servos.h

/*******************************************************************************
 * Copyright (c) 2009-2014, MAV'RIC Development Team
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/*******************************************************************************
 * \file servos.h
 * 
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *   
 * \brief Abstraction layer for servomotors. This module does not write to 
 * hardware, it just holds data and configuration for servos.
 * 
 ******************************************************************************/


#ifndef SERVOS_H_
#define SERVOS_H_

#ifdef __cplusplus
    extern "C" {
#endif

#include <stdint.h>
#include "scheduler.h"

#define MAX_SERVO_COUNT 8       


typedef struct
{
    float value;            
    float trim;             
    float min;              
    float max;              
    float failsafe;         
    uint32_t repeat_freq;   
} servo_entry_t;

typedef struct
{
    uint32_t servos_count;                  
    servo_entry_t servo[MAX_SERVO_COUNT];   
} servos_conf_t;

typedef struct 
{
    uint32_t servos_count;                  
    servo_entry_t servo[MAX_SERVO_COUNT];   
} servos_t;


bool servos_init(servos_t* servos, const servos_conf_t* config);


void servos_set_value(servos_t* servos, uint32_t servo_id, float value);


void servos_set_value_failsafe(servos_t* servos);


#ifdef __cplusplus
    }
#endif

#endif