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