Subversion Repositories FlightCtrl

Rev

Rev 1645 | Rev 1821 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 1645 Rev 1775
Line 1... Line 1...
1 
#include <inttypes.h>
 1 
#include <inttypes.h>
2 
/*
 2 
/*
3 
 * The throttle range is normalized to [0, THROTTLE_RANGE[
 - 
 
4 
 * This is the normal range. Exceeding it a little is allowed.
 - 
 
5 
 */
 - 
 
6 
#define THROTTLE_RANGE 256
 - 
 
7 
 
 - 
 
8 
/*
 - 
 
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.
 - 
 
11 
 */
 - 
 
12 
#define STICK_RANGE 256
 - 
 
13 
 
 - 
 
14 
/*
 - 
 
15 
 * 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
16 
 * (serial over Bluetooth, Wi232, XBee, whatever) or the NaviCtrl.
 4 
 * (serial over Bluetooth, Wi232, XBee, whatever) or the NaviCtrl.
17 
 * 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).
18 
 * 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
19 
 * each other, the proirities 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,
20 
 * and all in one place.
 8 
 * and all in one place.
21 
 */
 9 
 */
Line 22... Line 10...
22 
 
 10 
 
23 
/*
 11 
/*
Line 33... Line 21...
33 
#define SIGNAL_BAD  2
 21 
#define SIGNAL_BAD  2
34 
#define SIGNAL_OK   3
 22 
#define SIGNAL_OK   3
35 
#define SIGNAL_GOOD 4
 23 
#define SIGNAL_GOOD 4
Line 36... Line 24...
36 
 
 24 
 
37 
/*
 - 
 
38 
 * An enumeration over the  start motors, stop motors, calibrate gyros
 - 
 
39 
 * and calibreate acc. meters commands.
 - 
 
40 
 */
 - 
 
41 
#define COMMAND_NONE    0
 - 
 
42 
#define COMMAND_START   6
 - 
 
43 
#define COMMAND_STOP    8
 - 
 
44 
#define COMMAND_GYROCAL 2
 - 
 
45 
#define COMMAND_ACCCAL  4
 - 
 
46 
 
 - 
 
47 
/*
 25 
/*
48 
 * The PRTY arrays
 26 
 * The PRTY arrays
49 
 */
 27 
 */
50 
#define CONTROL_PITCH 0
 28 
#define CONTROL_PITCH    0
51 
#define CONTROL_ROLL 1
 29 
#define CONTROL_ROLL     1
52 
#define CONTROL_THROTTLE 2
 30 
#define CONTROL_THROTTLE 2
Line 53... Line 31...
53 
#define CONTROL_YAW 3
 31 
#define CONTROL_YAW      3
54 
 
 32 
 
55 
/*
 33 
/*
56 
 * Looping flags.
 34 
 * Looping flags.
Line 91... Line 69...
91 
} t_control;
 69 
} t_control;
Line 92... Line 70...
92 
 
 70 
 
93 
/*
 71 
/*
94 
 * Our output.
 72 
 * Our output.
95 
 */
 73 
 */
96 
extern int16_t control[2], controlYaw, controlThrottle;
 74 
extern int16_t control[2];
97 
// extern int16_t stickOffsetNick, stickOffsetRoll;
 75 
extern int16_t controlYaw, controlThrottle;
98 
extern uint16_t maxControl[2];
 76 
extern uint16_t maxControl[2];
Line -... Line 77...
- 
 
 77 
extern uint8_t looping;
- 
 
 78 
 
- 
 
 79 
extern volatile uint8_t MKFlags;
99 
extern uint8_t looping;
 80 
extern uint16_t isFlying;
100 
 
 81 
 
Line 101... Line 82...
101 
void controlMixer_initVariables(void);
 82 
void controlMixer_initVariables(void);
Line 102... Line 83...
102 
void controlMixer_updateVariables(void);
 83 
void controlMixer_updateVariables(void);
103 
 
 84 
 
104 
void controlMixer_setNeutral(uint8_t calibrate);
 85 
void controlMixer_setNeutral(void);
105 
 
 86 
 
Line 116... Line 97...
116 
void controlMixer_performCalibrationCommands(uint8_t command);
 97 
void controlMixer_performCalibrationCommands(uint8_t command);
Line 117... Line 98...
117 
 
 98 
 
Line 118... Line 99...
118 
uint8_t controlMixer_getSignalQuality(void);
 99 
uint8_t controlMixer_getSignalQuality(void);
119 
 
 100 
 
120 
/*
 101 
/*
121 
 * The motor throttles can be set in an [0..256[ interval.
 102 
 * The controls operate in a [-150 * CONTROL_SCALING, 150 * CONTROL_SCALING] interval
122 
 * The calculation of motor throttle values from sensor and control information (basically
 103 
 * Throttle is [0..300 * CONTROL_SCALING].
123 
 * flight.c) take place in an [0..256*CONTROL_SCALING[ interval for better precision.
 104 
 * (just about. No precision needed).
Line 124... Line 105...
124 
 */
 105 
 */
125 
#define CONTROL_SCALING 4
 106 
#define CONTROL_SCALING (1024/256)
126 
 
 107 
 
127 
/*
 108 
/*
Line 137... Line 118...
137 
 * + <--
 118 
 * + <--
138 
 *    0
 119 
 *    0
139 
 *
 120 
 *
140 
 * Not in any of these positions: 0
 121 
 * Not in any of these positions: 0
141 
 */
 122 
 */
- 
 
 123 
// void controlMixer_handleCommands(void);
142 
uint8_t controlMixer_getArgument(void);
 124 
uint8_t controlMixer_getArgument(void);
143 
uint8_t controlMixer_isCommandRepeated(void);
 125 
uint8_t controlMixer_isCommandRepeated(void);
144 
// TODO: Abstract away if possible.
 126 
// TODO: Abstract away if possible.
145 
// void controlMixer_setCompassCalState(void);
 127 
uint8_t controlMixer_testCompassCalState(void);
146 
// void controlMixer_updateCompass(void);
 -