Subversion Repositories FlightCtrl

#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 controlPitch, controlRoll, controlYaw, controlThrottle;
// extern int16_t stickOffsetNick, stickOffsetRoll;
extern uint16_t maxControlPitch, maxControlRoll;
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);

#define STICK_GAIN 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);