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| Rev | Author | Line No. | Line |
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| 1910 | - | 1 | #include <inttypes.h> |
| 2 | /* |
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| 3 | * An attempt to define a generic control. That could be an R/C receiver, an external control |
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| 4 | * (serial over Bluetooth, Wi232, XBee, whatever) or the NaviCtrl. |
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| 5 | * This resembles somewhat an object-oriented class definition (except that there are no virtuals). |
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| 6 | * The idea is that the combination of different control inputs, of the way they superimpose upon |
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| 7 | * each other, the priorities between them and the behavior in case that one fails is simplified, |
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| 8 | * and all in one place. |
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| 9 | */ |
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| 10 | |||
| 11 | /* |
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| 12 | * Signal qualities, used to determine the availability of a control. |
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| 13 | * NO_SIGNAL means there was never a signal. SIGNAL_LOST that there was a signal, but it was lost. |
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| 14 | * SIGNAL_BAD is too bad for flight. This is the hysteresis range for deciding whether to engage |
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| 15 | * or disengage emergency landing. |
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| 16 | * SIGNAL_OK means the signal is usable for flight. |
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| 17 | * SIGNAL_GOOD means the signal can also be used for setting parameters. |
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| 18 | */ |
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| 19 | #define NO_SIGNAL 0 |
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| 20 | #define SIGNAL_LOST 1 |
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| 21 | #define SIGNAL_BAD 2 |
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| 22 | #define SIGNAL_OK 3 |
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| 23 | #define SIGNAL_GOOD 4 |
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| 24 | |||
| 25 | /* |
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| 26 | * The EATR arrays |
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| 27 | */ |
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| 28 | #define CONTROL_ELEVATOR 0 |
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| 29 | #define CONTROL_AILERONS 1 |
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| 30 | #define CONTROL_THROTTLE 2 |
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| 31 | #define CONTROL_RUDDER 3 |
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| 32 | |||
| 33 | /* |
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| 34 | * This is only relevant for "abstract controls" ie. all control sources have the |
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| 35 | * same interface. This struct of code pointers is used like an abstract class |
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| 36 | * definition from object-oriented languages, and all control input implementations |
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| 37 | * will declare an instance of the stuct (=implementation of the abstract class). |
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| 38 | */ |
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| 39 | typedef struct { |
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| 40 | /* Get the pitch input in the nominal range [-STICK_RANGE, STICK_RANGE]. */ |
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| 41 | int16_t(*getPitch)(void); |
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| 42 | |||
| 43 | /* Get the roll input in the nominal range [-STICK_RANGE, STICK_RANGE]. */ |
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| 44 | int16_t(*getRoll)(void); |
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| 45 | |||
| 46 | /* Get the yaw input in the nominal range [-STICK_RANGE, STICK_RANGE]. */ |
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| 47 | int16_t(*getYaw)(void); |
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| 48 | |||
| 49 | /* Get the throttle input in the nominal range [0, THROTTLE_RANGE]. */ |
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| 50 | uint16_t(*getThrottle)(void); |
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| 51 | |||
| 52 | /* Signal quality, by the above SIGNAL_... definitions. */ |
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| 53 | uint8_t (*getSignalQuality)(void); |
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| 54 | |||
| 55 | /* Calibrate sticks to their center positions (only relevant for R/C, really) */ |
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| 56 | void (*calibrate)(void); |
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| 57 | } t_control; |
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| 58 | |||
| 59 | /* |
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| 60 | * Our output. |
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| 61 | */ |
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| 62 | extern int16_t control[4]; |
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| 63 | extern int32_t controlIntegrals[4]; |
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| 64 | extern uint16_t controlActivity; |
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| 65 | extern uint16_t maxControl[2]; |
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| 66 | |||
| 67 | extern volatile uint8_t MKFlags; |
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| 68 | extern uint16_t isFlying; |
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| 69 | |||
| 70 | void controlMixer_initVariables(void); |
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| 71 | void controlMixer_updateVariables(void); |
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| 72 | |||
| 73 | void controlMixer_setNeutral(void); |
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| 74 | |||
| 75 | /* |
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| 76 | * Update the exported variables. Called at every flight control cycle. |
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| 77 | */ |
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| 78 | void controlMixer_update(void); |
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| 79 | |||
| 80 | /* |
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| 81 | * Get the current command. See the COMMAND_.... define's |
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| 82 | */ |
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| 83 | uint8_t controlMixer_getCommand(void); |
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| 84 | |||
| 85 | void controlMixer_performCalibrationCommands(uint8_t command); |
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| 86 | |||
| 87 | uint8_t controlMixer_getSignalQuality(void); |
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| 88 | |||
| 89 | /* |
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| 90 | * The controls operate in [-1024, 1024] just about. |
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| 91 | * Throttle is [0..255] just about. |
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| 92 | */ |
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| 93 | // Scale controls to 1 byte: |
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| 94 | #define CONTROL_SCALING (1024/256) |
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| 95 | |||
| 96 | // Scale throttle levels to byte: |
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| 97 | #define MOTOR_SCALING (1024/256) |
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| 98 | |||
| 99 | /* |
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| 100 | * Gets the argument for the current command (a number). |
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| 101 | * |
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| 102 | * Stick position to argument values (for stick control): |
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| 103 | * 2--3--4 |
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| 104 | * | | + |
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| 105 | * 1 9 5 ^ 0 |
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| 106 | * | | | |
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| 107 | * 8--7--6 |
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| 108 | * |
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| 109 | * + <-- |
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| 110 | * 0 |
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| 111 | * |
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| 112 | * Not in any of these positions: 0 |
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| 113 | */ |
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| 114 | // void controlMixer_handleCommands(void); |
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| 115 | uint8_t controlMixer_getArgument(void); |
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| 116 | uint8_t controlMixer_isCommandRepeated(void); |
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| 117 | // TODO: Abstract away if possible. |
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| 118 | uint8_t controlMixer_testCompassCalState(void); |