WebSVN - FlightCtrl - Diff - Rev 1821 and 1843 - /branches/dongfang_FC


#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 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];
extern int16_t controlYaw, controlThrottle;
extern uint16_t maxControl[2];
extern uint8_t looping;
 
extern volatile uint8_t MKFlags;
extern uint16_t isFlying;
 
void controlMixer_initVariables(void);
void controlMixer_updateVariables(void);
 
void controlMixer_setNeutral(void);
 
/*
 * 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 controls operate in a [-150 * CONTROL_SCALING, 150 * CONTROL_SCALING] interval
 * Throttle is [0..300 * CONTROL_SCALING].
 * (just about. No precision needed).
 */
#define CONTROL_SCALING (1024/256)
#define MOTOR_SCALING (1024/256)
 
/*
 * 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
 */
// void controlMixer_handleCommands(void);
uint8_t controlMixer_getArgument(void);
uint8_t controlMixer_isCommandRepeated(void);
// TODO: Abstract away if possible.
uint8_t controlMixer_testCompassCalState(void);
 

Rev 1821	Rev 1843
1	#include <inttypes.h>	1	#include <inttypes.h>
2	/*	2	/*
3	* An attempt to define a generic control. That could be an R/C receiver, an external control	3	* 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.	4	* (serial over Bluetooth, Wi232, XBee, whatever) or the NaviCtrl.
5	* This resembles somewhat an object-oriented class definition (except that there are no virtuals).	5	* 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	6	* 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,	7	* each other, the priorities between them and the behavior in case that one fails is simplified,
8	* and all in one place.	8	* and all in one place.
9	*/	9	*/
10		10
11	/*	11	/*
12	* Signal qualities, used to determine the availability of a control.	12	* 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.	13	* 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	14	* SIGNAL_BAD is too bad for flight. This is the hysteresis range for deciding whether to engage
15	* or disengage emergency landing.	15	* or disengage emergency landing.
16	* SIGNAL_OK means the signal is usable for flight.	16	* SIGNAL_OK means the signal is usable for flight.
17	* SIGNAL_GOOD means the signal can also be used for setting parameters.	17	* SIGNAL_GOOD means the signal can also be used for setting parameters.
18	*/	18	*/
19	#define NO_SIGNAL 0	19	#define NO_SIGNAL 0
20	#define SIGNAL_LOST 1	20	#define SIGNAL_LOST 1
21	#define SIGNAL_BAD 2	21	#define SIGNAL_BAD 2
22	#define SIGNAL_OK 3	22	#define SIGNAL_OK 3
23	#define SIGNAL_GOOD 4	23	#define SIGNAL_GOOD 4
24		24
25	/*	25	/*
26	* The PRTY arrays	26	* The PRTY arrays
27	*/	27	*/
28	#define CONTROL_PITCH 0	28	#define CONTROL_PITCH 0
29	#define CONTROL_ROLL 1	29	#define CONTROL_ROLL 1
30	#define CONTROL_THROTTLE 2	30	#define CONTROL_THROTTLE 2
31	#define CONTROL_YAW 3	31	#define CONTROL_YAW 3
32		32
33	/*	33	/*
34	* Looping flags.	34	* Looping flags.
35	* LOOPING_UP \|\| LOOPING_DOWN <=> LOOPING_PITCH_AXIS	35	* LOOPING_UP \|\| LOOPING_DOWN <=> LOOPING_PITCH_AXIS
36	* LOOPING_LEFT \|\| LOOPING_RIGHT <=> LOOPING_ROLL_AXIS	36	* LOOPING_LEFT \|\| LOOPING_RIGHT <=> LOOPING_ROLL_AXIS
37	*/	37	*/
38	#define LOOPING_UP (1<<0)	38	#define LOOPING_UP (1<<0)
39	#define LOOPING_DOWN (1<<1)	39	#define LOOPING_DOWN (1<<1)
40	#define LOOPING_LEFT (1<<2)	40	#define LOOPING_LEFT (1<<2)
41	#define LOOPING_RIGHT (1<<3)	41	#define LOOPING_RIGHT (1<<3)
42	#define LOOPING_PITCH_AXIS (1<<4)	42	#define LOOPING_PITCH_AXIS (1<<4)
43	#define LOOPING_ROLL_AXIS (1<<5)	43	#define LOOPING_ROLL_AXIS (1<<5)
44		44
45	/*	45	/*
46	* This is only relevant for "abstract controls" ie. all control sources have the	46	* 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	47	* same interface. This struct of code pointers is used like an abstract class
48	* definition from object-oriented languages, and all control input implementations	48	* definition from object-oriented languages, and all control input implementations
49	* will declare an instance of the stuct (=implementation of the abstract class).	49	* will declare an instance of the stuct (=implementation of the abstract class).
50	*/	50	*/
51	typedef struct {	51	typedef struct {
52	/* Get the pitch input in the nominal range [-STICK_RANGE, STICK_RANGE]. */	52	/* Get the pitch input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
53	int16_t(*getPitch)(void);	53	int16_t(*getPitch)(void);
54		54
55	/* Get the roll input in the nominal range [-STICK_RANGE, STICK_RANGE]. */	55	/* Get the roll input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
56	int16_t(*getRoll)(void);	56	int16_t(*getRoll)(void);
57		57
58	/* Get the yaw input in the nominal range [-STICK_RANGE, STICK_RANGE]. */	58	/* Get the yaw input in the nominal range [-STICK_RANGE, STICK_RANGE]. */
59	int16_t(*getYaw)(void);	59	int16_t(*getYaw)(void);
60		60
61	/* Get the throttle input in the nominal range [0, THROTTLE_RANGE]. */	61	/* Get the throttle input in the nominal range [0, THROTTLE_RANGE]. */
62	uint16_t(*getThrottle)(void);	62	uint16_t(*getThrottle)(void);
63		63
64	/* Signal quality, by the above SIGNAL_... definitions. */	64	/* Signal quality, by the above SIGNAL_... definitions. */
65	uint8_t (*getSignalQuality)(void);	65	uint8_t (*getSignalQuality)(void);
66		66
67	/* Calibrate sticks to their center positions (only relevant for R/C, really) */	67	/* Calibrate sticks to their center positions (only relevant for R/C, really) */
68	void (*calibrate)(void);	68	void (*calibrate)(void);
69	} t_control;	69	} t_control;
70		70
71	/*	71	/*
72	* Our output.	72	* Our output.
73	*/	73	*/
74	extern int16_t control[2];	74	extern int16_t control[2];
75	extern int16_t controlYaw, controlThrottle;	75	extern int16_t controlYaw, controlThrottle;
76	extern uint16_t maxControl[2];	76	extern uint16_t maxControl[2];
77	extern uint8_t looping;	77	extern uint8_t looping;
78		78
79	extern volatile uint8_t MKFlags;	79	extern volatile uint8_t MKFlags;
80	extern uint16_t isFlying;	80	extern uint16_t isFlying;
81		81
82	void controlMixer_initVariables(void);	82	void controlMixer_initVariables(void);
83	void controlMixer_updateVariables(void);	83	void controlMixer_updateVariables(void);
84		84
85	void controlMixer_setNeutral(void);	85	void controlMixer_setNeutral(void);
86		86
87	/*	87	/*
88	* Update the exported variables. Called at every flight control cycle.	88	* Update the exported variables. Called at every flight control cycle.
89	*/	89	*/
90	void controlMixer_update(void);	90	void controlMixer_update(void);
91		91
92	/*	92	/*
93	* Get the current command. See the COMMAND_.... define's	93	* Get the current command. See the COMMAND_.... define's
94	*/	94	*/
95	uint8_t controlMixer_getCommand(void);	95	uint8_t controlMixer_getCommand(void);
96		96
97	void controlMixer_performCalibrationCommands(uint8_t command);	97	void controlMixer_performCalibrationCommands(uint8_t command);
98		98
99	uint8_t controlMixer_getSignalQuality(void);	99	uint8_t controlMixer_getSignalQuality(void);
100		100
101	/*	101	/*
102	* The controls operate in a [-150 * CONTROL_SCALING, 150 * CONTROL_SCALING] interval	102	* The controls operate in a [-150 * CONTROL_SCALING, 150 * CONTROL_SCALING] interval
103	* Throttle is [0..300 * CONTROL_SCALING].	103	* Throttle is [0..300 * CONTROL_SCALING].
104	* (just about. No precision needed).	104	* (just about. No precision needed).
105	*/	105	*/
106	#define CONTROL_SCALING (1024/256)	106	#define CONTROL_SCALING (1024/256)
-		107	#define MOTOR_SCALING (1024/256)
107		108
108	/*	109	/*
109	* Gets the argument for the current command (a number).	110	* Gets the argument for the current command (a number).
110	*	111	*
111	* Stick position to argument values (for stick control):	112	* Stick position to argument values (for stick control):
112	* 2--3--4	113	* 2--3--4
113	* \| \| +	114	* \| \| +
114	* 1 9 5 ^ 0	115	* 1 9 5 ^ 0
115	* \| \| \|	116	* \| \| \|
116	* 8--7--6	117	* 8--7--6
117	*	118	*
118	* + <--	119	* + <--
119	* 0	120	* 0
120	*	121	*
121	* Not in any of these positions: 0	122	* Not in any of these positions: 0
122	*/	123	*/
123	// void controlMixer_handleCommands(void);	124	// void controlMixer_handleCommands(void);
124	uint8_t controlMixer_getArgument(void);	125	uint8_t controlMixer_getArgument(void);
125	uint8_t controlMixer_isCommandRepeated(void);	126	uint8_t controlMixer_isCommandRepeated(void);
126	// TODO: Abstract away if possible.	127	// TODO: Abstract away if possible.
127	uint8_t controlMixer_testCompassCalState(void);	128	uint8_t controlMixer_testCompassCalState(void);
128		129

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/controlMixer.h - Rev 1821 → 1843