Luiz Fernando Nobre / RadioIn

A fork of AR8000

Dependents:   Sumo_v2 Sumo_v2_Unstable Sumo_v2_RG13

AR8000.h@2:5bb207fd97c5, 2012-04-14 (annotated)

Committer:
BlazeX
Date:
Sat Apr 14 10:08:55 2012 +0000
Revision:
2:5bb207fd97c5
Parent:
1:a5bfae540999
Child:
6:ce4f088d8111

        

        
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#pragma once





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//Interrupt-Callback Vorlage





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#define AR8000_RISE_FALL(Ch)\





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void Rise##Ch()\





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{\





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    LastRise[Ch]= Time.read_us();\





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}\





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void Fall##Ch()\





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{\





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    int dT= Time.read_us() - LastRise[Ch];\





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    if(dT > 900 && dT < 2200)\





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         dTime[Ch]= dT;\





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}





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class AR8000





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{





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private:





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    InterruptIn ChInt0;           //Interrupt-Handler fuer jeden Pin





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    InterruptIn ChInt1;





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    InterruptIn ChInt2;





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    InterruptIn ChInt3;





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    InterruptIn ChInt4;





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    InterruptIn ChInt5;





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    InterruptIn ChInt6;





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    InterruptIn ChInt7;





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    Timer Time;                     //Timer for all 8 Channels





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    volatile int LastRise[8];       //Zeitpunkt der letzten steigende Flanke  





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    volatile int dTime[8];          //Pulsdauer in us [1000...2000]





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public:





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    //Die Steuerbefehle





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    float Throttle;     //0=Aus, 1=Vollgas





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    float Aileron;      //-1=Links, 0=Nichts, +1=Rechts





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    float Elevator;     //-1=Sinken, 0=Nichts, +1=Steigen





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    float Rudder;       //-1=Links, 0=Nichts, +1=Rechts





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    float TrimL;        //-1...+1 Left Trim





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    float TrimR;        //-1...+1 Right Trim





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    float TrimK;        //-1...+1 Knob





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    int ControlActive;  //0=Failsafe, 1=Empfang vorhanden





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    int State;          //0, 1, 2





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    //Initialisieren





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    AR8000();





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    void Init();





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    //Interrupt-Callbacks definieren





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    AR8000_RISE_FALL(0);





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    AR8000_RISE_FALL(1);





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    AR8000_RISE_FALL(2);





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    AR8000_RISE_FALL(3);





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    AR8000_RISE_FALL(4);





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    AR8000_RISE_FALL(5);





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    AR8000_RISE_FALL(6);





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    AR8000_RISE_FALL(7);





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    //Update-Methode





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    void Update();





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};