Subversion Repositories FlightCtrl

Rev

Rev 2049 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 2049 Rev 2189
Line -... Line 1...
- 
 
 1 
#ifndef _CONTROLMIXER_H
- 
 
 2 
#define _CONTROLMIXER_H
- 
 
 3 
 
1 
#include <inttypes.h>
 4 
#include <inttypes.h>
2 
/*
 5 
/*
3 
 * An attempt to define a generic control. That could be an R/C receiver, an external control
 6 
 * 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.
 7 
 * (serial over Bluetooth, Wi232, XBee, whatever) or the NaviCtrl.
5 
 * This resembles somewhat an object-oriented class definition (except that there are no virtuals).
 8 
 * This resembles somewhat an object-oriented class definition (except that there are no virtuals).
Line 7... Line 10...
7 
 * each other, the priorities between them and the behavior in case that one fails is simplified,
 10 
 * each other, the priorities between them and the behavior in case that one fails is simplified,
8 
 * and all in one place.
 11 
 * and all in one place.
9 
 */
 12 
 */
Line 10... Line 13...
10 
 
 13 
 
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 
/*
 - 
 
26 
 * The PRTY arrays
 - 
 
27 
 */
 - 
 
28 
#define CONTROL_PITCH    0
 - 
 
29 
#define CONTROL_ROLL     1
 - 
 
30 
#define CONTROL_THROTTLE 2
 - 
 
31 
#define CONTROL_YAW      3
 - 
 
32 
 
 - 
 
33 
/*
 - 
 
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 
/*
 - 
 
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 
/*
 14 
/*
72 
 * Our output.
 15 
 * Our output.
73 
 */
 16 
 */
74 
extern int16_t controls[4];
 17 
extern int16_t controls[4];
75 
extern uint16_t controlActivity;
 18 
extern uint16_t controlActivity;
Line 93... Line 36...
93 
void controlMixer_performCalibrationCommands(uint8_t command);
 36 
void controlMixer_performCalibrationCommands(uint8_t command);
Line 94... Line 37...
94 
 
 37 
 
95 
uint8_t controlMixer_getSignalQuality(void);
 38 
uint8_t controlMixer_getSignalQuality(void);
Line 96... Line -...
96 
extern uint8_t controlMixer_didReceiveSignal;
 - 
 
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 
 
 - 
 
Line 105... Line 39...
105 
// Scale throttle levels to byte:
 39 
extern uint8_t controlMixer_didReceiveSignal;
106 
#define MOTOR_SCALING (1024/256)
 40 
 
107 
 
 41 
 
108 
/*
 42 
/*
Line 120... Line 54...
120 
 *
 54 
 *
121 
 * Not in any of these positions: 0
 55 
 * Not in any of these positions: 0
122 
 */
 56 
 */
123 
uint8_t controlMixer_getArgument(void);
 57 
uint8_t controlMixer_getArgument(void);
124 
uint8_t controlMixer_isCommandRepeated(void);
 58 
uint8_t controlMixer_isCommandRepeated(void);
- 
 
 59 
 
- 
 
 60 
#endif