Modification of RH_Rf24 libraray

Question

Since the RF_RH24 library use the interrupt, when I decode the PPM by interrupt, there will be a disturb. So I want to alter RF_RH24 library to not use the interrupt. I found the corresponding code in RF_RH24 as picture below. In fact, I want to do it in main(). For example, I will check the electrical level of D2 (the interrupt pin of interrupt 0) of Arduino pro mini, if it is low, I will do the program in handleInterrupt(). But when I write it in main function. There are many errors. How should I do it ?

void RH_RF24::handleInterrupt()
{
    uint8_t status[8];
    command(RH_RF24_CMD_GET_INT_STATUS, NULL, 0, status, sizeof(status));

    // Decode and handle the interrupt bits we are interested in
//    if (status[0] & RH_RF24_INT_STATUS_CHIP_INT_STATUS)
    if (status[0] & RH_RF24_INT_STATUS_MODEM_INT_STATUS)
    {
//  if (status[4] & RH_RF24_INT_STATUS_INVALID_PREAMBLE)
    if (status[4] & RH_RF24_INT_STATUS_INVALID_SYNC)
    {
        // After INVALID_SYNC, sometimes the radio gets into a silly state and subsequently reports it for every packet
        // Need to reset the radio and clear the RX FIFO, cause sometimes theres junk there too
        _mode = RHModeIdle;
        clearRxFifo();
        clearBuffer();
    }
    }
    if (status[0] & RH_RF24_INT_STATUS_PH_INT_STATUS)
    {
    if (status[2] & RH_RF24_INT_STATUS_CRC_ERROR)
    {
        // CRC Error
        // Radio automatically went to _idleMode
        _mode = RHModeIdle;
        _rxBad++;

        clearRxFifo();
        clearBuffer();
    }
    if (status[2] & RH_RF24_INT_STATUS_PACKET_SENT)
    {
        _txGood++; 
        // Transmission does not automatically clear the tx buffer.
        // Could retransmit if we wanted
        // RH_RF24 configured to transition automatically to Idle after packet sent
        _mode = RHModeIdle;
        clearBuffer();
    }
    if (status[2] & RH_RF24_INT_STATUS_PACKET_RX)
    {
        // A complete message has been received with good CRC
        // Get the RSSI, configured to latch at sync detect in radio_config
        uint8_t modem_status[6];
        command(RH_RF24_CMD_GET_MODEM_STATUS, NULL, 0, modem_status, sizeof(modem_status));
        _lastRssi = modem_status[3];
        _lastPreambleTime = millis();

        // Save it in our buffer
        readNextFragment();
        // And see if we have a valid message
        validateRxBuf();
        // Radio will have transitioned automatically to the _idleMode
        _mode = RHModeIdle;
    }
    if (status[2] & RH_RF24_INT_STATUS_TX_FIFO_ALMOST_EMPTY)
    {
        // TX FIFO almost empty, maybe send another chunk, if there is one
        sendNextFragment();
    }
    if (status[2] & RH_RF24_INT_STATUS_RX_FIFO_ALMOST_FULL)
    {
        // Some more data to read, get it
        readNextFragment();
    }
    }
}

Below is the errors and my program:

C:\Users\Administrator\Desktop\DianZi\Ricci433\V7\M7\M7.ino: In function 'void RF24_Interrupt()':

M7:74: error: 'command' was not declared in this scope
   command(RH_RF24_CMD_GET_INT_STATUS, NULL, 0, status, sizeof(status));
                                                                      ^
M7:85: error: '_mode' was not declared in this scope
       _mode = RHModeIdle;
       ^
M7:85: error: 'RHModeIdle' was not declared in this scope
       _mode = RHModeIdle;
               ^
M7:86: error: 'clearRxFifo' was not declared in this scope
       clearRxFifo();
                   ^
M7:87: error: 'clearBuffer' was not declared in this scope
       clearBuffer();
                   ^
M7:96: error: '_mode' was not declared in this scope
       _mode = RHModeIdle;
       ^
M7:96: error: 'RHModeIdle' was not declared in this scope
       _mode = RHModeIdle;
               ^
M7:97: error: '_rxBad' was not declared in this scope
       _rxBad++;
       ^
M7:99: error: 'clearRxFifo' was not declared in this scope
       clearRxFifo();
                   ^
M7:100: error: 'clearBuffer' was not declared in this scope
       clearBuffer();
                   ^
M7:104: error: '_txGood' was not declared in this scope
       _txGood++;
       ^
M7:108: error: '_mode' was not declared in this scope
       _mode = RHModeIdle;
       ^
M7:108: error: 'RHModeIdle' was not declared in this scope
       _mode = RHModeIdle;
               ^
M7:109: error: 'clearBuffer' was not declared in this scope
       clearBuffer();
                   ^
M7:117: error: '_lastRssi' was not declared in this scope
       _lastRssi = modem_status[3];
       ^
M7:118: error: '_lastPreambleTime' was not declared in this scope
       _lastPreambleTime = millis();
       ^
M7:121: error: 'readNextFragment' was not declared in this scope
       readNextFragment();
                        ^
M7:123: error: 'validateRxBuf' was not declared in this scope
       validateRxBuf();
                     ^
M7:125: error: '_mode' was not declared in this scope
       _mode = RHModeIdle;
       ^
M7:125: error: 'RHModeIdle' was not declared in this scope
       _mode = RHModeIdle;
               ^
M7:130: error: 'sendNextFragment' was not declared in this scope
       sendNextFragment();
                        ^
M7:135: error: 'readNextFragment' was not declared in this scope
       readNextFragment();
                        ^
exit status 1
'command' was not declared in this scope

my program:

#include<SPI.h>
  #include<RH_RF24.h>
  #include<avr/io.h>
  #include<avr/interrupt.h>

  #include <RH_RF24.h>
  #include "RF24configs/radio_config_Si4464_30_434_2GFSK_5_10.h"

  #include <RHGenericSPI.h>
  #include <RHSPIDriver.h>

  //用于PPM解析的变量
  unsigned long PWM[10], SPWM[5][10], SPWM_SUM;
  unsigned long T0, T1;
  int PWM_i;
  int PWM_Last;


  //收发的数据
  uint8_t S_Data[10];
  uint8_t R_Data[10];


  RH_RF24 rf24;

  void Send();
  void Recieve();
  void RF24_Interrupt();

  void setup()
  {
    Serial.begin(115200);

    if (!rf24.init())
    {
      Serial.println("initfailed");
    }
    else
    {
      Serial.println("initsuccess");
    }

    //设置定时器，用于提供精确时间。
    TCCR1A = 0;
    TCCR1B = (1 << CS11);  //8分频
    TCNT1 = 0; //最大是65535,在8分频下相当于262.14ms,每一下相当于0.5us

    //  pinMode(3, INPUT);  //设置中断引脚为输入模式
    attachInterrupt(1, Interrupt_function, FALLING); //开启外部中断1，中断引脚为3，电平下落触发。

    detachInterrupt(0);

    pinMode(2, INPUT);


  }

  void loop()
  {
    //那个干扰确实和发射有关，但是不是来自于电磁波的干扰，应该是发射这个函数占用了定时器或者是外部中断等，具体不清楚，从而导致时间不对。
    Send();
    delay(100);
    if (digitalRead(2) == 0)
    {
      void RF24_Interrupt();
    }


  }

  void RF24_Interrupt()
  {
    uint8_t status[8];
    command(RH_RF24_CMD_GET_INT_STATUS, NULL, 0, status, sizeof(status));

    // Decode and handle the interrupt bits we are interested in
    //    if (status[0] & RH_RF24_INT_STATUS_CHIP_INT_STATUS)
    if (status[0] & RH_RF24_INT_STATUS_MODEM_INT_STATUS)
    {
      //  if (status[4] & RH_RF24_INT_STATUS_INVALID_PREAMBLE)
      if (status[4] & RH_RF24_INT_STATUS_INVALID_SYNC)
      {
        // After INVALID_SYNC, sometimes the radio gets into a silly state and subsequently reports it for every packet
        // Need to reset the radio and clear the RX FIFO, cause sometimes theres junk there too
        _mode = RHModeIdle;
        clearRxFifo();
        clearBuffer();
      }
    }
    if (status[0] & RH_RF24_INT_STATUS_PH_INT_STATUS)
    {
      if (status[2] & RH_RF24_INT_STATUS_CRC_ERROR)
      {
        // CRC Error
        // Radio automatically went to _idleMode
        _mode = RHModeIdle;
        _rxBad++;

        clearRxFifo();
        clearBuffer();
      }
      if (status[2] & RH_RF24_INT_STATUS_PACKET_SENT)
      {
        _txGood++;
        // Transmission does not automatically clear the tx buffer.
        // Could retransmit if we wanted
        // RH_RF24 configured to transition automatically to Idle after packet sent
        _mode = RHModeIdle;
        clearBuffer();
      }
      if (status[2] & RH_RF24_INT_STATUS_PACKET_RX)
      {
        // A complete message has been received with good CRC
        // Get the RSSI, configured to latch at sync detect in radio_config
        uint8_t modem_status[6];
        command(RH_RF24_CMD_GET_MODEM_STATUS, NULL, 0, modem_status, sizeof(modem_status));
        _lastRssi = modem_status[3];
        _lastPreambleTime = millis();

        // Save it in our buffer
        readNextFragment();
        // And see if we have a valid message
        validateRxBuf();
        // Radio will have transitioned automatically to the _idleMode
        _mode = RHModeIdle;
      }
      if (status[2] & RH_RF24_INT_STATUS_TX_FIFO_ALMOST_EMPTY)
      {
        // TX FIFO almost empty, maybe send another chunk, if there is one
        sendNextFragment();
      }
      if (status[2] & RH_RF24_INT_STATUS_RX_FIFO_ALMOST_FULL)
      {
        // Some more data to read, get it
        readNextFragment();
      }
    }
  }


  void Interrupt_function()
  {
    T1 = TCNT1;
    if (T1 > T0)
    {
      PWM[PWM_i] = T1 - T0;
    }
    else
    {
      PWM[PWM_i] = T1 + 65536 - T0;
    }
    T0 = T1;


    //调整PPM_i的值，找到最后一个通道。
    if (PWM[PWM_i] > 4200) //某个通道大于2ms，只要大于4000就行了，用保守的数据4200.
    {
      PWM_Last = PWM_i;
      PWM_i = 0;
    }
    else
    {
      PWM_i++;
    }

    //当最后一个通道开始时，由于时间比较多，发射等都在这个里面完成。
    //但是不知道为什么，发射不能放在里面，可能发射太慢了，放在中断里面耗费太多的时间了。
    if (PWM_i == PWM_Last)
    {

      //调整范围
      for (int i = 0; i < PWM_Last + 1; i++)
      {
        if (PWM[i] > 4030)
        {
          PWM[i] = 4030;
        }
        if (PWM[i] < 1970)
        {
          PWM[i] = 1970;
        }
        S_Data[i] = map(PWM[i], 1970, 4030, 0, 255);
      }



      //移动数据
      for (int i = 0; i < 4; i++)
      {
        for (int j = 0; j < 10; j++)
        {
          SPWM[i][j] = SPWM[i + 1][j];
        }
      }
      for (int i = 0; i < 10; i++)
      {
        SPWM[4][i] = PWM[i];
      }

      for (int i = 0; i < 10; i++)
      {

      }

      //这个滤波不好，有延迟，而且不能消除窜动那一下的影响。
      //    for (int i = 0; i < 10; i++)
      //    {
      //      SPWM_SUM = 0;
      //      for (int j = 0; j < 5; j++)
      //      {
      //        SPWM_SUM = SPWM_SUM + SPWM[j][i];
      //      }
      //      SPWM_SUM = SPWM_SUM / 5;
      //      S_Data[i] = map(SPWM_SUM, 1970, 4030, 0, 255);
      //    }


      Serial.println(S_Data[1]);

      //    打印相应的通道，用于上位机测试，实际时候不使用。
      //        for (int i = 0; i < 10; i++)
      //        {
      //          Serial.print(PWM[i]);
      //          Serial.print("   ");
      //        }
      //        Serial.println(PWM_Last);

    }
  }

  void Send()
  {
    rf24.send(S_Data, sizeof(S_Data));
    rf24.waitPacketSent();
  }

  void Recieve()
  {
    uint8_t buf[RH_RF24_MAX_MESSAGE_LEN];
    uint8_t len = sizeof(buf);

    if (rf24.waitAvailableTimeout(50))
    {
      // Should be a reply message for us now
      if (rf24.recv(buf, &len))
      {
        for (int i = 0; i < 10; i++)
        {
          R_Data[i] = buf[i];
        }

        //测试接收的数据
        //      Serial.print("Send:   ");
        //      for (int i = 0; i < 10; i++)
        //      {
        //        Serial.print(S_Data[i]);
        //        Serial.print("   ");
        //      }
        //      Serial.println();
        //
        //      Serial.print("Recieve:  ");
        //      for (int i = 0; i < 10; i++)
        //      {
        //        Serial.print(R_Data[i]);
        //        Serial.print("   ");
        //      }
        //      Serial.println();


      }
    }
  }