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//+++++++++++++++++++++++++++ ALGORITHME SANS ERREURS +++++++++++++++++++++++++++++++++

//++++++++++++++++++++++++++++++++++++++++++ RC_ISR() ++++++++++++++++++++++++++++++++++++++++++++++++++++++
void RC_ISR(void)//      algorithme global pour analyser la durée des voies à partir du déclenchement YAW
{//                        entrée dans le HIGH du YAW
 //                           démarrage chrono
 //                           on est dans le YAW
duree_voies[0]=micros(); 
/*
//RAPPEL (dans le SETUP())
//PIN utilisées pour lecture data TX
//PIN 8, 9, 10, 11, 12 (PORTB)
pinMode(8, INPUT_PULLUP);//yaw 
pinMode(9, INPUT_PULLUP);//pitch 
pinMode(10, INPUT_PULLUP);//roll 
pinMode(11, INPUT_PULLUP);//throttle 
pinMode(12, INPUT_PULLUP);//trimmer 

attachInterrupt(digitalPinToInterrupt(8), RC_ISR, RISING);
*/
while ((GPIO7_DR & 0b0000010000000000000000)==0b0000010000000000000000)//(digitalRead(8)==HIGH)//bit16

{
//                           YAW  
}
duree_voie_temp=micros()-duree_voies[0];
duree_voies[0] = duree_voie_temp;
if ((duree_voies[0]>2050) || (duree_voies[0]<900))
{
 duree_voies[0]= previous_duree_voies[0];
}
previous_duree_voies[0]=duree_voies[0];
delayMicroseconds(30);

//on arrive dans le PITCH
duree_voies[1]=micros(); 
while ((GPIO7_DR & 0b0000000000100000000000)==0b0000000000100000000000)// bit12 (digitalRead(9)==HIGH)// 
{
//                          PITCH
}
  
duree_voie_temp=micros()-duree_voies[1];
duree_voies[1] = duree_voie_temp;
if ((duree_voies[1]>2050) || (duree_voies[1]<850))
{
 duree_voies[1]= previous_duree_voies[1];
}
previous_duree_voies[1]=duree_voies[1];
delayMicroseconds(30);

//on arrive dans le ROLL
duree_voies[2]=micros(); 
while ((GPIO7_DR & 0b0000000000000000000001)==0b0000000000000000000001)//(digitalRead(10)==HIGH) //bit0
{
 //                          ROLL 
}
  
duree_voie_temp=micros()-duree_voies[2];
duree_voies[2] = duree_voie_temp;
if ((duree_voies[2]>2050) || (duree_voies[2]<900))
{
 duree_voies[2]= previous_duree_voies[2];
}
previous_duree_voies[2]=duree_voies[2];
delayMicroseconds(30);

//on arrive dans le THROTTLE
duree_voies[3]=micros(); 
while ((GPIO7_DR & 0b0000000000000000000100)==0b0000000000000000000100)//(digitalRead(11)==HIGH) //bit2
{
 //                          THROTTLE  
}
 
duree_voie_temp=micros()-duree_voies[3];
duree_voies[3] = duree_voie_temp;
if ((duree_voies[3]>2050) || (duree_voies[3]<900))
{
 duree_voies[3]= previous_duree_voies[3];
}
previous_duree_voies[3]=duree_voies[3];
delayMicroseconds(30);

//on arrive dans le TRIMMER
duree_voies[4]=micros(); 
while ((GPIO7_DR & 0b0000000000000000000010)==0b0000000000000000000010)//(digitalRead(12)==HIGH) //bit1
{
//                          TRIM    
}

duree_voie_temp=micros()-duree_voies[4];
duree_voies[4] = duree_voie_temp;

}
//++++++++++++++++++++++++++++++++++++++++++ FIN RC_ISR() ++++++++++++++++++++++++++++++++++++++++++++++++++++++

//++++++++++++++++++++++++++++++++++RC_lect_voies() ++++++++++++++++++++++++++++++++++++++++
void RC_lect_voies(void)
{
//++++++++++++     attendre  "HIGH" sur une des  5 pins (8, 9, 10, 11, 12)  (bit 16, 12, 0, 2, 1)  0b000000010001000000000111
while ((GPIO7_DR & 0x011007) > 0x000000)//attente durant le HIGH
{
delayMicroseconds(50);  
}
//++++++++++++++++++++++++++++++++++++++++++++++ attente "LOW" +++++++++++++++++++++++++++++++++++++++
while ((GPIO7_DR & 0x011007)== 0x000000)//+++++ attente LOW  
{
delayMicroseconds(50);   
}
//démarrage sur le niveau HIGH du YAW 
 //démarrage chrono
duree_voies[0]=micros(); 
while ((GPIO7_DR & 0x010000)==0x010000)//(digitalRead(8)==HIGH)//bit16 (0b000000010000000000000000)
{
//                           YAW  
}
duree_voie_temp=micros()-duree_voies[0];
duree_voies[0] = duree_voie_temp;
delayMicroseconds(10);

//on arrive dans le PITCH
duree_voies[1]=micros(); 
while ((GPIO7_DR & 0x000800)== 0x000800 )//0b000000000000100000000000)==0b000000000000100000000000)// bit12 (digitalRead(9)==HIGH)//
{
//                          PITCH
}
 duree_voie_temp=micros()-duree_voies[1];
duree_voies[1] = duree_voie_temp;
delayMicroseconds(10);

//on arrive dans le ROLL
duree_voies[2]=micros(); 
while ((GPIO7_DR & 0x000001) == 0x000001 )//0b000000000000000000000001)==0b000000000000000000000001)//(digitalRead(10)==HIGH) //bit0
{
 //                          ROLL 
}
 duree_voie_temp=micros()-duree_voies[2];
duree_voies[2] = duree_voie_temp;
delayMicroseconds(10);

//on arrive dans le THROTTLE
duree_voies[3]=micros();
while ((GPIO7_DR & 0x000004)== 0x000004 )//0b000000000000000000000100)==0b000000000000000000000100)//(digitalRead(11)==HIGH) //bit2
{

 //                          THROTTLE  
}
 
duree_voie_temp=micros()-duree_voies[3];
duree_voies[3] = duree_voie_temp;
delayMicroseconds(10);

//on arrive dans le TRIMMER
duree_voies[4]=micros();
while ((GPIO7_DR & 0x000002)== 0x000002)//0b000000000000000000000010)==0b000000000000000000000010)//(digitalRead(12)==HIGH) //bit1
{
//
//                          TRIM    
}

duree_voie_temp=micros()-duree_voies[4];
duree_voies[4] = duree_voie_temp;

//vérification générale de la durée des voies
for (cc_8=0;cc_8<5;cc_8++)
{
  //duree_voies[cc_8]=constrain(duree_voies[cc_8],1000,2000); 
  if ((duree_voies[cc_8]>2000) || (duree_voies[cc_8]<1000))
    {
     duree_voies[cc_8]= previous_duree_voies[cc_8];
    }
previous_duree_voies[cc_8]=duree_voies[cc_8];
}
}
//+++++++++++++++++++FIN RC_lect_voies() +++++++++++++++++++++++++++++++++++