Matthias Grob / Mbed 2 deprecated FlyBed1

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.

Dependencies:   mbed MODI2C

RC/RC_Channel.cpp@29:8b7362a2ee14, 2012-12-15 (annotated)

Committer:
maetugr
Date:
Sat Dec 15 08:42:36 2012 +0000
Revision:
29:8b7362a2ee14
Parent:
28:ba6ca9f4def4
Child:
34:3aa1cbcde59d
gyro only version running ESCs on 490Hz now

Who changed what in which revision?

UserRevisionLine numberNew 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 27:9e546fa47c33 6 RC_Channel::index = index;
maetugr 28:ba6ca9f4def4 7 time = -100; // start value to see if there was any value yet
maetugr 27:9e546fa47c33 8
maetugr 27:9e546fa47c33 9 loadCalibrationValue(&scale, "SCALE");
maetugr 29:8b7362a2ee14 10 loadCalibrationValue(&offset, "OFFSE");
maetugr 27:9e546fa47c33 11
maetugr 7:9d4313510646 12 myinterrupt.rise(this, &RC_Channel::rise);
maetugr 7:9d4313510646 13 myinterrupt.fall(this, &RC_Channel::fall);
maetugr 15:753c5d6a63b3 14 timeoutchecker.attach(this, &RC_Channel::timeoutcheck, 1);
maetugr 7:9d4313510646 15 }
maetugr 7:9d4313510646 16
maetugr 7:9d4313510646 17 int RC_Channel::read()
maetugr 7:9d4313510646 18 {
maetugr 29:8b7362a2ee14 19 if(time == -100)
maetugr 29:8b7362a2ee14 20 return time;
maetugr 27:9e546fa47c33 21 return scale * (float)(time) + offset; // calibration of the readings
maetugr 7:9d4313510646 22 }
maetugr 7:9d4313510646 23
maetugr 7:9d4313510646 24 void RC_Channel::rise()
maetugr 7:9d4313510646 25 {
maetugr 7:9d4313510646 26 timer.start();
maetugr 7:9d4313510646 27 }
maetugr 7:9d4313510646 28
maetugr 7:9d4313510646 29 void RC_Channel::fall()
maetugr 7:9d4313510646 30 {
maetugr 7:9d4313510646 31 timer.stop();
maetugr 12:67a06c9b69d5 32 int tester = timer.read_us();
maetugr 12:67a06c9b69d5 33 if(tester >= 1000 && tester <=2000)
maetugr 27:9e546fa47c33 34 time = tester-1000; // we want only the signal from 1000 on
maetugr 7:9d4313510646 35 timer.reset();
maetugr 10:953afcbcebfc 36 timer.start();
maetugr 10:953afcbcebfc 37 }
maetugr 10:953afcbcebfc 38
maetugr 10:953afcbcebfc 39 void RC_Channel::timeoutcheck()
maetugr 10:953afcbcebfc 40 {
maetugr 10:953afcbcebfc 41 if (timer.read() > 0.3)
maetugr 21:c2a2e7cbabdd 42 time = -100;
maetugr 27:9e546fa47c33 43 }
maetugr 27:9e546fa47c33 44
maetugr 27:9e546fa47c33 45 void RC_Channel::saveCalibrationValue(float * value, char * fileextension)
maetugr 27:9e546fa47c33 46 {
maetugr 27:9e546fa47c33 47 char path[40];
maetugr 27:9e546fa47c33 48 sprintf(path, "/local/FlyBed/RC_%d_%s", index, fileextension);
maetugr 27:9e546fa47c33 49 FILE *fp = fopen(path, "w");
maetugr 27:9e546fa47c33 50 if (fp != NULL) {
maetugr 27:9e546fa47c33 51 fprintf(fp, "%f", value);
maetugr 27:9e546fa47c33 52 fclose(fp);
maetugr 27:9e546fa47c33 53 } else
maetugr 27:9e546fa47c33 54 value = 0;
maetugr 27:9e546fa47c33 55 }
maetugr 27:9e546fa47c33 56
maetugr 27:9e546fa47c33 57 void RC_Channel::loadCalibrationValue(float * value, char * fileextension)
maetugr 27:9e546fa47c33 58 {
maetugr 27:9e546fa47c33 59 char path[40];
maetugr 29:8b7362a2ee14 60 sprintf(path, "/local/RC%d%s", index, fileextension);
maetugr 27:9e546fa47c33 61 FILE *fp = fopen(path, "r");
maetugr 27:9e546fa47c33 62 if (fp != NULL) {
maetugr 27:9e546fa47c33 63 fscanf(fp, "%f", value);
maetugr 27:9e546fa47c33 64 fclose(fp);
maetugr 27:9e546fa47c33 65 } else
maetugr 27:9e546fa47c33 66 value = 0;
maetugr 7:9d4313510646 67 }