rc.c File Reference

#include <string.h>
#include "config/config.h"
#include "../common/maths.h"
#include "rc.h"
#include "rx.h"
#include <stdio.h>

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Macros
#define	ROL_LO   (1 << (2 * ROLL))
#define	ROL_CE   (3 << (2 * ROLL))
#define	ROL_HI   (2 << (2 * ROLL))
#define	PIT_LO   (1 << (2 * PITCH))
#define	PIT_CE   (3 << (2 * PITCH))
#define	PIT_HI   (2 << (2 * PITCH))
#define	YAW_LO   (1 << (2 * YAW))
#define	YAW_CE   (3 << (2 * YAW))
#define	YAW_HI   (2 << (2 * YAW))
#define	THR_LO   (1 << (2 * THROTTLE))
#define	THR_CE   (3 << (2 * THROTTLE))
#define	THR_HI   (2 << (2 * THROTTLE))

Functions
void	rc_update (struct rc *self)
void	rc_init (struct rc *self, struct rx *rx, struct rc_event_listener *evl, const struct config *config)
int16_t	rc_get_command (struct rc *self, uint8_t axis)
rc_key_state_t	rc_key_state (struct rc *self, rc_key_t key)

Macro Definition Documentation

#define PIT_CE   (3 << (2 * PITCH))

#define PIT_HI   (2 << (2 * PITCH))

#define PIT_LO   (1 << (2 * PITCH))

#define ROL_CE   (3 << (2 * ROLL))

#define ROL_HI   (2 << (2 * ROLL))

#define ROL_LO   (1 << (2 * ROLL))

#define THR_CE   (3 << (2 * THROTTLE))

#define THR_HI   (2 << (2 * THROTTLE))

#define THR_LO   (1 << (2 * THROTTLE))

#define YAW_CE   (3 << (2 * YAW))

#define YAW_HI   (2 << (2 * YAW))

#define YAW_LO   (1 << (2 * YAW))

Function Documentation

int16_t rc_get_command	(	struct rc *	self,
		uint8_t	axis
	)

This function is used to get stick commands after exponential curves have been applied to the rx input.

Parameters

axis	one of ROLL, PITCH, YAW, THROTTLE

Returns

a value between -500 and 500.

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void rc_init	(	struct rc *	self,
		struct rx *	rx,
		struct rc_event_listener *	evl,
		const struct config *	config
	)

Initializes a new rc struct.

Parameters

rx	instance of the underlying rx to read values from.
evl	event listener or NULL

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rc_key_state_t rc_key_state	(	struct rc *	rc,
		rc_key_t	key
	)

Parameters

key	the key for which to return state

Returns

current state of the key (PRESSED, RELEASED, DISABLED)

void rc_update

(

struct rc *

self

)

Runs an iteration of the rc calculations. This function does not call update on the underlying receiver object - user is expected to update the receiver object outside of rc object (and possibly at a different rate). The responsibility of this function is mainly taking care of repeat logic and firing new events for keys that are pressed for a while.

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