Rev 2099 | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2099 | Rev 2103 | ||
|---|---|---|---|
| 1 | #include "externalControl.h" |
1 | #include "externalControl.h" |
| 2 | #include "configuration.h" |
2 | #include "configuration.h" |
| 3 | #include "controlMixer.h" |
3 | #include "controlMixer.h" |
| 4 | 4 | ||
| 5 | ExternalControl_t externalControl; |
5 | ExternalControl_t externalControl; |
| 6 | uint8_t externalControlActive = 0; |
6 | uint8_t externalControlActive = 0; |
| 7 | // int16_t EC_PRTY[4]; |
- | |
| 8 | // TODO: Who is going to call this |
- | |
| 9 | 7 | ||
| 10 | void EC_setNeutral(void) { |
8 | void EC_setNeutral(void) { |
| 11 | // if necessary. From main.c. |
9 | // if necessary. From main.c. |
| 12 | externalControl.config = 0; |
10 | externalControl.config = 0; |
| 13 | externalControl.pitch = 0; |
11 | externalControl.pitch = 0; |
| 14 | externalControl.roll = 0; |
12 | externalControl.roll = 0; |
| 15 | externalControl.yaw = 0; |
13 | externalControl.yaw = 0; |
| 16 | externalControl.throttle = 0; |
14 | externalControl.throttle = 0; |
| 17 | 15 | ||
| 18 | // From main.c. What does it do?? |
16 | // From main.c. What does it do?? |
| 19 | externalControl.digital[0] = 0x55; |
17 | externalControl.digital[0] = 0x55; |
| 20 | } |
18 | } |
| 21 | 19 | ||
| 22 | void EC_periodicTaskAndPRTY(int16_t* PRTY) { |
20 | void EC_periodicTaskAndPRYT(int16_t* PRYT) { |
| 23 | if (externalControlActive) { |
21 | if (externalControlActive) { |
| 24 | externalControlActive--; |
22 | externalControlActive--; |
| 25 | PRTY[CONTROL_ELEVATOR] += externalControl.pitch * 8; |
23 | PRYT[CONTROL_ELEVATOR] += externalControl.pitch * 8; |
| 26 | PRTY[CONTROL_AILERONS] += externalControl.roll * 8; |
24 | PRYT[CONTROL_AILERONS] += externalControl.roll * 8; |
| 27 | PRTY[CONTROL_THROTTLE] += externalControl.throttle * 8; |
25 | PRYT[CONTROL_THROTTLE] += externalControl.throttle * 8; |
| 28 | PRTY[CONTROL_RUDDER] += externalControl.yaw * 8; |
26 | PRYT[CONTROL_RUDDER] += externalControl.yaw * 8; |
| 29 | } |
27 | } |
| 30 | } |
28 | } |
| 31 | 29 | ||
| 32 | uint8_t EC_getArgument(void) { |
30 | uint8_t EC_getArgument(void) { |
| 33 | return externalControl.config; |
31 | return externalControl.config; |
| 34 | } |
32 | } |
| 35 | 33 | ||
| 36 | uint8_t EC_getCommand(void) { |
34 | uint8_t EC_getCommand(void) { |
| 37 | return externalControl.free; |
35 | return externalControl.free; |
| 38 | } |
36 | } |
| 39 | 37 | ||
| 40 | // not implemented. |
38 | // not implemented. |
| 41 | int16_t EC_getVariable(uint8_t varNum) { |
39 | int16_t EC_getVariable(uint8_t varNum) { |
| 42 | return 0; |
40 | return 0; |
| 43 | } |
41 | } |
| 44 | 42 | ||
| 45 | uint8_t EC_getSignalQuality(void) { |
43 | uint8_t EC_getSignalQuality(void) { |
| 46 | if (externalControlActive > 40) |
44 | if (externalControlActive > 40) |
| 47 | // Configured and heard from recently |
45 | // Configured and heard from recently |
| 48 | return SIGNAL_GOOD; |
46 | return SIGNAL_GOOD; |
| 49 | 47 | ||
| 50 | if (externalControlActive) |
48 | if (externalControlActive) |
| 51 | // Configured and heard from |
49 | // Configured and heard from |
| 52 | return SIGNAL_OK; |
50 | return SIGNAL_OK; |
| 53 | 51 | ||
| 54 | if (!(externalControl.config & 0x01 && dynamicParams.externalControl > 128)) |
52 | if (!(externalControl.config & 0x01 && dynamicParams.externalControl > 128)) |
| 55 | // External control is not even configured. |
53 | // External control is not even configured. |
| 56 | return NO_SIGNAL; |
54 | return NO_SIGNAL; |
| 57 | 55 | ||
| 58 | // Configured but expired. |
56 | // Configured but expired. |
| 59 | return SIGNAL_LOST; |
57 | return SIGNAL_LOST; |
| 60 | } |
58 | } |
| 61 | 59 | ||