Matthias Grob / Mbed 2 deprecated FlyBed1

NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.

Dependencies:   mbed MODI2C

RC/RC_Channel.cpp@40:2ca410923691, 2014-02-14 (annotated)

Committer:
maetugr
Date:
Fri Feb 14 14:17:32 2014 +0000
Revision:
40:2ca410923691
Parent:
37:34917f7c10ae 
now with MPU6050 before taking it too FlyBed2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 7:9d4313510646 1 #include "RC_Channel.h"
maetugr 7:9d4313510646 2 #include "mbed.h"
maetugr 7:9d4313510646 3
maetugr 27:9e546fa47c33 4 RC_Channel::RC_Channel(PinName mypin, int index) : myinterrupt(mypin)
maetugr 7:9d4313510646 5 {
maetugr 34:3aa1cbcde59d 6 LocalFileSystem local("local"); // If theres no local yet
maetugr 27:9e546fa47c33 7 RC_Channel::index = index;
maetugr 28:ba6ca9f4def4 8 time = -100; // start value to see if there was any value yet
maetugr 27:9e546fa47c33 9
maetugr 27:9e546fa47c33 10 loadCalibrationValue(&scale, "SCALE");
maetugr 29:8b7362a2ee14 11 loadCalibrationValue(&offset, "OFFSE");
maetugr 27:9e546fa47c33 12
maetugr 7:9d4313510646 13 myinterrupt.rise(this, &RC_Channel::rise);
maetugr 7:9d4313510646 14 myinterrupt.fall(this, &RC_Channel::fall);
maetugr 15:753c5d6a63b3 15 timeoutchecker.attach(this, &RC_Channel::timeoutcheck, 1);
maetugr 7:9d4313510646 16 }
maetugr 7:9d4313510646 17
maetugr 7:9d4313510646 18 int RC_Channel::read()
maetugr 7:9d4313510646 19 {
maetugr 29:8b7362a2ee14 20 if(time == -100)
maetugr 29:8b7362a2ee14 21 return time;
maetugr 37:34917f7c10ae 22 float result = scale * (float)(time) + offset; // calibration of the readings
maetugr 37:34917f7c10ae 23 return (result > 490 && result < 510) ? 500 : result; // make the middle of the stickpositions non drifting
maetugr 7:9d4313510646 24 }
maetugr 7:9d4313510646 25
maetugr 7:9d4313510646 26 void RC_Channel::rise()
maetugr 7:9d4313510646 27 {
maetugr 7:9d4313510646 28 timer.start();
maetugr 7:9d4313510646 29 }
maetugr 7:9d4313510646 30
maetugr 7:9d4313510646 31 void RC_Channel::fall()
maetugr 7:9d4313510646 32 {
maetugr 7:9d4313510646 33 timer.stop();
maetugr 12:67a06c9b69d5 34 int tester = timer.read_us();
maetugr 12:67a06c9b69d5 35 if(tester >= 1000 && tester <=2000)
maetugr 35:2a9465fedb99 36 time = tester-1000; // we want only the signal from 1000 - 2000 as 0 - 1000 for easier scaling
maetugr 7:9d4313510646 37 timer.reset();
maetugr 10:953afcbcebfc 38 timer.start();
maetugr 10:953afcbcebfc 39 }
maetugr 10:953afcbcebfc 40
maetugr 10:953afcbcebfc 41 void RC_Channel::timeoutcheck()
maetugr 10:953afcbcebfc 42 {
maetugr 10:953afcbcebfc 43 if (timer.read() > 0.3)
maetugr 21:c2a2e7cbabdd 44 time = -100;
maetugr 27:9e546fa47c33 45 }
maetugr 27:9e546fa47c33 46
maetugr 27:9e546fa47c33 47 void RC_Channel::saveCalibrationValue(float * value, char * fileextension)
maetugr 27:9e546fa47c33 48 {
maetugr 27:9e546fa47c33 49 char path[40];
maetugr 27:9e546fa47c33 50 sprintf(path, "/local/FlyBed/RC_%d_%s", index, fileextension);
maetugr 27:9e546fa47c33 51 FILE *fp = fopen(path, "w");
maetugr 27:9e546fa47c33 52 if (fp != NULL) {
maetugr 27:9e546fa47c33 53 fprintf(fp, "%f", value);
maetugr 27:9e546fa47c33 54 fclose(fp);
maetugr 27:9e546fa47c33 55 } else
maetugr 27:9e546fa47c33 56 value = 0;
maetugr 27:9e546fa47c33 57 }
maetugr 27:9e546fa47c33 58
maetugr 27:9e546fa47c33 59 void RC_Channel::loadCalibrationValue(float * value, char * fileextension)
maetugr 27:9e546fa47c33 60 {
maetugr 27:9e546fa47c33 61 char path[40];
maetugr 29:8b7362a2ee14 62 sprintf(path, "/local/RC%d%s", index, fileextension);
maetugr 27:9e546fa47c33 63 FILE *fp = fopen(path, "r");
maetugr 27:9e546fa47c33 64 if (fp != NULL) {
maetugr 27:9e546fa47c33 65 fscanf(fp, "%f", value);
maetugr 27:9e546fa47c33 66 fclose(fp);
maetugr 27:9e546fa47c33 67 } else
maetugr 27:9e546fa47c33 68 value = 0;
maetugr 7:9d4313510646 69 }