remote.h

/*******************************************************************************
 * Copyright (c) 2009-2014, MAV'RIC Development Team
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without 
 * modification, are permitted provided that the following conditions are met:
 * 
 * 1. Redistributions of source code must retain the above copyright notice, 
 * this list of conditions and the following disclaimer.
 * 
 * 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.
 * 
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
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 ******************************************************************************/

/*******************************************************************************
 * \file remote.h
 * 
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *   
 * \brief This file is the driver for the remote control
 *
 ******************************************************************************/


#ifndef REMOTE_H__
#define REMOTE_H__

#ifdef __cplusplus
    extern "C" {
#endif

#include "satellite.h"
#include "stabilisation.h"
#include "mav_modes.h"

#define REMOTE_CHANNEL_COUNT 8

typedef enum
{
    SIGNAL_GOOD = 100,
    SIGNAL_BAD  = 50,
    SIGNAL_LOST = 0,
} signal_quality_t;

typedef enum
{
    NORMAL      = 1,
    INVERTED    = -1,
} channel_inv_t;

typedef enum
{
    CHANNEL_THROTTLE = 0,
    CHANNEL_ROLL     = 1,
    CHANNEL_PITCH    = 2,
    CHANNEL_YAW      = 3,
    CHANNEL_GEAR     = 4,
    CHANNEL_FLAPS    = 5,
    CHANNEL_AUX1     = 6,
    CHANNEL_AUX2     = 7,
} remote_channel_t;

typedef enum
{
    REMOTE_TURNIGY  = 0,
    REMOTE_SPEKTRUM = 1,
} remote_type_t;

typedef struct
{
    remote_channel_t    safety_channel;                     
    mav_mode_t          safety_mode;                        
    remote_channel_t    mode_switch_channel;                
    mav_mode_t          mode_switch_up;                     
    mav_mode_t          mode_switch_middle;                 
    mav_mode_t          mode_switch_down;                   
    bool                use_custom_switch;                  
    remote_channel_t    custom_switch_channel;              
    bool                use_test_switch;                    
    remote_channel_t    test_switch_channel;                
    bool                use_disable_remote_mode_switch;     
    remote_channel_t    disable_remote_mode_channel;        
} remote_mode_conf_t;

typedef struct
{
    remote_channel_t    safety_channel;                     
    mav_mode_t          safety_mode;                        
    remote_channel_t    mode_switch_channel;                
    mav_mode_t          mode_switch_up;                     
    mav_mode_t          mode_switch_middle;                 
    mav_mode_t          mode_switch_down;                   
    bool                use_custom_switch;                  
    remote_channel_t    custom_switch_channel;              
    bool                use_test_switch;                    
    remote_channel_t    test_switch_channel;                
    bool                use_disable_remote_mode_switch;     
    remote_channel_t    disable_remote_mode_channel;        
    mav_mode_t          current_desired_mode;               
} remote_mode_t;

typedef struct
{
    remote_type_t type;                                     
    remote_mode_conf_t mode_config;                         
} remote_conf_t;

typedef struct
{
    satellite_t sat;                                        
    float channels[REMOTE_CHANNEL_COUNT];                   
    channel_inv_t channel_inv[REMOTE_CHANNEL_COUNT];        
    float trims[REMOTE_CHANNEL_COUNT];                      
    float scale;                                            
    int16_t deadzone;                                       
    signal_quality_t signal_quality;                        
    remote_type_t type;                                     
    remote_mode_t mode;                                     
} remote_t;

bool remote_init(remote_t* remote, const remote_conf_t* config);

void remote_update(remote_t* remote);


signal_quality_t remote_check(remote_t* remote);

void remote_calibrate(remote_t* remote, remote_channel_t channel);

float remote_get_throttle(const remote_t* remote);

float remote_get_roll(const remote_t* remote);

float remote_get_pitch(const remote_t* remote);

float remote_get_yaw(const remote_t* remote);

void remote_mode_init(remote_mode_t* remote_mode, const remote_mode_conf_t* config);

void remote_mode_update(remote_t* remote);

mav_mode_t remote_mode_get(const remote_t* remote);

void remote_get_command_from_remote(remote_t* remote, control_command_t * controls);

void remote_get_velocity_vector_from_remote(remote_t* remote, control_command_t* controls);


#ifdef __cplusplus
    }
#endif

#endif