Revision 2:64f90dca7f36, committed 2017-09-22

Comitter:

edy05

Date:

Fri Sep 22 11:28:39 2017 +0000

Parent:

1:3649456c67ef

Child:

3:2d4d05f95c1a

Commit message:

1 release, bugs

Changed in this revision

--- a/PPMIn.cpp	Fri Jun 09 08:34:42 2017 +0000
+++ b/PPMIn.cpp	Fri Sep 22 11:28:39 2017 +0000
@@ -1,29 +1,42 @@
 #include "mbed.h"
 #include "PPMIn.h"
 
-PpmIn::PpmIn(PinName pin): ppm(pin), pc_com(USBTX, USBRX)
+PpmIn::PpmIn(PinName pin): ppm(pin)
 {
-    pc_com.printf("Constructor say hi!");
+    //__disable_irq();
     current_channel = 0;
     state = false;
     timer.start();
-    ppm.rise(this, &PpmIn::rise);
-       
+    ppm.fall(callback(this, &PpmIn::rise));
+    
+    //__enable_irq(); 
 }
 
-uint16_t* PpmIn::getPpm()
+void PpmIn::getAllChannels(uint16_t all_channels[])
 {
-    uint16_t* p_out[CHANNELS+2];
-    *p_out = &channels[0];
-    return *p_out;            
+    for(int i = 0; i < CHANNELS; i++){
+        all_channels[i] = channels[i];   
+    }           
     
 }
+
+bool PpmIn::rise_captured(){
+    if(rise_value){
+        rise_value = false;
+        return true;
+    }
+    else{
+        return false;
+    }
+}
             
 void PpmIn::rise()
 {
+    //__disable_irq();
     uint16_t time = timer.read_us();
     
-    //pc_com.printf("Rise say hi!");
+    rise_value = true;
+    
     // we are in synchro zone
     if(time > 2500)
     {
@@ -40,4 +53,5 @@
     timer.reset();
     
     //if (current_channel > (CHANNELS + 2 - 1)); //+frame and - 1 indexing of channels list
+    //__enable_irq();
 }
\ No newline at end of file

--- a/PPMIn.h	Fri Jun 09 08:34:42 2017 +0000
+++ b/PPMIn.h	Fri Sep 22 11:28:39 2017 +0000
@@ -1,30 +1,30 @@
 #ifndef CH_PPM_IN
 #define CH_PPM_IN
 
-
-
 class PpmIn
 {
     public:
     
-        static const uint8_t CHANNELS = 8;
-    
+        static const uint8_t CHANNELS = 6;
         uint16_t period;
         uint16_t channels[CHANNELS+2]; 
         bool state;
         
         PpmIn(PinName pin);
         
-        uint16_t* getPpm();
+        void getAllChannels(uint16_t all_channels[]);
         void rise();
         
+        bool rise_captured(void);
+        
  
-    protected:
+    private:
         InterruptIn ppm;
-        Serial pc_com;
         Timer timer;
         uint8_t current_channel;
         
+        volatile bool rise_value;
+        
         
 };
 

--- a/PPMOut.cpp	Fri Jun 09 08:34:42 2017 +0000
+++ b/PPMOut.cpp	Fri Sep 22 11:28:39 2017 +0000
@@ -1,44 +1,93 @@
 #include "mbed.h"
 #include "PPMOut.h"
 
-PpmOut::PpmOut(PinName pin, uint8_t channel_number): ppm(pin) {
+PpmOut::PpmOut(PinName pin, uint8_t channel_number): ppm(pin){
+    //__disable_irq();
     if(channel_number > MAX_CHANNELS){
         this->channel_number = MAX_CHANNELS;
     }
     this->channel_number = channel_number;
     resetChannels();
-    pulse_out = 1;
+    pulse_out = 0;
     ppm = pulse_out;
     current_dot = 0;
     timeout.attach_us(this, &PpmOut::attimeout, FRAME_LEN);
+    //__enable_irq(); 
 }
 
 void PpmOut::setChannel(int channel_no, uint16_t value) {
     //__disable_irq();     // Disable Interrupts
+    
+    //pc.printf("channel was set \r\n ");
+    
     if(channel_no > channel_number-1){
         return;
     }
     if(value > MAX_CHANNEL_VALUE){
         value = MAX_CHANNEL_VALUE;
     }
+    if(value < MIN_CHANNEL_VALUE){
+        value = MIN_CHANNEL_VALUE;
+    }
+    
     dots[channel_no*2] = CHANNEL_SYNC;
-    dots[channel_no*2+1] = CHANNEL_PAD_SYNC + value;
+    //dots[channel_no*2+1] = CHANNEL_PAD_SYNC + value;
+    dots[channel_no*2+1] = value - CHANNEL_SYNC + channel_correction[channel_no] - GENERAL_CORRECTION;
+    //dots[channel_no*2+1] = CHANNEL_MID_VALUE - CHANNEL_SYNC;
 
     setFrameSync();
     //__enable_irq();     // Enable Interrupts
 }
 
+void PpmOut::setAllChannels(uint16_t new_channels[MAX_CHANNELS], int channels){
+    for(int channel_no = 0; channel_no < channels; channel_no++){
+        dots[channel_no*2] = CHANNEL_SYNC;    
+        dots[channel_no*2+1] = new_channels[channel_no] - CHANNEL_SYNC + channel_correction[channel_no] - GENERAL_CORRECTION;
+    }   
+    
+    setFrameSync();
+}
+
+void PpmOut::setChannelCorrection(int channel_no, uint16_t value){
+    
+    channel_correction[channel_no] = value;
+        
+}
+
+void PpmOut::getAllChannels(uint16_t all_channels[]){
+    
+       
+    for(uint8_t channel = 0; channel < channel_number; channel++) {
+        all_channels[channel] = dots[channel*2+1] + channel_correction[channel];
+    }   
+    all_channels[0] = 1000;
+    //return all_channels;
+
+}
+
+
 void PpmOut::setFrameSync(){
+    
+    //pc.printf("Frame synchronization \r\n ");
+    //__disable_irq();
+    
     uint16_t sum_channels = 0;
     for(uint8_t channel = 0; channel < channel_number; channel++) {
-        sum_channels += dots[channel*2+1];
+        sum_channels += dots[channel*2+1] + channel_correction[channel];
     }
     sum_channels += channel_number*CHANNEL_SYNC;
     dots[channel_number*2] = CHANNEL_SYNC;
     dots[channel_number*2+1] = FRAME_LEN - CHANNEL_SYNC - sum_channels;
+    
+    //__enable_irq();
+     
 }
 
 void PpmOut::attimeout() {
+    
+    //pc.printf("PPM attimeout \r\n ");
+    //__disable_irq();
+    
     pulse_out = !pulse_out;
     ppm = pulse_out;
     
@@ -48,6 +97,8 @@
     if(current_dot == channel_number*2+2) { // 2 for FRAME_SYNC
         current_dot = 0;
     }
+     
+    //__enable_irq();
 }
 
 void PpmOut::resetChannels() {
@@ -55,6 +106,7 @@
     
     current_dot = 0;
     memset(dots, 0x00, DOTS);
+    memset(channel_correction, 0x00, MAX_CHANNELS); 
     for(channel = 0; channel < channel_number; channel++) {
         dots[channel*2] = CHANNEL_SYNC;
         dots[channel*2+1] = CHANNEL_PAD_SYNC;

--- a/PPMOut.h	Fri Jun 09 08:34:42 2017 +0000
+++ b/PPMOut.h	Fri Sep 22 11:28:39 2017 +0000
@@ -6,17 +6,28 @@
         static const uint8_t MAX_CHANNELS = 8;
         static const uint16_t CHANNEL_SYNC = 300; // us
         static const uint16_t CHANNEL_PAD_SYNC = 1000 - CHANNEL_SYNC; // us
+        static const uint16_t CHANNEL_MID_VALUE = 1500; // us
         static const uint16_t FRAME_SYNC = 5000; // us
         static const uint16_t FRAME_LEN = 20000; // us
-        static const uint16_t MAX_CHANNEL_VALUE = 1980; // us
-        static const uint16_t MIN_CHANNEL_VALUE = 1020; 
+        static const uint16_t MAX_CHANNEL_VALUE = 2000; // us
+        static const uint16_t MIN_CHANNEL_VALUE = 1010; 
         static const uint16_t DOTS = MAX_CHANNELS*2+2; // two dots per channel + FRAME_SYNC
-
+        // general channel correction - difference between assigned value a result value on fly controller
+        static const uint16_t GENERAL_CORRECTION = 26; // us
+        
         /* Will start the PPM output */
         PpmOut(PinName pin, uint8_t channel_number);
         /* Values go from MIN_CHANNEL_VALUE to MAX_CHANNEL_VALUE */
         void setChannel(int channel_no, uint16_t value);
-
+        /* Set all channels */
+        void PpmOut::setAllChannels(uint16_t new_channels[MAX_CHANNELS], int channels);
+        /* Set channels correction at the start */
+        void setChannelCorrection(int channel_no, uint16_t value);
+        
+        // Get all channels value
+        void getAllChannels(uint16_t all_channels[]);
+        
+        
     private:
         /* These are the time dots where the signal changes the value 
            from 0 to 1 and in reverse */
@@ -27,7 +38,11 @@
         uint8_t channel_number;
         uint16_t frame_length;
         uint16_t pulse_out;
-
+        // correction for every single channel
+        uint16_t channel_correction[MAX_CHANNELS];
+        
+        //uint16_t* all_channels[MAX_CHANNELS];
+        
         void attimeout();
         inline void resetChannels();
         inline void setFrameSync();