| 0,0 → 1,118 |
|---|
| #include <inttypes.h> |
| /* |
| * An attempt to define a generic control. That could be an R/C receiver, an external control |
| * (serial over Bluetooth, Wi232, XBee, whatever) or the NaviCtrl. |
| * This resembles somewhat an object-oriented class definition (except that there are no virtuals). |
| * The idea is that the combination of different control inputs, of the way they superimpose upon |
| * each other, the priorities between them and the behavior in case that one fails is simplified, |
| * and all in one place. |
| */ |
| |
| /* |
| * Signal qualities, used to determine the availability of a control. |
| * NO_SIGNAL means there was never a signal. SIGNAL_LOST that there was a signal, but it was lost. |
| * SIGNAL_BAD is too bad for flight. This is the hysteresis range for deciding whether to engage |
| * or disengage emergency landing. |
| * SIGNAL_OK means the signal is usable for flight. |
| * SIGNAL_GOOD means the signal can also be used for setting parameters. |
| */ |
| #define NO_SIGNAL 0 |
| #define SIGNAL_LOST 1 |
| #define SIGNAL_BAD 2 |
| #define SIGNAL_OK 3 |
| #define SIGNAL_GOOD 4 |
| |
| /* |
| * The EATR arrays |
| */ |
| #define CONTROL_ELEVATOR 0 |
| #define CONTROL_AILERONS 1 |
| #define CONTROL_THROTTLE 2 |
| #define CONTROL_RUDDER 3 |
| |
| /* |
| * This is only relevant for "abstract controls" ie. all control sources have the |
| * same interface. This struct of code pointers is used like an abstract class |
| * definition from object-oriented languages, and all control input implementations |
| * will declare an instance of the stuct (=implementation of the abstract class). |
| */ |
| typedef struct { |
| /* Get the pitch input in the nominal range [-STICK_RANGE, STICK_RANGE]. */ |
| int16_t(*getPitch)(void); |
| |
| /* Get the roll input in the nominal range [-STICK_RANGE, STICK_RANGE]. */ |
| int16_t(*getRoll)(void); |
| |
| /* Get the yaw input in the nominal range [-STICK_RANGE, STICK_RANGE]. */ |
| int16_t(*getYaw)(void); |
| |
| /* Get the throttle input in the nominal range [0, THROTTLE_RANGE]. */ |
| uint16_t(*getThrottle)(void); |
| |
| /* Signal quality, by the above SIGNAL_... definitions. */ |
| uint8_t (*getSignalQuality)(void); |
| |
| /* Calibrate sticks to their center positions (only relevant for R/C, really) */ |
| void (*calibrate)(void); |
| } t_control; |
| |
| /* |
| * Our output. |
| */ |
| extern int16_t control[4]; |
| extern int32_t controlIntegrals[4]; |
| extern uint16_t controlActivity; |
| extern uint16_t maxControl[2]; |
| |
| extern volatile uint8_t MKFlags; |
| extern uint16_t isFlying; |
| |
| void controlMixer_initVariables(void); |
| void controlMixer_updateVariables(void); |
| |
| void controlMixer_setNeutral(void); |
| |
| /* |
| * Update the exported variables. Called at every flight control cycle. |
| */ |
| void controlMixer_update(void); |
| |
| /* |
| * Get the current command. See the COMMAND_.... define's |
| */ |
| uint8_t controlMixer_getCommand(void); |
| |
| void controlMixer_performCalibrationCommands(uint8_t command); |
| |
| uint8_t controlMixer_getSignalQuality(void); |
| |
| /* |
| * The controls operate in [-1024, 1024] just about. |
| * Throttle is [0..255] just about. |
| */ |
| // Scale controls to 1 byte: |
| #define CONTROL_SCALING (1024/256) |
| |
| // Scale throttle levels to byte: |
| #define MOTOR_SCALING (1024/256) |
| |
| /* |
| * Gets the argument for the current command (a number). |
| * |
| * Stick position to argument values (for stick control): |
| * 2--3--4 |
| * | | + |
| * 1 9 5 ^ 0 |
| * | | | |
| * 8--7--6 |
| * |
| * + <-- |
| * 0 |
| * |
| * Not in any of these positions: 0 |
| */ |
| // void controlMixer_handleCommands(void); |
| uint8_t controlMixer_getArgument(void); |
| uint8_t controlMixer_isCommandRepeated(void); |
| // TODO: Abstract away if possible. |
| uint8_t controlMixer_testCompassCalState(void); |