WebSVN - FlightCtrl - Diff - Rev 1612 and 1645 - /branches/dongfang_FC


#include <inttypes.h>
/*
 * The throttle range is normalized to [0, THROTTLE_RANGE[
 * This is the normal range. Exceeding it a little is allowed.
 */
#define THROTTLE_RANGE 256
 
/*
 * The stick (pitch, roll, yaw) ranges are normalized to [-STICK_RANGE, STICK_RANGE]
 * This is the normal range. Exceeding it a little is allowed.
 */
#define STICK_RANGE 256
 
/*
 * 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 proirities 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
 
/*
 * An enumeration over the  start motors, stop motors, calibrate gyros
 * and calibreate acc. meters commands.
 */
#define COMMAND_NONE    0
#define COMMAND_START   6
#define COMMAND_STOP    8
#define COMMAND_GYROCAL 2
#define COMMAND_ACCCAL  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 control[2], controlYaw, controlThrottle;
// extern int16_t stickOffsetNick, stickOffsetRoll;
extern uint16_t maxControl[2];
extern uint8_t looping;
 
void controlMixer_initVariables(void);
void controlMixer_updateVariables(void);
 
void controlMixer_setNeutral(uint8_t calibrate);
 
/*
 * 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);
 
/*
 * The motor throttles can be set in an [0..256[ interval.
 * The calculation of motor throttle values from sensor and control information (basically
 * flight.c) take place in an [0..256*CONTROL_SCALING[ interval for better precision.
 */
#define CONTROL_SCALING 4
 
/*
 * 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.
// void controlMixer_setCompassCalState(void);
// void controlMixer_updateCompass(void);
 

Rev 1612	Rev 1645
1	#include <inttypes.h>	1	#include <inttypes.h>
2	/*	2	/*
3	* The throttle range is normalized to [0, THROTTLE_RANGE[	3	* The throttle range is normalized to [0, THROTTLE_RANGE[
4	* This is the normal range. Exceeding it a little is allowed.	4	* This is the normal range. Exceeding it a little is allowed.
5	*/	5	*/
6	#define THROTTLE_RANGE 256	6	#define THROTTLE_RANGE 256
7		7
8	/*	8	/*
9	* The stick (pitch, roll, yaw) ranges are normalized to [-STICK_RANGE, STICK_RANGE]	9	* The stick (pitch, roll, yaw) ranges are normalized to [-STICK_RANGE, STICK_RANGE]
10	* This is the normal range. Exceeding it a little is allowed.	10	* This is the normal range. Exceeding it a little is allowed.
11	*/	11	*/
12	#define STICK_RANGE 256	12	#define STICK_RANGE 256
13		13
14	/*	14	/*
15	* An attempt to define a generic control. That could be an R/C receiver, an external control	15	* An attempt to define a generic control. That could be an R/C receiver, an external control
16	* (serial over Bluetooth, Wi232, XBee, whatever) or the NaviCtrl.	16	* (serial over Bluetooth, Wi232, XBee, whatever) or the NaviCtrl.
17	* This resembles somewhat an object-oriented class definition (except that there are no virtuals).	17	* This resembles somewhat an object-oriented class definition (except that there are no virtuals).
18	* The idea is that the combination of different control inputs, of the way they superimpose upon	18	* The idea is that the combination of different control inputs, of the way they superimpose upon
19	* each other, the proirities between them and the behavior in case that one fails is simplified,	19	* each other, the proirities between them and the behavior in case that one fails is simplified,
20	* and all in one place.	20	* and all in one place.
21	*/	21	*/
22		22
23	/*	23	/*
24	* Signal qualities, used to determine the availability of a control.	24	* Signal qualities, used to determine the availability of a control.
25	* NO_SIGNAL means there was never a signal. SIGNAL_LOST that there was a signal, but it was lost.	25	* NO_SIGNAL means there was never a signal. SIGNAL_LOST that there was a signal, but it was lost.
26	* SIGNAL_BAD is too bad for flight. This is the hysteresis range for deciding whether to engage	26	* SIGNAL_BAD is too bad for flight. This is the hysteresis range for deciding whether to engage
27	* or disengage emergency landing.	27	* or disengage emergency landing.
28	* SIGNAL_OK means the signal is usable for flight.	28	* SIGNAL_OK means the signal is usable for flight.
29	* SIGNAL_GOOD means the signal can also be used for setting parameters.	29	* SIGNAL_GOOD means the signal can also be used for setting parameters.
30	*/	30	*/
31	#define NO_SIGNAL 0	31	#define NO_SIGNAL 0
32	#define SIGNAL_LOST 1	32	#define SIGNAL_LOST 1
33	#define SIGNAL_BAD 2	33	#define SIGNAL_BAD 2
34	#define SIGNAL_OK 3	34	#define SIGNAL_OK 3
35	#define SIGNAL_GOOD 4	35	#define SIGNAL_GOOD 4
36		36
37	/*	37	/*
38	* An enumeration over the start motors, stop motors, calibrate gyros	38	* An enumeration over the start motors, stop motors, calibrate gyros
39	* and calibreate acc. meters commands.	39	* and calibreate acc. meters commands.
40	*/	40	*/
41	#define COMMAND_NONE 0	41	#define COMMAND_NONE 0
42	#define COMMAND_START 6	42	#define COMMAND_START 6
43	#define COMMAND_STOP 8	43	#define COMMAND_STOP 8
44	#define COMMAND_GYROCAL 2	44	#define COMMAND_GYROCAL 2
45	#define COMMAND_ACCCAL 4	45	#define COMMAND_ACCCAL 4
46		46
47	/*	47	/*
48	* The PRTY arrays	48	* The PRTY arrays
49	*/	49	*/
50	#define CONTROL_PITCH 0	50	#define CONTROL_PITCH 0
51	#define CONTROL_ROLL 1	51	#define CONTROL_ROLL 1
52	#define CONTROL_THROTTLE 2	52	#define CONTROL_THROTTLE 2
53	#define CONTROL_YAW 3	53	#define CONTROL_YAW 3
54		54
55	/*	55	/*
56	* Looping flags.	56	* Looping flags.
57	* LOOPING_UP \|\| LOOPING_DOWN <=> LOOPING_PITCH_AXIS	57	* LOOPING_UP \|\| LOOPING_DOWN <=> LOOPING_PITCH_AXIS
58	* LOOPING_LEFT \|\| LOOPING_RIGHT <=> LOOPING_ROLL_AXIS	58	* LOOPING_LEFT \|\| LOOPING_RIGHT <=> LOOPING_ROLL_AXIS
59	*/	59	*/
60	#define LOOPING_UP (1<<0)	60	#define LOOPING_UP (1<<0)
61	#define LOOPING_DOWN (1<<1)	61	#define LOOPING_DOWN (1<<1)
62	#define LOOPING_LEFT (1<<2)	62	#define LOOPING_LEFT (1<<2)
63	#define LOOPING_RIGHT (1<<3)	63	#define LOOPING_RIGHT (1<<3)
64	#define LOOPING_PITCH_AXIS (1<<4)	64	#define LOOPING_PITCH_AXIS (1<<4)
65	#define LOOPING_ROLL_AXIS (1<<5)	65	#define LOOPING_ROLL_AXIS (1<<5)
66		66
67	/*	67	/*
68	* This is only relevant for "abstract controls" ie. all control sources have the	68	* This is only relevant for "abstract controls" ie. all control sources have the
69	* same interface. This struct of code pointers is used like an abstract class	69	* same interface. This struct of code pointers is used like an abstract class
70	* definition from object-oriented languages, and all control input implementations	70	* definition from object-oriented languages, and all control input implementations
71	* will declare an instance of the stuct (=implementation of the abstract class).	71	* will declare an instance of the stuct (=implementation of the abstract class).
72	*/	72	*/
73	typedef struct {	73	typedef struct {
74	/* Get the pitch input in the nominal range [-STICK_RANGE, STICK_RANGE]. */	74	/* Get the pitch input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
75	int16_t(*getPitch)(void);	75	int16_t(*getPitch)(void);
76		76
77	/* Get the roll input in the nominal range [-STICK_RANGE, STICK_RANGE]. */	77	/* Get the roll input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
78	int16_t(*getRoll)(void);	78	int16_t(*getRoll)(void);
79		79
80	/* Get the yaw input in the nominal range [-STICK_RANGE, STICK_RANGE]. */	80	/* Get the yaw input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
81	int16_t(*getYaw)(void);	81	int16_t(*getYaw)(void);
82		82
83	/* Get the throttle input in the nominal range [0, THROTTLE_RANGE]. */	83	/* Get the throttle input in the nominal range [0, THROTTLE_RANGE]. */
84	uint16_t(*getThrottle)(void);	84	uint16_t(*getThrottle)(void);
85		85
86	/* Signal quality, by the above SIGNAL_... definitions. */	86	/* Signal quality, by the above SIGNAL_... definitions. */
87	uint8_t (*getSignalQuality)(void);	87	uint8_t (*getSignalQuality)(void);
88		88
89	/* Calibrate sticks to their center positions (only relevant for R/C, really) */	89	/* Calibrate sticks to their center positions (only relevant for R/C, really) */
90	void (*calibrate)(void);	90	void (*calibrate)(void);
91	} t_control;	91	} t_control;
92		92
93	/*	93	/*
94	* Our output.	94	* Our output.
95	*/	95	*/
96	extern int16_t controlPitch, controlRoll, controlYaw, controlThrottle;	96	extern int16_t control[2], controlYaw, controlThrottle;
97	// extern int16_t stickOffsetNick, stickOffsetRoll;	97	// extern int16_t stickOffsetNick, stickOffsetRoll;
98	extern uint16_t maxControlPitch, maxControlRoll;	98	extern uint16_t maxControl[2];
99	extern uint8_t looping;	99	extern uint8_t looping;
100		100
101	void controlMixer_initVariables(void);	101	void controlMixer_initVariables(void);
102	void controlMixer_updateVariables(void);	102	void controlMixer_updateVariables(void);
103		103
104	void controlMixer_setNeutral(uint8_t calibrate);	104	void controlMixer_setNeutral(uint8_t calibrate);
105		105
106	/*	106	/*
107	* Update the exported variables. Called at every flight control cycle.	107	* Update the exported variables. Called at every flight control cycle.
108	*/	108	*/
109	void controlMixer_update(void);	109	void controlMixer_update(void);
110		110
111	/*	111	/*
112	* Get the current command. See the COMMAND_.... define's	112	* Get the current command. See the COMMAND_.... define's
113	*/	113	*/
114	uint8_t controlMixer_getCommand(void);	114	uint8_t controlMixer_getCommand(void);
115		115
116	void controlMixer_performCalibrationCommands(uint8_t command);	116	void controlMixer_performCalibrationCommands(uint8_t command);
117		117
118	uint8_t controlMixer_getSignalQuality(void);	118	uint8_t controlMixer_getSignalQuality(void);
-		119
-		120	/*
-		121	* The motor throttles can be set in an [0..256[ interval.
-		122	* The calculation of motor throttle values from sensor and control information (basically
-		123	* flight.c) take place in an [0..256*CONTROL_SCALING[ interval for better precision.
119		124	*/
120	#define STICK_GAIN 4	125	#define CONTROL_SCALING 4
121		126
122	/*	127	/*
123	* Gets the argument for the current command (a number).	128	* Gets the argument for the current command (a number).
124	*	129	*
125	* Stick position to argument values (for stick control):	130	* Stick position to argument values (for stick control):
126	* 2--3--4	131	* 2--3--4
127	* \| \| +	132	* \| \| +
128	* 1 9 5 ^ 0	133	* 1 9 5 ^ 0
129	* \| \| \|	134	* \| \| \|
130	* 8--7--6	135	* 8--7--6
131	*	136	*
132	* + <--	137	* + <--
133	* 0	138	* 0
134	*	139	*
135	* Not in any of these positions: 0	140	* Not in any of these positions: 0
136	*/	141	*/
137	uint8_t controlMixer_getArgument(void);	142	uint8_t controlMixer_getArgument(void);
138	uint8_t controlMixer_isCommandRepeated(void);	143	uint8_t controlMixer_isCommandRepeated(void);
139	// TODO: Abstract away if possible.	144	// TODO: Abstract away if possible.
140	// void controlMixer_setCompassCalState(void);	145	// void controlMixer_setCompassCalState(void);
141	// void controlMixer_updateCompass(void);	146	// void controlMixer_updateCompass(void);
142		147

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/controlMixer.h @ 1720 - Rev 1612 → 1645