iforce2d Chris
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04_I2C_MPU6050
YMFC-AL implementation in mbed.
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PPM.cpp
00001 #include "mbed.h" 00002 #include "PPM.h" 00003 00004 PPM::PPM(PinName pin): ppm(pin) 00005 { 00006 for (int i = 0; i < NUM_CHANNELS; i++) 00007 channels[i] = 1500; 00008 currentChannel = 0; 00009 timer.start(); 00010 ppm.rise( callback(this, &PPM::rise) ); 00011 } 00012 00013 void PPM::rise() 00014 { 00015 uint16_t time = timer.read_us(); 00016 timer.reset(); 00017 00018 if ( time > 2500 ) 00019 { 00020 currentChannel = 0; 00021 } 00022 else if ( currentChannel < NUM_CHANNELS ) 00023 { 00024 channels[currentChannel] = time; 00025 currentChannel++; 00026 } 00027 }
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