[MAX_CHANNELS], int channels){
-    for(int channel_no = 0; channel_no < channels; channel_no++){
-        dots[channel_no*2] = CHANNEL_SYNC;    
-        dots[channel_no*2+1] = new_channels[channel_no] - CHANNEL_SYNC + channel_correction[channel_no] - GENERAL_CORRECTION;
-    }   
-    
-    setFrameSync();
-}
-
-void PpmOut::setChannelCorrection(int channel_no, uint16_t value){
-    
-    channel_correction[channel_no] = value;
-        
-}
-
-void PpmOut::getAllChannels(uint16_t all_channels[]){
-    
-       
-    for(uint8_t channel = 0; channel < channel_number; channel++) {
-        all_channels[channel] = dots[channel*2+1] + channel_correction[channel];
-    }   
-    all_channels[0] = 1000;
-    //return all_channels;
-
-}
-
-
-void PpmOut::setFrameSync(){
-    
-    //pc.printf("Frame synchronization \r\n ");
-    //__disable_irq();
-    
-    uint16_t sum_channels = 0;
-    for(uint8_t channel = 0; channel < channel_number; channel++) {
-        sum_channels += dots[channel*2+1] + channel_correction[channel];
-    }
-    sum_channels += channel_number*CHANNEL_SYNC;
-    dots[channel_number*2] = CHANNEL_SYNC;
-    dots[channel_number*2+1] = FRAME_LEN - CHANNEL_SYNC - sum_channels;
-    
-    //__enable_irq();
-     
-}
-
-void PpmOut::attimeout() {
-    
-    //pc.printf("PPM attimeout \r\n ");
-    //__disable_irq();
-    
-    pulse_out = !pulse_out;
-    ppm = pulse_out;
-    
-    timeout.attach_us(this, &PpmOut::attimeout, dots[current_dot]);
-    current_dot++;
-
-    if(current_dot == channel_number*2+2) { // 2 for FRAME_SYNC
-        current_dot = 0;
-    }
-     
-    //__enable_irq();
-}
-
-void PpmOut::resetChannels() {
-    int8_t channel;
-    
-    current_dot = 0;
-    memset(dots, 0x00, DOTS);
-    memset(channel_correction, 0x00, MAX_CHANNELS); 
-    for(channel = 0; channel < channel_number; channel++) {
-        dots[channel*2] = CHANNEL_SYNC;
-        dots[channel*2+1] = CHANNEL_PAD_SYNC;
-    }
-    setFrameSync();
-}
\ No newline at end of file

--- a/PPMOut.h	Fri Sep 22 11:28:39 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,51 +0,0 @@
-#ifndef CH_PPM_OUT
-#define CH_PPM_OUT
-
-class PpmOut{
-    public:
-        static const uint8_t MAX_CHANNELS = 8;
-        static const uint16_t CHANNEL_SYNC = 300; // us
-        static const uint16_t CHANNEL_PAD_SYNC = 1000 - CHANNEL_SYNC; // us
-        static const uint16_t CHANNEL_MID_VALUE = 1500; // us
-        static const uint16_t FRAME_SYNC = 5000; // us
-        static const uint16_t FRAME_LEN = 20000; // us
-        static const uint16_t MAX_CHANNEL_VALUE = 2000; // us
-        static const uint16_t MIN_CHANNEL_VALUE = 1010; 
-        static const uint16_t DOTS = MAX_CHANNELS*2+2; // two dots per channel + FRAME_SYNC
-        // general channel correction - difference between assigned value a result value on fly controller
-        static const uint16_t GENERAL_CORRECTION = 26; // us
-        
-        /* Will start the PPM output */
-        PpmOut(PinName pin, uint8_t channel_number);
-        /* Values go from MIN_CHANNEL_VALUE to MAX_CHANNEL_VALUE */
-        void setChannel(int channel_no, uint16_t value);
-        /* Set all channels */
-        void PpmOut::setAllChannels(uint16_t new_channels[MAX_CHANNELS], int channels);
-        /* Set channels correction at the start */
-        void setChannelCorrection(int channel_no, uint16_t value);
-        
-        // Get all channels value
-        void getAllChannels(uint16_t all_channels[]);
-        
-        
-    private:
-        /* These are the time dots where the signal changes the value 
-           from 0 to 1 and in reverse */
-        uint16_t dots[DOTS];
-        Timeout timeout;
-        DigitalOut ppm;
-        uint8_t current_dot;
-        uint8_t channel_number;
-        uint16_t frame_length;
-        uint16_t pulse_out;
-        // correction for every single channel
-        uint16_t channel_correction[MAX_CHANNELS];
-        
-        //uint16_t* all_channels[MAX_CHANNELS];
-        
-        void attimeout();
-        inline void resetChannels();
-        inline void setFrameSync();
-};
-
-#endif // CH_PPM_OUT
\ No newline at end of file

--- /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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PpmRegen.h	Wed Sep 27 17:05:59 2017 +0000
@@ -0,0 +1,36 @@
+#ifndef CH_PPM_IN
+#define CH_PPM_IN
+
+#include "mbed.h"
+
+class PpmRegen
+{
+    public:
+    
+        static const uint8_t CHANNELS = 6;
+        uint16_t period;
+        uint16_t channels[CHANNELS+2]; 
+        uint16_t corrections[CHANNELS];
+        
+        PpmRegen(PinName InterruptPort, PinName roll, PinName pitch, PinName yaw, PinName throttle, PinName aux1, PinName aux2);
+        
+        void getAllChannels(uint16_t all_channels[]);
+        void fall();
+        void channel_correction(void);
+        
+    private:
+        InterruptIn ppmPin;
+        Timer timer;
+        uint8_t current_channel;
+        bool first_reading;
+        
+        PwmOut              _roll;
+        PwmOut              _pitch;
+        PwmOut              _yaw;
+        PwmOut              _throttle;
+        PwmOut              _aux1;
+        PwmOut              _aux2;
+        
+};
+
+#endif
\ No newline at end of file