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@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?

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 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 }