Joram _ / AR6210

Library to use remote control Spektrum AR6210

AR6210.cpp@1:25aad26619fb, 2013-11-24 (annotated)

Committer:
Joram
Date:
Sun Nov 24 09:46:45 2013 +0000
Revision:
1:25aad26619fb
Parent:
0:9a1f7660704d 
added mapping function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Joram 0:9a1f7660704d 1 #include "mbed.h"
Joram 0:9a1f7660704d 2 #include "AR6210.h"
Joram 0:9a1f7660704d 3 // Original code: https://mbed.org/users/BlazeX/code/AR8000/
Joram 0:9a1f7660704d 4 // Modified by Joram Querner for Spektrum AR6210
Joram 0:9a1f7660704d 5
Joram 0:9a1f7660704d 6 AR6210::AR6210() :
Joram 1:25aad26619fb 7 ChInt0(InterruptIn(p5)), // throttle
Joram 1:25aad26619fb 8 ChInt1(InterruptIn(p6)), // aileron
Joram 0:9a1f7660704d 9 ChInt2(InterruptIn(p7)), // elevator
Joram 1:25aad26619fb 10 ChInt3(InterruptIn(p8)), // rudder
Joram 0:9a1f7660704d 11 ChInt4(InterruptIn(p9)), // gear
Joram 0:9a1f7660704d 12 ChInt5(InterruptIn(p10)) // aux
Joram 0:9a1f7660704d 13 {}
Joram 0:9a1f7660704d 14
Joram 0:9a1f7660704d 15 void AR6210::init()
Joram 0:9a1f7660704d 16 {
Joram 0:9a1f7660704d 17 Time.start();
Joram 0:9a1f7660704d 18
Joram 0:9a1f7660704d 19 for(int i= 0; i < 6; i++) {
Joram 0:9a1f7660704d 20 LastRise[i]= 0;
Joram 0:9a1f7660704d 21 dTime[i]= 1000;
Joram 0:9a1f7660704d 22 }
Joram 0:9a1f7660704d 23
Joram 0:9a1f7660704d 24 ChInt0.mode(PullDown); ChInt0.rise<AR6210>(this, &AR6210::Rise0); ChInt0.fall<AR6210>(this, &AR6210::Fall0);
Joram 0:9a1f7660704d 25 ChInt1.mode(PullDown); ChInt1.rise<AR6210>(this, &AR6210::Rise1); ChInt1.fall<AR6210>(this, &AR6210::Fall1);
Joram 0:9a1f7660704d 26 ChInt2.mode(PullDown); ChInt2.rise<AR6210>(this, &AR6210::Rise2); ChInt2.fall<AR6210>(this, &AR6210::Fall2);
Joram 0:9a1f7660704d 27 ChInt3.mode(PullDown); ChInt3.rise<AR6210>(this, &AR6210::Rise3); ChInt3.fall<AR6210>(this, &AR6210::Fall3);
Joram 0:9a1f7660704d 28 ChInt4.mode(PullDown); ChInt4.rise<AR6210>(this, &AR6210::Rise4); ChInt4.fall<AR6210>(this, &AR6210::Fall4);
Joram 0:9a1f7660704d 29 ChInt5.mode(PullDown); ChInt5.rise<AR6210>(this, &AR6210::Rise5); ChInt5.fall<AR6210>(this, &AR6210::Fall5);
Joram 0:9a1f7660704d 30
Joram 0:9a1f7660704d 31 update();
Joram 0:9a1f7660704d 32 }
Joram 0:9a1f7660704d 33
Joram 0:9a1f7660704d 34 void AR6210::update()
Joram 0:9a1f7660704d 35 {
Joram 0:9a1f7660704d 36 //Rohdaten &#65533;hmen
Joram 0:9a1f7660704d 37 for(int i= 0; i<6; i++)
Joram 0:9a1f7660704d 38 RawChannels[i]= dTime[i];
Joram 0:9a1f7660704d 39
Joram 1:25aad26619fb 40 Throttle= map(dTime[0], 1095, 1910, 0.0, 1.0);
Joram 1:25aad26619fb 41 Aileron= map(dTime[1], 1110, 1900, -1.0, 1.0);
Joram 1:25aad26619fb 42 Elevator= map(dTime[2], 1100, 1900, -1.0, 1.0);
Joram 1:25aad26619fb 43 Rudder= map(dTime[3], 1105, 1895, -1.0, 1.0);
Joram 0:9a1f7660704d 44
Joram 1:25aad26619fb 45 Gear= map(dTime[4], 1095, 1910, 0.0, 1.0);
Joram 1:25aad26619fb 46 Aux= map(dTime[5], 1095, 1910, 0.0, 1.0);
Joram 1:25aad26619fb 47 }
Joram 1:25aad26619fb 48
Joram 1:25aad26619fb 49 float AR6210::map(int x, int in_min, int in_max, float out_min, float out_max)
Joram 1:25aad26619fb 50 {
Joram 1:25aad26619fb 51 float returnValue = (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
Joram 1:25aad26619fb 52 if (returnValue < out_min)
Joram 1:25aad26619fb 53 return out_min;
Joram 1:25aad26619fb 54 if (returnValue > out_max)
Joram 1:25aad26619fb 55 return out_max;
Joram 1:25aad26619fb 56
Joram 1:25aad26619fb 57 return returnValue;
Joram 0:9a1f7660704d 58 }