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RC_Channel: simplify the setup of aux channels

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avoid the nasty mess of #if lines, as the info is in the constructor
anyway
This commit is contained in:
Andrew Tridgell 2014-02-06 10:04:05 +11:00
parent 264c092aa6
commit 698736b66d
2 changed files with 70 additions and 41 deletions
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87
libraries/RC_Channel/RC_Channel_aux.cpp
View File

@ -19,7 +19,8 @@ const AP_Param::GroupInfo RC_Channel_aux::var_info[] PROGMEM = {
AP_GROUPEND
};
static RC_Channel_aux *_aux_channels[8];
RC_Channel_aux *RC_Channel_aux::_aux_channels[8];
uint32_t RC_Channel_aux::_function_mask;
/// map a function to a servo channel and output it
void
@ -44,26 +45,10 @@ RC_Channel_aux::output_ch(unsigned char ch_nr)
/// Supports up to eight aux servo outputs (typically CH5 ... CH11)
/// All servos must be configured with a single call to this function
/// (do not call this twice with different parameters, the second call will reset the effect of the first call)
void update_aux_servo_function( RC_Channel_aux* rc_a,
RC_Channel_aux* rc_b,
RC_Channel_aux* rc_c,
RC_Channel_aux* rc_d,
RC_Channel_aux* rc_e,
RC_Channel_aux* rc_f,
RC_Channel_aux* rc_g,
RC_Channel_aux* rc_h)
void RC_Channel_aux::update_aux_servo_function(void)
{
_aux_channels[0] = rc_a;
_aux_channels[1] = rc_b;
_aux_channels[2] = rc_c;
_aux_channels[3] = rc_d;
_aux_channels[4] = rc_e;
_aux_channels[5] = rc_f;
_aux_channels[6] = rc_g;
_aux_channels[7] = rc_h;
// set auxiliary ranges
for (uint8_t i = 0; i < 8; i++) {
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] == NULL) continue;
RC_Channel_aux::Aux_servo_function_t function = (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get();
switch (function) {
@ -86,14 +71,26 @@ void update_aux_servo_function( RC_Channel_aux* rc_a,
break;
}
}
// create a function mask to make updates master
_function_mask = 0;
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i]) {
RC_Channel_aux::Aux_servo_function_t function = (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get();
if (function < k_nr_aux_servo_functions) {
_function_mask |= (1UL<<(uint8_t)function);
}
}
}
}
/// Should be called after the the servo functions have been initialized
void
enable_aux_servos()
void RC_Channel_aux::enable_aux_servos()
{
update_aux_servo_function();
// enable all channels that are not set to k_none or k_nr_aux_servo_functions
for (uint8_t i = 0; i < 8; i++) {
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i]) {
RC_Channel_aux::Aux_servo_function_t function = (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get();
// see if it is a valid function
@ -110,7 +107,10 @@ enable_aux_servos()
void
RC_Channel_aux::set_radio(RC_Channel_aux::Aux_servo_function_t function, int16_t value)
{
for (uint8_t i = 0; i < 8; i++) {
if (!function_assigned(function)) {
return;
}
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
_aux_channels[i]->radio_out = constrain_int16(value,_aux_channels[i]->radio_min,_aux_channels[i]->radio_max);
_aux_channels[i]->output();
@ -125,7 +125,10 @@ RC_Channel_aux::set_radio(RC_Channel_aux::Aux_servo_function_t function, int16_t
void
RC_Channel_aux::set_radio_trim(RC_Channel_aux::Aux_servo_function_t function)
{
for (uint8_t i = 0; i < 8; i++) {
if (!function_assigned(function)) {
return;
}
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
if (_aux_channels[i]->radio_in != 0) {
_aux_channels[i]->radio_trim = _aux_channels[i]->radio_in;
@ -141,7 +144,10 @@ RC_Channel_aux::set_radio_trim(RC_Channel_aux::Aux_servo_function_t function)
void
RC_Channel_aux::set_radio_to_min(RC_Channel_aux::Aux_servo_function_t function)
{
for (uint8_t i = 0; i < 8; i++) {
if (!function_assigned(function)) {
return;
}
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
_aux_channels[i]->radio_out = _aux_channels[i]->radio_min;
_aux_channels[i]->output();
@ -155,7 +161,10 @@ RC_Channel_aux::set_radio_to_min(RC_Channel_aux::Aux_servo_function_t function)
void
RC_Channel_aux::set_radio_to_max(RC_Channel_aux::Aux_servo_function_t function)
{
for (uint8_t i = 0; i < 8; i++) {
if (!function_assigned(function)) {
return;
}
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
_aux_channels[i]->radio_out = _aux_channels[i]->radio_max;
_aux_channels[i]->output();
@ -169,7 +178,10 @@ RC_Channel_aux::set_radio_to_max(RC_Channel_aux::Aux_servo_function_t function)
void
RC_Channel_aux::set_radio_to_trim(RC_Channel_aux::Aux_servo_function_t function)
{
for (uint8_t i = 0; i < 8; i++) {
if (!function_assigned(function)) {
return;
}
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
_aux_channels[i]->radio_out = _aux_channels[i]->radio_trim;
_aux_channels[i]->output();
@ -183,7 +195,10 @@ RC_Channel_aux::set_radio_to_trim(RC_Channel_aux::Aux_servo_function_t function)
void
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::Aux_servo_function_t function, bool do_input_output)
{
for (uint8_t i = 0; i < 8; i++) {
if (!function_assigned(function)) {
return;
}
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
if (do_input_output) {
_aux_channels[i]->input();
@ -202,7 +217,10 @@ RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::Aux_servo_function_t function,
void
RC_Channel_aux::set_servo_out(RC_Channel_aux::Aux_servo_function_t function, int16_t value)
{
for (uint8_t i = 0; i < 8; i++) {
if (!function_assigned(function)) {
return;
}
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
_aux_channels[i]->servo_out = value;
_aux_channels[i]->calc_pwm();
@ -217,10 +235,8 @@ RC_Channel_aux::set_servo_out(RC_Channel_aux::Aux_servo_function_t function, int
bool
RC_Channel_aux::function_assigned(RC_Channel_aux::Aux_servo_function_t function)
{
for (uint8_t i = 0; i < 8; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
return true;
}
if (function < k_nr_aux_servo_functions) {
return (_function_mask & (1UL<<function)) != 0;
}
return false;
}
@ -233,7 +249,10 @@ void
RC_Channel_aux::move_servo(RC_Channel_aux::Aux_servo_function_t function,
int16_t value, int16_t angle_min, int16_t angle_max)
{
for (uint8_t i = 0; i < 8; i++) {
if (!function_assigned(function)) {
return;
}
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
_aux_channels[i]->servo_out = value;
_aux_channels[i]->set_range(angle_min, angle_max);

22
libraries/RC_Channel/RC_Channel_aux.h
View File

@ -9,6 +9,8 @@
#include "RC_Channel.h"
#define RC_AUX_MAX_CHANNELS 8
/// @class RC_Channel_aux
/// @brief Object managing one aux. RC channel (CH5-8), with information about its function
class RC_Channel_aux : public RC_Channel {
@ -21,6 +23,12 @@ public:
RC_Channel_aux(uint8_t ch_out) :
RC_Channel(ch_out)
{
for (uint8_t i=0; i<RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] == NULL) {
_aux_channels[i] = this;
break;
}
}
AP_Param::setup_object_defaults(this, var_info);
}
@ -86,12 +94,14 @@ public:
int16_t value, int16_t angle_min, int16_t angle_max);
static const struct AP_Param::GroupInfo var_info[];
// assigned and enable auxillary channels
static void enable_aux_servos(void);
private:
static uint32_t _function_mask;
static RC_Channel_aux *_aux_channels[RC_AUX_MAX_CHANNELS];
static void update_aux_servo_function(void);
};
void update_aux_servo_function(RC_Channel_aux* rc_a = NULL, RC_Channel_aux* rc_b = NULL,
RC_Channel_aux* rc_c = NULL, RC_Channel_aux* rc_d = NULL,
RC_Channel_aux* rc_e = NULL, RC_Channel_aux* rc_f = NULL,
RC_Channel_aux* rc_g = NULL, RC_Channel_aux* rc_h = NULL);
void enable_aux_servos();
#endif /* RC_CHANNEL_AUX_H_ */