NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.
RC/RC_Channel.cpp@34:3aa1cbcde59d, 2013-06-10 (annotated)
- Committer:
- maetugr
- Date:
- Mon Jun 10 13:22:46 2013 +0000
- Revision:
- 34:3aa1cbcde59d
- Parent:
- 29:8b7362a2ee14
- Child:
- 35:2a9465fedb99
First version with new ESCs (they are working with the KK Board); some strange kicks in the behaviour of balancing, next step a logger
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
maetugr | 7:9d4313510646 | 1 | #include "RC_Channel.h" |
maetugr | 7:9d4313510646 | 2 | #include "mbed.h" |
maetugr | 7:9d4313510646 | 3 | |
maetugr | 27:9e546fa47c33 | 4 | RC_Channel::RC_Channel(PinName mypin, int index) : myinterrupt(mypin) |
maetugr | 7:9d4313510646 | 5 | { |
maetugr | 34:3aa1cbcde59d | 6 | LocalFileSystem local("local"); // If theres no local yet |
maetugr | 27:9e546fa47c33 | 7 | RC_Channel::index = index; |
maetugr | 28:ba6ca9f4def4 | 8 | time = -100; // start value to see if there was any value yet |
maetugr | 27:9e546fa47c33 | 9 | |
maetugr | 27:9e546fa47c33 | 10 | loadCalibrationValue(&scale, "SCALE"); |
maetugr | 29:8b7362a2ee14 | 11 | loadCalibrationValue(&offset, "OFFSE"); |
maetugr | 27:9e546fa47c33 | 12 | |
maetugr | 7:9d4313510646 | 13 | myinterrupt.rise(this, &RC_Channel::rise); |
maetugr | 7:9d4313510646 | 14 | myinterrupt.fall(this, &RC_Channel::fall); |
maetugr | 15:753c5d6a63b3 | 15 | timeoutchecker.attach(this, &RC_Channel::timeoutcheck, 1); |
maetugr | 7:9d4313510646 | 16 | } |
maetugr | 7:9d4313510646 | 17 | |
maetugr | 7:9d4313510646 | 18 | int RC_Channel::read() |
maetugr | 7:9d4313510646 | 19 | { |
maetugr | 29:8b7362a2ee14 | 20 | if(time == -100) |
maetugr | 29:8b7362a2ee14 | 21 | return time; |
maetugr | 27:9e546fa47c33 | 22 | return scale * (float)(time) + offset; // calibration of the readings |
maetugr | 7:9d4313510646 | 23 | } |
maetugr | 7:9d4313510646 | 24 | |
maetugr | 7:9d4313510646 | 25 | void RC_Channel::rise() |
maetugr | 7:9d4313510646 | 26 | { |
maetugr | 7:9d4313510646 | 27 | timer.start(); |
maetugr | 7:9d4313510646 | 28 | } |
maetugr | 7:9d4313510646 | 29 | |
maetugr | 7:9d4313510646 | 30 | void RC_Channel::fall() |
maetugr | 7:9d4313510646 | 31 | { |
maetugr | 7:9d4313510646 | 32 | timer.stop(); |
maetugr | 12:67a06c9b69d5 | 33 | int tester = timer.read_us(); |
maetugr | 12:67a06c9b69d5 | 34 | if(tester >= 1000 && tester <=2000) |
maetugr | 27:9e546fa47c33 | 35 | time = tester-1000; // we want only the signal from 1000 on |
maetugr | 7:9d4313510646 | 36 | timer.reset(); |
maetugr | 10:953afcbcebfc | 37 | timer.start(); |
maetugr | 10:953afcbcebfc | 38 | } |
maetugr | 10:953afcbcebfc | 39 | |
maetugr | 10:953afcbcebfc | 40 | void RC_Channel::timeoutcheck() |
maetugr | 10:953afcbcebfc | 41 | { |
maetugr | 10:953afcbcebfc | 42 | if (timer.read() > 0.3) |
maetugr | 21:c2a2e7cbabdd | 43 | time = -100; |
maetugr | 27:9e546fa47c33 | 44 | } |
maetugr | 27:9e546fa47c33 | 45 | |
maetugr | 27:9e546fa47c33 | 46 | void RC_Channel::saveCalibrationValue(float * value, char * fileextension) |
maetugr | 27:9e546fa47c33 | 47 | { |
maetugr | 27:9e546fa47c33 | 48 | char path[40]; |
maetugr | 27:9e546fa47c33 | 49 | sprintf(path, "/local/FlyBed/RC_%d_%s", index, fileextension); |
maetugr | 27:9e546fa47c33 | 50 | FILE *fp = fopen(path, "w"); |
maetugr | 27:9e546fa47c33 | 51 | if (fp != NULL) { |
maetugr | 27:9e546fa47c33 | 52 | fprintf(fp, "%f", value); |
maetugr | 27:9e546fa47c33 | 53 | fclose(fp); |
maetugr | 27:9e546fa47c33 | 54 | } else |
maetugr | 27:9e546fa47c33 | 55 | value = 0; |
maetugr | 27:9e546fa47c33 | 56 | } |
maetugr | 27:9e546fa47c33 | 57 | |
maetugr | 27:9e546fa47c33 | 58 | void RC_Channel::loadCalibrationValue(float * value, char * fileextension) |
maetugr | 27:9e546fa47c33 | 59 | { |
maetugr | 27:9e546fa47c33 | 60 | char path[40]; |
maetugr | 29:8b7362a2ee14 | 61 | sprintf(path, "/local/RC%d%s", index, fileextension); |
maetugr | 27:9e546fa47c33 | 62 | FILE *fp = fopen(path, "r"); |
maetugr | 27:9e546fa47c33 | 63 | if (fp != NULL) { |
maetugr | 27:9e546fa47c33 | 64 | fscanf(fp, "%f", value); |
maetugr | 27:9e546fa47c33 | 65 | fclose(fp); |
maetugr | 27:9e546fa47c33 | 66 | } else |
maetugr | 27:9e546fa47c33 | 67 | value = 0; |
maetugr | 7:9d4313510646 | 68 | } |