#include "../config/rx.h"
#include "../config/rc_controls.h"
#include "rc_command.h"
#include <stdbool.h>

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Data Structures
struct	rc_event_listener

struct	rc

Macros
#define	RC_KEY_REPEAT_MS 200

#define	CHANNEL_RANGE_MIN 900

#define	CHANNEL_RANGE_MAX 2100

#define	MODE_STEP_TO_CHANNEL_VALUE(step) (CHANNEL_RANGE_MIN + 25 * (step))

#define	CHANNEL_VALUE_TO_STEP(channelValue) ((constrain((channelValue), CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX) - CHANNEL_RANGE_MIN) / 25)

#define	MIN_MODE_RANGE_STEP 0

#define	MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / 25)

#define	CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX 100

#define	CONTROL_RATE_CONFIG_YAW_RATE_MAX 255

#define	CONTROL_RATE_CONFIG_TPA_MAX 100

#define	IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)

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

rc_key_state_t	rc_key_state (struct rc *rc, rc_key_t key)

int16_t	rc_get_command (struct rc *self, uint8_t axis)

void	rc_update (struct rc *self)

Macro Definition Documentation

#define CHANNEL_RANGE_MAX 2100

#define CHANNEL_RANGE_MIN 900

#define CHANNEL_VALUE_TO_STEP ( channelValue ) ((constrain((channelValue), CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX) - CHANNEL_RANGE_MIN) / 25)

#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX 100

#define CONTROL_RATE_CONFIG_TPA_MAX 100

#define CONTROL_RATE_CONFIG_YAW_RATE_MAX 255

#define IS_RANGE_USABLE ( range ) ((range)->startStep < (range)->endStep)

#define MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / 25)

#define MIN_MODE_RANGE_STEP 0

#define MODE_STEP_TO_CHANNEL_VALUE ( step ) (CHANNEL_RANGE_MIN + 25 * (step))

#define RC_KEY_REPEAT_MS 200

Enumeration Type Documentation

enum rc_key_state_t

This enum defines key state. To support cases where an rc range is not configured (ie you can't really tell if the key is pressed or released) the third option has been added which is returned by rc_key_state() if the key does not exist.

Enumerator
RC_KEY_DISABLED	returned by rc_key_state() if the key does not exist (not configured etc.)
RC_KEY_PRESSED	returned by rc_key_state() when the key is pressed
RC_KEY_RELEASED	returned by rc_key_state() when the key is not pressed

enum rc_key_t

Defines supported virtual keys. Certain stick combinations may trigger these keys. Most of these keys specify a kind of virtual rc keyboard. How they are actually interpreted is up to the current state of the flight controller.

Enumerator
RC_KEY_IDLE
RC_KEY_GYROCAL
RC_KEY_ACCCAL
RC_KEY_MAGCAL
RC_KEY_ACC_INFLIGHT_CALIB
RC_KEY_PROFILE1
RC_KEY_PROFILE2
RC_KEY_PROFILE3
RC_KEY_SAVE
RC_KEY_STICK_ARM
RC_KEY_STICK_DISARM
RC_KEY_ACC_TRIM_PITCH_INC
RC_KEY_ACC_TRIM_PITCH_DEC
RC_KEY_ACC_TRIM_ROLL_INC
RC_KEY_ACC_TRIM_ROLL_DEC
RC_KEY_DISPLAY_OFF
RC_KEY_DISPLAY_ON
RC_KEY_FUNC_LEVEL
RC_KEY_FUNC_ARM	arming through box range
RC_KEY_FUNC_BLEND
RC_KEY_FUNC_ALTSTAB
RC_KEY_FUNC_HEADSTAB
RC_KEY_FUNC_HEADFIX
RC_KEY_FUNC_CALIBRATE
RC_KEY_FUNC_BEEPER
RC_NUM_KEYS

enum rollPitchStatus_e

Enumerator
NOT_CENTERED
CENTERED

enum throttleStatus_e

Enumerator
THROTTLE_LOW
THROTTLE_HIGH

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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Enumerations
enum	rc_key_t { RC_KEY_IDLE, RC_KEY_GYROCAL, RC_KEY_ACCCAL, RC_KEY_MAGCAL, RC_KEY_ACC_INFLIGHT_CALIB, RC_KEY_PROFILE1, RC_KEY_PROFILE2, RC_KEY_PROFILE3, RC_KEY_SAVE, RC_KEY_STICK_ARM, RC_KEY_STICK_DISARM, RC_KEY_ACC_TRIM_PITCH_INC, RC_KEY_ACC_TRIM_PITCH_DEC, RC_KEY_ACC_TRIM_ROLL_INC, RC_KEY_ACC_TRIM_ROLL_DEC, RC_KEY_DISPLAY_OFF, RC_KEY_DISPLAY_ON, RC_KEY_FUNC_LEVEL, RC_KEY_FUNC_ARM, RC_KEY_FUNC_BLEND, RC_KEY_FUNC_ALTSTAB, RC_KEY_FUNC_HEADSTAB, RC_KEY_FUNC_HEADFIX, RC_KEY_FUNC_CALIBRATE, RC_KEY_FUNC_BEEPER, RC_NUM_KEYS }

enum	rc_key_state_t { RC_KEY_DISABLED, RC_KEY_PRESSED, RC_KEY_RELEASED }

enum	throttleStatus_e { THROTTLE_LOW = 0, THROTTLE_HIGH }

enum	rollPitchStatus_e { NOT_CENTERED = 0, CENTERED }

Data Structures

Macros

Enumerations

Functions

Macro Definition Documentation

Enumeration Type Documentation

Function Documentation