mirror of https://github.com/ArduPilot/ardupilot
241 lines
5.3 KiB
C++
241 lines
5.3 KiB
C++
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/*
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AP_RC_Channel.cpp - Radio library for Arduino
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Code by Jason Short. DIYDrones.com
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This library is free software; you can redistribute it and / or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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*/
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#include <math.h>
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#include <avr/eeprom.h>
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#include "WProgram.h"
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#include "AP_RC_Channel.h"
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#define ANGLE 0
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#define RANGE 1
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// setup the control preferences
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void
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AP_RC_Channel::set_range(int low, int high)
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{
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_type = RANGE;
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_high = high;
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_low = low;
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}
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void
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AP_RC_Channel::set_angle(int angle)
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{
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_type = ANGLE;
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_high = angle;
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}
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void
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AP_RC_Channel::set_reverse(bool reverse)
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{
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if (reverse) _reverse = -1;
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else _reverse = 1;
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}
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bool
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AP_RC_Channel::get_reverse(void)
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{
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if (_reverse==-1) return 1;
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else return 0;
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}
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void
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AP_RC_Channel::set_filter(bool filter)
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{
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_filter = filter;
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}
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// call after first read
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void
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AP_RC_Channel::trim()
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{
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radio_trim = radio_in;
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}
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// read input from APM_RC - create a control_in value
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void
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AP_RC_Channel::set_pwm(int pwm)
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{
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//Serial.print(pwm,DEC);
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if(_filter){
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if(radio_in == 0)
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radio_in = pwm;
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else
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radio_in = ((pwm + radio_in) >> 1); // Small filtering
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}else{
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radio_in = pwm;
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}
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if(_type == RANGE){
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//Serial.print("range ");
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control_in = pwm_to_range();
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control_in = (control_in < dead_zone) ? 0 : control_in;
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if (fabs(scale_output) > 0){
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control_in *= scale_output;
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}
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}else{
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control_in = pwm_to_angle();
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control_in = (abs(control_in) < dead_zone) ? 0 : control_in;
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if (fabs(scale_output) > 0){
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control_in *= scale_output;
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}
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}
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}
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int
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AP_RC_Channel::control_mix(float value)
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{
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return (1 - abs(control_in / _high)) * value + control_in;
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}
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// are we below a threshold?
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bool
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AP_RC_Channel::get_failsafe(void)
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{
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return (radio_in < (radio_min - 50));
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}
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// returns just the PWM without the offset from radio_min
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void
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AP_RC_Channel::calc_pwm(void)
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{
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if(_type == RANGE){
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pwm_out = range_to_pwm();
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radio_out = pwm_out + radio_min;
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}else{
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pwm_out = angle_to_pwm();
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radio_out = pwm_out + radio_trim;
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}
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radio_out = constrain(radio_out, radio_min, radio_max);
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}
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// ------------------------------------------
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void
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AP_RC_Channel::load_eeprom(void)
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{
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radio_min = eeprom_read_word((uint16_t *) _address);
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radio_max = eeprom_read_word((uint16_t *) (_address + 2));
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load_trim();
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}
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void
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AP_RC_Channel::save_eeprom(void)
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{
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eeprom_write_word((uint16_t *) _address, radio_min);
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eeprom_write_word((uint16_t *) (_address + 2), radio_max);
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save_trim();
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}
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// ------------------------------------------
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void
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AP_RC_Channel::save_trim(void)
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{
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eeprom_write_word((uint16_t *) (_address + 4), radio_trim);
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//_ee.write_int((_address + 4), radio_trim);
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}
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void
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AP_RC_Channel::load_trim(void)
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{
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radio_trim = eeprom_read_word((uint16_t *) (_address + 4));
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//_ee.write_int((_address + 4), radio_trim);
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}
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// ------------------------------------------
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void
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AP_RC_Channel::zero_min_max()
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{
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radio_min = radio_max = radio_in;
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}
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void
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AP_RC_Channel::update_min_max()
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{
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radio_min = min(radio_min, radio_in);
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radio_max = max(radio_max, radio_in);
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}
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// ------------------------------------------
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int16_t
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AP_RC_Channel::pwm_to_angle()
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{
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if(radio_in < radio_trim)
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return _reverse * ((long)_high * (long)(radio_in - radio_trim)) / (long)(radio_trim - radio_min);
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else
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return _reverse * ((long)_high * (long)(radio_in - radio_trim)) / (long)(radio_max - radio_trim);
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//return _reverse * _high * ((float)(radio_in - radio_trim) / (float)(radio_max - radio_trim));
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//return _reverse * _high * ((float)(radio_in - radio_trim) / (float)(radio_trim - radio_min));
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}
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int16_t
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AP_RC_Channel::angle_to_pwm()
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{
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if(_reverse == -1)
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{
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if(servo_out < 0)
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return ( -1 * ((long)servo_out * (long)(radio_max - radio_trim)) / (long)_high);
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else
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return ( -1 * ((long)servo_out * (long)(radio_trim - radio_min)) / (long)_high);
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} else {
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if(servo_out > 0)
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return ((long)servo_out * (long)(radio_max - radio_trim)) / (long)_high;
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else
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return ((long)servo_out * (long)(radio_trim - radio_min)) / (long)_high;
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}
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//return (((float)servo_out / (float)_high) * (float)(radio_max - radio_trim));
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//return (((float)servo_out / (float)_high) * (float)(radio_trim - radio_min));
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}
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// ------------------------------------------
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int16_t
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AP_RC_Channel::pwm_to_range()
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{
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//return (_low + ((_high - _low) * ((float)(radio_in - radio_min) / (float)(radio_max - radio_min))));
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return (_low + ((long)(_high - _low) * (long)(radio_in - radio_min)) / (long)(radio_max - radio_min));
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}
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int16_t
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AP_RC_Channel::range_to_pwm()
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{
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//return (((float)(servo_out - _low) / (float)(_high - _low)) * (float)(radio_max - radio_min));
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return ((long)(servo_out - _low) * (long)(radio_max - radio_min)) / (long)(_high - _low);
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}
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// ------------------------------------------
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float
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AP_RC_Channel::norm_input()
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{
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if(radio_in < radio_trim)
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return _reverse * (float)(radio_in - radio_trim) / (float)(radio_trim - radio_min);
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else
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return _reverse * (float)(radio_in - radio_trim) / (float)(radio_max - radio_trim);
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}
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float
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AP_RC_Channel::norm_output()
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{
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if(radio_out < radio_trim)
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return (float)(radio_out - radio_trim) / (float)(radio_trim - radio_min);
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else
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return (float)(radio_out - radio_trim) / (float)(radio_max - radio_trim);
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}
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