Raharja Agie
Read IMU data at Serial port (p28, p27), data rate <100Hz @115200bps Read 5 channels PPM signal at p11 using InterruptIn Send data via RF Modem at serial port (p13, p14) in 36Hz @115200 Drive i2C motor speed controller at I2C port (p9, p10) in every 10mS (control loop delay time)
Diff: rc.h
- Revision:
- 0:bd282c11d296
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rc.h Thu Aug 12 01:08:40 2010 +0000
@@ -0,0 +1,92 @@
+Timer tick;
+InterruptIn rc(p11);
+short buf_ppm[6];
+char i = 0, idx, cnt = 0;
+
+
+void get_PPM(){
+ switch (idx){
+ case 1:
+ RC.roll = buf_ppm[2];
+ RC.throttle = buf_ppm[3];
+ RC.pitch = buf_ppm[4];
+ RC.yaw = buf_ppm[5];
+ RC.sw = buf_ppm[0];
+ break;
+
+ case 2:
+ RC.roll = buf_ppm[3];
+ RC.throttle = buf_ppm[4];
+ RC.pitch = buf_ppm[5];
+ RC.yaw = buf_ppm[0];
+ RC.sw = buf_ppm[1];
+ break;
+
+ case 3:
+ RC.roll = buf_ppm[4];
+ RC.throttle = buf_ppm[5];
+ RC.pitch = buf_ppm[0];
+ RC.yaw = buf_ppm[1];
+ RC.sw = buf_ppm[2];
+ break;
+
+ case 4:
+ RC.roll = buf_ppm[5];
+ RC.throttle = buf_ppm[0];
+ RC.pitch = buf_ppm[1];
+ RC.yaw = buf_ppm[2];
+ RC.sw = buf_ppm[3];
+ break;
+
+ case 5:
+ RC.roll = buf_ppm[0];
+ RC.throttle = buf_ppm[1];
+ RC.pitch = buf_ppm[2];
+ RC.yaw = buf_ppm[3];
+ RC.sw = buf_ppm[4];
+ break;
+
+ case 0:
+ RC.roll = buf_ppm[1];
+ RC.throttle = buf_ppm[2];
+ RC.pitch = buf_ppm[3];
+ RC.yaw = buf_ppm[4];
+ RC.sw = buf_ppm[5];
+ break;
+
+ default: break;
+ }
+ test = buf_ppm[2];
+ if(cnt<100)test1 = test;
+ return;
+}
+
+
+
+void gets_PPM(){
+ test = buf_ppm[2];
+ if(cnt<100)test1 = test;
+ //eyetosee();
+}
+
+void PPM_rise() {
+ tick.stop(); // Stop timer
+ buf_ppm[i]=tick.read_us(); // Read timer to buffer[i] i=turns
+ tick.reset(); // Reset timer
+ i++; // increment i.
+ if(buf_ppm[i]>5000) idx = i;
+ if(i==6) i = 0;
+ get_PPM();
+ cnt++;
+ if(cnt>200) cnt = 200;
+ tick.start();
+}
+
+
+/*
+Channel 1 = Roll
+Channel 2 = Throttle
+Channel 3 = Pitch
+Channel 4 = Yaw
+Channel 5 = Switch
+*/
\ No newline at end of file