servo_dec.c File Reference

#include "servo_dec.h"
#include "stm32f4xx_conf.h"
#include "ch.h"
#include "hal.h"
#include "hw.h"
#include "utils.h"

Macros
#define	SERVO_NUM   1
#define	TIMER_FREQ   1000000

Functions
void	servodec_init (void(*d_func)(void))
void	servodec_set_pulse_options (float start, float end, bool median_filter)
float	servodec_get_servo (int servo_num)
uint32_t	servodec_get_time_since_update (void)
float	servodec_get_last_pulse_len (int servo_num)

Macro Definition Documentation

#define SERVO_NUM   1

#define TIMER_FREQ   1000000

Function Documentation

float servodec_get_last_pulse_len

(

int

servo_num

)

Get the length of the last received pulse.

Parameters

servo_num

The servo index. If it is out of range, 0.0 will be returned.

Returns

The length of the last received pulse.

float servodec_get_servo

(

int

servo_num

)

Get a decoded servo value.

Parameters

servo_num

The servo index. If it is out of range, 0.0 will be returned.

Returns

The servo value in the range [-1.0 1.0].

uint32_t servodec_get_time_since_update

(

void

)

Get the amount of milliseconds that has passed since the last time servo positions were received.

Returns

The amount of milliseconds that have passed since an update.

void servodec_init

(

void(*)(void)

d_func

)

Initialize the serve decoding driver.

Parameters

d_func

A function that should be called every time the servo signals have been decoded. Can be NULL.

void servodec_set_pulse_options	(	float	start,
		float	end,
		bool	median_filter
	)

Change the limits of how the servo pulses should be decoded.

Parameters

start	The amount of milliseconds the pulse starts at (default is 1.0)
end	he amount of milliseconds the pulse ends at (default is 2.0)