WebSVN - FlightCtrl - Diff - Rev 1645 and 1775 - /branches/dongfang_FC


/*********************************************************************************/
/* Stick control interface                                                       */
/*********************************************************************************/
/*
OBSOLETED BY controlMixer.h. But this is how it looked - maybe somebody will find it simpler?
 
#ifndef _CONTROL_H
#define _CONTROL_H
 
#include <inttypes.h>
#define CONTROL_SCALING 4
 
// defines for lookup staticParams.ChannelAssignment
#define CH_PITCH        0
#define CH_ROLL             1
#define CH_THROTTLE         2
#define CH_YAW          3
#define CH_POTS         4
#define POT_OFFSET      110
 
extern int16_t stickPitch, stickRoll, stickYaw, stickThrottle;
extern int16_t stickOffsetNick, stickOffsetRoll;
extern uint16_t maxStickPitch, maxStickRoll;
extern uint8_t loopingPitch, loopingRoll;
 
// external control
extern int16_t externalStickPitch, externalStickRoll, externalStickYaw;
 
// current GPS-stick values
extern int16_t GPSStickPitch, GPSStickRoll;
 
typedef struct {
  uint8_t       digital[2];
  uint8_t       eemoteButtons;
  int8_t        pitch;
  int8_t        roll;
  int8_t        yaw;
  uint8_t       throttle;
  int8_t        height;
  uint8_t       free;
  uint8_t       frame;
  uint8_t       config;
} __attribute__((packed)) ExternalControl_t;
 
extern ExternalControl_t externalControl;
 
//uint8_t control_getLeftStickCalibrateIndex(void);
//uint8_t control_getLeftStickMotorStartIndex(void);
//uint8_t control_getRightRCStickIndex(void);
void control_initPots(void);
void control_updatePots(void);
 
void setCompassCalState(void);
void updateCompass(void);
 
void control_setNeutral(void);
void control_update(void);
 
#define STICK_COMMAND_UNDEF 0
#define STICK_COMMAND_START 6
#define STICK_COMMAND_STOP  8
#define STICK_COMMAND_GYROCAL 2
#define STICK_COMMAND_ACCCAL 4
 
void control_senseStickCommands(void);
uint8_t control_getStickCommand(void);
uint8_t control_isStickCommandRepeated(void);
 
void control_performPilotCalibrationCommands(uint8_t stickCommand);
 
extern volatile int16_t RC_Quality;     // rc signal quality indicator (0 to 200)
extern uint8_t control_hasNewRCData(void);
 
#endif //_CONTROL_H
*/
 
 

Rev 1645	Rev 1775
1	/*********************************************************************************/	1	/*********************************************************************************/
2	/* Stick control interface */	2	/* Stick control interface */
3	/*********************************************************************************/	3	/*********************************************************************************/
4	/*	4	/*
5	OBSOLETED BY controlMixer.h. But this is how it looked - maybe somebody will find it simpler?	5	OBSOLETED BY controlMixer.h. But this is how it looked - maybe somebody will find it simpler?
6		6
7	#ifndef _CONTROL_H	7	#ifndef _CONTROL_H
8	#define _CONTROL_H	8	#define _CONTROL_H
9		9
10	#include <inttypes.h>	10	#include <inttypes.h>
11	#define CONTROL_SCALING 4	11	#define CONTROL_SCALING 4
12		12
13	// defines for lookup staticParams.ChannelAssignment	13	// defines for lookup staticParams.ChannelAssignment
14	#define CH_PITCH 0	14	#define CH_PITCH 0
15	#define CH_ROLL 1	15	#define CH_ROLL 1
16	#define CH_THROTTLE 2	16	#define CH_THROTTLE 2
17	#define CH_YAW 3	17	#define CH_YAW 3
18	#define CH_POTS 4	18	#define CH_POTS 4
19	#define POT_OFFSET 110	19	#define POT_OFFSET 110
20		20
21	extern int16_t stickPitch, stickRoll, stickYaw, stickThrottle;	21	extern int16_t stickPitch, stickRoll, stickYaw, stickThrottle;
22	extern int16_t stickOffsetNick, stickOffsetRoll;	22	extern int16_t stickOffsetNick, stickOffsetRoll;
23	extern uint16_t maxStickPitch, maxStickRoll;	23	extern uint16_t maxStickPitch, maxStickRoll;
24	extern uint8_t loopingPitch, loopingRoll;	24	extern uint8_t loopingPitch, loopingRoll;
25		25
26	// external control	26	// external control
27	extern int16_t externalStickPitch, externalStickRoll, externalStickYaw;	27	extern int16_t externalStickPitch, externalStickRoll, externalStickYaw;
28		28
29	// current GPS-stick values	29	// current GPS-stick values
30	extern int16_t GPSStickPitch, GPSStickRoll;	30	extern int16_t GPSStickPitch, GPSStickRoll;
31		31
32	typedef struct {	32	typedef struct {
33	uint8_t digital[2];	33	uint8_t digital[2];
34	uint8_t eemoteButtons;	34	uint8_t eemoteButtons;
35	int8_t pitch;	35	int8_t pitch;
36	int8_t roll;	36	int8_t roll;
37	int8_t yaw;	37	int8_t yaw;
38	uint8_t throttle;	38	uint8_t throttle;
39	int8_t height;	39	int8_t height;
40	uint8_t free;	40	uint8_t free;
41	uint8_t frame;	41	uint8_t frame;
42	uint8_t config;	42	uint8_t config;
43	} __attribute__((packed)) ExternalControl_t;	43	} __attribute__((packed)) ExternalControl_t;
44		44
45	extern ExternalControl_t externalControl;	45	extern ExternalControl_t externalControl;
46		46
47	//uint8_t control_getLeftStickCalibrateIndex(void);	47	//uint8_t control_getLeftStickCalibrateIndex(void);
48	//uint8_t control_getLeftStickMotorStartIndex(void);	48	//uint8_t control_getLeftStickMotorStartIndex(void);
49	//uint8_t control_getRightRCStickIndex(void);	49	//uint8_t control_getRightRCStickIndex(void);
50	void control_initPots(void);	50	void control_initPots(void);
51	void control_updatePots(void);	51	void control_updatePots(void);
52		52
53	void setCompassCalState(void);	53	void setCompassCalState(void);
54	void updateCompass(void);	54	void updateCompass(void);
55		55
56	void control_setNeutral(void);	56	void control_setNeutral(void);
57	void control_update(void);	57	void control_update(void);
58		58
59	#define STICK_COMMAND_UNDEF 0	59	#define STICK_COMMAND_UNDEF 0
60	#define STICK_COMMAND_START 6	60	#define STICK_COMMAND_START 6
61	#define STICK_COMMAND_STOP 8	61	#define STICK_COMMAND_STOP 8
62	#define STICK_COMMAND_GYROCAL 2	62	#define STICK_COMMAND_GYROCAL 2
63	#define STICK_COMMAND_ACCCAL 4	63	#define STICK_COMMAND_ACCCAL 4
64		64
65	void control_senseStickCommands(void);	65	void control_senseStickCommands(void);
66	uint8_t control_getStickCommand(void);	66	uint8_t control_getStickCommand(void);
67	uint8_t control_isStickCommandRepeated(void);	67	uint8_t control_isStickCommandRepeated(void);
68		68
69	void control_performPilotCalibrationCommands(uint8_t stickCommand);	69	void control_performPilotCalibrationCommands(uint8_t stickCommand);
70		70
71	extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200)	71	extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200)
72	extern uint8_t control_hasNewRCData(void);	72	extern uint8_t control_hasNewRCData(void);
73		73
74	#endif //_CONTROL_H	74	#endif //_CONTROL_H
75	*/	75	*/
-		76
76		77

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(root)/branches/dongfang_FC_rewrite/control.h - Rev 1645 → 1775