Luiz Fernando Nobre / RadioIn

A fork of AR8000

Dependents:   Sumo_v2 Sumo_v2_Unstable Sumo_v2_RG13

Files at this revision

API Documentation at this revision

Revision 10:0c22ced44247, committed 2013-04-13

Comitter:
lfsantarelli
Date:
Sat Apr 13 00:55:57 2013 +0000
Parent:
9:c57888a66a5f
Commit message:
First Version

Changed in this revision

AR8000.cpp Show diff for this revision Revisions of this file
AR8000.h Show diff for this revision Revisions of this file
RadioIn.cpp Show annotated file Show diff for this revision Revisions of this file
RadioIn.h Show annotated file Show diff for this revision Revisions of this file 
diff -r c57888a66a5f -r 0c22ced44247 AR8000.cpp
--- a/AR8000.cpp	Fri Apr 20 11:02:25 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,76 +0,0 @@
-#include "mbed.h"
-#include "AR8000.h"
-
-
-//Initialisieren
-AR8000::AR8000() :
-#ifdef AR8000_CONNECTORS_MIRRORED
-      ChInt0(InterruptIn(p17)),
-      ChInt1(InterruptIn(p16)),
-      ChInt2(InterruptIn(p12)),
-      ChInt3(InterruptIn(p11)),
-      ChInt4(InterruptIn(p8)),
-      ChInt5(InterruptIn(p7)),
-      ChInt6(InterruptIn(p6)),
-      ChInt7(InterruptIn(p5))
-#else
-      ChInt0(InterruptIn(p5)),
-      ChInt1(InterruptIn(p6)),
-      ChInt2(InterruptIn(p7)),
-      ChInt3(InterruptIn(p8)),
-      ChInt4(InterruptIn(p11)),
-      ChInt5(InterruptIn(p12)),
-      ChInt6(InterruptIn(p16)),
-      ChInt7(InterruptIn(p17))
-#endif
-{}
-               
-void AR8000::Init()
-{
-    Time.start();
-    
-    for(int i= 0; i < 8; i++)
-    {
-        LastRise[i]= 0;
-        dTime[i]= 1000;
-    }
-    
-    ChInt0.mode(PullDown);   ChInt0.rise<AR8000>(this, &AR8000::Rise0);     ChInt0.fall<AR8000>(this, &AR8000::Fall0);
-    ChInt1.mode(PullDown);   ChInt1.rise<AR8000>(this, &AR8000::Rise1);     ChInt1.fall<AR8000>(this, &AR8000::Fall1);
-    ChInt2.mode(PullDown);   ChInt2.rise<AR8000>(this, &AR8000::Rise2);     ChInt2.fall<AR8000>(this, &AR8000::Fall2);
-    ChInt3.mode(PullDown);   ChInt3.rise<AR8000>(this, &AR8000::Rise3);     ChInt3.fall<AR8000>(this, &AR8000::Fall3);
-    ChInt4.mode(PullDown);   ChInt4.rise<AR8000>(this, &AR8000::Rise4);     ChInt4.fall<AR8000>(this, &AR8000::Fall4);
-    ChInt5.mode(PullDown);   ChInt5.rise<AR8000>(this, &AR8000::Rise5);     ChInt5.fall<AR8000>(this, &AR8000::Fall5);
-    ChInt6.mode(PullDown);   ChInt6.rise<AR8000>(this, &AR8000::Rise6);     ChInt6.fall<AR8000>(this, &AR8000::Fall6);
-    ChInt7.mode(PullDown);   ChInt7.rise<AR8000>(this, &AR8000::Rise7);     ChInt7.fall<AR8000>(this, &AR8000::Fall7);
-    
-    Update();
-}
-
-//Update-Methode
-void AR8000::Update()
-{
-    //Rohdaten &#65533;hmen
-    for(int i= 0; i<8; i++)
-        RawChannels[i]= dTime[i];
-    
-    //Steuerbefehle berechnen
-    Throttle= float(dTime[0]-1000) * 0.001;
-    Aileron= float(dTime[1]-1500) * 0.002;
-    Elevator= float(dTime[2]-1500) * 0.002;
-    Rudder= float(dTime[3]-1500) * 0.002;
-    
-    Aux1= float(dTime[6]-1500) * 0.002;
-    Aux2= float(dTime[7]-1500) * 0.002;
-    if(dTime[4] < 1500)
-    {
-        State1= 0;
-        Aux3= float(dTime[4]-1250) * 0.004;
-    }
-    else
-    {
-        State1= 1;
-        Aux3= float(dTime[4]-1750) * 0.004;
-    }
-    State2= dTime[5] < 1200 ? 0 : dTime[5] < 1700 ? 1 : 2;
-}
\ No newline at end of file

diff -r c57888a66a5f -r 0c22ced44247 AR8000.h
--- a/AR8000.h	Fri Apr 20 11:02:25 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,68 +0,0 @@
-#pragma once
-
-#define AR8000_CONNECTORS_MIRRORED
-
-//Interrupt-Callback Vorlage
-#define AR8000_RISE_FALL(Ch)\
-void Rise##Ch()\
-{\
-    LastRise[Ch]= Time.read_us();\
-}\
-void Fall##Ch()\
-{\
-    int dT= Time.read_us() - LastRise[Ch];\
-    if(dT > 900 && dT < 2100)\
-         dTime[Ch]= dT;\
-}
-
-
-class AR8000
-{
-private:
-    InterruptIn ChInt0;           //Interrupt-Handler fuer jeden Pin
-    InterruptIn ChInt1;
-    InterruptIn ChInt2;
-    InterruptIn ChInt3;
-    InterruptIn ChInt4;
-    InterruptIn ChInt5;
-    InterruptIn ChInt6;
-    InterruptIn ChInt7;
-    
-    Timer Time;                     //Timer for all 8 Channels
-    volatile int LastRise[8];       //Zeitpunkt der letzten steigende Flanke  
-    volatile int dTime[8];          //Pulsdauer in us [1000...2000]
-    
-public:
-    int RawChannels[8]; //Rohdaten [1000...2000]
-    
-    //Die Steuerbefehle
-    float Throttle;     //0=Aus, 1=Vollgas
-    float Aileron;      //-1=Links, 0=Nichts, +1=Rechts
-    float Elevator;     //-1=Sinken, 0=Nichts, +1=Steigen
-    float Rudder;       //-1=Links, 0=Nichts, +1=Rechts
-    
-    float Aux1;         //-1...+1 Left Trim
-    float Aux2;         //-1...+1 Right Trim
-    float Aux3;         //-1...+1 Knob
-    
-    int State1;         //0, 1 Gear
-    int State2;         //0, 1, 2 F-Mode
-        
-    
-    //Initialisieren
-    AR8000();
-    void Init();
-    
-    //Interrupt-Callbacks definieren
-    AR8000_RISE_FALL(0);
-    AR8000_RISE_FALL(1);
-    AR8000_RISE_FALL(2);
-    AR8000_RISE_FALL(3);
-    AR8000_RISE_FALL(4);
-    AR8000_RISE_FALL(5);
-    AR8000_RISE_FALL(6);
-    AR8000_RISE_FALL(7);
-    
-    //Update-Methode
-    void Update();
-};
\ No newline at end of file

diff -r c57888a66a5f -r 0c22ced44247 RadioIn.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RadioIn.cpp	Sat Apr 13 00:55:57 2013 +0000
@@ -0,0 +1,41 @@
+#include "mbed.h"
+#include "RadioIn.h"
+
+
+//Initialization
+RadioIn::RadioIn() :
+    ChInt0(InterruptIn(p21)),
+    ChInt1(InterruptIn(p22)),
+    ChInt2(InterruptIn(p23))
+{}
+               
+void RadioIn::Init()
+{
+    Time.start();
+    
+    for(int i= 0; i < 2; i++)
+    {
+        LastRise[i]= 0;
+        dTime[i]= 1000;
+    }
+    
+    ChInt0.mode(PullDown);   ChInt0.rise<RadioIn>(this, &RadioIn::Rise0);     ChInt0.fall<RadioIn>(this, &RadioIn::Fall0);
+    ChInt1.mode(PullDown);   ChInt1.rise<RadioIn>(this, &RadioIn::Rise1);     ChInt1.fall<RadioIn>(this, &RadioIn::Fall1);
+    ChInt2.mode(PullDown);   ChInt2.rise<RadioIn>(this, &RadioIn::Rise2);     ChInt2.fall<RadioIn>(this, &RadioIn::Fall2);  
+    Update();
+}
+
+//Update Method
+void RadioIn::Update()
+{
+    for(int i= 0; i<2; i++)
+        RawChannels[i]= dTime[i];
+    
+    //time to float conversion
+    chan1= float(dTime[0]-1500) * 0.002;
+    if (chan1>1){chan1=1;} if (chan1<-1){chan1=-1;}
+    chan2= float(dTime[1]-1500) * 0.002;
+    if (chan2>1){chan2=1;} if (chan2<-1){chan2=-1;}
+    chan3= float(dTime[2]-1500) * 0.002;
+    if (chan3>1){chan3=1;} if (chan3<-1){chan3=-1;}
+ }
\ No newline at end of file

diff -r c57888a66a5f -r 0c22ced44247 RadioIn.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RadioIn.h	Sat Apr 13 00:55:57 2013 +0000
@@ -0,0 +1,47 @@
+#pragma once
+
+//Interrupt-Callback Function
+#define RadioIn_RISE_FALL(Ch)\
+void Rise##Ch()\
+{\
+    LastRise[Ch]= Time.read_us();\
+}\
+void Fall##Ch()\
+{\
+    int dT= Time.read_us() - LastRise[Ch];\
+    if(dT > 900 && dT < 2100)\
+         dTime[Ch]= dT;\
+}
+
+
+class RadioIn
+{
+private:
+    InterruptIn ChInt0;           //Interrupt-Handler
+    InterruptIn ChInt1;
+    InterruptIn ChInt2;
+  
+    Timer Time;                     //Timer for all 3 Channels
+    volatile int LastRise[3];       //Time of the last rise
+    volatile int dTime[3];          //Pulse in us [1000...2000]
+    
+public:
+    int RawChannels[3]; //Raw Data [1000...2000]
+    
+    //Channels (0.0 - 1.0)
+    float chan1;     
+    float chan2;     
+    float chan3;     
+    
+    //Initialization
+    RadioIn();
+    void Init();
+    
+    //Interrupt-Callbacks
+    RadioIn_RISE_FALL(0);
+    RadioIn_RISE_FALL(1);
+    RadioIn_RISE_FALL(2);
+    
+    //Update Method
+    void Update();
+};
\ No newline at end of file