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 ++++++++-----------------------------------
 1 file changed, 8 insertions(+), 35 deletions(-)

(limited to 'main.cpp')

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();
 	
-- 
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