Robot Control Library#

Robot Control Library#

page index

This package contains the C library and example/testing programs for the Robot Control project. This project began as a hardware interface for the Robotics Cape and later the BeagleBone Blue and was originally called Robotics_Cape_Installer. It grew to include an extensive math library for discrete time feedback control, as well as a plethora of POSIX-compliant functions for timing, multithreading, program flow, and lots more. Everything is aimed at developing robotics software on embedded computers.

This package ships with official BeagleBone images and is focused on, but not excludive to, the BeagleBoard platform. The library and example programs are primarily written in C, however there also exists the RCPY python interface to this package available at mcdeoliveira/rcpy.

The master branch is always the most current but not necessarily stable. See releases page for older stable versions or install from BeagleBoard.org repositories.

To get started, visit the user manual

Page Hierarchy#

- Manual

Class Hierarchy#

- Struct rc_bmp_data_t
- Struct rc_filter_t
- Struct rc_kalman_t
- Struct rc_matrix_t
- Struct rc_mpu_config_t
- Struct rc_mpu_data_t
- Struct rc_ringbuf_t
- Struct rc_vector_t
- Enum rc_bmp_filter_t
- Enum rc_bmp_oversample_t
- Enum rc_button_state_t
- Enum rc_governor_t
- Enum rc_led_t
- Enum rc_mav_connection_state_t
- Enum rc_model_category_t
- Enum rc_model_t
- Enum rc_mpu_accel_dlpf_t
- Enum rc_mpu_accel_fsr_t
- Enum rc_mpu_gyro_dlpf_t
- Enum rc_mpu_gyro_fsr_t
- Enum rc_mpu_orientation_t
- Enum rc_pinmux_mode_t
- Enum rc_state_t

File Hierarchy#

- Directory docs
  - Directory src
    - File background_services.dox
    - File flashing.dox
    - File installation.dox
    - File mainpage.dox
    - File manual.dox
    - File modules.dox
    - File networking_usb.dox
    - File networking_wifi.dox
    - File project_template.dox
    - File runonboot.dox
    - File version.dox
- Directory library
  - Directory include
    - Directory rc
      - Directory math
        File algebra.h
        File filter.h
        File kalman.h
        File matrix.h
        File other.h
        File polynomial.h
        File quaternion.h
        File ring_buffer.h
        File vector.h
      - File adc.h
      - File bmp.h
      - File button.h
      - File cpu.h
      - File deprecated.h
      - File dsm.h
      - File encoder.h
      - File encoder_eqep.h
      - File encoder_pru.h
      - File gpio.h
      - File i2c.h
      - File led.h
      - File math.h
      - File mavlink_udp.h
      - File mavlink_udp_helpers.h
      - File model.h
      - File motor.h
      - File mpu.h
      - File pinmux.h
      - File pru.h
      - File pthread.h
      - File pwm.h
      - File servo.h
      - File spi.h
      - File start_stop.h
      - File time.h
      - File uart.h
      - File version.h
    - File rc_usefulincludes.h
    - File robotcontrol.h
    - File roboticscape.h

Full API#

Classes and Structs#

Struct rc_bmp_data_t
- Struct Documentation
  - rc_bmp_data_t

Struct rc_kalman_t
- Struct Documentation
  - rc_kalman_t

Struct rc_matrix_t
- Struct Documentation
  - rc_matrix_t

Struct rc_ringbuf_t
- Struct Documentation
  - rc_ringbuf_t

Struct rc_vector_t
- Struct Documentation
  - rc_vector_t

Enums#

Enum rc_bmp_filter_t
- Enum Documentation
  - rc_bmp_filter_t

Enum rc_bmp_oversample_t
- Enum Documentation
  - rc_bmp_oversample_t

Enum rc_button_state_t
- Enum Documentation
  - rc_button_state_t
    - rc_button_state_t::RELEASED
    - rc_button_state_t::PRESSED

Enum rc_governor_t
- Enum Documentation
  - rc_governor_t

Enum rc_led_t
- Enum Documentation
  - rc_led_t

Enum rc_mav_connection_state_t
- Enum Documentation
  - rc_mav_connection_state_t

Enum rc_model_category_t
- Enum Documentation
  - rc_model_category_t

Enum rc_mpu_accel_dlpf_t
- Enum Documentation
  - rc_mpu_accel_dlpf_t

Enum rc_mpu_accel_fsr_t
- Enum Documentation
  - rc_mpu_accel_fsr_t

Enum rc_mpu_gyro_dlpf_t
- Enum Documentation
  - rc_mpu_gyro_dlpf_t

Enum rc_mpu_gyro_fsr_t
- Enum Documentation
  - rc_mpu_gyro_fsr_t

Enum rc_mpu_orientation_t
- Enum Documentation
  - rc_mpu_orientation_t

Enum rc_pinmux_mode_t
- Enum Documentation
  - rc_pinmux_mode_t

Enum rc_state_t
- Enum Documentation
  - rc_state_t

Functions#

Function rc_adc_batt
- Function Documentation
  - rc_adc_batt()

Function rc_adc_cleanup
- Function Documentation
  - rc_adc_cleanup()

Function rc_adc_dc_jack
- Function Documentation
  - rc_adc_dc_jack()

Function rc_adc_init
- Function Documentation
  - rc_adc_init()

Function rc_adc_read_raw
- Function Documentation
  - rc_adc_read_raw()

Function rc_adc_read_volt
- Function Documentation
  - rc_adc_read_volt()

Function rc_algebra_fit_ellipsoid
- Function Documentation
  - rc_algebra_fit_ellipsoid()

Function rc_algebra_invert_matrix
- Function Documentation
  - rc_algebra_invert_matrix()

Function rc_algebra_invert_matrix_inplace
- Function Documentation
  - rc_algebra_invert_matrix_inplace()

Function rc_algebra_lin_system_solve
- Function Documentation
  - rc_algebra_lin_system_solve()

Function rc_algebra_lin_system_solve_qr
- Function Documentation
  - rc_algebra_lin_system_solve_qr()

Function rc_algebra_lup_decomp
- Function Documentation
  - rc_algebra_lup_decomp()

Function rc_algebra_qr_decomp
- Function Documentation
  - rc_algebra_qr_decomp()

Function rc_algebra_set_zero_tolerance
- Function Documentation
  - rc_algebra_set_zero_tolerance()

Function rc_bmp_init
- Function Documentation
  - rc_bmp_init()

Function rc_bmp_power_off
- Function Documentation
  - rc_bmp_power_off()

Function rc_bmp_read
- Function Documentation
  - rc_bmp_read()

Function rc_bmp_set_sea_level_pressure_pa
- Function Documentation
  - rc_bmp_set_sea_level_pressure_pa()

Function rc_button_cleanup
- Function Documentation
  - rc_button_cleanup()

Function rc_button_get_state
- Function Documentation
  - rc_button_get_state()

Function rc_button_init
- Function Documentation
  - rc_button_init()

Function rc_button_set_callbacks
- Function Documentation
  - rc_button_set_callbacks()

Function rc_button_wait_for_event
- Function Documentation
  - rc_button_wait_for_event()

Function rc_cleanup
- Function Documentation

Function rc_cpu_get_freq
- Function Documentation
  - rc_cpu_get_freq()

Function rc_cpu_print_freq
- Function Documentation
  - rc_cpu_print_freq()

Function rc_cpu_set_governor
- Function Documentation
  - rc_cpu_set_governor()

Function rc_disable_motors
- Function Documentation

Function rc_disable_signal_handler
- Function Documentation
  - rc_disable_signal_handler()

Function rc_dsm_bind_routine
- Function Documentation
  - rc_dsm_bind_routine()

Function rc_dsm_calibrate_routine
- Function Documentation
  - rc_dsm_calibrate_routine()

Function rc_dsm_ch_normalized
- Function Documentation
  - rc_dsm_ch_normalized()

Function rc_dsm_ch_raw
- Function Documentation
  - rc_dsm_ch_raw()

Function rc_dsm_channels
- Function Documentation
  - rc_dsm_channels()

Function rc_dsm_cleanup
- Function Documentation
  - rc_dsm_cleanup()

Function rc_dsm_init
- Function Documentation
  - rc_dsm_init()

Function rc_dsm_is_connection_active
- Function Documentation
  - rc_dsm_is_connection_active()

Function rc_dsm_is_new_data
- Function Documentation
  - rc_dsm_is_new_data()

Function rc_dsm_nanos_since_last_packet
- Function Documentation
  - rc_dsm_nanos_since_last_packet()

Function rc_dsm_resolution
- Function Documentation
  - rc_dsm_resolution()

Function rc_dsm_set_callback
- Function Documentation
  - rc_dsm_set_callback()

Function rc_dsm_set_disconnect_callback
- Function Documentation
  - rc_dsm_set_disconnect_callback()

Function rc_enable_motors
- Function Documentation

Function rc_enable_signal_handler
- Function Documentation
  - rc_enable_signal_handler()

Function rc_encoder_cleanup
- Function Documentation
  - rc_encoder_cleanup()

Function rc_encoder_eqep_cleanup
- Function Documentation
  - rc_encoder_eqep_cleanup()

Function rc_encoder_eqep_init
- Function Documentation
  - rc_encoder_eqep_init()

Function rc_encoder_eqep_read
- Function Documentation
  - rc_encoder_eqep_read()

Function rc_encoder_eqep_write
- Function Documentation
  - rc_encoder_eqep_write()

Function rc_encoder_init
- Function Documentation
  - rc_encoder_init()

Function rc_encoder_pru_cleanup
- Function Documentation
  - rc_encoder_pru_cleanup()

Function rc_encoder_pru_init
- Function Documentation
  - rc_encoder_pru_init()

Function rc_encoder_pru_read
- Function Documentation
  - rc_encoder_pru_read()

Function rc_encoder_pru_write
- Function Documentation
  - rc_encoder_pru_write()

Function rc_encoder_read
- Function Documentation
  - rc_encoder_read()

Function rc_encoder_write
- Function Documentation
  - rc_encoder_write()

Function rc_filter_alloc
- Function Documentation
  - rc_filter_alloc()

Function rc_filter_alloc_from_arrays
- Function Documentation
  - rc_filter_alloc_from_arrays()

Function rc_filter_butterworth_highpass
- Function Documentation
  - rc_filter_butterworth_highpass()

Function rc_filter_butterworth_lowpass
- Function Documentation
  - rc_filter_butterworth_lowpass()

Function rc_filter_c2d_tustin
- Function Documentation
  - rc_filter_c2d_tustin()

Function rc_filter_double_integrator
- Function Documentation
  - rc_filter_double_integrator()

Function rc_filter_duplicate
- Function Documentation
  - rc_filter_duplicate()

Function rc_filter_empty
- Function Documentation
  - rc_filter_empty()

Function rc_filter_enable_saturation
- Function Documentation
  - rc_filter_enable_saturation()

Function rc_filter_enable_soft_start
- Function Documentation
  - rc_filter_enable_soft_start()

Function rc_filter_first_order_highpass
- Function Documentation
  - rc_filter_first_order_highpass()

Function rc_filter_first_order_lowpass
- Function Documentation
  - rc_filter_first_order_lowpass()

Function rc_filter_free
- Function Documentation
  - rc_filter_free()

Function rc_filter_get_saturation_flag
- Function Documentation
  - rc_filter_get_saturation_flag()

Function rc_filter_integrator
- Function Documentation
  - rc_filter_integrator()

Function rc_filter_march
- Function Documentation
  - rc_filter_march()

Function rc_filter_moving_average
- Function Documentation
  - rc_filter_moving_average()

Function rc_filter_multiply
- Function Documentation
  - rc_filter_multiply()

Function rc_filter_multiply_three
- Function Documentation
  - rc_filter_multiply_three()

Function rc_filter_normalize
- Function Documentation
  - rc_filter_normalize()

Function rc_filter_pid
- Function Documentation
  - rc_filter_pid()

Function rc_filter_prefill_inputs
- Function Documentation
  - rc_filter_prefill_inputs()

Function rc_filter_prefill_outputs
- Function Documentation
  - rc_filter_prefill_outputs()

Function rc_filter_previous_input
- Function Documentation
  - rc_filter_previous_input()

Function rc_filter_previous_output
- Function Documentation
  - rc_filter_previous_output()

Function rc_filter_print
- Function Documentation
  - rc_filter_print()

Function rc_filter_reset
- Function Documentation
  - rc_filter_reset()

Function rc_filter_third_order_complement
- Function Documentation
  - rc_filter_third_order_complement()

Function rc_get_encoder_pos
- Function Documentation

Function rc_get_mode_button
- Function Documentation

Function rc_get_pause_button
- Function Documentation

Function rc_get_random_double
- Function Documentation
  - rc_get_random_double()

Function rc_get_random_float
- Function Documentation
  - rc_get_random_float()

Function rc_get_state
- Function Documentation
  - rc_get_state()

Function rc_gpio_cleanup
- Function Documentation
  - rc_gpio_cleanup()

Function rc_gpio_get_value
- Function Documentation
  - rc_gpio_get_value()

Function rc_gpio_init
- Function Documentation
  - rc_gpio_init()

Function rc_gpio_init_event
- Function Documentation
  - rc_gpio_init_event()

Function rc_gpio_poll
- Function Documentation
  - rc_gpio_poll()

Function rc_gpio_set_value
- Function Documentation
  - rc_gpio_set_value()

Function rc_i2c_close
- Function Documentation
  - rc_i2c_close()

Function rc_i2c_get_fd
- Function Documentation
  - rc_i2c_get_fd()

Function rc_i2c_get_lock
- Function Documentation
  - rc_i2c_get_lock()

Function rc_i2c_init
- Function Documentation
  - rc_i2c_init()

Function rc_i2c_lock_bus
- Function Documentation
  - rc_i2c_lock_bus()

Function rc_i2c_read_byte
- Function Documentation
  - rc_i2c_read_byte()

Function rc_i2c_read_bytes
- Function Documentation
  - rc_i2c_read_bytes()

Function rc_i2c_read_word
- Function Documentation
  - rc_i2c_read_word()

Function rc_i2c_read_words
- Function Documentation
  - rc_i2c_read_words()

Function rc_i2c_send_byte
- Function Documentation
  - rc_i2c_send_byte()

Function rc_i2c_send_bytes
- Function Documentation
  - rc_i2c_send_bytes()

Function rc_i2c_set_device_address
- Function Documentation
  - rc_i2c_set_device_address()

Function rc_i2c_unlock_bus
- Function Documentation
  - rc_i2c_unlock_bus()

Function rc_i2c_write_byte
- Function Documentation
  - rc_i2c_write_byte()

Function rc_i2c_write_bytes
- Function Documentation
  - rc_i2c_write_bytes()

Function rc_i2c_write_word
- Function Documentation
  - rc_i2c_write_word()

Function rc_i2c_write_words
- Function Documentation
  - rc_i2c_write_words()

Function rc_initialize
- Function Documentation

Function rc_kalman_alloc_ekf
- Function Documentation
  - rc_kalman_alloc_ekf()

Function rc_kalman_alloc_lin
- Function Documentation
  - rc_kalman_alloc_lin()

Function rc_kalman_empty
- Function Documentation
  - rc_kalman_empty()

Function rc_kalman_free
- Function Documentation
  - rc_kalman_free()

Function rc_kalman_reset
- Function Documentation
  - rc_kalman_reset()

Function rc_kalman_update_ekf
- Function Documentation
  - rc_kalman_update_ekf()

Function rc_kalman_update_lin
- Function Documentation
  - rc_kalman_update_lin()

Function rc_kill_existing_process
- Function Documentation
  - rc_kill_existing_process()

Function rc_led_blink
- Function Documentation
  - rc_led_blink()

Function rc_led_cleanup
- Function Documentation
  - rc_led_cleanup()

Function rc_led_get
- Function Documentation
  - rc_led_get()

Function rc_led_set
- Function Documentation
  - rc_led_set()

Function rc_led_stop_blink
- Function Documentation
  - rc_led_stop_blink()

Function rc_led_stop_blink_all
- Function Documentation
  - rc_led_stop_blink_all()

Function rc_make_pid_file
- Function Documentation
  - rc_make_pid_file()

Function rc_matrix_add
- Function Documentation
  - rc_matrix_add()

Function rc_matrix_add_inplace
- Function Documentation
  - rc_matrix_add_inplace()

Function rc_matrix_alloc
- Function Documentation
  - rc_matrix_alloc()

Function rc_matrix_determinant
- Function Documentation
  - rc_matrix_determinant()

Function rc_matrix_diagonal
- Function Documentation
  - rc_matrix_diagonal()

Function rc_matrix_duplicate
- Function Documentation
  - rc_matrix_duplicate()

Function rc_matrix_empty
- Function Documentation
  - rc_matrix_empty()

Function rc_matrix_free
- Function Documentation
  - rc_matrix_free()

Function rc_matrix_identity
- Function Documentation
  - rc_matrix_identity()

Function rc_matrix_left_multiply_inplace
- Function Documentation
  - rc_matrix_left_multiply_inplace()

Function rc_matrix_multiply
- Function Documentation
  - rc_matrix_multiply()

Function rc_matrix_outer_product
- Function Documentation
  - rc_matrix_outer_product()

Function rc_matrix_print
- Function Documentation
  - rc_matrix_print()

Function rc_matrix_print_sci
- Function Documentation
  - rc_matrix_print_sci()

Function rc_matrix_random
- Function Documentation
  - rc_matrix_random()

Function rc_matrix_right_multiply_inplace
- Function Documentation
  - rc_matrix_right_multiply_inplace()

Function rc_matrix_row_vec_times_matrix
- Function Documentation
  - rc_matrix_row_vec_times_matrix()

Function rc_matrix_subtract_inplace
- Function Documentation
  - rc_matrix_subtract_inplace()

Function rc_matrix_symmetrize
- Function Documentation
  - rc_matrix_symmetrize()

Function rc_matrix_times_col_vec
- Function Documentation
  - rc_matrix_times_col_vec()

Function rc_matrix_times_scalar
- Function Documentation
  - rc_matrix_times_scalar()

Function rc_matrix_transpose
- Function Documentation
  - rc_matrix_transpose()

Function rc_matrix_transpose_inplace
- Function Documentation
  - rc_matrix_transpose_inplace()

Function rc_matrix_zero_out
- Function Documentation
  - rc_matrix_zero_out()

Function rc_matrix_zeros
- Function Documentation
  - rc_matrix_zeros()

Function rc_mav_cleanup
- Function Documentation
  - rc_mav_cleanup()

Function rc_mav_get_att_pos_mocap
- Function Documentation
  - rc_mav_get_att_pos_mocap()

Function rc_mav_get_attitude
- Function Documentation
  - rc_mav_get_attitude()

Function rc_mav_get_attitude_quaternion
- Function Documentation
  - rc_mav_get_attitude_quaternion()

Function rc_mav_get_connection_state
- Function Documentation
  - rc_mav_get_connection_state()

Function rc_mav_get_global_position_int
- Function Documentation
  - rc_mav_get_global_position_int()

Function rc_mav_get_gps_raw_int
- Function Documentation
  - rc_mav_get_gps_raw_int()

Function rc_mav_get_heartbeat
- Function Documentation
  - rc_mav_get_heartbeat()

Function rc_mav_get_local_position_ned
- Function Documentation
  - rc_mav_get_local_position_ned()

Function rc_mav_get_manual_control
- Function Documentation
  - rc_mav_get_manual_control()

Function rc_mav_get_msg
- Function Documentation
  - rc_mav_get_msg()

Function rc_mav_get_scaled_pressure
- Function Documentation
  - rc_mav_get_scaled_pressure()

Function rc_mav_get_servo_output_raw
- Function Documentation
  - rc_mav_get_servo_output_raw()

Function rc_mav_get_set_position_target_global_int
- Function Documentation
  - rc_mav_get_set_position_target_global_int()

Function rc_mav_get_set_position_target_local_ned
- Function Documentation
  - rc_mav_get_set_position_target_local_ned()

Function rc_mav_get_sys_id_of_last_msg
- Function Documentation
  - rc_mav_get_sys_id_of_last_msg()

Function rc_mav_get_sys_id_of_last_msg_any
- Function Documentation
  - rc_mav_get_sys_id_of_last_msg_any()

Function rc_mav_get_sys_status
- Function Documentation
  - rc_mav_get_sys_status()

Function rc_mav_init
- Function Documentation
  - rc_mav_init()

Function rc_mav_is_new_msg
- Function Documentation
  - rc_mav_is_new_msg()

Function rc_mav_msg_id_of_last_msg
- Function Documentation
  - rc_mav_msg_id_of_last_msg()

Function rc_mav_ns_since_last_msg
- Function Documentation
  - rc_mav_ns_since_last_msg()

Function rc_mav_ns_since_last_msg_any
- Function Documentation
  - rc_mav_ns_since_last_msg_any()

Function rc_mav_print_msg_name
- Function Documentation
  - rc_mav_print_msg_name()

Function rc_mav_send_att_pos_mocap
- Function Documentation

Function rc_mav_send_attitude
- Function Documentation
  - rc_mav_send_attitude()

Function rc_mav_send_attitude_quaternion
- Function Documentation
  - rc_mav_send_attitude_quaternion()

Function rc_mav_send_global_position_int
- Function Documentation
  - rc_mav_send_global_position_int()

Function rc_mav_send_gps_raw_int
- Function Documentation
  - rc_mav_send_gps_raw_int()

Function rc_mav_send_heartbeat
- Function Documentation
  - rc_mav_send_heartbeat()

Function rc_mav_send_heartbeat_abbreviated
- Function Documentation
  - rc_mav_send_heartbeat_abbreviated()

Function rc_mav_send_local_position_ned
- Function Documentation
  - rc_mav_send_local_position_ned()

Function rc_mav_send_manual_control
- Function Documentation
  - rc_mav_send_manual_control()

Function rc_mav_send_msg
- Function Documentation
  - rc_mav_send_msg()

Function rc_mav_send_scaled_pressure
- Function Documentation
  - rc_mav_send_scaled_pressure()

Function rc_mav_send_servo_output_raw
- Function Documentation
  - rc_mav_send_servo_output_raw()

Function rc_mav_send_set_position_target_global_int
- Function Documentation
  - rc_mav_send_set_position_target_global_int()

Function rc_mav_send_set_position_target_local_ned
- Function Documentation
  - rc_mav_send_set_position_target_local_ned()

Function rc_mav_send_sys_status
- Function Documentation
  - rc_mav_send_sys_status()

Function rc_mav_set_callback
- Function Documentation
  - rc_mav_set_callback()

Function rc_mav_set_callback_all
- Function Documentation
  - rc_mav_set_callback_all()

Function rc_mav_set_callback_connection_lost
- Function Documentation
  - rc_mav_set_callback_connection_lost()

Function rc_mav_set_dest_ip
- Function Documentation
  - rc_mav_set_dest_ip()

Function rc_mav_set_system_id
- Function Documentation
  - rc_mav_set_system_id()

Function rc_model
- Function Documentation
  - rc_model()

Function rc_model_category
- Function Documentation
  - rc_model_category()

Function rc_model_category_print
- Function Documentation
  - rc_model_category_print()

Function rc_model_print
- Function Documentation
  - rc_model_print()

Function rc_motor_brake
- Function Documentation
  - rc_motor_brake()

Function rc_motor_cleanup
- Function Documentation
  - rc_motor_cleanup()

Function rc_motor_free_spin
- Function Documentation
  - rc_motor_free_spin()

Function rc_motor_init
- Function Documentation
  - rc_motor_init()

Function rc_motor_init_freq
- Function Documentation
  - rc_motor_init_freq()

Function rc_motor_set
- Function Documentation
  - rc_motor_set()

Function rc_motor_standby
- Function Documentation
  - rc_motor_standby()

Function rc_mpu_block_until_dmp_data
- Function Documentation

Function rc_mpu_block_until_tap
- Function Documentation

Function rc_mpu_calibrate_accel_routine
- Function Documentation

Function rc_mpu_calibrate_gyro_routine
- Function Documentation

Function rc_mpu_calibrate_mag_routine
- Function Documentation

Function rc_mpu_default_config
- Function Documentation

Function rc_mpu_initialize
- Function Documentation

Function rc_mpu_initialize_dmp
- Function Documentation

Function rc_mpu_is_accel_calibrated
- Function Documentation

Function rc_mpu_is_gyro_calibrated
- Function Documentation

Function rc_mpu_is_mag_calibrated
- Function Documentation

Function rc_mpu_nanos_since_last_dmp_interrupt
- Function Documentation

Function rc_mpu_nanos_since_last_tap
- Function Documentation

Function rc_mpu_power_off
- Function Documentation

Function rc_mpu_read_accel
- Function Documentation

Function rc_mpu_read_gyro
- Function Documentation

Function rc_mpu_read_mag
- Function Documentation

Function rc_mpu_read_temp
- Function Documentation

Function rc_mpu_set_config_to_default
- Function Documentation

Function rc_mpu_set_dmp_callback
- Function Documentation

Function rc_mpu_set_tap_callback
- Function Documentation

Function rc_nanos_since_boot
- Function Documentation
  - rc_nanos_since_boot()

Function rc_nanos_since_epoch
- Function Documentation
  - rc_nanos_since_epoch()

Function rc_nanos_thread_time
- Function Documentation
  - rc_nanos_thread_time()

Function rc_nanosleep
- Function Documentation
  - rc_nanosleep()

Function rc_normalize_quaternion
- Function Documentation
  - rc_normalize_quaternion()

Function rc_normalize_quaternion_array
- Function Documentation

Function rc_pinmux_set
- Function Documentation
  - rc_pinmux_set()

Function rc_pinmux_set_default
- Function Documentation
  - rc_pinmux_set_default()

Function rc_poly_add
- Function Documentation
  - rc_poly_add()

Function rc_poly_add_inplace
- Function Documentation
  - rc_poly_add_inplace()

Function rc_poly_butter
- Function Documentation
  - rc_poly_butter()

Function rc_poly_conv
- Function Documentation
  - rc_poly_conv()

Function rc_poly_differentiate
- Function Documentation
  - rc_poly_differentiate()

Function rc_poly_divide
- Function Documentation
  - rc_poly_divide()

Function rc_poly_power
- Function Documentation
  - rc_poly_power()

Function rc_poly_print
- Function Documentation
  - rc_poly_print()

Function rc_poly_subtract
- Function Documentation
  - rc_poly_subtract()

Function rc_poly_subtract_inplace
- Function Documentation
  - rc_poly_subtract_inplace()

Function rc_print_state
- Function Documentation
  - rc_print_state()

Function rc_pru_shared_mem_ptr
- Function Documentation
  - rc_pru_shared_mem_ptr()

Function rc_pru_start
- Function Documentation
  - rc_pru_start()

Function rc_pru_stop
- Function Documentation
  - rc_pru_stop()

Function rc_pthread_create
- Function Documentation
  - rc_pthread_create()

Function rc_pthread_get_process_niceness
- Function Documentation
  - rc_pthread_get_process_niceness()

Function rc_pthread_print_properties
- Function Documentation
  - rc_pthread_print_properties()

Function rc_pthread_set_process_niceness
- Function Documentation
  - rc_pthread_set_process_niceness()

Function rc_pthread_set_properties_self
- Function Documentation
  - rc_pthread_set_properties_self()

Function rc_pthread_timed_join
- Function Documentation
  - rc_pthread_timed_join()

Function rc_pwm_cleanup
- Function Documentation
  - rc_pwm_cleanup()

Function rc_pwm_init
- Function Documentation
  - rc_pwm_init()

Function rc_pwm_set_duty
- Function Documentation
  - rc_pwm_set_duty()

Function rc_pwm_set_duty_ns
- Function Documentation
  - rc_pwm_set_duty_ns()

Function rc_quaternion_conjugate
- Function Documentation
  - rc_quaternion_conjugate()

Function rc_quaternion_conjugate_array
- Function Documentation

Function rc_quaternion_conjugate_array_inplace
- Function Documentation

Function rc_quaternion_conjugate_inplace
- Function Documentation
  - rc_quaternion_conjugate_inplace()

Function rc_quaternion_from_tb
- Function Documentation
  - rc_quaternion_from_tb()

Function rc_quaternion_from_tb_array
- Function Documentation

Function rc_quaternion_imaginary_part
- Function Documentation
  - rc_quaternion_imaginary_part()

Function rc_quaternion_multiply
- Function Documentation
  - rc_quaternion_multiply()

Function rc_quaternion_multiply_array
- Function Documentation

Function rc_quaternion_norm
- Function Documentation
  - rc_quaternion_norm()

Function rc_quaternion_norm_array
- Function Documentation

Function rc_quaternion_rotate
- Function Documentation
  - rc_quaternion_rotate()

Function rc_quaternion_rotate_array
- Function Documentation

Function rc_quaternion_rotate_vector
- Function Documentation
  - rc_quaternion_rotate_vector()

Function rc_quaternion_rotate_vector_array
- Function Documentation

Function rc_quaternion_to_rotation_matrix
- Function Documentation
  - rc_quaternion_to_rotation_matrix()

Function rc_quaternion_to_tb
- Function Documentation
  - rc_quaternion_to_tb()

Function rc_quaternion_to_tb_array
- Function Documentation

Function rc_remove_pid_file
- Function Documentation
  - rc_remove_pid_file()

Function rc_ringbuf_alloc
- Function Documentation
  - rc_ringbuf_alloc()

Function rc_ringbuf_empty
- Function Documentation
  - rc_ringbuf_empty()

Function rc_ringbuf_free
- Function Documentation
  - rc_ringbuf_free()

Function rc_ringbuf_get_value
- Function Documentation
  - rc_ringbuf_get_value()

Function rc_ringbuf_insert
- Function Documentation
  - rc_ringbuf_insert()

Function rc_ringbuf_reset
- Function Documentation
  - rc_ringbuf_reset()

Function rc_ringbuf_std_dev
- Function Documentation
  - rc_ringbuf_std_dev()

Function rc_saturate_double
- Function Documentation
  - rc_saturate_double()

Function rc_saturate_float
- Function Documentation
  - rc_saturate_float()

Function rc_servo_cleanup
- Function Documentation
  - rc_servo_cleanup()

Function rc_servo_init
- Function Documentation
  - rc_servo_init()

Function rc_servo_power_rail_en
- Function Documentation
  - rc_servo_power_rail_en()

Function rc_servo_send_esc_pulse_normalized
- Function Documentation
  - rc_servo_send_esc_pulse_normalized()

Function rc_servo_send_oneshot_pulse_normalized
- Function Documentation
  - rc_servo_send_oneshot_pulse_normalized()

Function rc_servo_send_pulse_normalized
- Function Documentation
  - rc_servo_send_pulse_normalized()

Function rc_servo_send_pulse_us
- Function Documentation
  - rc_servo_send_pulse_us()

Function rc_servo_set_esc_range
- Function Documentation
  - rc_servo_set_esc_range()

Function rc_set_encoder_pos
- Function Documentation

Function rc_set_mode_pressed_func
- Function Documentation

Function rc_set_mode_released_func
- Function Documentation

Function rc_set_motor
- Function Documentation

Function rc_set_motor_all
- Function Documentation

Function rc_set_motor_brake
- Function Documentation

Function rc_set_motor_brake_all
- Function Documentation

Function rc_set_motor_free_spin
- Function Documentation

Function rc_set_motor_free_spin_all
- Function Documentation

Function rc_set_pause_pressed_func
- Function Documentation

Function rc_set_pause_released_func
- Function Documentation

Function rc_set_state
- Function Documentation
  - rc_set_state()

Function rc_spi_close
- Function Documentation
  - rc_spi_close()

Function rc_spi_get_fd
- Function Documentation
  - rc_spi_get_fd()

Function rc_spi_init_auto_slave
- Function Documentation
  - rc_spi_init_auto_slave()

Function rc_spi_init_manual_slave
- Function Documentation
  - rc_spi_init_manual_slave()

Function rc_spi_manual_select
- Function Documentation
  - rc_spi_manual_select()

Function rc_spi_read
- Function Documentation
  - rc_spi_read()

Function rc_spi_transfer
- Function Documentation
  - rc_spi_transfer()

Function rc_spi_write
- Function Documentation
  - rc_spi_write()

Function rc_timespec_add
- Function Documentation
  - rc_timespec_add()

Function rc_timespec_diff
- Function Documentation
  - rc_timespec_diff()

Function rc_timespec_to_micros
- Function Documentation
  - rc_timespec_to_micros()

Function rc_timespec_to_millis
- Function Documentation
  - rc_timespec_to_millis()

Function rc_timeval_to_micros
- Function Documentation
  - rc_timeval_to_micros()

Function rc_timeval_to_millis
- Function Documentation
  - rc_timeval_to_millis()

Function rc_uart_bytes_available
- Function Documentation
  - rc_uart_bytes_available()

Function rc_uart_close
- Function Documentation
  - rc_uart_close()

Function rc_uart_flush
- Function Documentation
  - rc_uart_flush()

Function rc_uart_get_fd
- Function Documentation
  - rc_uart_get_fd()

Function rc_uart_init
- Function Documentation
  - rc_uart_init()

Function rc_uart_read_bytes
- Function Documentation
  - rc_uart_read_bytes()

Function rc_uart_read_line
- Function Documentation
  - rc_uart_read_line()

Function rc_uart_write
- Function Documentation
  - rc_uart_write()

Function rc_usleep
- Function Documentation
  - rc_usleep()

Function rc_vector_alloc
- Function Documentation
  - rc_vector_alloc()

Function rc_vector_cross_product
- Function Documentation
  - rc_vector_cross_product()

Function rc_vector_dot_product
- Function Documentation
  - rc_vector_dot_product()

Function rc_vector_duplicate
- Function Documentation
  - rc_vector_duplicate()

Function rc_vector_empty
- Function Documentation
  - rc_vector_empty()

Function rc_vector_fibonnaci
- Function Documentation
  - rc_vector_fibonnaci()

Function rc_vector_free
- Function Documentation
  - rc_vector_free()

Function rc_vector_from_array
- Function Documentation
  - rc_vector_from_array()

Function rc_vector_max
- Function Documentation
  - rc_vector_max()

Function rc_vector_mean
- Function Documentation
  - rc_vector_mean()

Function rc_vector_min
- Function Documentation
  - rc_vector_min()

Function rc_vector_norm
- Function Documentation
  - rc_vector_norm()

Function rc_vector_ones
- Function Documentation
  - rc_vector_ones()

Function rc_vector_print
- Function Documentation
  - rc_vector_print()

Function rc_vector_print_sci
- Function Documentation
  - rc_vector_print_sci()

Function rc_vector_projection
- Function Documentation
  - rc_vector_projection()

Function rc_vector_random
- Function Documentation
  - rc_vector_random()

Function rc_vector_std_dev
- Function Documentation
  - rc_vector_std_dev()

Function rc_vector_subtract
- Function Documentation
  - rc_vector_subtract()

Function rc_vector_sum
- Function Documentation
  - rc_vector_sum()

Function rc_vector_sum_inplace
- Function Documentation
  - rc_vector_sum_inplace()

Function rc_vector_times_scalar
- Function Documentation
  - rc_vector_times_scalar()

Function rc_vector_zero_out
- Function Documentation
  - rc_vector_zero_out()

Function rc_vector_zeros
- Function Documentation
  - rc_vector_zeros()

Function rc_version
- Function Documentation
  - rc_version()

Function rc_version_print
- Function Documentation
  - rc_version_print()

Function rc_version_string
- Function Documentation
  - rc_version_string()

Variables#

Variable zero_tolerance
- Variable Documentation
  - zero_tolerance

Defines#

Define _GNU_SOURCE
- Define Documentation

Define ARRAY_SIZE
- Define Documentation

Define BLUE_GP0_PIN_3
- Define Documentation

Define BLUE_GP0_PIN_4
- Define Documentation

Define BLUE_GP0_PIN_5
- Define Documentation

Define BLUE_GP0_PIN_6
- Define Documentation

Define BLUE_GP1_PIN_3
- Define Documentation

Define BLUE_GP1_PIN_4
- Define Documentation

Define BLUE_SPI_PIN_6_SS1
- Define Documentation

Define BLUE_SPI_PIN_6_SS2
- Define Documentation

Define CAPE_SPI_PIN_6_SS1
- Define Documentation

Define CAPE_SPI_PIN_6_SS2
- Define Documentation

Define DEG_TO_RAD
- Define Documentation

Define DEG_TO_RAD
- Define Documentation

Define DSM_HEADER_PIN
- Define Documentation

Define G_TO_MS2
- Define Documentation

Define GPIOEVENT_REQUEST_BOTH_EDGES
- Define Documentation

Define GPIOEVENT_REQUEST_FALLING_EDGE
- Define Documentation

Define GPIOEVENT_REQUEST_RISING_EDGE
- Define Documentation

Define GPIOHANDLE_REQUEST_ACTIVE_LOW
- Define Documentation

Define GPIOHANDLE_REQUEST_INPUT
- Define Documentation

Define GPIOHANDLE_REQUEST_OPEN_DRAIN
- Define Documentation

Define GPIOHANDLE_REQUEST_OPEN_SOURCE
- Define Documentation

Define GPIOHANDLE_REQUEST_OUTPUT
- Define Documentation

Define GPS_HEADER_PIN_3
- Define Documentation

Define GPS_HEADER_PIN_4
- Define Documentation

Define I2C_BUFFER_SIZE
- Define Documentation

Define I2C_MAX_BUS
- Define Documentation

Define min
- Define Documentation

Define MS2_TO_G
- Define Documentation

Define PI
- Define Documentation

Define QUAT_W
- Define Documentation

Define QUAT_X
- Define Documentation

Define QUAT_Y
- Define Documentation

Define QUAT_Z
- Define Documentation

Define RAD_TO_DEG
- Define Documentation

Define RAD_TO_DEG
- Define Documentation

Define RC_BB_SPI1_SS1
- Define Documentation

Define RC_BB_SPI1_SS2
- Define Documentation

Define RC_BLUE_SS1_GPIO
- Define Documentation

Define RC_BLUE_SS2_GPIO
- Define Documentation

Define RC_BTN_DEBOUNCE_DEFAULT_US
- Define Documentation

Define RC_BTN_PIN_MODE
- Define Documentation

Define RC_BTN_PIN_PAUSE
- Define Documentation

Define RC_BTN_POLARITY_NORM_HIGH
- Define Documentation

Define RC_BTN_POLARITY_NORM_LOW
- Define Documentation

Define RC_BTN_STATE_PRESSED
- Define Documentation

Define RC_BTN_STATE_RELEASED
- Define Documentation

Define RC_CAPE_SS1_GPIO
- Define Documentation

Define RC_CAPE_SS2_GPIO
- Define Documentation

Define RC_ESC_DEFAULT_MAX_US
- Define Documentation

Define RC_ESC_DEFAULT_MIN_US
- Define Documentation

Define RC_ESC_DJI_MAX_US
- Define Documentation

Define RC_ESC_DJI_MIN_US
- Define Documentation

Define RC_FILTER_INITIALIZER
- Define Documentation

Define RC_GPIOEVENT_ERROR
- Define Documentation

Define RC_GPIOEVENT_FALLING_EDGE
- Define Documentation

Define RC_GPIOEVENT_RISING_EDGE
- Define Documentation

Define RC_GPIOEVENT_TIMEOUT
- Define Documentation

Define RC_KALMAN_INITIALIZER
- Define Documentation

Define RC_LIB_VERSION_HEX
- Define Documentation

Define RC_LIB_VERSION_MAJOR
- Define Documentation

Define RC_LIB_VERSION_MINOR
- Define Documentation

Define RC_LIB_VERSION_PATCH
- Define Documentation

Define RC_MATRIX_INITIALIZER
- Define Documentation

Define RC_MAV_DEFAULT_CONNECTION_TIMEOUT_US
- Define Documentation

Define RC_MAV_DEFAULT_UDP_PORT
- Define Documentation

Define RC_MAX_DSM_CHANNELS
- Define Documentation

Define RC_MOTOR_DEFAULT_PWM_FREQ
- Define Documentation

Define RC_MPU_ALT_I2C_ADDR
- Define Documentation

Define RC_MPU_DEFAULT_I2C_ADDR
- Define Documentation

Define RC_PID_DIR
- Define Documentation

Define RC_PID_FILE
- Define Documentation

Define RC_RINGBUF_INITIALIZER
- Define Documentation

Define RC_SERVO_CH_ALL
- Define Documentation

Define RC_SERVO_CH_MAX
- Define Documentation

Define RC_SERVO_CH_MIN
- Define Documentation

Define RC_SPI_BITS_PER_WORD
- Define Documentation

Define RC_SPI_MAX_SPEED
- Define Documentation

Define RC_SPI_MIN_SPEED
- Define Documentation

Define RC_VECTOR_INITIALIZER
- Define Documentation

Define SPI_HEADER_PIN_3
- Define Documentation

Define SPI_HEADER_PIN_4
- Define Documentation

Define SPI_HEADER_PIN_5
- Define Documentation

Define TB_PITCH_X
- Define Documentation

Define TB_ROLL_Y
- Define Documentation

Define TB_YAW_Z
- Define Documentation

Define TWO_PI
- Define Documentation

Define UART1_HEADER_PIN_3
- Define Documentation

Define UART1_HEADER_PIN_4
- Define Documentation

Typedefs#

Typedef rc_bmp_data_t
- Typedef Documentation
  - rc_bmp_data_t

Typedef rc_bmp_filter_t
- Typedef Documentation
  - rc_bmp_filter_t

Typedef rc_bmp_oversample_t
- Typedef Documentation
  - rc_bmp_oversample_t

Typedef rc_button_state_t
- Typedef Documentation
  - rc_button_state_t

Typedef rc_filter_t
- Typedef Documentation
  - rc_filter_t

Typedef rc_governor_t
- Typedef Documentation
  - rc_governor_t

Typedef rc_kalman_t
- Typedef Documentation
  - rc_kalman_t

Typedef rc_led_t
- Typedef Documentation
  - rc_led_t

Typedef rc_matrix_t
- Typedef Documentation
  - rc_matrix_t

Typedef rc_mav_connection_state_t
- Typedef Documentation
  - rc_mav_connection_state_t

Typedef rc_model_category_t
- Typedef Documentation
  - rc_model_category_t

Typedef rc_model_t
- Typedef Documentation
  - rc_model_t

Typedef rc_mpu_accel_dlpf_t
- Typedef Documentation
  - rc_mpu_accel_dlpf_t

Typedef rc_mpu_accel_fsr_t
- Typedef Documentation
  - rc_mpu_accel_fsr_t

Typedef rc_mpu_config_t
- Typedef Documentation
  - rc_mpu_config_t

Typedef rc_mpu_data_t
- Typedef Documentation
  - rc_mpu_data_t

Typedef rc_mpu_gyro_dlpf_t
- Typedef Documentation
  - rc_mpu_gyro_dlpf_t

Typedef rc_mpu_gyro_fsr_t
- Typedef Documentation
  - rc_mpu_gyro_fsr_t

Typedef rc_mpu_orientation_t
- Typedef Documentation
  - rc_mpu_orientation_t

Typedef rc_pinmux_mode_t
- Typedef Documentation
  - rc_pinmux_mode_t

Typedef rc_ringbuf_t
- Typedef Documentation
  - rc_ringbuf_t

Typedef rc_state_t
- Typedef Documentation
  - rc_state_t

Typedef rc_vector_t
- Typedef Documentation
  - rc_vector_t

Typedef timespec
- Typedef Documentation
  - timespec

Typedef timeval
- Typedef Documentation
  - timeval