Subversion Repositories FlightCtrl

Rev

Rev 1910 | Rev 2102 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
1910 - 1
#include <inttypes.h>
2
/*
3
 * An attempt to define a generic control. That could be an R/C receiver, an external control
4
 * (serial over Bluetooth, Wi232, XBee, whatever) or the NaviCtrl.
5
 * This resembles somewhat an object-oriented class definition (except that there are no virtuals).
6
 * The idea is that the combination of different control inputs, of the way they superimpose upon
7
 * each other, the priorities between them and the behavior in case that one fails is simplified,
8
 * and all in one place.
9
 */
10
 
11
/*
12
 * Signal qualities, used to determine the availability of a control.
13
 * NO_SIGNAL means there was never a signal. SIGNAL_LOST that there was a signal, but it was lost.
14
 * SIGNAL_BAD is too bad for flight. This is the hysteresis range for deciding whether to engage
15
 * or disengage emergency landing.
16
 * SIGNAL_OK means the signal is usable for flight.
17
 * SIGNAL_GOOD means the signal can also be used for setting parameters.
18
 */
19
#define NO_SIGNAL   0
20
#define SIGNAL_LOST 1
21
#define SIGNAL_BAD  2
22
#define SIGNAL_OK   3
23
#define SIGNAL_GOOD 4
24
 
25
/*
2099 - 26
 * The PRTY arrays
1910 - 27
 */
28
#define CONTROL_ELEVATOR 0
29
#define CONTROL_AILERONS 1
30
#define CONTROL_THROTTLE 2
31
#define CONTROL_RUDDER   3
32
 
33
/*
2099 - 34
 * Looping flags.
35
 * LOOPING_UP || LOOPING_DOWN <=> LOOPING_PITCH_AXIS
36
 * LOOPING_LEFT || LOOPING_RIGHT <=> LOOPING_ROLL_AXIS
37
 */
38
#define LOOPING_UP         (1<<0)
39
#define LOOPING_DOWN       (1<<1)
40
#define LOOPING_LEFT       (1<<2)
41
#define LOOPING_RIGHT      (1<<3)
42
#define LOOPING_PITCH_AXIS (1<<4)
43
#define LOOPING_ROLL_AXIS  (1<<5)
44
 
45
/*
1910 - 46
 * This is only relevant for "abstract controls" ie. all control sources have the
47
 * same interface. This struct of code pointers is used like an abstract class
48
 * definition from object-oriented languages, and all control input implementations
49
 * will declare an instance of the stuct (=implementation of the abstract class).
50
 */
51
typedef struct {
52
        /* Get the pitch input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
53
        int16_t(*getPitch)(void);
54
 
55
        /* Get the roll input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
56
        int16_t(*getRoll)(void);
57
 
58
        /* Get the yaw input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
59
        int16_t(*getYaw)(void);
60
 
61
        /* Get the throttle input in the nominal range [0, THROTTLE_RANGE]. */
62
        uint16_t(*getThrottle)(void);
63
 
64
        /* Signal quality, by the above SIGNAL_... definitions. */
65
        uint8_t (*getSignalQuality)(void);
66
 
67
        /* Calibrate sticks to their center positions (only relevant for R/C, really) */
68
        void (*calibrate)(void);
69
} t_control;
70
 
71
/*
72
 * Our output.
73
 */
2099 - 74
extern int16_t controls[4];
1910 - 75
extern uint16_t controlActivity;
2099 - 76
//extern uint16_t maxControl[2];
1910 - 77
 
78
void controlMixer_initVariables(void);
2099 - 79
//void controlMixer_updateVariables(void);
1910 - 80
 
81
void controlMixer_setNeutral(void);
82
 
83
/*
84
 * Update the exported variables. Called at every flight control cycle.
85
 */
2099 - 86
void controlMixer_periodicTask(void);
1910 - 87
 
88
/*
89
 * Get the current command. See the COMMAND_.... define's
90
 */
91
uint8_t controlMixer_getCommand(void);
92
 
93
void controlMixer_performCalibrationCommands(uint8_t command);
94
 
95
uint8_t controlMixer_getSignalQuality(void);
2099 - 96
extern uint8_t controlMixer_didReceiveSignal;
1910 - 97
 
98
/*
99
 * The controls operate in [-1024, 1024] just about.
100
 * Throttle is [0..255] just about.
101
 */
102
// Scale controls to 1 byte:
103
#define CONTROL_SCALING (1024/256)
104
 
105
// Scale throttle levels to byte:
106
#define MOTOR_SCALING (1024/256)
107
 
108
/*
109
 * Gets the argument for the current command (a number).
110
 *
111
 * Stick position to argument values (for stick control):
112
 * 2--3--4
113
 * |     |  +
114
 * 1  9  5  ^ 0
115
 * |     |  |  
116
 * 8--7--6
117
 *    
118
 * + <--
119
 *    0
120
 *
121
 * Not in any of these positions: 0
122
 */
123
uint8_t controlMixer_getArgument(void);
124
uint8_t controlMixer_isCommandRepeated(void);