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https://github.com/ArduPilot/ardupilot
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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
parent
eb6826f7de
commit
325e24a378
@ -24,11 +24,6 @@
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extern const AP_HAL::HAL& hal;
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SRV_Channel *SRV_Channels::channels;
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bool SRV_Channels::disabled_passthrough;
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bool SRV_Channels::initialised;
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Bitmask SRV_Channels::function_mask{SRV_Channel::k_nr_aux_servo_functions};
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SRV_Channels::srv_function SRV_Channels::functions[SRV_Channel::k_nr_aux_servo_functions];
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SRV_Channel::servo_mask_t SRV_Channel::have_pwm_mask;
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const AP_Param::GroupInfo SRV_Channel::var_info[] = {
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@ -77,81 +72,6 @@ const AP_Param::GroupInfo SRV_Channel::var_info[] = {
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};
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const AP_Param::GroupInfo SRV_Channels::var_info[] = {
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// @Group: 1_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[0], "1_", 1, SRV_Channels, SRV_Channel),
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// @Group: 2_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[1], "2_", 2, SRV_Channels, SRV_Channel),
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// @Group: 3_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[2], "3_", 3, SRV_Channels, SRV_Channel),
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// @Group: 4_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[3], "4_", 4, SRV_Channels, SRV_Channel),
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// @Group: 5_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[4], "5_", 5, SRV_Channels, SRV_Channel),
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// @Group: 6_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[5], "6_", 6, SRV_Channels, SRV_Channel),
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// @Group: 7_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[6], "7_", 7, SRV_Channels, SRV_Channel),
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// @Group: 8_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[7], "8_", 8, SRV_Channels, SRV_Channel),
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// @Group: 9_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[8], "9_", 9, SRV_Channels, SRV_Channel),
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// @Group: 10_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[9], "10_", 10, SRV_Channels, SRV_Channel),
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// @Group: 11_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[10], "11_", 11, SRV_Channels, SRV_Channel),
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// @Group: 12_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[11], "12_", 12, SRV_Channels, SRV_Channel),
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// @Group: 13_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[12], "13_", 13, SRV_Channels, SRV_Channel),
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// @Group: 14_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[13], "14_", 14, SRV_Channels, SRV_Channel),
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// @Group: 15_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[14], "15_", 15, SRV_Channels, SRV_Channel),
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// @Group: 16_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[15], "16_", 16, SRV_Channels, SRV_Channel),
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// @Param: _AUTO_TRIM
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// @DisplayName: Automatic servo trim
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// @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.
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// @Values: 0:Disable,1:Enable
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// @User: Advanced
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AP_GROUPINFO("_AUTO_TRIM", 17, SRV_Channels, auto_trim, 0),
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AP_GROUPEND
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};
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SRV_Channel::SRV_Channel(void)
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{
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AP_Param::setup_object_defaults(this, var_info);
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@ -160,35 +80,6 @@ SRV_Channel::SRV_Channel(void)
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}
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/*
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constructor
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*/
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SRV_Channels::SRV_Channels(void)
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{
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channels = obj_channels;
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// set defaults from the parameter table
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AP_Param::setup_object_defaults(this, var_info);
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// setup ch_num on channels
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for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
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channels[i].ch_num = i;
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}
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}
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/*
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save adjusted trims
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*/
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void SRV_Channels::save_trim(void)
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{
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for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
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if (trimmed_mask & (1U<<i)) {
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channels[i].servo_trim.set_and_save(channels[i].servo_trim.get());
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}
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}
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trimmed_mask = 0;
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}
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// convert a 0..range_max to a pwm
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uint16_t SRV_Channel::pwm_from_range(int16_t scaled_value) const
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{
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@ -234,20 +125,6 @@ void SRV_Channel::calc_pwm(int16_t output_scaled)
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set_output_pwm(pwm);
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}
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void SRV_Channels::output_trim_all(void)
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{
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for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
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channels[i].set_output_pwm(channels[i].servo_trim);
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}
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}
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void SRV_Channels::setup_failsafe_trim_all(void)
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{
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for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
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hal.rcout->set_failsafe_pwm(1U<<channels[i].ch_num, channels[i].servo_trim);
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}
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}
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void SRV_Channel::set_output_pwm(uint16_t pwm)
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{
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output_pwm = pwm;
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@ -308,12 +185,3 @@ uint16_t SRV_Channel::get_limit_pwm(LimitValue limit) const
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}
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}
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/*
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run calc_pwm for all channels
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*/
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void SRV_Channels::calc_pwm(void)
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{
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for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
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channels[i].calc_pwm(functions[channels[i].function].output_scaled);
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}
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}
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159
libraries/SRV_Channel/SRV_Channels.cpp
Normal file
159
libraries/SRV_Channel/SRV_Channels.cpp
Normal file
@ -0,0 +1,159 @@
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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SRV_Channel.cpp - object to separate input and output channel
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ranges, trim and reversal
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include "SRV_Channel.h"
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extern const AP_HAL::HAL& hal;
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SRV_Channel *SRV_Channels::channels;
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bool SRV_Channels::disabled_passthrough;
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bool SRV_Channels::initialised;
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Bitmask SRV_Channels::function_mask{SRV_Channel::k_nr_aux_servo_functions};
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SRV_Channels::srv_function SRV_Channels::functions[SRV_Channel::k_nr_aux_servo_functions];
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const AP_Param::GroupInfo SRV_Channels::var_info[] = {
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// @Group: 1_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[0], "1_", 1, SRV_Channels, SRV_Channel),
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// @Group: 2_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[1], "2_", 2, SRV_Channels, SRV_Channel),
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// @Group: 3_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[2], "3_", 3, SRV_Channels, SRV_Channel),
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// @Group: 4_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[3], "4_", 4, SRV_Channels, SRV_Channel),
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// @Group: 5_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[4], "5_", 5, SRV_Channels, SRV_Channel),
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// @Group: 6_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[5], "6_", 6, SRV_Channels, SRV_Channel),
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// @Group: 7_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[6], "7_", 7, SRV_Channels, SRV_Channel),
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// @Group: 8_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[7], "8_", 8, SRV_Channels, SRV_Channel),
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// @Group: 9_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[8], "9_", 9, SRV_Channels, SRV_Channel),
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// @Group: 10_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[9], "10_", 10, SRV_Channels, SRV_Channel),
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// @Group: 11_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[10], "11_", 11, SRV_Channels, SRV_Channel),
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// @Group: 12_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[11], "12_", 12, SRV_Channels, SRV_Channel),
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// @Group: 13_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[12], "13_", 13, SRV_Channels, SRV_Channel),
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// @Group: 14_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[13], "14_", 14, SRV_Channels, SRV_Channel),
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// @Group: 15_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[14], "15_", 15, SRV_Channels, SRV_Channel),
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// @Group: 16_
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// @Path: SRV_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[15], "16_", 16, SRV_Channels, SRV_Channel),
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// @Param: _AUTO_TRIM
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// @DisplayName: Automatic servo trim
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// @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.
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// @Values: 0:Disable,1:Enable
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// @User: Advanced
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AP_GROUPINFO("_AUTO_TRIM", 17, SRV_Channels, auto_trim, 0),
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AP_GROUPEND
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};
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/*
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constructor
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*/
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SRV_Channels::SRV_Channels(void)
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{
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channels = obj_channels;
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// set defaults from the parameter table
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AP_Param::setup_object_defaults(this, var_info);
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// setup ch_num on channels
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for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
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channels[i].ch_num = i;
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}
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}
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/*
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save adjusted trims
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*/
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void SRV_Channels::save_trim(void)
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{
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for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
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if (trimmed_mask & (1U<<i)) {
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channels[i].servo_trim.set_and_save(channels[i].servo_trim.get());
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}
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}
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trimmed_mask = 0;
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}
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void SRV_Channels::output_trim_all(void)
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{
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for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
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channels[i].set_output_pwm(channels[i].servo_trim);
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}
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}
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void SRV_Channels::setup_failsafe_trim_all(void)
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{
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for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
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hal.rcout->set_failsafe_pwm(1U<<channels[i].ch_num, channels[i].servo_trim);
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}
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}
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/*
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run calc_pwm for all channels
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*/
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void SRV_Channels::calc_pwm(void)
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{
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for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
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channels[i].calc_pwm(functions[channels[i].function].output_scaled);
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}
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}
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