Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1775 | - | 1 | #include <inttypes.h> |
2 | /* |
||
3 | * 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. |
||
5 | * This resembles somewhat an object-oriented class definition (except that there are no virtuals). |
||
6 | * The idea is that the combination of different control inputs, of the way they superimpose upon |
||
7 | * each other, the priorities between them and the behavior in case that one fails is simplified, |
||
8 | * and all in one place. |
||
9 | */ |
||
10 | |||
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 | /* |
||
72 | * Our output. |
||
73 | */ |
||
74 | extern int16_t control[2], controlYaw, controlThrottle; |
||
75 | extern uint16_t maxControl[2]; |
||
76 | extern uint8_t looping; |
||
77 | |||
78 | extern volatile uint8_t MKFlags; |
||
79 | extern uint16_t isFlying; |
||
80 | |||
81 | void controlMixer_initVariables(void); |
||
82 | void controlMixer_updateVariables(void); |
||
83 | |||
84 | void controlMixer_setNeutral(void); |
||
85 | |||
86 | /* |
||
87 | * Update the exported variables. Called at every flight control cycle. |
||
88 | */ |
||
89 | void controlMixer_update(void); |
||
90 | |||
91 | /* |
||
92 | * Get the current command. See the COMMAND_.... define's |
||
93 | */ |
||
94 | uint8_t controlMixer_getCommand(void); |
||
95 | |||
96 | void controlMixer_performCalibrationCommands(uint8_t command); |
||
97 | |||
98 | uint8_t controlMixer_getSignalQuality(void); |
||
99 | |||
100 | /* |
||
101 | * The controls operate in a [-150 * CONTROL_SCALING, 150 * CONTROL_SCALING] interval |
||
102 | * Throttle is [0..300 * CONTROL_SCALING]. |
||
103 | * (just about. No precision needed). |
||
104 | */ |
||
105 | #define CONTROL_SCALING (1024/256) |
||
106 | |||
107 | /* |
||
108 | * Gets the argument for the current command (a number). |
||
109 | * |
||
110 | * Stick position to argument values (for stick control): |
||
111 | * 2--3--4 |
||
112 | * | | + |
||
113 | * 1 9 5 ^ 0 |
||
114 | * | | | |
||
115 | * 8--7--6 |
||
116 | * |
||
117 | * + <-- |
||
118 | * 0 |
||
119 | * |
||
120 | * Not in any of these positions: 0 |
||
121 | */ |
||
122 | // void controlMixer_handleCommands(void); |
||
123 | uint8_t controlMixer_getArgument(void); |
||
124 | uint8_t controlMixer_isCommandRepeated(void); |
||
125 | // TODO: Abstract away if possible. |
||
126 | uint8_t controlMixer_testCompassCalState(void); |
||
127 | // void controlMixer_updateCompass(void); |