WebSVN - FlightCtrl - Diff - Rev 2103 and 2109 - /branches/dongfang_FC


#ifndef _CONTROLMIXER_H
#define _CONTROLMIXER_H
 
#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 PRYT arrays
 */
#define CONTROL_ELEVATOR 0
#define CONTROL_AILERONS 1
#define CONTROL_RUDDER   2
#define CONTROL_THROTTLE 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_periodicTask(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;
 
/*
 * 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);
 
#endif
 

Rev 2103	Rev 2109
-		1	#ifndef _CONTROLMIXER_H
-		2	#define _CONTROLMIXER_H
-		3
1	#include <inttypes.h>	4	#include <inttypes.h>
2	/*	5	/*
3	* An attempt to define a generic control. That could be an R/C receiver, an external control	6	* 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.	7	* (serial over Bluetooth, Wi232, XBee, whatever) or the NaviCtrl.
5	* This resembles somewhat an object-oriented class definition (except that there are no virtuals).	8	* 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	9	* 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,	10	* each other, the priorities between them and the behavior in case that one fails is simplified,
8	* and all in one place.	11	* and all in one place.
9	*/	12	*/
10		13
11	/*	14	/*
12	* Signal qualities, used to determine the availability of a control.	15	* 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.	16	* 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	17	* SIGNAL_BAD is too bad for flight. This is the hysteresis range for deciding whether to engage
15	* or disengage emergency landing.	18	* or disengage emergency landing.
16	* SIGNAL_OK means the signal is usable for flight.	19	* SIGNAL_OK means the signal is usable for flight.
17	* SIGNAL_GOOD means the signal can also be used for setting parameters.	20	* SIGNAL_GOOD means the signal can also be used for setting parameters.
18	*/	21	*/
19	#define NO_SIGNAL 0	22	#define NO_SIGNAL 0
20	#define SIGNAL_LOST 1	23	#define SIGNAL_LOST 1
21	#define SIGNAL_BAD 2	24	#define SIGNAL_BAD 2
22	#define SIGNAL_OK 3	25	#define SIGNAL_OK 3
23	#define SIGNAL_GOOD 4	26	#define SIGNAL_GOOD 4
24		27
25	/*	28	/*
26	* The PRYT arrays	29	* The PRYT arrays
27	*/	30	*/
28	#define CONTROL_ELEVATOR 0	31	#define CONTROL_ELEVATOR 0
29	#define CONTROL_AILERONS 1	32	#define CONTROL_AILERONS 1
30	#define CONTROL_RUDDER 2	33	#define CONTROL_RUDDER 2
31	#define CONTROL_THROTTLE 3	34	#define CONTROL_THROTTLE 3
32		35
33	/*	36	/*
34	* Looping flags.	37	* Looping flags.
35	* LOOPING_UP \|\| LOOPING_DOWN <=> LOOPING_PITCH_AXIS	38	* LOOPING_UP \|\| LOOPING_DOWN <=> LOOPING_PITCH_AXIS
36	* LOOPING_LEFT \|\| LOOPING_RIGHT <=> LOOPING_ROLL_AXIS	39	* LOOPING_LEFT \|\| LOOPING_RIGHT <=> LOOPING_ROLL_AXIS
37	*/	40	*/
38	#define LOOPING_UP (1<<0)	41	#define LOOPING_UP (1<<0)
39	#define LOOPING_DOWN (1<<1)	42	#define LOOPING_DOWN (1<<1)
40	#define LOOPING_LEFT (1<<2)	43	#define LOOPING_LEFT (1<<2)
41	#define LOOPING_RIGHT (1<<3)	44	#define LOOPING_RIGHT (1<<3)
42	#define LOOPING_PITCH_AXIS (1<<4)	45	#define LOOPING_PITCH_AXIS (1<<4)
43	#define LOOPING_ROLL_AXIS (1<<5)	46	#define LOOPING_ROLL_AXIS (1<<5)
44		47
45	/*	48	/*
46	* This is only relevant for "abstract controls" ie. all control sources have the	49	* 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	50	* same interface. This struct of code pointers is used like an abstract class
48	* definition from object-oriented languages, and all control input implementations	51	* definition from object-oriented languages, and all control input implementations
49	* will declare an instance of the stuct (=implementation of the abstract class).	52	* will declare an instance of the stuct (=implementation of the abstract class).
50	*/	53	*/
51	typedef struct {	54	typedef struct {
52	/* Get the pitch input in the nominal range [-STICK_RANGE, STICK_RANGE]. */	55	/* Get the pitch input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
53	int16_t(*getPitch)(void);	56	int16_t(*getPitch)(void);
54		57
55	/* Get the roll input in the nominal range [-STICK_RANGE, STICK_RANGE]. */	58	/* Get the roll input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
56	int16_t(*getRoll)(void);	59	int16_t(*getRoll)(void);
57		60
58	/* Get the yaw input in the nominal range [-STICK_RANGE, STICK_RANGE]. */	61	/* Get the yaw input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
59	int16_t(*getYaw)(void);	62	int16_t(*getYaw)(void);
60		63
61	/* Get the throttle input in the nominal range [0, THROTTLE_RANGE]. */	64	/* Get the throttle input in the nominal range [0, THROTTLE_RANGE]. */
62	uint16_t(*getThrottle)(void);	65	uint16_t(*getThrottle)(void);
63		66
64	/* Signal quality, by the above SIGNAL_... definitions. */	67	/* Signal quality, by the above SIGNAL_... definitions. */
65	uint8_t (*getSignalQuality)(void);	68	uint8_t (*getSignalQuality)(void);
66		69
67	/* Calibrate sticks to their center positions (only relevant for R/C, really) */	70	/* Calibrate sticks to their center positions (only relevant for R/C, really) */
68	void (*calibrate)(void);	71	void (*calibrate)(void);
69	} t_control;	72	} t_control;
70		73
71	/*	74	/*
72	* Our output.	75	* Our output.
73	*/	76	*/
74	extern int16_t controls[4];	77	extern int16_t controls[4];
75	extern uint16_t controlActivity;	78	extern uint16_t controlActivity;
76	//extern uint16_t maxControl[2];	79	//extern uint16_t maxControl[2];
77		80
78	void controlMixer_initVariables(void);	81	void controlMixer_initVariables(void);
79	//void controlMixer_updateVariables(void);	82	//void controlMixer_updateVariables(void);
80		83
81	void controlMixer_setNeutral(void);	84	void controlMixer_setNeutral(void);
82		85
83	/*	86	/*
84	* Update the exported variables. Called at every flight control cycle.	87	* Update the exported variables. Called at every flight control cycle.
85	*/	88	*/
86	void controlMixer_periodicTask(void);	89	void controlMixer_periodicTask(void);
87		90
88	/*	91	/*
89	* Get the current command. See the COMMAND_.... define's	92	* Get the current command. See the COMMAND_.... define's
90	*/	93	*/
91	uint8_t controlMixer_getCommand(void);	94	uint8_t controlMixer_getCommand(void);
92		95
93	void controlMixer_performCalibrationCommands(uint8_t command);	96	void controlMixer_performCalibrationCommands(uint8_t command);
94		97
95	uint8_t controlMixer_getSignalQuality(void);	98	uint8_t controlMixer_getSignalQuality(void);
96	extern uint8_t controlMixer_didReceiveSignal;	99	extern uint8_t controlMixer_didReceiveSignal;
97		100
98	/*	101	/*
99	* Gets the argument for the current command (a number).	102	* Gets the argument for the current command (a number).
100	*	103	*
101	* Stick position to argument values (for stick control):	104	* Stick position to argument values (for stick control):
102	* 2--3--4	105	* 2--3--4
103	* \| \| +	106	* \| \| +
104	* 1 9 5 ^ 0	107	* 1 9 5 ^ 0
105	* \| \| \|	108	* \| \| \|
106	* 8--7--6	109	* 8--7--6
107	*	110	*
108	* + <--	111	* + <--
109	* 0	112	* 0
110	*	113	*
111	* Not in any of these positions: 0	114	* Not in any of these positions: 0
112	*/	115	*/
113	uint8_t controlMixer_getArgument(void);	116	uint8_t controlMixer_getArgument(void);
114	uint8_t controlMixer_isCommandRepeated(void);	117	uint8_t controlMixer_isCommandRepeated(void);
-		118
-		119	#endif
115		120

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_fixedwing/controlMixer.h @ 2207 - Rev 2103 → 2109