/*
	Copyright 2016 Benjamin Vedder	benjamin@vedder.se

	This file is part of the VESC firmware.

	The VESC firmware is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    The VESC firmware is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
    */

#ifndef SERVO_DEC_H_
#define SERVO_DEC_H_

#include <stdint.h>
#include <conf_general.h>

// Functions
void servodec_init(void (*d_func)(void));
void servodec_stop(void);
void servodec_set_pulse_options(float start, float end, bool median_filter);
float servodec_get_servo(int servo_num);
uint32_t servodec_get_time_since_update(void);
float servodec_get_last_pulse_len(int servo_num);

#endif /* SERVO_DEC_H_ */