Matthias Grob / Mbed 2 deprecated FlyBed2

My fully self designed first stable working Quadrocopter Software.

Dependencies:   mbed

Dependents:   fluy343

/media/uploads/maetugr/dsc09031.jpg

RC/RC_Channel.cpp@10:14390c90c3f5, 2015-08-31 (annotated)

Committer:
maetugr
Date:
Mon Aug 31 20:20:50 2015 +0000
Revision:
10:14390c90c3f5
Parent:
7:ac2895479e34 
before changing to MPU9250

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 0:12950aa67f2a 1 #include "RC_Channel.h"
maetugr 0:12950aa67f2a 2 #include "mbed.h"
maetugr 0:12950aa67f2a 3
maetugr 0:12950aa67f2a 4 RC_Channel::RC_Channel(PinName mypin, int index) : myinterrupt(mypin)
maetugr 0:12950aa67f2a 5 {
maetugr 0:12950aa67f2a 6 LocalFileSystem local("local"); // If theres no local yet
maetugr 0:12950aa67f2a 7 RC_Channel::index = index;
maetugr 0:12950aa67f2a 8 time = -100; // start value to see if there was any value yet
maetugr 0:12950aa67f2a 9
maetugr 0:12950aa67f2a 10 loadCalibrationValue(&scale, "SCALE");
maetugr 0:12950aa67f2a 11 loadCalibrationValue(&offset, "OFFSE");
maetugr 0:12950aa67f2a 12
maetugr 0:12950aa67f2a 13 myinterrupt.rise(this, &RC_Channel::rise);
maetugr 0:12950aa67f2a 14 myinterrupt.fall(this, &RC_Channel::fall);
maetugr 0:12950aa67f2a 15 timeoutchecker.attach(this, &RC_Channel::timeoutcheck, 1);
maetugr 0:12950aa67f2a 16 }
maetugr 0:12950aa67f2a 17
maetugr 0:12950aa67f2a 18 int RC_Channel::read()
maetugr 0:12950aa67f2a 19 {
maetugr 0:12950aa67f2a 20 if(time == -100)
maetugr 0:12950aa67f2a 21 return time;
maetugr 0:12950aa67f2a 22 float result = scale * (float)(time) + offset; // calibration of the readings
maetugr 7:ac2895479e34 23 return result;
maetugr 7:ac2895479e34 24 //return (result > 490 && result < 510) ? 500 : result; // make the middle of the stickpositions non drifting
maetugr 0:12950aa67f2a 25 }
maetugr 0:12950aa67f2a 26
maetugr 0:12950aa67f2a 27 void RC_Channel::rise()
maetugr 0:12950aa67f2a 28 {
maetugr 0:12950aa67f2a 29 timer.start();
maetugr 0:12950aa67f2a 30 }
maetugr 0:12950aa67f2a 31
maetugr 0:12950aa67f2a 32 void RC_Channel::fall()
maetugr 0:12950aa67f2a 33 {
maetugr 0:12950aa67f2a 34 timer.stop();
maetugr 0:12950aa67f2a 35 int tester = timer.read_us();
maetugr 0:12950aa67f2a 36 if(tester >= 1000 && tester <=2000)
maetugr 0:12950aa67f2a 37 time = tester-1000; // we want only the signal from 1000 - 2000 as 0 - 1000 for easier scaling
maetugr 0:12950aa67f2a 38 timer.reset();
maetugr 0:12950aa67f2a 39 timer.start();
maetugr 0:12950aa67f2a 40 }
maetugr 0:12950aa67f2a 41
maetugr 0:12950aa67f2a 42 void RC_Channel::timeoutcheck()
maetugr 0:12950aa67f2a 43 {
maetugr 0:12950aa67f2a 44 if (timer.read() > 0.3)
maetugr 0:12950aa67f2a 45 time = -100;
maetugr 0:12950aa67f2a 46 }
maetugr 0:12950aa67f2a 47
maetugr 0:12950aa67f2a 48 void RC_Channel::saveCalibrationValue(float * value, char * fileextension)
maetugr 0:12950aa67f2a 49 {
maetugr 0:12950aa67f2a 50 char path[40];
maetugr 0:12950aa67f2a 51 sprintf(path, "/local/FlyBed/RC_%d_%s", index, fileextension);
maetugr 0:12950aa67f2a 52 FILE *fp = fopen(path, "w");
maetugr 0:12950aa67f2a 53 if (fp != NULL) {
maetugr 0:12950aa67f2a 54 fprintf(fp, "%f", value);
maetugr 0:12950aa67f2a 55 fclose(fp);
maetugr 0:12950aa67f2a 56 } else
maetugr 0:12950aa67f2a 57 value = 0;
maetugr 0:12950aa67f2a 58 }
maetugr 0:12950aa67f2a 59
maetugr 0:12950aa67f2a 60 void RC_Channel::loadCalibrationValue(float * value, char * fileextension)
maetugr 0:12950aa67f2a 61 {
maetugr 0:12950aa67f2a 62 char path[40];
maetugr 0:12950aa67f2a 63 sprintf(path, "/local/RC%d%s", index, fileextension);
maetugr 0:12950aa67f2a 64 FILE *fp = fopen(path, "r");
maetugr 0:12950aa67f2a 65 if (fp != NULL) {
maetugr 0:12950aa67f2a 66 fscanf(fp, "%f", value);
maetugr 0:12950aa67f2a 67 fclose(fp);
maetugr 0:12950aa67f2a 68 } else
maetugr 0:12950aa67f2a 69 value = 0;
maetugr 0:12950aa67f2a 70 }