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RC_Channel: added static functions to simplify operations on all channels

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this avoids vehicle code having to loop over all channels for common
operations
This commit is contained in:
Andrew Tridgell 2014-04-03 12:18:56 +11:00
parent 21c205a57e
commit 11f196318e
4 changed files with 44 additions and 3 deletions
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22
libraries/RC_Channel/RC_Channel.cpp
View File

@ -160,6 +160,19 @@ RC_Channel::set_pwm(int16_t pwm)
}
}
/*
call read() and set_pwm() on all channels
*/
void
RC_Channel::set_pwm_all(void)
{
for (uint8_t i=0; i<RC_MAX_CHANNELS; i++) {
if (rc_ch[i] != NULL) {
rc_ch[i]->set_pwm(rc_ch[i]->read());
}
}
}
// read input from APM_RC - create a control_in value, but use a
// zero value for the dead zone. When done this way the control_in
// value can be used as servo_out to give the same output as input
@ -388,6 +401,15 @@ void RC_Channel::output_trim() const
hal.rcout->write(_ch_out, radio_trim);
}
void RC_Channel::output_trim_all()
{
for (uint8_t i=0; i<RC_MAX_CHANNELS; i++) {
if (rc_ch[i] != NULL) {
rc_ch[i]->output_trim();
}
}
}
void
RC_Channel::input()
{

2
libraries/RC_Channel/RC_Channel.h
View File

@ -53,6 +53,7 @@ public:
// read input from APM_RC - create a control_in value
void set_pwm(int16_t pwm);
static void set_pwm_all(void);
void set_pwm_no_deadzone(int16_t pwm);
// pwm is stored here
@ -98,6 +99,7 @@ public:
void output() const;
void output_trim() const;
static void output_trim_all();
uint16_t read() const;
void input();
void enable_out();

17
libraries/RC_Channel/RC_Channel_aux.cpp
View File

@ -24,7 +24,7 @@ uint32_t RC_Channel_aux::_function_mask;
/// map a function to a servo channel and output it
void
RC_Channel_aux::output_ch(unsigned char ch_nr)
RC_Channel_aux::output_ch(void)
{
// take care of two corner cases
switch(function)
@ -35,7 +35,20 @@ RC_Channel_aux::output_ch(unsigned char ch_nr)
radio_out = radio_in;
break;
}
hal.rcout->write(ch_nr, radio_out);
hal.rcout->write(_ch_out, radio_out);
}
/*
call output_ch() on all auxillary channels
*/
void
RC_Channel_aux::output_ch_all(void)
{
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i]) {
_aux_channels[i]->output_ch();
}
}
}
/*

6
libraries/RC_Channel/RC_Channel_aux.h
View File

@ -71,7 +71,11 @@ public:
AP_Int8 function; ///< see Aux_servo_function_t enum
void output_ch(unsigned char ch_nr);
// output one auxillary channel
void output_ch(void);
// output all auxillary channels
static void output_ch_all(void);
// set radio_out for a function channel
static void set_radio(Aux_servo_function_t function, int16_t value);