rc.h
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1 /*
2  * Copyright (c) 2017, James Jackson and Daniel Koch, BYU MAGICC Lab
3  *
4  * All rights reserved.
5  *
6  * Redistribution and use in source and binary forms, with or without
7  * modification, are permitted provided that the following conditions are met:
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9  * * Redistributions of source code must retain the above copyright notice, this
10  * list of conditions and the following disclaimer.
11  *
12  * * Redistributions in binary form must reproduce the above copyright notice,
13  * this list of conditions and the following disclaimer in the documentation
14  * and/or other materials provided with the distribution.
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17  * contributors may be used to endorse or promote products derived from
18  * this software without specific prior written permission.
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20  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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22  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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29  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
30  */
31 
32 #ifndef ROSFLIGHT_FIRMWARE_RC_H
33 #define ROSFLIGHT_FIRMWARE_RC_H
34 
36 
37 #include <cstdbool>
38 #include <cstdint>
39 
40 namespace rosflight_firmware
41 {
42 class ROSflight;
43 
44 class RC : public ParamListenerInterface
45 {
46 public:
47  enum Stick
48  {
54  };
55 
56  enum Switch
57  {
63  };
64 
65  RC(ROSflight &_rf);
66 
67  void init();
68  float stick(Stick channel);
69  bool switch_on(Switch channel);
70  bool switch_mapped(Switch channel);
71  bool run();
72  bool new_command();
73  void param_change_callback(uint16_t param_id) override;
74 
75 private:
77 
78  typedef struct
79  {
80  uint8_t channel;
81  int8_t direction;
82  bool mapped;
84 
85  typedef struct
86  {
87  uint8_t channel;
88  bool one_sided;
90 
92 
95  uint32_t prev_time_ms = 0;
96  uint32_t last_rc_receive_time = 0;
97 
100 
102  volatile float stick_values[STICKS_COUNT];
103 
104  void init_rc();
105  void init_switches();
106  void init_sticks();
107  bool check_rc_lost();
109 };
110 
111 } // namespace rosflight_firmware
112 
113 #endif // ROSLFLIGHT_FIRMWARE_RC_H
bool switch_mapped(Switch channel)
Definition: rc.cpp:94
bool new_command_
Definition: rc.h:91
rc_switch_config_t switches[SWITCHES_COUNT]
Definition: rc.h:99
void init_switches()
Definition: rc.cpp:114
rc_stick_config_t sticks[STICKS_COUNT]
Definition: rc.h:98
bool switch_on(Switch channel)
Definition: rc.cpp:89
ROSflight & RF_
Definition: rc.h:76
float stick(Stick channel)
Definition: rc.cpp:84
void init_sticks()
Definition: rc.cpp:99
uint32_t time_of_last_stick_deviation
Definition: rc.h:93
RC(ROSflight &_rf)
Definition: rc.cpp:40
uint32_t time_sticks_have_been_in_arming_position_ms
Definition: rc.h:94
void param_change_callback(uint16_t param_id) override
Definition: rc.cpp:55
uint32_t prev_time_ms
Definition: rc.h:95
volatile float stick_values[STICKS_COUNT]
Definition: rc.h:102
volatile bool switch_values[SWITCHES_COUNT]
Definition: rc.h:101
uint32_t last_rc_receive_time
Definition: rc.h:96
void look_for_arm_disarm_signal()
Definition: rc.cpp:205
bool new_command()
Definition: rc.cpp:321
bool check_rc_lost()
Definition: rc.cpp:173


rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Thu Sep 3 2020 03:22:15