rc channel pwm in. completed

adapters/rc/rc.h

@@ -1,70 +1,46 @@
 #pragma once
 
-uint16_t m;
-volatile uint16_t s;
-
-void change( void )
+class RCChannel
 {
-	if( digitalRead( 7 ) )
-		s = 1;//micros() - m;
-	else
-		m = micros();
-}
+public:
+	virtual void print() = 0;
+};
+
 
-struct RCChannel
+template<int pin>
+class RCChannelPin : public RCChannel
 {
-	uint8_t pin;
-	uint16_t value;
+public:
 
-	RCChannel( uint8_t pin = 0 )
-	{
-		this->value = 0;
-		this->pin = pin;
+	volatile static uint32_t last_value;
+	volatile static uint32_t last_high;
 
-		if( pin != 0 )
-		{
-			pinMode( pin, INPUT );
-			attachInterrupt( digitalPinToInterrupt( pin ), change, CHANGE );
-		}
-	}
-
-	void read()
+	void static rising( void )
 	{
-		if( pin != 0 && s != 0 )
-		{
-			value = s;
-			s = 0;
-		}
+		last_high = micros();
 	}
-};
-
-template<uint8_t num_channels>
-class RC
-{
-	RCChannel rc_channels[ num_channels ];
-
-public:
 
-	RC( uint8_t pins[ num_channels ] )
+	void static falling( void )
 	{
-		for( uint8_t i = 0 ; i < num_channels ; i ++ )
-			rc_channels[ i ] = RCChannel( pins[ i ] );
+		last_value = micros() - last_high;
 	}
 
-	void loop()
+	RCChannelPin()
 	{
-		for( uint8_t i = 0 ; i < num_channels ; i ++ )
-			rc_channels[ i ].read();
+		pinMode( pin, INPUT );
+		attachInterrupt( digitalPinToInterrupt( pin ), rising,  RISING  );
+		attachInterrupt( digitalPinToInterrupt( pin ), falling, FALLING );
 	}
 
 	void print()
 	{
-		for( uint8_t i = 0 ; i < num_channels ; i ++ )
-		{
-			Serial.print( rc_channels[ i ].value );
-			Serial.print( "\t" );
-		}
+		Serial.print( last_value );
+		Serial.print( "\t" );
 	}
 };
 
+template<int pin>
+volatile uint32_t RCChannelPin<pin>::last_value = 0;
 
+template<int pin>
+volatile uint32_t RCChannelPin<pin>::last_high = 0;

scheduler/scheduler.h

@@ -22,9 +22,9 @@ class Scheduler
 	void print( void )
 	{
 		if( last_end > last_start )
-			Serial.print( "--" );
-		else
 			Serial.print( 1000000 / ( last_end - last_start ) );
+		else
+			Serial.print( 0 );
 
 		Serial.print( "\t" );
 	}

visualpilot.ino

@@ -3,18 +3,28 @@
 #include "./adapters/imu/hmc5883l.h"
 #include "./adapters/imu/bmp180.h"
 
+#include "./adapters/rc/rc.h"
+
 #include "./scheduler/scheduler.h"
 
 ADXL345 * a;
 L3GD20 * g;
 HMC5883L * m;
 BMP180 * b;
+
 Scheduler * s;
 
+RCChannel * in_t, * in_x, * in_y, * in_z;
+
 void setup(void) {
 	Serial.begin( 9600 );
 	while( !Serial );
 
+	in_t = new RCChannelPin<D5>();
+	in_x = new RCChannelPin<D6>();
+	in_y = new RCChannelPin<D7>();
+	in_z = new RCChannelPin<D8>();
+
 	Wire.begin();
 	Wire.setClock( 400000L );
 
@@ -28,17 +38,22 @@ void setup(void) {
 }
 
 void loop(void) {
+	s->loop();
 	a->loop();
 	g->loop();
 	m->loop();
 	b->loop();
-	s->loop();
 
+	s->print();
 	a->print();
 	g->print();
 	m->print();
 	b->print();
-	s->print();
+
+	in_t->print();
+	in_x->print();
+	in_y->print();
+	in_z->print();
 
 	Serial.println();
 }