Matthias Grob / Mbed 2 deprecated FlyBed3

Successful acro and level mode now! Relying on MPU9250 as base sensor. I'm working continuously on tuning and features :) NEWEST VERSION ON: https://github.com/MaEtUgR/FlyBed (CODE 100% compatible/copyable)

Dependencies:   mbed

RC/RC_Channel.cpp@8:609a2ad4c30e, 2015-11-19 (annotated)

Committer:
maetugr
Date:
Thu Nov 19 18:47:27 2015 +0000
Revision:
8:609a2ad4c30e
Parent:
1:60882db03b0f 
made I2C-Sensors working in parallel, added rolling buffer for PID derivative, played with the PID and frequency parameters in main

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 0:37f0c1e8fa66 1 #include "RC_Channel.h"
maetugr 0:37f0c1e8fa66 2 #include "mbed.h"
maetugr 0:37f0c1e8fa66 3
maetugr 0:37f0c1e8fa66 4 RC_Channel::RC_Channel(PinName mypin, int index) : myinterrupt(mypin)
maetugr 0:37f0c1e8fa66 5 {
maetugr 0:37f0c1e8fa66 6 LocalFileSystem local("local"); // If theres no local yet
maetugr 0:37f0c1e8fa66 7 RC_Channel::index = index;
maetugr 0:37f0c1e8fa66 8 time = -100; // start value to see if there was any value yet
maetugr 0:37f0c1e8fa66 9
maetugr 0:37f0c1e8fa66 10 loadCalibrationValue(&scale, "SCALE");
maetugr 0:37f0c1e8fa66 11 loadCalibrationValue(&offset, "OFFSE");
maetugr 0:37f0c1e8fa66 12
maetugr 0:37f0c1e8fa66 13 myinterrupt.rise(this, &RC_Channel::rise);
maetugr 0:37f0c1e8fa66 14 myinterrupt.fall(this, &RC_Channel::fall);
maetugr 0:37f0c1e8fa66 15 timeoutchecker.attach(this, &RC_Channel::timeoutcheck, 1);
maetugr 0:37f0c1e8fa66 16 }
maetugr 0:37f0c1e8fa66 17
maetugr 0:37f0c1e8fa66 18 int RC_Channel::read()
maetugr 0:37f0c1e8fa66 19 {
maetugr 0:37f0c1e8fa66 20 if(time == -100)
maetugr 0:37f0c1e8fa66 21 return time;
maetugr 0:37f0c1e8fa66 22 float result = scale * (float)(time) + offset; // calibration of the readings
maetugr 0:37f0c1e8fa66 23 return result;
maetugr 0:37f0c1e8fa66 24 //return (result > 490 && result < 510) ? 500 : result; // make the middle of the stickpositions non drifting
maetugr 0:37f0c1e8fa66 25 }
maetugr 0:37f0c1e8fa66 26
maetugr 0:37f0c1e8fa66 27 void RC_Channel::rise()
maetugr 0:37f0c1e8fa66 28 {
maetugr 0:37f0c1e8fa66 29 timer.start();
maetugr 0:37f0c1e8fa66 30 }
maetugr 0:37f0c1e8fa66 31
maetugr 0:37f0c1e8fa66 32 void RC_Channel::fall()
maetugr 0:37f0c1e8fa66 33 {
maetugr 0:37f0c1e8fa66 34 timer.stop();
maetugr 0:37f0c1e8fa66 35 int tester = timer.read_us();
maetugr 0:37f0c1e8fa66 36 if(tester >= 1000 && tester <=2000)
maetugr 0:37f0c1e8fa66 37 time = tester-1000; // we want only the signal from 1000 - 2000 as 0 - 1000 for easier scaling
maetugr 0:37f0c1e8fa66 38 timer.reset();
maetugr 0:37f0c1e8fa66 39 timer.start();
maetugr 0:37f0c1e8fa66 40 }
maetugr 0:37f0c1e8fa66 41
maetugr 0:37f0c1e8fa66 42 void RC_Channel::timeoutcheck()
maetugr 0:37f0c1e8fa66 43 {
maetugr 0:37f0c1e8fa66 44 if (timer.read() > 0.3)
maetugr 0:37f0c1e8fa66 45 time = -100;
maetugr 0:37f0c1e8fa66 46 }
maetugr 0:37f0c1e8fa66 47
maetugr 0:37f0c1e8fa66 48 void RC_Channel::saveCalibrationValue(float * value, char * fileextension)
maetugr 0:37f0c1e8fa66 49 {
maetugr 0:37f0c1e8fa66 50 char path[40];
maetugr 0:37f0c1e8fa66 51 sprintf(path, "/local/FlyBed/RC_%d_%s", index, fileextension);
maetugr 0:37f0c1e8fa66 52 FILE *fp = fopen(path, "w");
maetugr 0:37f0c1e8fa66 53 if (fp != NULL) {
maetugr 1:60882db03b0f 54 fprintf(fp, "%f", *value);
maetugr 0:37f0c1e8fa66 55 fclose(fp);
maetugr 0:37f0c1e8fa66 56 } else
maetugr 0:37f0c1e8fa66 57 value = 0;
maetugr 0:37f0c1e8fa66 58 }
maetugr 0:37f0c1e8fa66 59
maetugr 0:37f0c1e8fa66 60 void RC_Channel::loadCalibrationValue(float * value, char * fileextension)
maetugr 0:37f0c1e8fa66 61 {
maetugr 0:37f0c1e8fa66 62 char path[40];
maetugr 0:37f0c1e8fa66 63 sprintf(path, "/local/RC%d%s", index, fileextension);
maetugr 0:37f0c1e8fa66 64 FILE *fp = fopen(path, "r");
maetugr 0:37f0c1e8fa66 65 if (fp != NULL) {
maetugr 0:37f0c1e8fa66 66 fscanf(fp, "%f", value);
maetugr 0:37f0c1e8fa66 67 fclose(fp);
maetugr 0:37f0c1e8fa66 68 } else
maetugr 0:37f0c1e8fa66 69 value = 0;
maetugr 0:37f0c1e8fa66 70 }