servo_cmd.h

Go to the documentation of this file.

 
#pragma once
 
#include <stdbool.h>
#include <stdint.h>
 
#ifdef __cplusplus
extern "C" {
#endif

typedef enum {
    SERVO_CMD_NONE = 0,   
    SERVO_CMD_POSITION,   
    SERVO_CMD_CENTRE,     
    SERVO_CMD_RELEASE,
    SERVO_CMD_ARM,        
    SERVO_CMD_DISARM,
    SERVO_CMD_SWEEP,
    SERVO_CMD_HOLD,
} servo_cmd_kind_t;

typedef struct {
    servo_cmd_kind_t kind;     
    uint16_t         value_us; 
    uint16_t         min_us;
    uint16_t         max_us;   
    uint16_t         slew_per_s;
    uint16_t         frame_hz;
    uint16_t sweep_kind,                    
             sweep_mhz,                     
             sweep_span,                    
             sweep_dwell_ms;                
    bool             ends_sweep;
    bool             resume;
    uint16_t         pause_seq;
    uint16_t         from_pause;
    uint16_t         start_seq;
} servo_cmd_t;

typedef enum {
    SERVO_RATE_UNSENT = 0,  
    SERVO_RATE_IN_FORCE,    
    SERVO_RATE_REFUSED,     
    SERVO_RATE_UNSUPPORTED, 
    SERVO_RATE_IN_FORCE_SURFACES, 
} servo_rate_state_t;

servo_rate_state_t servo_rate_in_force(uint16_t minor);

bool servo_cmd_survives_link_loss(const servo_cmd_t *c);

uint16_t servo_cmd_pause_root(const servo_cmd_t *c);

typedef struct {
    bool     on;
    uint16_t pause_seq;
} servo_pause_end_t;

bool servo_cmd_stale(servo_pause_end_t *e, const servo_cmd_t *c);

typedef enum {
    SERVO_SWEEP_FROM_REST,    
    SERVO_SWEEP_FROM_HERE,    
    SERVO_SWEEP_FROM_FROZEN,  
    SERVO_SWEEP_RESUMED,      
} servo_sweep_from_t;
 
#ifdef __cplusplus
}
#endif