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controllers.h 2.16 KiB
/*
* controllers.h
*
* Created on: Oct 11, 2014
* Author: ucart
*/
#ifndef _CONTROLLERS_H
#define _CONTROLLERS_H
#include "util.h"
#include "quadposition.h"
/**
*
* USING PLUS CONFIGURATION
* 0 R CW E
* 1 + 2 W R CCW CCW N S
* 3 W CW W
*
*
* USING X CONFIGURATION
*
*
* 0 2 R R CW CCW
* x
* 1 3 W W CCW CW
*/
#define X_CONFIG
/**
* Pin hook ups
*
* PWM Recorder port mapping
* 3.3 V || GND || PWM_REC_3 || PWM_REC_2 || PWM_REC_1 || PWM_REC_0
*
* Rx PINS
* GEAR -> JD7
* THROTTLE -> JE1
* AILE -> JE2
* ELEV -> JE3
* RUDD -> JE4
* GND -> JE5
*
* JE PMOD TOP PINS
* Unused || GND || YAW || PITCH || ROLL || THROTTLE
*
* BOTTOM PINS
*
* Unused || GND || PWM3 || PWM2 || PWM1 || PWM0
*/
/**
* Gear settings
* 1 - F mode = 171135
* 0 - Gear = 118363
* Kill if gear is around 118363
*/
/*
* Aero channel declaration
*/
#define THROTTLE 0
#define ROLL 1
#define PITCH 2
#define YAW 3
#define GEAR 4
#define FLAP 5
/**
* Signals from the Rx mins, maxes and ranges
*/
#define THROTTLE_MAX 191900
#define THROTTLE_MIN 110200
#define THROTTLE_RANGE THROTTLE_MAX - THROTTLE_MIN
#define ROLL_MAX 170200
#define ROLL_MIN 129400
#define ROLL_CENTER 149800
#define ROLL_RANGE ROLL_MAX - ROLL_MIN
#define PITCH_MAX 169900
#define PITCH_MIN 129500
#define PITCH_CENTER 149700
#define PITCH_RANGE PITCH_MAX - PITCH_MIN
#define YAW_MAX 169400
#define YAW_MIN 129300
#define YAW_CENTER 149800
#define YAW_RANGE YAW_MAX - YAW_MIN
#define GEAR_1 170800
#define GEAR_0 118300
#define FLAP_1 192000
#define FLAP_0 107600
#define GEAR_KILL GEAR_0 // The kill point for the program
#define BASE 150000
#define min 100000
#define max 200000
#define MOTOR_MIN 100000
#define MOTOR_MAX 200000
void filter_PWMs(int* mixer);
void PWMS_to_Aero(int* PWMs, int* aero); // <= javey: unused
void Aero_to_PWMS(int* PWMs, int* aero);
#endif /* _CONTROLLERS_H */