2011-09-11 14:13:01 -03:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#include <APM_RC.h>
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#include "RC_Channel_aux.h"
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2011-09-11 18:07:30 -03:00
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extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
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2011-09-11 14:13:01 -03:00
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int16_t
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RC_Channel_aux::closest_limit(int16_t angle)
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{
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// Change scaling to 0.1 degrees in order to avoid overflows in the angle arithmetic
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int16_t min = angle_min / 10;
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int16_t max = angle_max / 10;
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// Make sure the angle lies in the interval [-180 .. 180[ degrees
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while (angle < -1800) angle += 3600;
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while (angle >= 1800) angle -= 3600;
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// Make sure the angle limits lie in the interval [-180 .. 180[ degrees
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while (min < -1800) min += 3600;
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while (min >= 1800) min -= 3600;
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while (max < -1800) max += 3600;
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while (max >= 1800) max -= 3600;
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set_range(min, max);
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// If the angle is outside servo limits, saturate the angle to the closest limit
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// On a circle the closest angular position must be carefully calculated to account for wrap-around
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if ((angle < min) && (angle > max)){
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// angle error if min limit is used
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int16_t err_min = min - angle + (angle<min?0:3600); // add 360 degrees if on the "wrong side"
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// angle error if max limit is used
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int16_t err_max = angle - max + (angle>max?0:3600); // add 360 degrees if on the "wrong side"
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angle = err_min<err_max?min:max;
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}
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servo_out = angle;
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// convert angle to PWM using a linear transformation (ignores trimming because the camera limits might not be symmetric)
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calc_pwm();
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return angle;
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}
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// map a function to a servo channel and output it
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void
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RC_Channel_aux::output_ch(unsigned char ch_nr)
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{
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switch(function)
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{
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case k_none: // disabled
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return;
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break;
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case k_manual: // manual
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radio_out = radio_in;
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break;
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case k_flap: // flaps
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case k_flap_auto: // flaps automated
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case k_aileron: // aileron
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case k_flaperon: // flaperon (flaps and aileron combined, needs two independent servos one for each wing)
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case k_mount_yaw: // mount yaw (pan)
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case k_mount_pitch: // mount pitch (tilt)
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case k_mount_roll: // mount roll
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case k_cam_trigger: // camera trigger
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case k_cam_open: // camera open
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case k_egg_drop: // egg drop
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case k_nr_aux_servo_functions: // dummy, just to avoid a compiler warning
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default:
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break;
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}
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APM_RC.OutputCh(ch_nr, radio_out);
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}
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2011-09-11 18:07:30 -03:00
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// update the g_rc_function array from pointers to rc_x channels
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// This should be done periodically because the user might change the configuration and
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// expects the changes to take effect instantly
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void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Channel_aux* rc_7, RC_Channel_aux* rc_8)
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{
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// positions 0..3 of this array never get used, but this is a stack array, so the entire array gets freed at the end of the function
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RC_Channel_aux::Aux_servo_function_t aux_servo_function[NUM_CHANNELS]; // the function of the aux. servos
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aux_servo_function[CH_5] = (RC_Channel_aux::Aux_servo_function_t)rc_5->function.get();
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aux_servo_function[CH_6] = (RC_Channel_aux::Aux_servo_function_t)rc_6->function.get();
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aux_servo_function[CH_7] = (RC_Channel_aux::Aux_servo_function_t)rc_7->function.get();
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aux_servo_function[CH_8] = (RC_Channel_aux::Aux_servo_function_t)rc_8->function.get();
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// Assume that no auxiliary function is used
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for (int i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions ; i++)
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{
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g_rc_function[i] = NULL;
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}
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// assign the RC channel to each function
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g_rc_function[aux_servo_function[CH_5]] = rc_5;
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g_rc_function[aux_servo_function[CH_6]] = rc_6;
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g_rc_function[aux_servo_function[CH_7]] = rc_7;
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g_rc_function[aux_servo_function[CH_8]] = rc_8;
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}
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