servos_mix_quadcopter_cross.h

/*******************************************************************************
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/*******************************************************************************
 * \file servos_mix_quadcopter_cross.h
 * 
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *   
 * \brief Links between torque commands and servos PWM command for quadcopters 
 * in cross configuration
 *
 ******************************************************************************/


#ifndef SERVOS_MIX_QUADCOPTER_CROSS_H_
#define SERVOS_MIX_QUADCOPTER_CROSS_H_

#ifdef __cplusplus
    extern "C" {
#endif


#include "control_command.h"
#include "servos.h"


typedef enum
{
    CW  = 1,                    
    CCW = -1                    
} rot_dir_t;


typedef struct
{
    uint8_t     motor_front;        
    uint8_t     motor_left;         
    uint8_t     motor_right;        
    uint8_t     motor_rear;         
    rot_dir_t   motor_front_dir;    
    rot_dir_t   motor_left_dir;     
    rot_dir_t   motor_right_dir;    
    rot_dir_t   motor_rear_dir;     
    float       min_thrust;         
    float       max_thrust;         
} servo_mix_quadcopter_cross_conf_t;


typedef struct 
{   
    uint8_t     motor_front;                    
    uint8_t     motor_left;                     
    uint8_t     motor_right;                    
    uint8_t     motor_rear;                     
    rot_dir_t   motor_front_dir;                
    rot_dir_t   motor_left_dir;                 
    rot_dir_t   motor_right_dir;                
    rot_dir_t   motor_rear_dir;                 
    float       min_thrust;                     
    float       max_thrust;                     
    const torque_command_t* torque_command;     
    const thrust_command_t* thrust_command;     
    servos_t*               servos;             
} servo_mix_quadcotper_cross_t;


void servo_mix_quadcotper_cross_init(   servo_mix_quadcotper_cross_t* mix, 
                                        const servo_mix_quadcopter_cross_conf_t* config, 
                                        const torque_command_t* torque_command, 
                                        const thrust_command_t* thrust_command, 
                                        servos_t* servos);


void servos_mix_quadcopter_cross_update(servo_mix_quadcotper_cross_t* mix);


#ifdef __cplusplus
    }
#endif

#endif