File content as of revision 0:a1ad0eb8b619:

#include "mbed.h"
#include "ROBOFRIEN_RCV.h"

static Timer RCV_Timer;

int16_t rcv_channel[6];
bool rc_state[8];
/////// RCV 1 //////////////
int rcv1_pulse_time;
void ROBOFRIEN_RCV::isr_rc_rcv1_rise(){
    rcv1_pulse_time = RCV_Timer.read_us();
}
void ROBOFRIEN_RCV::isr_rc_rcv1_fall(){
    rcv_channel[0] = RCV_Timer.read_us() - rcv1_pulse_time;
    rc_state[0] = true;
}
/////// RCV 2 //////////////
int rcv2_pulse_time;
void ROBOFRIEN_RCV::isr_rc_rcv2_rise(){
    rcv2_pulse_time = RCV_Timer.read_us();
}
void ROBOFRIEN_RCV::isr_rc_rcv2_fall(){
    rcv_channel[1] = RCV_Timer.read_us() - rcv2_pulse_time;
    rc_state[1] = true;
}
/////// RCV 3 //////////////
int rcv3_pulse_time;
void ROBOFRIEN_RCV::isr_rc_rcv3_rise(){
    rcv3_pulse_time = RCV_Timer.read_us();
}
void ROBOFRIEN_RCV::isr_rc_rcv3_fall(){
    rcv_channel[2] = RCV_Timer.read_us() - rcv3_pulse_time;
    rc_state[2] = true;
}
/////// RCV 4 //////////////
int rcv4_pulse_time;
void ROBOFRIEN_RCV::isr_rc_rcv4_rise(){
    rcv4_pulse_time = RCV_Timer.read_us();
}
void ROBOFRIEN_RCV::isr_rc_rcv4_fall(){
    rcv_channel[3] = RCV_Timer.read_us() - rcv4_pulse_time;
    rc_state[3] = true;
}
/////// RCV 5 //////////////
int rcv5_pulse_time;
void ROBOFRIEN_RCV::isr_rc_rcv5_rise(){
    rcv5_pulse_time = RCV_Timer.read_us();
}
void ROBOFRIEN_RCV::isr_rc_rcv5_fall(){
    rcv_channel[4] = RCV_Timer.read_us() - rcv5_pulse_time;
    rc_state[4] = true;
}
/////// RCV 6 //////////////
int rcv6_pulse_time;
void ROBOFRIEN_RCV::isr_rc_rcv6_rise(){
    rcv6_pulse_time = RCV_Timer.read_us();
}
void ROBOFRIEN_RCV::isr_rc_rcv6_fall(){
    rcv_channel[5] = RCV_Timer.read_us() - rcv6_pulse_time;
    rc_state[5] = true;
}

ROBOFRIEN_RCV::ROBOFRIEN_RCV(PinName RCV1) : _InterruptIn1(RCV1)
{
    if(RCV1 == p5){
        _InterruptIn1.mode(PullDown);
        _InterruptIn1.rise(this,&ROBOFRIEN_RCV::isr_rc_rcv1_rise);
        _InterruptIn1.fall(this,&ROBOFRIEN_RCV::isr_rc_rcv1_fall);        
    }
    else if(RCV1 == p6){
        _InterruptIn1.mode(PullDown);
        _InterruptIn1.rise(this,&ROBOFRIEN_RCV::isr_rc_rcv2_rise);
        _InterruptIn1.fall(this,&ROBOFRIEN_RCV::isr_rc_rcv2_fall);        
    }
    else if(RCV1 == p7){
        _InterruptIn1.mode(PullDown);
        _InterruptIn1.rise(this,&ROBOFRIEN_RCV::isr_rc_rcv3_rise);
        _InterruptIn1.fall(this,&ROBOFRIEN_RCV::isr_rc_rcv3_fall);        
    }
    else if(RCV1 == p8){
        _InterruptIn1.mode(PullDown);
        _InterruptIn1.rise(this,&ROBOFRIEN_RCV::isr_rc_rcv4_rise);
        _InterruptIn1.fall(this,&ROBOFRIEN_RCV::isr_rc_rcv4_fall);        
    }
    else if(RCV1 == p11){
        _InterruptIn1.mode(PullDown);
        _InterruptIn1.rise(this,&ROBOFRIEN_RCV::isr_rc_rcv5_rise);
        _InterruptIn1.fall(this,&ROBOFRIEN_RCV::isr_rc_rcv5_fall);        
    }
    else if(RCV1 == p12){
        _InterruptIn1.mode(PullDown);
        _InterruptIn1.rise(this,&ROBOFRIEN_RCV::isr_rc_rcv6_rise);
        _InterruptIn1.fall(this,&ROBOFRIEN_RCV::isr_rc_rcv6_fall);        
    }
}
void ROBOFRIEN_RCV::Init(){
    RCV_Timer.start();
}

///////// LPF ////////////////
void ROBOFRIEN_RCV::Update(){
    for(int i=0; i<6; i++){
        if(rc_state[i] == true){
            rc_state[i] = false;
            if(i != 2){
                lpf_cap[i] = lpf_cap[i] * 0.9 + (rcv_channel[i]/10.0) * 0.1;               
            }else{
                lpf_cap[i] = lpf_cap[i] * 0.7 + (rcv_channel[i]/10.0) * 0.3;        
            }            
        }
    }
}