Subversion Repositories FlightCtrl

#include <inttypes.h>

/*

 * An attempt to define a generic control. That could be an R/C receiver, an external control

 * (serial over Bluetooth, Wi232, XBee, whatever) or the NaviCtrl.

 * This resembles somewhat an object-oriented class definition (except that there are no virtuals).

 * The idea is that the combination of different control inputs, of the way they superimpose upon

 * each other, the priorities between them and the behavior in case that one fails is simplified,

 * and all in one place.

 */

/*

 * Signal qualities, used to determine the availability of a control.

 * NO_SIGNAL means there was never a signal. SIGNAL_LOST that there was a signal, but it was lost.

 * SIGNAL_BAD is too bad for flight. This is the hysteresis range for deciding whether to engage

 * or disengage emergency landing.

 * SIGNAL_OK means the signal is usable for flight.

 * SIGNAL_GOOD means the signal can also be used for setting parameters.

 */

#define NO_SIGNAL   0

#define SIGNAL_LOST 1

#define SIGNAL_BAD  2

#define SIGNAL_OK   3

#define SIGNAL_GOOD 4

/*

 * The PRTY arrays

 */

#define CONTROL_PITCH    0

#define CONTROL_ROLL     1

#define CONTROL_THROTTLE 2

#define CONTROL_YAW      3

/*

 * Looping flags.

 * LOOPING_UP || LOOPING_DOWN <=> LOOPING_PITCH_AXIS

 * LOOPING_LEFT || LOOPING_RIGHT <=> LOOPING_ROLL_AXIS

 */

#define LOOPING_UP         (1<<0)

#define LOOPING_DOWN       (1<<1)

#define LOOPING_LEFT       (1<<2)

#define LOOPING_RIGHT      (1<<3)

#define LOOPING_PITCH_AXIS (1<<4)

#define LOOPING_ROLL_AXIS  (1<<5)

/*

 * This is only relevant for "abstract controls" ie. all control sources have the

 * same interface. This struct of code pointers is used like an abstract class

 * definition from object-oriented languages, and all control input implementations

 * will declare an instance of the stuct (=implementation of the abstract class).

 */

typedef struct {

        /* Get the pitch input in the nominal range [-STICK_RANGE, STICK_RANGE]. */

        int16_t(*getPitch)(void);

        /* Get the roll input in the nominal range [-STICK_RANGE, STICK_RANGE]. */

        int16_t(*getRoll)(void);

        /* Get the yaw input in the nominal range [-STICK_RANGE, STICK_RANGE]. */

        int16_t(*getYaw)(void);

        /* Get the throttle input in the nominal range [0, THROTTLE_RANGE]. */

        uint16_t(*getThrottle)(void);

        /* Signal quality, by the above SIGNAL_... definitions. */

        uint8_t (*getSignalQuality)(void);

        /* Calibrate sticks to their center positions (only relevant for R/C, really) */

        void (*calibrate)(void);

} t_control;

/*

 * Our output.

 */

extern int16_t controls[4];

extern uint16_t controlActivity;

//extern uint16_t maxControl[2];

void controlMixer_initVariables(void);

void controlMixer_updateVariables(void);

void controlMixer_setNeutral(void);

/*

 * Update the exported variables. Called at every flight control cycle.

 */

void controlMixer_update(void);

/*

 * Get the current command. See the COMMAND_.... define's

 */

uint8_t controlMixer_getCommand(void);

void controlMixer_performCalibrationCommands(uint8_t command);

uint8_t controlMixer_getSignalQuality(void);

extern uint8_t controlMixer_didReceiveSignal;

/*

 * The controls operate in [-1024, 1024] just about.

 * Throttle is [0..255] just about.

 */

// Scale controls to 1 byte:

#define CONTROL_SCALING (1024/256)

// Scale throttle levels to byte:

#define MOTOR_SCALING (1024/256)

/*

 * Gets the argument for the current command (a number).

 *

 * Stick position to argument values (for stick control):

 * 2--3--4

 * |     |  +

 * 1  9  5  ^ 0

 * |     |  |  

 * 8--7--6

 *    

 * + <--

 *    0

 *

 * Not in any of these positions: 0

 */

uint8_t controlMixer_getArgument(void);

uint8_t controlMixer_isCommandRepeated(void);

// TODO: Abstract away if possible.

uint8_t controlMixer_testCompassCalState(void);