ardupilot/libraries/RC_Channel/RC_Channel.cpp

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/*
RC_Channel.cpp - Radio library for Arduino
Code by Jason Short. DIYDrones.com
This library is free software; you can redistribute it and / or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#include <math.h>
#include <avr/eeprom.h>
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include "RC_Channel.h"
#define RC_CHANNEL_ANGLE 0
#define RC_CHANNEL_RANGE 1
#define RC_CHANNEL_ANGLE_RAW 2
APM_RC_Class *RC_Channel::_apm_rc;
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const AP_Param::GroupInfo RC_Channel::var_info[] PROGMEM = {
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AP_GROUPINFO("MIN", 0, RC_Channel, radio_min),
AP_GROUPINFO("TRIM", 1, RC_Channel, radio_trim),
AP_GROUPINFO("MAX", 2, RC_Channel, radio_max),
AP_GROUPINFO("REV", 3, RC_Channel, _reverse),
AP_GROUPINFO("DZ", 4, RC_Channel, _dead_zone),
AP_GROUPEND
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};
// setup the control preferences
void
RC_Channel::set_range(int low, int high)
{
_type = RC_CHANNEL_RANGE;
_high = high;
_low = low;
}
void
RC_Channel::set_angle(int angle)
{
_type = RC_CHANNEL_ANGLE;
_high = angle;
}
void
RC_Channel::set_dead_zone(int dzone)
{
_dead_zone.set_and_save(abs(dzone >>1));
}
void
RC_Channel::set_reverse(bool reverse)
{
if (reverse) _reverse = -1;
else _reverse = 1;
}
bool
RC_Channel::get_reverse(void)
{
if (_reverse==-1) return 1;
else return 0;
}
void
RC_Channel::set_filter(bool filter)
{
_filter = filter;
}
void
RC_Channel::set_type(uint8_t t)
{
_type = t;
//Serial.print("type1: ");
//Serial.println(t,DEC);
}
// call after first read
void
RC_Channel::trim()
{
radio_trim = radio_in;
}
// read input from APM_RC - create a control_in value
void
RC_Channel::set_pwm(int pwm)
{
//Serial.print(pwm,DEC);
if(_filter){
if(radio_in == 0)
radio_in = pwm;
else
radio_in = (pwm + radio_in) >> 1; // Small filtering
}else{
radio_in = pwm;
}
if(_type == RC_CHANNEL_RANGE){
//Serial.print("range ");
control_in = pwm_to_range();
control_in = (control_in < _dead_zone) ? 0 : control_in;
if (fabs(scale_output) != 1){
control_in *= scale_output;
}
}else{
//RC_CHANNEL_ANGLE, RC_CHANNEL_ANGLE_RAW
control_in = pwm_to_angle();
if (fabs(scale_output) != 1){
control_in *= scale_output;
}
/*
// coming soon ??
if(expo) {
long temp = control_in;
temp = (temp * temp) / (long)_high;
control_in = (int)((control_in >= 0) ? temp : -temp);
}*/
}
}
int
RC_Channel::control_mix(float value)
{
return (1 - abs(control_in / _high)) * value + control_in;
}
// are we below a threshold?
bool
RC_Channel::get_failsafe(void)
{
return (radio_in < (radio_min - 50));
}
// returns just the PWM without the offset from radio_min
void
RC_Channel::calc_pwm(void)
{
if(_type == RC_CHANNEL_RANGE){
pwm_out = range_to_pwm();
radio_out = (_reverse >= 0) ? (radio_min + pwm_out) : (radio_max - pwm_out);
}else if(_type == RC_CHANNEL_ANGLE_RAW){
pwm_out = (float)servo_out * .1;
radio_out = (pwm_out * _reverse) + radio_trim;
}else{ // RC_CHANNEL_ANGLE
pwm_out = angle_to_pwm();
radio_out = pwm_out + radio_trim;
}
radio_out = constrain(radio_out, radio_min.get(), radio_max.get());
}
// ------------------------------------------
void
RC_Channel::load_eeprom(void)
{
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radio_min.load();
radio_trim.load();
radio_max.load();
_reverse.load();
}
void
RC_Channel::save_eeprom(void)
{
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radio_min.save();
radio_trim.save();
radio_max.save();
_reverse.save();
}
// ------------------------------------------
void
RC_Channel::zero_min_max()
{
radio_min = radio_max = radio_in;
}
void
RC_Channel::update_min_max()
{
radio_min = min(radio_min.get(), radio_in);
radio_max = max(radio_max.get(), radio_in);
}
// ------------------------------------------
int16_t
RC_Channel::pwm_to_angle()
{
int radio_trim_high = radio_trim + _dead_zone;
int radio_trim_low = radio_trim - _dead_zone;
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// prevent div by 0
if ((radio_trim_low - radio_min) == 0 || (radio_max - radio_trim_high) == 0)
return 0;
if(radio_in > radio_trim_high){
return _reverse * ((long)_high * (long)(radio_in - radio_trim_high)) / (long)(radio_max - radio_trim_high);
}else if(radio_in < radio_trim_low){
return _reverse * ((long)_high * (long)(radio_in - radio_trim_low)) / (long)(radio_trim_low - radio_min);
}else
return 0;
}
int16_t
RC_Channel::angle_to_pwm()
{
if((servo_out * _reverse) > 0)
return _reverse * ((long)servo_out * (long)(radio_max - radio_trim)) / (long)_high;
else
return _reverse * ((long)servo_out * (long)(radio_trim - radio_min)) / (long)_high;
}
// ------------------------------------------
int16_t
RC_Channel::pwm_to_range()
{
int radio_trim_low = radio_min + _dead_zone;
if(radio_in > radio_trim_low)
return (_low + ((long)(_high - _low) * (long)(radio_in - radio_trim_low)) / (long)(radio_max - radio_trim_low));
else
return 0;
}
int16_t
RC_Channel::range_to_pwm()
{
return ((long)(servo_out - _low) * (long)(radio_max - radio_min)) / (long)(_high - _low);
}
// ------------------------------------------
float
RC_Channel::norm_input()
{
if(radio_in < radio_trim)
return _reverse * (float)(radio_in - radio_trim) / (float)(radio_trim - radio_min);
else
return _reverse * (float)(radio_in - radio_trim) / (float)(radio_max - radio_trim);
}
float
RC_Channel::norm_output()
{
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int16_t mid = (radio_max + radio_min) / 2;
if(radio_out < mid)
return (float)(radio_out - mid) / (float)(mid - radio_min);
else
return (float)(radio_out - mid) / (float)(radio_max - mid);
}
void RC_Channel::set_apm_rc( APM_RC_Class * apm_rc )
{
_apm_rc = apm_rc;
}