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SRV_Channel: split SRV_Channels.cpp out to separate cpp file 

this is needed for automatic parameter documentation generation
This commit is contained in:
Andrew Tridgell 2017-02-06 13:15:19 +11:00
parent eb6826f7de
commit 325e24a378
2 changed files with 159 additions and 132 deletions
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132
libraries/SRV_Channel/SRV_Channel.cpp
View File

@ -24,11 +24,6 @@
extern const AP_HAL::HAL& hal;
SRV_Channel *SRV_Channels::channels;
bool SRV_Channels::disabled_passthrough;
bool SRV_Channels::initialised;
Bitmask SRV_Channels::function_mask{SRV_Channel::k_nr_aux_servo_functions};
SRV_Channels::srv_function SRV_Channels::functions[SRV_Channel::k_nr_aux_servo_functions];
SRV_Channel::servo_mask_t SRV_Channel::have_pwm_mask;
const AP_Param::GroupInfo SRV_Channel::var_info[] = {
@ -77,81 +72,6 @@ const AP_Param::GroupInfo SRV_Channel::var_info[] = {
};
const AP_Param::GroupInfo SRV_Channels::var_info[] = {
// @Group: 1_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[0], "1_", 1, SRV_Channels, SRV_Channel),
// @Group: 2_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[1], "2_", 2, SRV_Channels, SRV_Channel),
// @Group: 3_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[2], "3_", 3, SRV_Channels, SRV_Channel),
// @Group: 4_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[3], "4_", 4, SRV_Channels, SRV_Channel),
// @Group: 5_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[4], "5_", 5, SRV_Channels, SRV_Channel),
// @Group: 6_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[5], "6_", 6, SRV_Channels, SRV_Channel),
// @Group: 7_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[6], "7_", 7, SRV_Channels, SRV_Channel),
// @Group: 8_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[7], "8_", 8, SRV_Channels, SRV_Channel),
// @Group: 9_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[8], "9_", 9, SRV_Channels, SRV_Channel),
// @Group: 10_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[9], "10_", 10, SRV_Channels, SRV_Channel),
// @Group: 11_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[10], "11_", 11, SRV_Channels, SRV_Channel),
// @Group: 12_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[11], "12_", 12, SRV_Channels, SRV_Channel),
// @Group: 13_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[12], "13_", 13, SRV_Channels, SRV_Channel),
// @Group: 14_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[13], "14_", 14, SRV_Channels, SRV_Channel),
// @Group: 15_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[14], "15_", 15, SRV_Channels, SRV_Channel),
// @Group: 16_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[15], "16_", 16, SRV_Channels, SRV_Channel),
// @Param: _AUTO_TRIM
// @DisplayName: Automatic servo trim
// @Description: This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights.
// @Values: 0:Disable,1:Enable
// @User: Advanced
AP_GROUPINFO("_AUTO_TRIM", 17, SRV_Channels, auto_trim, 0),
AP_GROUPEND
};
SRV_Channel::SRV_Channel(void)
{
AP_Param::setup_object_defaults(this, var_info);
@ -160,35 +80,6 @@ SRV_Channel::SRV_Channel(void)
}
/*
constructor
*/
SRV_Channels::SRV_Channels(void)
{
channels = obj_channels;
// set defaults from the parameter table
AP_Param::setup_object_defaults(this, var_info);
// setup ch_num on channels
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
channels[i].ch_num = i;
}
}
/*
save adjusted trims
*/
void SRV_Channels::save_trim(void)
{
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
if (trimmed_mask & (1U<<i)) {
channels[i].servo_trim.set_and_save(channels[i].servo_trim.get());
}
}
trimmed_mask = 0;
}
// convert a 0..range_max to a pwm
uint16_t SRV_Channel::pwm_from_range(int16_t scaled_value) const
{
@ -234,20 +125,6 @@ void SRV_Channel::calc_pwm(int16_t output_scaled)
set_output_pwm(pwm);
}
void SRV_Channels::output_trim_all(void)
{
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
channels[i].set_output_pwm(channels[i].servo_trim);
}
}
void SRV_Channels::setup_failsafe_trim_all(void)
{
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
hal.rcout->set_failsafe_pwm(1U<<channels[i].ch_num, channels[i].servo_trim);
}
}
void SRV_Channel::set_output_pwm(uint16_t pwm)
{
output_pwm = pwm;
@ -308,12 +185,3 @@ uint16_t SRV_Channel::get_limit_pwm(LimitValue limit) const
}
}
/*
run calc_pwm for all channels
*/
void SRV_Channels::calc_pwm(void)
{
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
channels[i].calc_pwm(functions[channels[i].function].output_scaled);
}
}

159
libraries/SRV_Channel/SRV_Channels.cpp Normal file
View File

@ -0,0 +1,159 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
SRV_Channel.cpp - object to separate input and output channel
ranges, trim and reversal
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include "SRV_Channel.h"
extern const AP_HAL::HAL& hal;
SRV_Channel *SRV_Channels::channels;
bool SRV_Channels::disabled_passthrough;
bool SRV_Channels::initialised;
Bitmask SRV_Channels::function_mask{SRV_Channel::k_nr_aux_servo_functions};
SRV_Channels::srv_function SRV_Channels::functions[SRV_Channel::k_nr_aux_servo_functions];
const AP_Param::GroupInfo SRV_Channels::var_info[] = {
// @Group: 1_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[0], "1_", 1, SRV_Channels, SRV_Channel),
// @Group: 2_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[1], "2_", 2, SRV_Channels, SRV_Channel),
// @Group: 3_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[2], "3_", 3, SRV_Channels, SRV_Channel),
// @Group: 4_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[3], "4_", 4, SRV_Channels, SRV_Channel),
// @Group: 5_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[4], "5_", 5, SRV_Channels, SRV_Channel),
// @Group: 6_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[5], "6_", 6, SRV_Channels, SRV_Channel),
// @Group: 7_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[6], "7_", 7, SRV_Channels, SRV_Channel),
// @Group: 8_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[7], "8_", 8, SRV_Channels, SRV_Channel),
// @Group: 9_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[8], "9_", 9, SRV_Channels, SRV_Channel),
// @Group: 10_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[9], "10_", 10, SRV_Channels, SRV_Channel),
// @Group: 11_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[10], "11_", 11, SRV_Channels, SRV_Channel),
// @Group: 12_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[11], "12_", 12, SRV_Channels, SRV_Channel),
// @Group: 13_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[12], "13_", 13, SRV_Channels, SRV_Channel),
// @Group: 14_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[13], "14_", 14, SRV_Channels, SRV_Channel),
// @Group: 15_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[14], "15_", 15, SRV_Channels, SRV_Channel),
// @Group: 16_
// @Path: SRV_Channel.cpp
AP_SUBGROUPINFO(obj_channels[15], "16_", 16, SRV_Channels, SRV_Channel),
// @Param: _AUTO_TRIM
// @DisplayName: Automatic servo trim
// @Description: This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights.
// @Values: 0:Disable,1:Enable
// @User: Advanced
AP_GROUPINFO("_AUTO_TRIM", 17, SRV_Channels, auto_trim, 0),
AP_GROUPEND
};
/*
constructor
*/
SRV_Channels::SRV_Channels(void)
{
channels = obj_channels;
// set defaults from the parameter table
AP_Param::setup_object_defaults(this, var_info);
// setup ch_num on channels
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
channels[i].ch_num = i;
}
}
/*
save adjusted trims
*/
void SRV_Channels::save_trim(void)
{
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
if (trimmed_mask & (1U<<i)) {
channels[i].servo_trim.set_and_save(channels[i].servo_trim.get());
}
}
trimmed_mask = 0;
}
void SRV_Channels::output_trim_all(void)
{
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
channels[i].set_output_pwm(channels[i].servo_trim);
}
}
void SRV_Channels::setup_failsafe_trim_all(void)
{
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
hal.rcout->set_failsafe_pwm(1U<<channels[i].ch_num, channels[i].servo_trim);
}
}
/*
run calc_pwm for all channels
*/
void SRV_Channels::calc_pwm(void)
{
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
channels[i].calc_pwm(functions[channels[i].function].output_scaled);
}
}