Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1645 | - | 1 | /*********************************************************************************/ |
| 2 | /* Stick control interface */ |
||
| 3 | /*********************************************************************************/ |
||
| 1612 | dongfang | 4 | /* |
| 1616 | dongfang | 5 | OBSOLETED BY controlMixer.h. But this is how it looked - maybe somebody will find it simpler? |
| 1612 | dongfang | 6 | |
| 7 | #ifndef _CONTROL_H |
||
| 8 | #define _CONTROL_H |
||
| 9 | |||
| 10 | #include <inttypes.h> |
||
| 1645 | - | 11 | #define CONTROL_SCALING 4 |
| 1612 | dongfang | 12 | |
| 13 | // defines for lookup staticParams.ChannelAssignment |
||
| 14 | #define CH_PITCH 0 |
||
| 1645 | - | 15 | #define CH_ROLL 1 |
| 16 | #define CH_THROTTLE 2 |
||
| 17 | #define CH_YAW 3 |
||
| 1612 | dongfang | 18 | #define CH_POTS 4 |
| 19 | #define POT_OFFSET 110 |
||
| 20 | |||
| 21 | extern int16_t stickPitch, stickRoll, stickYaw, stickThrottle; |
||
| 22 | extern int16_t stickOffsetNick, stickOffsetRoll; |
||
| 23 | extern uint16_t maxStickPitch, maxStickRoll; |
||
| 24 | extern uint8_t loopingPitch, loopingRoll; |
||
| 25 | |||
| 26 | // external control |
||
| 27 | extern int16_t externalStickPitch, externalStickRoll, externalStickYaw; |
||
| 28 | |||
| 29 | // current GPS-stick values |
||
| 30 | extern int16_t GPSStickPitch, GPSStickRoll; |
||
| 31 | |||
| 32 | typedef struct { |
||
| 33 | uint8_t digital[2]; |
||
| 34 | uint8_t eemoteButtons; |
||
| 35 | int8_t pitch; |
||
| 36 | int8_t roll; |
||
| 37 | int8_t yaw; |
||
| 38 | uint8_t throttle; |
||
| 39 | int8_t height; |
||
| 40 | uint8_t free; |
||
| 41 | uint8_t frame; |
||
| 42 | uint8_t config; |
||
| 43 | } __attribute__((packed)) ExternalControl_t; |
||
| 44 | |||
| 45 | extern ExternalControl_t externalControl; |
||
| 46 | |||
| 47 | //uint8_t control_getLeftStickCalibrateIndex(void); |
||
| 48 | //uint8_t control_getLeftStickMotorStartIndex(void); |
||
| 49 | //uint8_t control_getRightRCStickIndex(void); |
||
| 50 | void control_initPots(void); |
||
| 51 | void control_updatePots(void); |
||
| 52 | |||
| 53 | void setCompassCalState(void); |
||
| 54 | void updateCompass(void); |
||
| 55 | |||
| 56 | void control_setNeutral(void); |
||
| 57 | void control_update(void); |
||
| 58 | |||
| 59 | #define STICK_COMMAND_UNDEF 0 |
||
| 60 | #define STICK_COMMAND_START 6 |
||
| 61 | #define STICK_COMMAND_STOP 8 |
||
| 62 | #define STICK_COMMAND_GYROCAL 2 |
||
| 63 | #define STICK_COMMAND_ACCCAL 4 |
||
| 64 | |||
| 65 | void control_senseStickCommands(void); |
||
| 66 | uint8_t control_getStickCommand(void); |
||
| 67 | uint8_t control_isStickCommandRepeated(void); |
||
| 68 | |||
| 69 | void control_performPilotCalibrationCommands(uint8_t stickCommand); |
||
| 70 | |||
| 71 | extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200) |
||
| 72 | extern uint8_t control_hasNewRCData(void); |
||
| 73 | |||
| 74 | #endif //_CONTROL_H |
||
| 75 | */ |
||
| 1775 | - | 76 |