hige dura / Mbed 2 deprecated RC_reciever

RC_reciever

Dependencies:   mbed RC_reciever

Dependents:   RC_reciever

main.cpp@2:8c428bae83a8, 2015-12-21 (annotated)

Committer:
higedura
Date:
Mon Dec 21 02:31:52 2015 +0000
Revision:
2:8c428bae83a8
Parent:
1:16b2e229b739 
RC receiver

Who changed what in which revision?

UserRevisionLine numberNew contents of line
higedura 1:16b2e229b739 1 #include "mbed.h"
higedura 1:16b2e229b739 2
higedura 1:16b2e229b739 3 #define chan 6 // the numbers of channels
higedura 1:16b2e229b739 4
higedura 1:16b2e229b739 5 Serial pc(USBTX, USBRX);
higedura 1:16b2e229b739 6 DigitalOut led1(LED1);
higedura 1:16b2e229b739 7 DigitalOut led2(LED2);
higedura 1:16b2e229b739 8 DigitalOut led3(LED3);
higedura 1:16b2e229b739 9 DigitalOut led4(LED4);
higedura 1:16b2e229b739 10
higedura 2:8c428bae83a8 11 InterruptIn ch1(p17); // yaw
higedura 2:8c428bae83a8 12 InterruptIn ch2(p18); // pitch
higedura 2:8c428bae83a8 13 InterruptIn ch3(p19); // throttle
higedura 2:8c428bae83a8 14 InterruptIn ch4(p20); // roll
higedura 1:16b2e229b739 15 //InterruptIn ch5(p17); // aux1
higedura 1:16b2e229b739 16 //InterruptIn ch6(p18); // aux2
higedura 2:8c428bae83a8 17
higedura 1:16b2e229b739 18 void thro_up(); void roll_up(); void pitch_up(); void yaw_up(); void aux1_up(); void aux2_up();
higedura 1:16b2e229b739 19 void thro_down(); void roll_down(); void pitch_down(); void yaw_down(); void aux1_down(); void aux2_down();
higedura 1:16b2e229b739 20
higedura 1:16b2e229b739 21 Timer t_thro; Timer t_roll; Timer t_pitch; Timer t_yaw; Timer t_aux1; Timer t_aux2;
higedura 1:16b2e229b739 22
higedura 1:16b2e229b739 23 // thro roll pitch yaw aux1 aux2
higedura 1:16b2e229b739 24 int pwm_pulse[chan] = {0, 0, 0, 0, 0, 0};
higedura 1:16b2e229b739 25
higedura 1:16b2e229b739 26 int main() {
higedura 1:16b2e229b739 27
higedura 1:16b2e229b739 28 pc.baud(921600);
higedura 2:8c428bae83a8 29 pc.printf("hello!\r\n\r\n");
higedura 2:8c428bae83a8 30 led1 =1;
higedura 2:8c428bae83a8 31 wait(1);
higedura 2:8c428bae83a8 32 led1 =0;
higedura 2:8c428bae83a8 33 wait(1);
higedura 2:8c428bae83a8 34 led1=1;
higedura 1:16b2e229b739 35 // Reciever function
higedura 1:16b2e229b739 36 ch1.rise(&yaw_up); ch1.fall(&yaw_down);
higedura 1:16b2e229b739 37 ch2.rise(&pitch_up); ch2.fall(&pitch_down);
higedura 1:16b2e229b739 38 ch3.rise(&thro_up); ch3.fall(&thro_down);
higedura 1:16b2e229b739 39 ch4.rise(&roll_up); ch4.fall(&roll_down);
higedura 1:16b2e229b739 40 //ch5.rise(&aux1_up); ch5.fall(&aux1_down);
higedura 1:16b2e229b739 41 //ch6.rise(&aux2_up); ch6.fall(&aux2_down);
higedura 1:16b2e229b739 42
higedura 1:16b2e229b739 43 while(1) {
higedura 1:16b2e229b739 44
higedura 2:8c428bae83a8 45 for( int i=0;i<4;i++ ){ pc.printf("%d ", pwm_pulse[i]); }
higedura 2:8c428bae83a8 46 pc.printf("\r\n\r\n");
higedura 1:16b2e229b739 47
higedura 2:8c428bae83a8 48 //ch1.enable_irq();
higedura 2:8c428bae83a8 49 //ch2.enable_irq();
higedura 2:8c428bae83a8 50 //ch3.enable_irq();
higedura 2:8c428bae83a8 51 //ch4.enable_irq();
higedura 1:16b2e229b739 52
higedura 1:16b2e229b739 53 wait(.1);
higedura 2:8c428bae83a8 54
higedura 2:8c428bae83a8 55 //ch1.disable_irq();
higedura 2:8c428bae83a8 56 //ch2.disable_irq();
higedura 2:8c428bae83a8 57 //ch3.disable_irq();
higedura 2:8c428bae83a8 58 //ch4.disable_irq();
higedura 1:16b2e229b739 59
higedura 1:16b2e229b739 60 }
higedura 1:16b2e229b739 61 }
higedura 1:16b2e229b739 62
higedura 1:16b2e229b739 63 void thro_up(){ t_thro.start(); }
higedura 1:16b2e229b739 64 void roll_up(){ t_roll.start(); }
higedura 1:16b2e229b739 65 void pitch_up(){ t_pitch.start(); }
higedura 1:16b2e229b739 66 void yaw_up(){ t_yaw.start(); }
higedura 1:16b2e229b739 67 //void aux1_up(){ t_aux1.start(); }
higedura 1:16b2e229b739 68 //void aux2_up(){ t_aux2.start(); }
higedura 1:16b2e229b739 69
higedura 1:16b2e229b739 70 void thro_down(){
higedura 1:16b2e229b739 71 t_thro.stop();
higedura 1:16b2e229b739 72 pwm_pulse[0] = (int)(t_thro.read()*1000000-1000);
higedura 1:16b2e229b739 73 t_thro.reset();
higedura 1:16b2e229b739 74 }
higedura 1:16b2e229b739 75
higedura 1:16b2e229b739 76 void roll_down(){
higedura 1:16b2e229b739 77 t_roll.stop();
higedura 1:16b2e229b739 78 pwm_pulse[1] = (int)(t_roll.read()*1000000-1000);
higedura 1:16b2e229b739 79 t_roll.reset();
higedura 1:16b2e229b739 80 }
higedura 1:16b2e229b739 81
higedura 1:16b2e229b739 82 void pitch_down(){
higedura 1:16b2e229b739 83 t_pitch.stop();
higedura 1:16b2e229b739 84 pwm_pulse[2] = (int)(t_pitch.read()*1000000-1000);
higedura 1:16b2e229b739 85 t_pitch.reset();
higedura 1:16b2e229b739 86 }
higedura 1:16b2e229b739 87
higedura 1:16b2e229b739 88 void yaw_down(){
higedura 1:16b2e229b739 89 t_yaw.stop();
higedura 1:16b2e229b739 90 pwm_pulse[3] = (int)(t_yaw.read()*1000000-1000);
higedura 1:16b2e229b739 91 t_yaw.reset();
higedura 1:16b2e229b739 92 }
higedura 1:16b2e229b739 93 /*
higedura 1:16b2e229b739 94 void aux1_down(){
higedura 1:16b2e229b739 95 t_aux1.stop();
higedura 1:16b2e229b739 96 pwm_pulse[4] = (int)(t_aux1.read()*1000000-1000);
higedura 1:16b2e229b739 97 t_aux1.reset();
higedura 1:16b2e229b739 98 }
higedura 1:16b2e229b739 99
higedura 1:16b2e229b739 100 void aux2_down(){
higedura 1:16b2e229b739 101 t_aux2.stop();
higedura 1:16b2e229b739 102 pwm_pulse[5] = (int)(t_aux2.read()*1000000-1000);
higedura 1:16b2e229b739 103 t_aux2.reset();
higedura 1:16b2e229b739 104 }
higedura 1:16b2e229b739 105 */