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Moved update_aux_servo_function() to the RC_Channel_aux.* files. 

This simplifies code sharing between ArduCopter and Arduplane at the expense of 48bytes.
Moved CH_x defines out of the defines.h file and into the library where they belong
This commit is contained in:
Amilcar Lucas 2011-09-11 23:07:30 +02:00
parent 966f9f962a
commit 5a27954e26
6 changed files with 46 additions and 44 deletions
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2
ArduPlane/ArduPlane.pde
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@ -735,7 +735,7 @@ static void slow_loop()
// ---------------------------------- // ----------------------------------
update_servo_switches(); update_servo_switches();
update_aux_servo_function(); update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
#if CAMERA == ENABLED #if CAMERA == ENABLED
camera_mount.update_mount_type(); camera_mount.update_mount_type();

13
ArduPlane/defines.h
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@ -41,19 +41,6 @@
#define GPS_PROTOCOL_MTK16 6 #define GPS_PROTOCOL_MTK16 6
#define GPS_PROTOCOL_AUTO 7 #define GPS_PROTOCOL_AUTO 7
// Radio channels
// Note channels are from 0!
//
// XXX these should be CH_n defines from RC.h at some point.
#define CH_1 0
#define CH_2 1
#define CH_3 2
#define CH_4 3
#define CH_5 4
#define CH_6 5
#define CH_7 6
#define CH_8 7
#define CH_ROLL CH_1 #define CH_ROLL CH_1
#define CH_PITCH CH_2 #define CH_PITCH CH_2
#define CH_THROTTLE CH_3 #define CH_THROTTLE CH_3

33
ArduPlane/radio.pde
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@ -195,7 +195,7 @@ static void trim_control_surfaces()
g.channel_roll.radio_trim = g.channel_roll.radio_in; g.channel_roll.radio_trim = g.channel_roll.radio_in;
g.channel_pitch.radio_trim = g.channel_pitch.radio_in; g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
g.channel_rudder.radio_trim = g.channel_rudder.radio_in; g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
if (g_rc_function[RC_Channel_aux::k_aileron] != NULL) g_rc_function[RC_Channel_aux::k_aileron]->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
}else{ }else{
elevon1_trim = ch1_temp; elevon1_trim = ch1_temp;
@ -212,7 +212,7 @@ static void trim_control_surfaces()
g.channel_pitch.save_eeprom(); g.channel_pitch.save_eeprom();
g.channel_throttle.save_eeprom(); g.channel_throttle.save_eeprom();
g.channel_rudder.save_eeprom(); g.channel_rudder.save_eeprom();
if (g_rc_function[RC_Channel_aux::k_aileron] != NULL) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom(); if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom();
} }
static void trim_radio() static void trim_radio()
@ -228,7 +228,7 @@ static void trim_radio()
g.channel_pitch.radio_trim = g.channel_pitch.radio_in; g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
//g.channel_throttle.radio_trim = g.channel_throttle.radio_in; //g.channel_throttle.radio_trim = g.channel_throttle.radio_in;
g.channel_rudder.radio_trim = g.channel_rudder.radio_in; g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
if (g_rc_function[RC_Channel_aux::k_aileron] != NULL) g_rc_function[RC_Channel_aux::k_aileron]->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
} else { } else {
elevon1_trim = ch1_temp; elevon1_trim = ch1_temp;
@ -244,30 +244,5 @@ static void trim_radio()
g.channel_pitch.save_eeprom(); g.channel_pitch.save_eeprom();
//g.channel_throttle.save_eeprom(); //g.channel_throttle.save_eeprom();
g.channel_rudder.save_eeprom(); g.channel_rudder.save_eeprom();
if (g_rc_function[RC_Channel_aux::k_aileron] != NULL) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom(); if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom();
}
// update the g_rc_function array from pointers to rc_x channels
// This should be done periodically because the user might change the configuration and
// expects the changes to take effect instantly
static void update_aux_servo_function()
{
// 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
RC_Channel_aux::Aux_servo_function_t aux_servo_function[NUM_CHANNELS]; // the function of the aux. servos
aux_servo_function[CH_5] = (RC_Channel_aux::Aux_servo_function_t)g.rc_5.function.get();
aux_servo_function[CH_6] = (RC_Channel_aux::Aux_servo_function_t)g.rc_6.function.get();
aux_servo_function[CH_7] = (RC_Channel_aux::Aux_servo_function_t)g.rc_7.function.get();
aux_servo_function[CH_8] = (RC_Channel_aux::Aux_servo_function_t)g.rc_8.function.get();
// Assume that no auxiliary function is used
for (int i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions ; i++)
{
g_rc_function[i] = NULL;
}
// assign the RC channel to each function
g_rc_function[aux_servo_function[CH_5]] = &g.rc_5;
g_rc_function[aux_servo_function[CH_6]] = &g.rc_6;
g_rc_function[aux_servo_function[CH_7]] = &g.rc_7;
g_rc_function[aux_servo_function[CH_8]] = &g.rc_8;
} }

11
libraries/APM_RC/APM_RC.h
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@ -5,6 +5,17 @@
#define MIN_PULSEWIDTH 900 #define MIN_PULSEWIDTH 900
#define MAX_PULSEWIDTH 2100 #define MAX_PULSEWIDTH 2100
// Radio channels
// Note channels are from 0!
#define CH_1 0
#define CH_2 1
#define CH_3 2
#define CH_4 3
#define CH_5 4
#define CH_6 5
#define CH_7 6
#define CH_8 7
#include <inttypes.h> #include <inttypes.h>
class APM_RC_Class class APM_RC_Class

27
libraries/RC_Channel/RC_Channel_aux.cpp
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@ -3,6 +3,8 @@
#include <APM_RC.h> #include <APM_RC.h>
#include "RC_Channel_aux.h" #include "RC_Channel_aux.h"
extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
int16_t int16_t
RC_Channel_aux::closest_limit(int16_t angle) RC_Channel_aux::closest_limit(int16_t angle)
{ {
@ -67,3 +69,28 @@ RC_Channel_aux::output_ch(unsigned char ch_nr)
APM_RC.OutputCh(ch_nr, radio_out); APM_RC.OutputCh(ch_nr, radio_out);
} }
// update the g_rc_function array from pointers to rc_x channels
// This should be done periodically because the user might change the configuration and
// expects the changes to take effect instantly
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)
{
// 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
RC_Channel_aux::Aux_servo_function_t aux_servo_function[NUM_CHANNELS]; // the function of the aux. servos
aux_servo_function[CH_5] = (RC_Channel_aux::Aux_servo_function_t)rc_5->function.get();
aux_servo_function[CH_6] = (RC_Channel_aux::Aux_servo_function_t)rc_6->function.get();
aux_servo_function[CH_7] = (RC_Channel_aux::Aux_servo_function_t)rc_7->function.get();
aux_servo_function[CH_8] = (RC_Channel_aux::Aux_servo_function_t)rc_8->function.get();
// Assume that no auxiliary function is used
for (int i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions ; i++)
{
g_rc_function[i] = NULL;
}
// assign the RC channel to each function
g_rc_function[aux_servo_function[CH_5]] = rc_5;
g_rc_function[aux_servo_function[CH_6]] = rc_6;
g_rc_function[aux_servo_function[CH_7]] = rc_7;
g_rc_function[aux_servo_function[CH_8]] = rc_8;
}

4
libraries/RC_Channel/RC_Channel_aux.h
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@ -1,7 +1,7 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file RC_Channel_aux.h /// @file RC_Channel_aux.h
/// @brief RC_Channel manager, with EEPROM-backed storage of constants. /// @brief RC_Channel manager for Channels 5..8, with EEPROM-backed storage of constants.
/// @author Amilcar Lucas /// @author Amilcar Lucas
#ifndef RC_CHANNEL_AUX_H_ #ifndef RC_CHANNEL_AUX_H_
@ -53,4 +53,6 @@ public:
}; };
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);
#endif /* RC_CHANNEL_AUX_H_ */ #endif /* RC_CHANNEL_AUX_H_ */