Initial commit

flix/rc.ino

@@ -0,0 +1,34 @@
+// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
+// Repository: https://github.com/okalachev/flix
+
+#include <SBUS.h>
+
+static const uint16_t channelNeutral[] = {995, 883, 200, 972, 512, 512};
+static const uint16_t channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472};
+
+static SBUS RC(Serial2);
+
+void setupRC()
+{
+	Serial.println("Setup RC");
+	RC.begin();
+}
+
+static uint32_t lastReadRC = 0;
+
+void readRC()
+{
+	bool failSafe, lostFrame;
+	if (RC.read(channels, &failSafe, &lostFrame)) {
+		if (failSafe) { rcFailSafe++; return; } // TODO: NOT TESTED YET
+		if (lostFrame) { rcLostFrame++; return; }
+		normalizeRC();
+		lastReadRC = stepTime;
+	}
+}
+
+static void normalizeRC() {
+	for (uint8_t i = 0; i < RC_CHANNELS; i++) {
+		controls[i] = mapf(channels[i], channelNeutral[i], channelMax[i], 0, 1);
+	}
+}