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); |
- |