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2099 - 1 
#include <stdlib.h>
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#include "controlMixer.h"
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#include "rc.h"
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#include "externalControl.h"
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#include "failsafeControl.h"
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#include "configuration.h"
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#include "attitude.h"
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#include "commands.h"
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#include "output.h"
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int16_t controls[4] = { 0, 0, 0, 0 };
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// Internal variables for reading commands made with an R/C stick.
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uint8_t lastCommand = COMMAND_NONE;
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uint8_t lastArgument;
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uint8_t isCommandRepeated = 0;
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uint8_t controlMixer_didReceiveSignal = 0;
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/*
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 * This could be expanded to take arguments from ohter sources than the RC
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 * (read: Custom MK RC project)
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 */
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uint8_t controlMixer_getArgument(void) {
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  return lastArgument;
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}
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/*
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 * This could be expanded to take calibrate / start / stop commands from ohter sources
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 * than the R/C (read: Custom MK R/C project)
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 */
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uint8_t controlMixer_getCommand(void) {
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  return lastCommand;
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}
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uint8_t controlMixer_isCommandRepeated(void) {
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  return isCommandRepeated;
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}
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void controlMixer_setNeutral() {
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  for (uint8_t i=0; i<VARIABLE_COUNT; i++) {
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    variables[i] = RC_getVariable(i);
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  }
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  EC_setNeutral();
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  FC_setNeutral();  // FC is FailsafeControl, not FlightCtrl.
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}
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/*
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 * Update potentiometer values with limited slew rate. Could be made faster if desired.
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 * TODO: It assumes R/C as source. Not necessarily true.
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 */
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void controlMixer_updateVariables(void) {
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  uint8_t i;
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  int16_t targetvalue;
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  for (i=0; i < VARIABLE_COUNT; i++) {
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    targetvalue = RC_getVariable(i);
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    if (targetvalue < 0)
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      targetvalue = 0;
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    if (variables[i] < targetvalue && variables[i] < 255)
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      variables[i]++;
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    else if (variables[i] > 0 && variables[i] > targetvalue)
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      variables[i]--;
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  }
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}
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uint8_t controlMixer_getSignalQuality(void) {
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  uint8_t rcQ = RC_getSignalQuality();
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  uint8_t ecQ = EC_getSignalQuality();
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  // This needs not be the only correct solution...
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  return rcQ > ecQ ? rcQ : ecQ;
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}
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/*
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void updateControlAndMeasureControlActivity(uint8_t index, int16_t newValue) {
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  int16_t tmp = controls[index];
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  controls[index] = newValue;
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  tmp -= newValue;
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  tmp /= 2;
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  tmp = tmp * tmp;
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  // tmp += (newValue >= 0) ? newValue : -newValue;
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  / *
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  if (controlActivity + (uint16_t)tmp >= controlActivity)
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    controlActivity += tmp;
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  else controlActivity = 0xffff;
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  * /
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  if (controlActivity + (uint16_t)tmp < 0x8000)
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    controlActivity += tmp;
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}
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#define CADAMPING 10
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void dampenControlActivity(void) {
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  uint32_t tmp = controlActivity;
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  tmp *= ((1<<CADAMPING)-1);
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  tmp >>= CADAMPING;
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  controlActivity = tmp;
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}
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*/
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/*
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 * Update the variables indicating stick position from the sum of R/C, GPS and external control
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 * and whatever other controls we invented in the meantime...
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 * Update variables.
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 * Decode commands but do not execute them.
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 */
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void controlMixer_periodicTask(void) {
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  int16_t tempPRYT[4] = { 0, 0, 0, 0 };
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  // Decode commands.
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  uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() : COMMAND_NONE;
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  uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand() : COMMAND_NONE;
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  // Update variables ("potis").
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  if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) {
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    controlMixer_updateVariables();
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    controlMixer_didReceiveSignal = 1;
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  } else { // Signal is not OK
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    // Could handle switch to emergency flight here.
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    // throttle is handled elsewhere.
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  }
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  if (rcCommand != COMMAND_NONE) {
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    isCommandRepeated = (lastCommand == rcCommand);
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    lastCommand = rcCommand;
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    lastArgument = RC_getArgument();
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  } else if (ecCommand != COMMAND_NONE) {
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    isCommandRepeated = (lastCommand == ecCommand);
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    lastCommand = ecCommand;
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    lastArgument = EC_getArgument();
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  } else {
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    // Both sources have no command, or one or both are out.
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    // Just set to false. There is no reason to check if the none-command was repeated anyway.
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    isCommandRepeated = 0;
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    lastCommand = COMMAND_NONE;
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  }
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  // This will init the values (not just add to them).
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  RC_periodicTaskAndPRYT(tempPRYT);
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  // Add external control to RC
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  EC_periodicTaskAndPRYT(tempPRYT);
2099 - 145 
 
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  FC_periodicTaskAndPRYT(tempPRYT);
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  // Commit results to global variable and also measure control activity.
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  controls[CONTROL_THROTTLE] = tempPRYT[CONTROL_THROTTLE];
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  controls[CONTROL_ELEVATOR] = tempPRYT[CONTROL_ELEVATOR];
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  controls[CONTROL_AILERONS] = tempPRYT[CONTROL_AILERONS];
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  controls[CONTROL_RUDDER] =   tempPRYT[CONTROL_RUDDER];
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  // dampenControlActivity();
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  // We can safely do this even with a bad signal - the variables will not have been updated then.
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  configuration_applyVariablesToParams();
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 }