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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 |