rc.h
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1 /*
2  * Copyright (c) 2017, James Jackson and Daniel Koch, BYU MAGICC Lab
3  *
4  * All rights reserved.
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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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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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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 
35 #include <stdint.h>
36 #include <stdbool.h>
37 
39 
40 namespace rosflight_firmware
41 {
42 
43 class ROSflight;
44 
45 class RC : public ParamListenerInterface
46 {
47 
48 public:
49  enum Stick
50  {
56  };
57 
58  enum Switch
59  {
65  };
66 
67  RC(ROSflight &_rf);
68 
69  void init();
70  float stick(Stick channel);
71  bool switch_on(Switch channel);
72  bool switch_mapped(Switch channel);
73  bool run();
74  bool new_command();
75  void param_change_callback(uint16_t param_id) override;
76 
77 private:
79 
80  typedef struct
81  {
82  uint8_t channel;
83  int8_t direction;
84  bool mapped;
86 
87  typedef struct
88  {
89  uint8_t channel;
90  bool one_sided;
92 
94 
97  uint32_t prev_time_ms = 0;
98  uint32_t last_rc_receive_time = 0;
99 
102 
104  volatile float stick_values[STICKS_COUNT];
105 
106  void init_rc();
107  void init_switches();
108  void init_sticks();
109  bool check_rc_lost();
111 };
112 
113 } // namespace rosflight_firmware
114 
115 #endif // ROSLFLIGHT_FIRMWARE_RC_H
bool switch_mapped(Switch channel)
Definition: rc.cpp:97
bool new_command_
Definition: rc.h:93
rc_switch_config_t switches[SWITCHES_COUNT]
Definition: rc.h:101
void init_switches()
Definition: rc.cpp:118
rc_stick_config_t sticks[STICKS_COUNT]
Definition: rc.h:100
bool switch_on(Switch channel)
Definition: rc.cpp:92
ROSflight & RF_
Definition: rc.h:78
float stick(Stick channel)
Definition: rc.cpp:87
void init_sticks()
Definition: rc.cpp:103
uint32_t time_of_last_stick_deviation
Definition: rc.h:95
RC(ROSflight &_rf)
Definition: rc.cpp:41
uint32_t time_sticks_have_been_in_arming_position_ms
Definition: rc.h:96
void param_change_callback(uint16_t param_id) override
Definition: rc.cpp:58
uint32_t prev_time_ms
Definition: rc.h:97
volatile float stick_values[STICKS_COUNT]
Definition: rc.h:104
volatile bool switch_values[SWITCHES_COUNT]
Definition: rc.h:103
uint32_t last_rc_receive_time
Definition: rc.h:98
void look_for_arm_disarm_signal()
Definition: rc.cpp:208
bool new_command()
Definition: rc.cpp:326
bool check_rc_lost()
Definition: rc.cpp:176


rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Thu Oct 24 2019 03:17:19