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@21:c2a2e7cbabdd, 2012-11-17 (annotated)
- Committer:
- maetugr
- Date:
- Sat Nov 17 11:49:21 2012 +0000
- Revision:
- 21:c2a2e7cbabdd
- Parent:
- 20:e116e596e540
- Child:
- 27:9e546fa47c33
Erster Flugtest, noch nicht stabil!
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 | 7:9d4313510646 | 4 | RC_Channel::RC_Channel(PinName mypin) : myinterrupt(mypin) |
maetugr | 7:9d4313510646 | 5 | { |
maetugr | 21:c2a2e7cbabdd | 6 | time = -100; // start value to see if there was any value yet |
maetugr | 7:9d4313510646 | 7 | myinterrupt.rise(this, &RC_Channel::rise); |
maetugr | 7:9d4313510646 | 8 | myinterrupt.fall(this, &RC_Channel::fall); |
maetugr | 15:753c5d6a63b3 | 9 | timeoutchecker.attach(this, &RC_Channel::timeoutcheck, 1); |
maetugr | 12:67a06c9b69d5 | 10 | |
maetugr | 7:9d4313510646 | 11 | } |
maetugr | 7:9d4313510646 | 12 | |
maetugr | 7:9d4313510646 | 13 | int RC_Channel::read() |
maetugr | 7:9d4313510646 | 14 | { |
maetugr | 7:9d4313510646 | 15 | return time; |
maetugr | 7:9d4313510646 | 16 | } |
maetugr | 7:9d4313510646 | 17 | |
maetugr | 7:9d4313510646 | 18 | void RC_Channel::rise() |
maetugr | 7:9d4313510646 | 19 | { |
maetugr | 7:9d4313510646 | 20 | timer.start(); |
maetugr | 7:9d4313510646 | 21 | } |
maetugr | 7:9d4313510646 | 22 | |
maetugr | 7:9d4313510646 | 23 | void RC_Channel::fall() |
maetugr | 7:9d4313510646 | 24 | { |
maetugr | 7:9d4313510646 | 25 | timer.stop(); |
maetugr | 12:67a06c9b69d5 | 26 | int tester = timer.read_us(); |
maetugr | 12:67a06c9b69d5 | 27 | if(tester >= 1000 && tester <=2000) |
maetugr | 21:c2a2e7cbabdd | 28 | time = (tester-70)-1000; // TODO: skalierung mit calibrierung (speichern....) |
maetugr | 7:9d4313510646 | 29 | timer.reset(); |
maetugr | 10:953afcbcebfc | 30 | timer.start(); |
maetugr | 10:953afcbcebfc | 31 | } |
maetugr | 10:953afcbcebfc | 32 | |
maetugr | 10:953afcbcebfc | 33 | void RC_Channel::timeoutcheck() |
maetugr | 10:953afcbcebfc | 34 | { |
maetugr | 10:953afcbcebfc | 35 | if (timer.read() > 0.3) |
maetugr | 21:c2a2e7cbabdd | 36 | time = -100; |
maetugr | 7:9d4313510646 | 37 | } |