receiver.cpp

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
#include "receiver.h"

bool Receiver :: init()
{
	pinMode(yawPin, INPUT);
	pinMode(pitchPin, INPUT);
	pinMode(throttlePin, INPUT);
	pinMode(rollPin, INPUT);
	pinMode(rSwitchPin, INPUT);
	pinMode(lSwitchPin, INPUT);

	return true;
}

bool Receiver :: armMotors()
{

  return true;
}

unsigned long Receiver :: readYaw()
{
	// yaw is reading in reverse for some reason..
	return readPulse(yawPin, HIGH, 25000);
}


unsigned long Receiver :: readPitch()
{
	return readPulse(pitchPin, HIGH, 25000);
}


unsigned long Receiver :: readThrottle()
{
	return readPulse(throttlePin, HIGH, 25000);
}


unsigned long Receiver :: readRoll()
{
	return readPulse(rollPin, HIGH, 25000);
}


unsigned long Receiver :: readRSwitch()
{
	return readPulse(rSwitchPin, HIGH, 5000);
}


unsigned long Receiver :: readLSwitch()
{
	return readPulse(lSwitchPin, HIGH, 5000);
}


unsigned long Receiver :: readPulse(int pin, int signal, unsigned long timeout)
{
	unsigned long current, killTime, ptime;
	current = micros();
	killTime = current + timeout;

	while(digitalRead(pin) == signal)
	{
		delayMicroseconds(4);
		current = micros();

		if(current >= killTime){
 			return 0UL;
		}
	}

	while(digitalRead(pin) != signal)
	{
		delayMicroseconds(4);
		current = micros();

		if(current >= killTime){
			return 0UL;
		}
	}

	ptime = micros();

	while(digitalRead(pin) == signal){
		delayMicroseconds(4);
	}
	return micros() - ptime;
}