text: /*
   * Copyright (c) 2017, James Jackson and Daniel Koch, BYU MAGICC Lab
   *
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   * * Redistributions of source code must retain the above copyright notice, this
   *   list of conditions and the following disclaimer.
   *
   * * Redistributions in binary form must reproduce the above copyright notice,
   *   this list of conditions and the following disclaimer in the documentation
   *   and/or other materials provided with the distribution.
   *
   * * Neither the name of the copyright holder nor the names of its
   *   contributors may be used to endorse or promote products derived from
   *   this software without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   */
  #ifndef RC_H_
  #define RC_H_
  
  #include <stdint.h>
  #include <stdbool.h>
  
  #include "param.h"
  
  #include "mux.h"
  
  typedef enum
  {
    RC_STICK_X,
    RC_STICK_Y,
    RC_STICK_Z,
    RC_STICK_F,
    RC_STICKS_COUNT
  } rc_stick_t;
  
  typedef enum
  {
    RC_SWITCH_ARM,
    RC_SWITCH_ATT_OVERRIDE,
    RC_SWITCH_THROTTLE_OVERRIDE,
    RC_SWITCH_ATT_TYPE,
    RC_SWITCHES_COUNT
  } rc_switch_t;
  
  typedef enum
  {
    PARALLEL_PWM,
    CPPM,
  } rc_type_t;
  
  /**
   * @brief Initialize the RC sticks and switches.
   *
   * Assign channels and other values to the RC sticks and switches based on input parameters.
   */
  void init_rc(void);
  
  /**
   * @brief Get current stick value for the given channel.
   * @param  channel The stick channel whose value you wish to retrieve.
   * @return         Normalized float of the current stick value of the channel.
   */
  float rc_stick(rc_stick_t channel);
  
  /**
   * @brief Get the current switch value for the given channel.
   * @param  channel The switch channel whose value you wish to retrieve.
   * @return         True if the switch is mapped and in its on state, otherwise false.
   */
  bool rc_switch(rc_switch_t channel);
  
  /**
   * @brief Check if the given switch is mapped to an RC channel
   * @param  channel The switch type to check.
   * @return         True if this switch type was mapped to a valid RC channel, otherwise false.
   */
  bool rc_switch_mapped(rc_switch_t channel);
  
  /**
   * @brief Receive new RC data and update local data members.
   *
   *  Maps channeled inputs from the RC controller to their proper data member values within this
   *  class every 20ms. Upon update, signals to the mux that a new command is waiting.
   *
   * @return False if it hasn't been 20ms since the last update, otherwise true.
   */
  bool receive_rc();
  
  #endif
  