joystick_parsing.h

/*******************************************************************************
 * Copyright (c) 2009-2014, MAV'RIC Development Team
 * All rights reserved.
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 * 
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 * this list of conditions and the following disclaimer.
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 * 2. Redistributions in binary form must reproduce the above copyright notice, 
 * this list of conditions and the following disclaimer in the documentation 
 * and/or other materials provided with the distribution.
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 * may be used to endorse or promote products derived from this software without
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 ******************************************************************************/

/*******************************************************************************
 * \file joystick_parsing.h
 * 
 * \author MAV'RIC Team
 *   
 * \brief This file is to decode the set manual command message from MAVLink
 *
 ******************************************************************************/


#ifndef JOYSTICK_PARSING_H__
#define JOYSTICK_PARSING_H__

#ifdef __cplusplus
    extern "C" {
#endif

#include "stabilisation.h"
#include "state.h"

#define MAX_JOYSTICK_RANGE 0.8

typedef enum
{
    BUTTON_UNPRESSED = 0,
    BUTTON_PRESSED = 1,
} button_pressed_t;

typedef union
{
    uint16_t button_mask;
    // unamed bitfield structure, use to access directly the flags
    struct
    {
        button_pressed_t        button_16   : 1;
        button_pressed_t        button_15   : 1;
        button_pressed_t        button_14   : 1;
        button_pressed_t        button_13   : 1;
        button_pressed_t        button_12   : 1;
        button_pressed_t        button_11   : 1;
        button_pressed_t        button_10   : 1;
        button_pressed_t        button_9    : 1;
        button_pressed_t        button_8    : 1;
        button_pressed_t        button_7    : 1;
        button_pressed_t        button_6    : 1;
        button_pressed_t        button_5    : 1;
        button_pressed_t        button_4    : 1;
        button_pressed_t        button_3    : 1;
        button_pressed_t        button_2    : 1;
        button_pressed_t        button_1    : 1;
    };
    // identical bitfield, but named (useful for initialisation)
    struct
    {
        button_pressed_t        button_16   : 1;
        button_pressed_t        button_15   : 1;
        button_pressed_t        button_14   : 1;
        button_pressed_t        button_13   : 1;
        button_pressed_t        button_12   : 1;
        button_pressed_t        button_11   : 1;
        button_pressed_t        button_10   : 1;
        button_pressed_t        button_9    : 1;
        button_pressed_t        button_8    : 1;
        button_pressed_t        button_7    : 1;
        button_pressed_t        button_6    : 1;
        button_pressed_t        button_5    : 1;
        button_pressed_t        button_4    : 1;
        button_pressed_t        button_3    : 1;
        button_pressed_t        button_2    : 1;
        button_pressed_t        button_1    : 1;
    } button;
} joystick_button_t;


typedef struct 
{
    float x;    // Longitudinal (pitch)
    float y;    // Lateral      (roll)
    float z;    // Certical     (thrust)
    float r;    // Rotation     (yaw)
} joystick_channels_t;


typedef struct
{
    joystick_button_t buttons;              
    joystick_channels_t channels;
    // control_command_t* controls; ///< The pointer to the controls structure
    state_t* state;                 
} joystick_parsing_t;


bool joystick_parsing_init(joystick_parsing_t* joystick_parsing, state_t* state);


void joystick_parsing_get_velocity_vector_from_joystick(joystick_parsing_t* joystick_parsing, control_command_t* controls);


void joystick_parsing_get_attitude_command_from_joystick(joystick_parsing_t* joystick_parsing, control_command_t* controls);


void joystick_parsing_button_mask(joystick_parsing_t* joystick_parsing, uint16_t buttons);


#ifdef __cplusplus
}
#endif

#endif // JOYSTICK_PARSING_H__