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#ifndef _RC_H
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#ifndef _RC_H
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#define _RC_H
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#define _RC_H
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#include <inttypes.h>
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#include <inttypes.h>
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#define J3HIGH    PORTD |= (1<<PORTD5)
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#define J3LOW     PORTD &= ~(1<<PORTD5)
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#define J3TOGGLE  PORTD ^= (1<<PORTD5)
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#define J4HIGH    PORTD |= (1<<PORTD4)
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#define J4LOW     PORTD &= ~(1<<PORTD4)
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#define J4TOGGLE  PORTD ^= (1<<PORTD4)
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#define J5HIGH    PORTD |= (1<<PORTD3)
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#define J5LOW     PORTD &= ~(1<<PORTD3)
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#define J5TOGGLE  PORTD ^= (1<<PORTD3)
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#define MAX_CHANNELS 10
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#define MAX_CHANNELS 10
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// Number of cycles a command must be repeated before commit.
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// Number of cycles a command must be repeated before commit.
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#define COMMAND_TIMER 200
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#define COMMAND_TIMER 200
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extern void RC_Init(void);
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extern void RC_Init(void);
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// the RC-Signal. todo: Not export any more.
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// the RC-Signal. todo: Not export any more.
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extern volatile int16_t PPM_in[MAX_CHANNELS];
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extern volatile int16_t PPM_in[MAX_CHANNELS];
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// extern volatile int16_t PPM_diff[MAX_CHANNELS];      // the differentiated RC-Signal. Should that be exported??
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// extern volatile int16_t PPM_diff[MAX_CHANNELS];      // the differentiated RC-Signal. Should that be exported??
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extern volatile uint8_t NewPpmData; // 0 indicates a new recieved PPM Frame
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extern volatile uint8_t NewPpmData; // 0 indicates a new recieved PPM Frame
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extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200)
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extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200)
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// defines for lookup staticParams.ChannelAssignment
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// defines for lookup staticParams.ChannelAssignment
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#define CH_PITCH        0
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#define CH_PITCH        0
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#define CH_ROLL         1
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#define CH_ROLL         1
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#define CH_THROTTLE     2
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#define CH_THROTTLE     2
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#define CH_YAW          3
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#define CH_YAW          3
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#define CH_POTS         4
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#define CH_POTS         4
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#define POT_OFFSET      115
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#define POT_OFFSET      115
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/*
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/*
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 int16_t  RC_getPitch        (void);
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 int16_t  RC_getPitch        (void);
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 int16_t  RC_getYaw          (void);
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 int16_t  RC_getYaw          (void);
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 int16_t  RC_getRoll         (void);
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 int16_t  RC_getRoll         (void);
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 uint16_t RC_getThrottle     (void);
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 uint16_t RC_getThrottle     (void);
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 uint8_t  RC_hasNewRCData    (void);
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 uint8_t  RC_hasNewRCData    (void);
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 */
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 */
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void RC_update(void);
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void RC_update(void);
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int16_t* RC_getPRTY(void);
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int16_t* RC_getPRTY(void);
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uint8_t RC_getArgument(void);
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uint8_t RC_getArgument(void);
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uint8_t RC_getCommand(void);
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uint8_t RC_getCommand(void);
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int16_t RC_getVariable(uint8_t varNum);
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int16_t RC_getVariable(uint8_t varNum);
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void RC_calibrate(void);
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void RC_calibrate(void);
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uint8_t RC_getSignalQuality(void);
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uint8_t RC_getSignalQuality(void);
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uint8_t RC_getLooping(uint8_t looping);
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uint8_t RC_getLooping(uint8_t looping);
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uint8_t RC_testCompassCalState(void);
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uint8_t RC_testCompassCalState(void);
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#endif //_RC_H
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#endif //_RC_H
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