From 35d6525048dd64bc51163402ee407cc0e164f7de Mon Sep 17 00:00:00 2001
From: Vegard Storheil Eriksen <zyp@jvnv.net>
Date: Thu, 28 Apr 2011 16:45:55 +0200
Subject: Seperated ppmsum-demuxer into seperate file.

---
 main.cpp   | 43 ++++++++-----------------------------------
 ppmsum.cpp | 39 +++++++++++++++++++++++++++++++++++++++
 ppmsum.h   | 13 +++++++++++++
 3 files changed, 60 insertions(+), 35 deletions(-)
 create mode 100644 ppmsum.cpp
 create mode 100644 ppmsum.h

diff --git a/main.cpp b/main.cpp
index 4ce3f66..3b37344 100644
--- a/main.cpp
+++ b/main.cpp
@@ -3,6 +3,7 @@
 #include "itg3200.h"
 #include "bma150.h"
 #include "ak8975.h"
+#include "ppmsum.h"
 
 #include <ch.h>
 #include <hal.h>
@@ -26,6 +27,8 @@ class LEDThread : public BaseThread<LEDThread, 128> {
 
 LEDThread led_thread;
 
+PPMSum ppmsum;
+
 class USBThread : public BaseThread<USBThread, 256> {
 	private:
 		typedef enum {W_S, W_N, W_V} w_s_t;
@@ -138,35 +141,6 @@ class I2CThread : public BaseThread<I2CThread, 256> {
 
 I2CThread i2c_thread;
 
-icucnt_t last_width, last_period;
-
-int16_t ppm_input[4];
-
-int ppm_n = 0;
-
-static void icuwidthcb(ICUDriver *icup) {
-
-  last_width = icuGetWidthI(icup);
-	ppm_input[ppm_n] = last_width - 1050;
-}
-
-static void icuperiodcb(ICUDriver *icup) {
-
-  last_period = icuGetPeriodI(icup);
-	if(last_period > 5000) {
-		ppm_n = 0;
-	} else {
-		ppm_n = (ppm_n + 1) % 4;
-	}
-}
-
-static ICUConfig icucfg = {
-  ICU_INPUT_ACTIVE_HIGH,
-  1000000,
-  icuwidthcb,
-  icuperiodcb
-};
-
 static const ADCConversionGroup adcgrpcfg = {
 	FALSE,
 	2,
@@ -206,7 +180,7 @@ void foo(PWMDriver*) {
 	
 	int16_t thrust, pitch, roll, yaw;
 	
-	thrust = ppm_input[2];
+	thrust = ppmsum.data[2];
 	if(thrust < 0) {
 		thrust = 0;
 	}
@@ -214,9 +188,9 @@ void foo(PWMDriver*) {
 		thrust = 1000;
 	}
 	
-	pitch = ((ppm_input[1] - 500) * thrust) >> 10;
-	roll  = ((ppm_input[0] - 500) * thrust) >> 10;
-	yaw   = ((ppm_input[3] - 500) * thrust) >> 10;
+	pitch = ((ppmsum.data[1] - 500) * thrust) >> 10;
+	roll  = ((ppmsum.data[0] - 500) * thrust) >> 10;
+	yaw   = ((ppmsum.data[3] - 500) * thrust) >> 10;
 	
 	//pitch = (-i2c_thread.x) >> 5;
 	//roll = i2c_thread.y >> 5;
@@ -257,8 +231,7 @@ int main(void) {
 	
 	led_thread.start();
 	
-	icuStart(&ICUD4, &icucfg);
-  icuEnable(&ICUD4);
+	ppmsum.start();
 	
 	usbs.init();
 	
diff --git a/ppmsum.cpp b/ppmsum.cpp
new file mode 100644
index 0000000..ce601e5
--- /dev/null
+++ b/ppmsum.cpp
@@ -0,0 +1,39 @@
+#include "ppmsum.h"
+
+#include <ch.h>
+#include <hal.h>
+
+namespace {
+	icucnt_t last_width, last_period;
+	
+	PPMSum* ppmsum;
+	int ppm_n = 0;
+	
+	static void icuwidthcb(ICUDriver *icup) {
+		last_width = icuGetWidthI(icup);
+		ppmsum->data[ppm_n] = last_width - 1050;
+	}
+
+	static void icuperiodcb(ICUDriver *icup) {
+		last_period = icuGetPeriodI(icup);
+		if(last_period > 5000) {
+			ppm_n = 0;
+		} else {
+			ppm_n = (ppm_n + 1) % 4;
+		}
+	}
+	
+	static ICUConfig icucfg = {
+		ICU_INPUT_ACTIVE_HIGH,
+		1000000,
+		icuwidthcb,
+		icuperiodcb
+	};
+};
+
+void PPMSum::start() {
+	ppmsum = this;
+	
+	icuStart(&ICUD4, &icucfg);
+	icuEnable(&ICUD4);
+}
diff --git a/ppmsum.h b/ppmsum.h
new file mode 100644
index 0000000..82b62df
--- /dev/null
+++ b/ppmsum.h
@@ -0,0 +1,13 @@
+#ifndef PPMSUM_H
+#define PPMSUM_H
+
+#include <stdint.h>
+
+class PPMSum {
+	public:
+		int16_t data[4];
+		
+		void start();
+};
+
+#endif
-- 
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