Rev 2049 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2189 | - | 1 | #ifndef _CONTROLMIXER_H |
| 2 | #define _CONTROLMIXER_H |
||
| 3 | |||
| 1612 | dongfang | 4 | #include <inttypes.h> |
| 5 | /* |
||
| 6 | * An attempt to define a generic control. That could be an R/C receiver, an external control |
||
| 7 | * (serial over Bluetooth, Wi232, XBee, whatever) or the NaviCtrl. |
||
| 8 | * This resembles somewhat an object-oriented class definition (except that there are no virtuals). |
||
| 9 | * The idea is that the combination of different control inputs, of the way they superimpose upon |
||
| 1775 | - | 10 | * each other, the priorities between them and the behavior in case that one fails is simplified, |
| 1612 | dongfang | 11 | * and all in one place. |
| 12 | */ |
||
| 1821 | - | 13 | |
| 1612 | dongfang | 14 | /* |
| 15 | * Our output. |
||
| 16 | */ |
||
| 1908 | - | 17 | extern int16_t controls[4]; |
| 18 | extern uint16_t controlActivity; |
||
| 19 | //extern uint16_t maxControl[2]; |
||
| 1612 | dongfang | 20 | |
| 21 | void controlMixer_initVariables(void); |
||
| 2049 | - | 22 | //void controlMixer_updateVariables(void); |
| 1612 | dongfang | 23 | |
| 1775 | - | 24 | void controlMixer_setNeutral(void); |
| 1612 | dongfang | 25 | |
| 26 | /* |
||
| 27 | * Update the exported variables. Called at every flight control cycle. |
||
| 28 | */ |
||
| 2039 | - | 29 | void controlMixer_periodicTask(void); |
| 1612 | dongfang | 30 | |
| 31 | /* |
||
| 32 | * Get the current command. See the COMMAND_.... define's |
||
| 33 | */ |
||
| 34 | uint8_t controlMixer_getCommand(void); |
||
| 35 | |||
| 36 | void controlMixer_performCalibrationCommands(uint8_t command); |
||
| 37 | |||
| 38 | uint8_t controlMixer_getSignalQuality(void); |
||
| 1963 | - | 39 | extern uint8_t controlMixer_didReceiveSignal; |
| 1612 | dongfang | 40 | |
| 1868 | - | 41 | |
| 1612 | dongfang | 42 | /* |
| 43 | * Gets the argument for the current command (a number). |
||
| 44 | * |
||
| 45 | * Stick position to argument values (for stick control): |
||
| 46 | * 2--3--4 |
||
| 47 | * | | + |
||
| 48 | * 1 9 5 ^ 0 |
||
| 49 | * | | | |
||
| 50 | * 8--7--6 |
||
| 51 | * |
||
| 52 | * + <-- |
||
| 53 | * 0 |
||
| 54 | * |
||
| 55 | * Not in any of these positions: 0 |
||
| 56 | */ |
||
| 57 | uint8_t controlMixer_getArgument(void); |
||
| 58 | uint8_t controlMixer_isCommandRepeated(void); |
||
| 2189 | - | 59 | |
| 60 | #endif |