Subversion Repositories FlightCtrl

#ifndef _RC_H

#define _RC_H

#include <inttypes.h>

#include "configuration.h"

// Number of cycles a command must be repeated before commit.

#define COMMAND_TIMER 200

extern void RC_Init(void);

// the RC-Signal. todo: Not export any more.

extern volatile int16_t PPM_in[MAX_CHANNELS];

// extern volatile int16_t PPM_diff[MAX_CHANNELS];      // the differentiated RC-Signal. Should that be exported??

extern volatile uint8_t NewPpmData; // 0 indicates a new recieved PPM Frame

extern volatile uint8_t RCQuality;  // rc signal quality indicator (0 to 200)

// defines for lookup staticParams.ChannelAssignment

#define CH_ELEVATOR     0

#define CH_AILERONS         1

#define CH_THROTTLE         2

#define CH_RUDDER       3

#define CH_MODESWITCH   4

#define CH_POTS         4

// These are a little individual for differnt R/C systems... trim for zero channel readings at zero

// stick, and trim VARIABLE_OFFSET for full variable range 0..255.

#define VARIABLE_OFFSET      106

#define RC_TRIM              19

// Set this for a full stick range of about -1024..1024.

#define RC_SCALING           1

/*

 int16_t  RC_getPitch        (void);

 int16_t  RC_getYaw          (void);

 int16_t  RC_getRoll         (void);

 uint16_t RC_getThrottle     (void);

 uint8_t  RC_hasNewRCData    (void);

 */

// void RC_periodicTask(void);

void RC_periodicTaskAndPRYT(int16_t* PRYT);

uint8_t RC_getArgument(void);

uint8_t RC_getCommand(void);

int16_t RC_getVariable(uint8_t varNum);

void RC_calibrate(void);

uint8_t RC_getSignalQuality(void);

uint8_t RC_getLooping(uint8_t looping);

#ifdef USE_MK3MAG

uint8_t RC_testCompassCalState(void);

#endif

#endif //_RC_H