RoboBuggy

/**

 * @file receiver.cpp

 * @brief Contains Code for dealing with RC Receiver

 */

//#include <stdint.h>

#include <Arduino.h>

#include "receiver.h"

#define AIL_LEFTMOST 2000

#define AIL_RIGHTMOST 980

#define AIL_CENTERMOST 1480

#define THR_LEFTMOST -1

#define THR_RIGHTMOST -1

#define THR_CENTERMOST -1

#define AIL_RECEIVER_PIN 3

#define AIL_RECEIVER_INT 1

#define THR_RECEIVER_PIN 2

#define THR_RECEIVER_INT 0

// Note: arr[0] is thr, arr[1] is ail

static volatile static int start_time[2];

static volatile bool rc_available[2];

static volatile int rc_value[2];

static volatile bool rc_connected[2];

// Returns error code

int receiver_init() {

  attachInterrupt(THR_RECEIVER_INT, receiver_on_thr_interrupt, CHANGE);

  attachInterrupt(AIL_RECEIVER_INT, receiver_on_ail_interrupt, CHANGE);

}

// When our code gets really busy this will become inaccurate,

// (i believe since micros gets shifted a bit) but for

// the current application its easy to understand and works very well

// Write code twice, look suspicious. Write code three times, refactor

// Aileron Interrupt

// TODO if things start twitching, move to using registers directly.

void receiver_on_ail_interrupt() {

  if(digitalRead(AIL_RECEIVER_PIN) == HIGH) {

    start_time[1] = micros();

  } else {

    if(start_time[1] && (rc_available[1] == 0)) {

      rc_value[1] = (int)(micros() - ulStartPeriod);

      start_time[1] = 0;

      rc_available[1] = 1;

    }

  }

}

void receiver_on_thr_interrupt() {

  if(digitalRead(THR_RECEIVER_PIN) == HIGH) {

    start_time[0] = micros();

  } else {

    if(start_time[0] && (rc_available[0] == 0)) {

      rc_value[0] = (int)(micros() - ulStartPeriod);

      start_time[0] = 0;

      rc_available[0] = 1;

    }

  }

}

// Returns the value, bounded by proper limits

int receiver_avail(int i) {

   return ;

}

// Gets the angle without a dead zone

// Returns a value between 0 and 255, with no

//   movement being 128.

// Maps this into ~0 to ~180, 90 being straight.

int receiver_get_angle(int i) {

  // Math to convert nThrottleIn to 0-180.

  bNewThrottleSignal = 0;

  return ((nThrottleIn-RIGHTMOST)*3)/17;

}