MeMegaPiProESCMotor.h

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#ifndef MeMegaPiProESCMotor_H
#define MeMegaPiProESCMotor_H
 
#include <stdint.h>
#include <stdbool.h>
#include <Arduino.h>
#include "MeConfig.h"
#ifdef ME_PORT_DEFINED
#include "MePort.h"
#endif // ME_PORT_DEFINED
 
typedef struct
{
  uint8_t pwm_pin; //PWM
} megapipro_esc_type;
 
extern megapipro_esc_type megapi_esc_Port[5];  // megapipro_esc_Port[0] is nonsense
 
#define THROTTLE_OFFSET 137
 
#define THROTTLE_MIN 137//0.55ms~0.95ms throttle scale,970hz,1.024ms.
                        //255 * (0.55/1.024) = 137
#define THROTTLE_MAX 237//255 * (0.95/1.024) = 237
class MeMegaPiProESCMotor
{
public:
#ifdef ME_PORT_DEFINED
  MeMegaPiProESCMotor(void);
 
  MeMegaPiProESCMotor(uint8_t port);
#else
  MeMegaPiProESCMotorPWMpin(uint8_t pwm_pin);
#endif
  void reset(uint8_t port);
 
  void setpin(uint8_t pwm_pin);
  void init(void);
  void run(int16_t speed);
 
  void stop(void);
private:
  volatile uint8_t _esc_pwm_pin;
  volatile int16_t last_speed;
};
 
#endif //MeMegaPiProESCMotor_H