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| Rev | Author | Line No. | Line |
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| 1612 | dongfang | 1 | #include <inttypes.h> |
| 2 | /* |
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| 3 | * The throttle range is normalized to [0, THROTTLE_RANGE[ |
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| 4 | * This is the normal range. Exceeding it a little is allowed. |
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| 5 | */ |
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| 6 | #define THROTTLE_RANGE 256 |
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| 7 | |||
| 8 | /* |
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| 9 | * The stick (pitch, roll, yaw) ranges are normalized to [-STICK_RANGE, STICK_RANGE] |
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| 10 | * This is the normal range. Exceeding it a little is allowed. |
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| 11 | */ |
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| 12 | #define STICK_RANGE 256 |
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| 13 | |||
| 14 | /* |
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| 15 | * An attempt to define a generic control. That could be an R/C receiver, an external control |
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| 16 | * (serial over Bluetooth, Wi232, XBee, whatever) or the NaviCtrl. |
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| 17 | * This resembles somewhat an object-oriented class definition (except that there are no virtuals). |
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| 18 | * The idea is that the combination of different control inputs, of the way they superimpose upon |
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| 19 | * each other, the proirities between them and the behavior in case that one fails is simplified, |
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| 20 | * and all in one place. |
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| 21 | */ |
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| 22 | |||
| 23 | /* |
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| 24 | * Signal qualities, used to determine the availability of a control. |
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| 25 | * NO_SIGNAL means there was never a signal. SIGNAL_LOST that there was a signal, but it was lost. |
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| 26 | * SIGNAL_BAD is too bad for flight. This is the hysteresis range for deciding whether to engage |
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| 27 | * or disengage emergency landing. |
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| 28 | * SIGNAL_OK means the signal is usable for flight. |
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| 29 | * SIGNAL_GOOD means the signal can also be used for setting parameters. |
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| 30 | */ |
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| 31 | #define NO_SIGNAL 0 |
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| 32 | #define SIGNAL_LOST 1 |
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| 33 | #define SIGNAL_BAD 2 |
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| 34 | #define SIGNAL_OK 3 |
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| 35 | #define SIGNAL_GOOD 4 |
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| 36 | |||
| 37 | /* |
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| 38 | * An enumeration over the start motors, stop motors, calibrate gyros |
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| 39 | * and calibreate acc. meters commands. |
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| 40 | */ |
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| 41 | #define COMMAND_NONE 0 |
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| 42 | #define COMMAND_START 6 |
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| 43 | #define COMMAND_STOP 8 |
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| 44 | #define COMMAND_GYROCAL 2 |
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| 45 | #define COMMAND_ACCCAL 4 |
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| 46 | |||
| 47 | /* |
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| 48 | * The PRTY arrays |
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| 49 | */ |
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| 50 | #define CONTROL_PITCH 0 |
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| 51 | #define CONTROL_ROLL 1 |
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| 52 | #define CONTROL_THROTTLE 2 |
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| 53 | #define CONTROL_YAW 3 |
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| 54 | |||
| 55 | /* |
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| 56 | * Looping flags. |
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| 57 | * LOOPING_UP || LOOPING_DOWN <=> LOOPING_PITCH_AXIS |
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| 58 | * LOOPING_LEFT || LOOPING_RIGHT <=> LOOPING_ROLL_AXIS |
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| 59 | */ |
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| 60 | #define LOOPING_UP (1<<0) |
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| 61 | #define LOOPING_DOWN (1<<1) |
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| 62 | #define LOOPING_LEFT (1<<2) |
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| 63 | #define LOOPING_RIGHT (1<<3) |
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| 64 | #define LOOPING_PITCH_AXIS (1<<4) |
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| 65 | #define LOOPING_ROLL_AXIS (1<<5) |
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| 66 | |||
| 67 | /* |
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| 68 | * This is only relevant for "abstract controls" ie. all control sources have the |
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| 69 | * same interface. This struct of code pointers is used like an abstract class |
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| 70 | * definition from object-oriented languages, and all control input implementations |
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| 71 | * will declare an instance of the stuct (=implementation of the abstract class). |
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| 72 | */ |
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| 73 | typedef struct { |
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| 74 | /* Get the pitch input in the nominal range [-STICK_RANGE, STICK_RANGE]. */ |
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| 75 | int16_t(*getPitch)(void); |
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| 76 | |||
| 77 | /* Get the roll input in the nominal range [-STICK_RANGE, STICK_RANGE]. */ |
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| 78 | int16_t(*getRoll)(void); |
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| 79 | |||
| 80 | /* Get the yaw input in the nominal range [-STICK_RANGE, STICK_RANGE]. */ |
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| 81 | int16_t(*getYaw)(void); |
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| 82 | |||
| 83 | /* Get the throttle input in the nominal range [0, THROTTLE_RANGE]. */ |
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| 84 | uint16_t(*getThrottle)(void); |
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| 85 | |||
| 86 | /* Signal quality, by the above SIGNAL_... definitions. */ |
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| 87 | uint8_t (*getSignalQuality)(void); |
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| 88 | |||
| 89 | /* Calibrate sticks to their center positions (only relevant for R/C, really) */ |
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| 90 | void (*calibrate)(void); |
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| 91 | } t_control; |
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| 92 | |||
| 93 | /* |
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| 94 | * Our output. |
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| 95 | */ |
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| 1645 | - | 96 | extern int16_t control[2], controlYaw, controlThrottle; |
| 1612 | dongfang | 97 | // extern int16_t stickOffsetNick, stickOffsetRoll; |
| 1645 | - | 98 | extern uint16_t maxControl[2]; |
| 1612 | dongfang | 99 | extern uint8_t looping; |
| 100 | |||
| 101 | void controlMixer_initVariables(void); |
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| 102 | void controlMixer_updateVariables(void); |
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| 103 | |||
| 104 | void controlMixer_setNeutral(uint8_t calibrate); |
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| 105 | |||
| 106 | /* |
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| 107 | * Update the exported variables. Called at every flight control cycle. |
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| 108 | */ |
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| 109 | void controlMixer_update(void); |
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| 110 | |||
| 111 | /* |
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| 112 | * Get the current command. See the COMMAND_.... define's |
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| 113 | */ |
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| 114 | uint8_t controlMixer_getCommand(void); |
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| 115 | |||
| 116 | void controlMixer_performCalibrationCommands(uint8_t command); |
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| 117 | |||
| 118 | uint8_t controlMixer_getSignalQuality(void); |
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| 119 | |||
| 1645 | - | 120 | /* |
| 121 | * The motor throttles can be set in an [0..256[ interval. |
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| 122 | * The calculation of motor throttle values from sensor and control information (basically |
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| 123 | * flight.c) take place in an [0..256*CONTROL_SCALING[ interval for better precision. |
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| 124 | */ |
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| 125 | #define CONTROL_SCALING 4 |
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| 1612 | dongfang | 126 | |
| 127 | /* |
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| 128 | * Gets the argument for the current command (a number). |
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| 129 | * |
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| 130 | * Stick position to argument values (for stick control): |
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| 131 | * 2--3--4 |
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| 132 | * | | + |
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| 133 | * 1 9 5 ^ 0 |
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| 134 | * | | | |
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| 135 | * 8--7--6 |
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| 136 | * |
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| 137 | * + <-- |
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| 138 | * 0 |
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| 139 | * |
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| 140 | * Not in any of these positions: 0 |
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| 141 | */ |
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| 142 | uint8_t controlMixer_getArgument(void); |
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| 143 | uint8_t controlMixer_isCommandRepeated(void); |
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| 144 | // TODO: Abstract away if possible. |
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| 145 | // void controlMixer_setCompassCalState(void); |
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| 146 | // void controlMixer_updateCompass(void); |