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: rcrx.h
- Revision:
- 0:7ccd56e1c3b1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rcrx.h Wed Aug 11 01:23:42 2010 +0000 @@ -0,0 +1,18 @@ +Timer tick; +InterruptIn rc(p11); +short buf_ppm[5]; +char i = 0; + +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 (i==6) i = 0; + return; +} + +void PPM_fall() { // Rising edge on the serial comm + tick.start(); // Start the timer + return; +} \ No newline at end of file