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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 | 5 | ||
6 | #define J3HIGH PORTD |= (1<<PORTD5) |
6 | #define J3HIGH PORTD |= (1<<PORTD5) |
7 | #define J3LOW PORTD &= ~(1<<PORTD5) |
7 | #define J3LOW PORTD &= ~(1<<PORTD5) |
8 | #define J3TOGGLE PORTD ^= (1<<PORTD5) |
8 | #define J3TOGGLE PORTD ^= (1<<PORTD5) |
9 | 9 | ||
10 | #define J4HIGH PORTD |= (1<<PORTD4) |
10 | #define J4HIGH PORTD |= (1<<PORTD4) |
11 | #define J4LOW PORTD &= ~(1<<PORTD4) |
11 | #define J4LOW PORTD &= ~(1<<PORTD4) |
12 | #define J4TOGGLE PORTD ^= (1<<PORTD4) |
12 | #define J4TOGGLE PORTD ^= (1<<PORTD4) |
13 | 13 | ||
14 | #define J5HIGH PORTD |= (1<<PORTD3) |
14 | #define J5HIGH PORTD |= (1<<PORTD3) |
15 | #define J5LOW PORTD &= ~(1<<PORTD3) |
15 | #define J5LOW PORTD &= ~(1<<PORTD3) |
16 | #define J5TOGGLE PORTD ^= (1<<PORTD3) |
16 | #define J5TOGGLE PORTD ^= (1<<PORTD3) |
17 | 17 | ||
18 | #define MAX_CHANNELS 10 |
18 | #define MAX_CHANNELS 10 |
- | 19 | ||
- | 20 | // Number of cycles a command must be repeated before commit. |
|
- | 21 | #define COMMAND_TIMER 200 |
|
19 | 22 | ||
20 | extern void RC_Init (void); |
23 | extern void RC_Init (void); |
21 | // the RC-Signal. todo: Not export any more. |
24 | // the RC-Signal. todo: Not export any more. |
22 | extern volatile int16_t PPM_in[MAX_CHANNELS]; |
25 | extern volatile int16_t PPM_in[MAX_CHANNELS]; |
23 | extern volatile int16_t PPM_diff[MAX_CHANNELS]; // the differentiated RC-Signal. Should that be exported?? |
26 | // extern volatile int16_t PPM_diff[MAX_CHANNELS]; // the differentiated RC-Signal. Should that be exported?? |
24 | extern volatile uint8_t NewPpmData; // 0 indicates a new recieved PPM Frame |
27 | extern volatile uint8_t NewPpmData; // 0 indicates a new recieved PPM Frame |
25 | extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200) |
28 | extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200) |
26 | 29 | ||
27 | // defines for lookup staticParams.ChannelAssignment |
30 | // defines for lookup staticParams.ChannelAssignment |
28 | #define CH_PITCH 0 |
31 | #define CH_PITCH 0 |
29 | #define CH_ROLL 1 |
32 | #define CH_ROLL 1 |
30 | #define CH_THROTTLE 2 |
33 | #define CH_THROTTLE 2 |
31 | #define CH_YAW 3 |
34 | #define CH_YAW 3 |
32 | #define CH_POTS 4 |
35 | #define CH_POTS 4 |
33 | #define POT_OFFSET 110 |
36 | #define POT_OFFSET 115 |
34 | 37 | ||
35 | /* |
38 | /* |
36 | int16_t RC_getPitch (void); |
39 | int16_t RC_getPitch (void); |
37 | int16_t RC_getYaw (void); |
40 | int16_t RC_getYaw (void); |
38 | int16_t RC_getRoll (void); |
41 | int16_t RC_getRoll (void); |
39 | uint16_t RC_getThrottle (void); |
42 | uint16_t RC_getThrottle (void); |
40 | uint8_t RC_hasNewRCData (void); |
43 | uint8_t RC_hasNewRCData (void); |
41 | */ |
44 | */ |
42 | 45 | ||
43 | void RC_update(void); |
46 | void RC_update(void); |
44 | int16_t* RC_getPRTY(void); |
47 | int16_t* RC_getPRTY(void); |
45 | uint8_t RC_getArgument(void); |
48 | uint8_t RC_getArgument(void); |
46 | uint8_t RC_getCommand(void); |
49 | uint8_t RC_getCommand(void); |
47 | int16_t RC_getVariable(uint8_t varNum); |
50 | int16_t RC_getVariable(uint8_t varNum); |
48 | void RC_calibrate(void); |
51 | void RC_calibrate(void); |
49 | uint8_t RC_getSignalQuality(void); |
52 | uint8_t RC_getSignalQuality(void); |
50 | uint8_t RC_getLooping(uint8_t looping); |
53 | uint8_t RC_getLooping(uint8_t looping); |
51 | - | ||
- | 54 | uint8_t RC_testCompassCalState(void); |
|
52 | #endif //_RC_H |
55 | #endif //_RC_H |
53 | 56 |