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@28:ba6ca9f4def4, 2012-12-01 (annotated)

Committer:
maetugr
Date:
Sat Dec 01 07:13:04 2012 +0000
Revision:
28:ba6ca9f4def4
Parent:
27:9e546fa47c33
Child:
29:8b7362a2ee14
bevor eigener PID

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 27:9e546fa47c33 6 RC_Channel::index = index;
maetugr 28:ba6ca9f4def4 7 time = -100; // start value to see if there was any value yet
maetugr 27:9e546fa47c33 8
maetugr 27:9e546fa47c33 9 loadCalibrationValue(&scale, "SCALE");
maetugr 27:9e546fa47c33 10 loadCalibrationValue(&offset, "OFFSET");
maetugr 27:9e546fa47c33 11
maetugr 7:9d4313510646 12 myinterrupt.rise(this, &RC_Channel::rise);
maetugr 7:9d4313510646 13 myinterrupt.fall(this, &RC_Channel::fall);
maetugr 15:753c5d6a63b3 14 timeoutchecker.attach(this, &RC_Channel::timeoutcheck, 1);
maetugr 7:9d4313510646 15 }
maetugr 7:9d4313510646 16
maetugr 7:9d4313510646 17 int RC_Channel::read()
maetugr 7:9d4313510646 18 {
maetugr 27:9e546fa47c33 19 return scale * (float)(time) + offset; // calibration of the readings
maetugr 7:9d4313510646 20 }
maetugr 7:9d4313510646 21
maetugr 7:9d4313510646 22 void RC_Channel::rise()
maetugr 7:9d4313510646 23 {
maetugr 7:9d4313510646 24 timer.start();
maetugr 7:9d4313510646 25 }
maetugr 7:9d4313510646 26
maetugr 7:9d4313510646 27 void RC_Channel::fall()
maetugr 7:9d4313510646 28 {
maetugr 7:9d4313510646 29 timer.stop();
maetugr 12:67a06c9b69d5 30 int tester = timer.read_us();
maetugr 12:67a06c9b69d5 31 if(tester >= 1000 && tester <=2000)
maetugr 27:9e546fa47c33 32 time = tester-1000; // we want only the signal from 1000 on
maetugr 7:9d4313510646 33 timer.reset();
maetugr 10:953afcbcebfc 34 timer.start();
maetugr 10:953afcbcebfc 35 }
maetugr 10:953afcbcebfc 36
maetugr 10:953afcbcebfc 37 void RC_Channel::timeoutcheck()
maetugr 10:953afcbcebfc 38 {
maetugr 10:953afcbcebfc 39 if (timer.read() > 0.3)
maetugr 21:c2a2e7cbabdd 40 time = -100;
maetugr 27:9e546fa47c33 41 }
maetugr 27:9e546fa47c33 42
maetugr 27:9e546fa47c33 43 void RC_Channel::saveCalibrationValue(float * value, char * fileextension)
maetugr 27:9e546fa47c33 44 {
maetugr 27:9e546fa47c33 45 char path[40];
maetugr 27:9e546fa47c33 46 sprintf(path, "/local/FlyBed/RC_%d_%s", index, fileextension);
maetugr 27:9e546fa47c33 47 FILE *fp = fopen(path, "w");
maetugr 27:9e546fa47c33 48 if (fp != NULL) {
maetugr 27:9e546fa47c33 49 fprintf(fp, "%f", value);
maetugr 27:9e546fa47c33 50 fclose(fp);
maetugr 27:9e546fa47c33 51 } else
maetugr 27:9e546fa47c33 52 value = 0;
maetugr 27:9e546fa47c33 53 }
maetugr 27:9e546fa47c33 54
maetugr 27:9e546fa47c33 55 void RC_Channel::loadCalibrationValue(float * value, char * fileextension)
maetugr 27:9e546fa47c33 56 {
maetugr 27:9e546fa47c33 57 char path[40];
maetugr 27:9e546fa47c33 58 sprintf(path, "/local/FlyBed/RC_%d_%s", index, fileextension);
maetugr 27:9e546fa47c33 59 FILE *fp = fopen(path, "r");
maetugr 27:9e546fa47c33 60 if (fp != NULL) {
maetugr 27:9e546fa47c33 61 fscanf(fp, "%f", value);
maetugr 27:9e546fa47c33 62 fclose(fp);
maetugr 27:9e546fa47c33 63 } else
maetugr 27:9e546fa47c33 64 value = 0;
maetugr 7:9d4313510646 65 }