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| 1 | #ifndef _RC_H |
1 | #ifndef _RC_H |
| 2 | #define _RC_H |
2 | #define _RC_H |
| 3 | 3 | ||
| 4 | #include <inttypes.h> |
4 | #include <inttypes.h> |
| 5 | #include "configuration.h" |
5 | #include "configuration.h" |
| 6 | 6 | ||
| 7 | // Number of cycles a command must be repeated before commit. |
7 | // Number of cycles a command must be repeated before commit. |
| 8 | #define COMMAND_TIMER 200 |
8 | #define COMMAND_TIMER 200 |
| 9 | 9 | ||
| 10 | extern void RC_Init(void); |
10 | extern void RC_Init(void); |
| 11 | // the RC-Signal. todo: Not export any more. |
11 | // the RC-Signal. todo: Not export any more. |
| 12 | extern volatile int16_t PPM_in[MAX_CHANNELS]; |
12 | extern volatile int16_t PPM_in[MAX_CHANNELS]; |
| 13 | // extern volatile int16_t PPM_diff[MAX_CHANNELS]; // the differentiated RC-Signal. Should that be exported?? |
13 | // extern volatile int16_t PPM_diff[MAX_CHANNELS]; // the differentiated RC-Signal. Should that be exported?? |
| 14 | extern volatile uint8_t NewPpmData; // 0 indicates a new recieved PPM Frame |
14 | extern volatile uint8_t NewPpmData; // 0 indicates a new recieved PPM Frame |
| 15 | extern volatile uint8_t RCQuality; // rc signal quality indicator (0 to 200) |
15 | extern volatile uint8_t RCQuality; // rc signal quality indicator (0 to 200) |
| 16 | 16 | ||
| 17 | // defines for lookup staticParams.ChannelAssignment |
17 | // defines for lookup staticParams.ChannelAssignment |
| 18 | #define CH_ELEVATOR 0 |
18 | #define CH_ELEVATOR 0 |
| 19 | #define CH_AILERONS 1 |
19 | #define CH_AILERONS 1 |
| 20 | #define CH_THROTTLE 2 |
20 | #define CH_THROTTLE 2 |
| 21 | #define CH_RUDDER 3 |
21 | #define CH_RUDDER 3 |
| 22 | #define CH_MODESWITCH 4 |
22 | #define CH_MODESWITCH 4 |
| 23 | #define CH_POTS 4 |
23 | #define CH_POTS 4 |
| - | 24 | ||
| - | 25 | // These are a little individual for differnt R/C systems... trim for zero channel readings at zero |
|
| - | 26 | // stick, and trim VARIABLE_OFFSET for full variable range 0..255. |
|
| 24 | #define POT_OFFSET 120 |
27 | #define VARIABLE_OFFSET 106 |
| - | 28 | #define RC_TRIM 19 |
|
| - | 29 | // Set this for a full stick range of about -1024..1024. |
|
| - | 30 | #define RC_SCALING 1 |
|
| 25 | 31 | ||
| 26 | /* |
32 | /* |
| 27 | int16_t RC_getPitch (void); |
33 | int16_t RC_getPitch (void); |
| 28 | int16_t RC_getYaw (void); |
34 | int16_t RC_getYaw (void); |
| 29 | int16_t RC_getRoll (void); |
35 | int16_t RC_getRoll (void); |
| 30 | uint16_t RC_getThrottle (void); |
36 | uint16_t RC_getThrottle (void); |
| 31 | uint8_t RC_hasNewRCData (void); |
37 | uint8_t RC_hasNewRCData (void); |
| 32 | */ |
38 | */ |
| 33 | 39 | ||
| 34 | // void RC_periodicTask(void); |
40 | // void RC_periodicTask(void); |
| 35 | void RC_periodicTaskAndPRYT(int16_t* PRYT); |
41 | void RC_periodicTaskAndPRYT(int16_t* PRYT); |
| 36 | uint8_t RC_getArgument(void); |
42 | uint8_t RC_getArgument(void); |
| 37 | uint8_t RC_getCommand(void); |
43 | uint8_t RC_getCommand(void); |
| 38 | int16_t RC_getVariable(uint8_t varNum); |
44 | int16_t RC_getVariable(uint8_t varNum); |
| 39 | void RC_calibrate(void); |
45 | void RC_calibrate(void); |
| 40 | uint8_t RC_getSignalQuality(void); |
46 | uint8_t RC_getSignalQuality(void); |
| 41 | uint8_t RC_getLooping(uint8_t looping); |
47 | uint8_t RC_getLooping(uint8_t looping); |
| 42 | #ifdef USE_MK3MAG |
48 | #ifdef USE_MK3MAG |
| 43 | uint8_t RC_testCompassCalState(void); |
49 | uint8_t RC_testCompassCalState(void); |
| 44 | #endif |
50 | #endif |
| 45 | #endif //_RC_H |
51 | #endif //_RC_H |
| 46 | 52 | ||