Raharja Agie / Mbed 2 deprecated FlightController

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)

Dependencies:   mbed

rcrx.h

Committer:
agiembed
Date:
2010-08-11
Revision:
0:7ccd56e1c3b1

File content as of revision 0:7ccd56e1c3b1:

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;
}