Revision 0:0520851aafd9, committed 2015-07-18

Comitter:

higedura

Date:

Sat Jul 18 06:05:50 2015 +0000

Commit message:

2015_hikorobo

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Jul 18 06:05:50 2015 +0000
@@ -0,0 +1,119 @@
+#include "mbed.h"
+ 
+#define chan    4         // the numbers of channels
+
+Serial pc(USBTX, USBRX);
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+InterruptIn ch1(p15);       // yaw
+InterruptIn ch2(p16);       // pitch
+InterruptIn ch3(p17);       // throttle
+InterruptIn ch4(p18);       // roll
+//InterruptIn ch5(p29);       // aux1
+//InterruptIn ch6(p30);       // aux2
+
+PwmOut esc1(p21);
+
+void ch1_rise();    void ch1_fall();
+void ch2_rise();    void ch2_fall();
+void ch3_rise();    void ch3_fall();
+void ch4_rise();    void ch4_fall();
+//void ch5_rise();    void ch5_fall();
+//void ch6_rise();    void ch6_fall();
+
+Timer t_ch1;
+Timer t_ch2;
+Timer t_ch3;
+Timer t_ch4;
+//Timer t_ch5;
+//Timer t_ch6;
+
+// thro roll pitch yaw aux1 aux2
+int pwm_pulse[chan]      =   {0};
+
+int main() {
+    
+    pc.baud(921600);
+    pc.printf("rc_reciever starts!\r\n\r\n");
+    
+    // Reciever function
+    ch1.rise(&ch1_rise);    ch1.fall(&ch1_fall);
+    ch2.rise(&ch2_rise);    ch2.fall(&ch2_fall);
+    ch3.rise(&ch3_rise);    ch3.fall(&ch3_fall);
+    ch4.rise(&ch4_rise);    ch4.fall(&ch4_fall);
+    //ch5.rise(&ch5_rise);   ch5.fall(&ch5_fall);
+    //ch6.rise(&ch6_rise);   ch6.fall(&ch6_fall);
+    
+    esc1.period(0.020);
+    
+    while(1) {
+        
+        for( int i=0;i<4;i++ ){    pc.printf("%4d ", pwm_pulse[i]);  }
+        pc.printf("\r\n");
+        
+        //ch1.enable_irq();
+        //ch2.enable_irq();
+        //ch3.enable_irq();
+        //ch4.enable_irq();
+        
+        //wait(.1);
+        
+        //ch1.disable_irq();
+        //ch2.disable_irq();
+        //ch3.disable_irq();
+        //ch4.disable_irq();
+        
+        for(float offset=0.0; offset<0.001; offset+=0.0001) {
+            esc1.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
+            wait(0.25);
+        }
+        
+    }
+}
+
+void ch1_rise(){    t_ch1.start();   }
+void ch2_rise(){    t_ch2.start();   }
+void ch3_rise(){    t_ch3.start();  }
+void ch4_rise(){    t_ch4.start();    }
+//void ch5_rise(){    t_ch5.start();   }
+//void ch6_rise(){    t_ch6.start();   }
+
+void ch1_fall(){
+    t_ch1.stop();
+    pwm_pulse[0]    =   (int)(t_ch1.read()*1000000-1000);
+    t_ch1.reset();
+}
+
+void ch2_fall(){
+    t_ch2.stop();
+    pwm_pulse[1]    =   (int)(t_ch2.read()*1000000-1000);
+    t_ch2.reset();
+}
+
+void ch3_fall(){
+    t_ch3.stop();
+    pwm_pulse[2]    =   (int)(t_ch3.read()*1000000-1000);
+    t_ch3.reset();
+}
+
+void ch4_fall(){
+    t_ch4.stop();
+    pwm_pulse[3]    =   (int)(t_ch4.read()*1000000-1000);
+    t_ch4.reset();
+}
+/*
+void ch5_fall(){
+    t_ch5.stop();
+    pwm_pulse[4]    =   (int)(t_ch5.read()*1000000-1000);
+    t_ch5.reset();
+}
+
+void ch6_fall(){
+    t_ch6.stop();
+    pwm_pulse[5]    =   (int)(t_ch6.read()*1000000-1000);
+    t_ch6.reset();
+}
+*/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Jul 18 06:05:50 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/da0ca467f8b5
\ No newline at end of file