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Fixed issues with RcChannel EEPROM var ownership.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1369 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-12-30 05:25:28 +00:00
parent c45249622c
commit 9f11c97463
7 changed files with 92 additions and 56 deletions
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8
libraries/AP_Common/AP_Var.h
View File

@ -52,8 +52,8 @@ class AP_Var : public AP_VarI
{
public:
/// The default constrcutor
AP_Var(const type & data, const char * name = "", const bool & sync=false) :
_data(data), _name(name), _sync(sync)
AP_Var(const type & data, const char * name = "", const char * parentName = "", const bool & sync=false) :
_data(data), _name(name), _parentName(parentName), _sync(sync)
{
}
@ -118,6 +118,9 @@ public:
/// Get the name. This is useful for ground stations.
virtual const char * getName() { return _name; }
/// Get the parent name. This is also useful for ground stations.
virtual const char * getParentName() { return _parentName; }
/// If sync is true the a load will always occure before a get and a save will always
/// occure before a set.
virtual const bool & getSync() { return _sync; }
@ -126,6 +129,7 @@ public:
protected:
type _data; /// The data that is stored on the heap */
const char * _name; /// The variable name, useful for gcs and terminal output
const char * _parentName; /// The variable parent name, useful for gcs and terminal output
bool _sync; /// Whether or not to call save/load on get/set
};

6
libraries/AP_Common/c++.cpp
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@ -13,6 +13,9 @@
void * operator new(size_t size)
{
#ifdef AP_DISPLAYMEM
displayMemory();
#endif
return(calloc(size, 1));
}
@ -32,6 +35,9 @@ extern "C" void __cxa_pure_virtual()
void * operator new[](size_t size)
{
#ifdef AP_DISPLAYMEM
displayMemory();
#endif
return(calloc(size, 1));
}

14
libraries/AP_EEProm/AP_EEProm.cpp
View File

@ -17,6 +17,20 @@
*/
#include <AP_EEProm.h>
void AP_EEPromRegistry::print(BetterStream & stream)
{
stream.printf("\nEEPROM Registry\n");
for (int i=0;i<getSize();i++)
{
stream.printf("%s\t%s\tid:\t%d\taddr:\t%d\tval:\t%f\t\n",
(*this)[i]->getEntryParentName(),
(*this)[i]->getEntryName(),
(*this)[i]->getEntryId(),
(*this)[i]->getEntryAddress(),
(*this)[i]->getEntry());
}
}
void AP_EEPromRegistry::add(AP_EEPromEntryI * entry, uint16_t & id, uint16_t & address, size_t size)
{

12
libraries/AP_EEProm/AP_EEProm.h
View File

@ -23,6 +23,7 @@
#include <AP_Vector.h>
#include <avr/eeprom.h>
#include <avr/pgmspace.h>
#include <BetterStream.h>
/// The interface for data entries in the eeprom registry
class AP_EEPromEntryI
@ -41,6 +42,9 @@ public:
/// Pure virtual function for getting entry name.
virtual const char * getEntryName() = 0;
/// Pure virtual function for getting entry parent name.
virtual const char * getEntryParentName() = 0;
/// Get the id of the variable.
virtual uint16_t getEntryId() = 0;
@ -62,6 +66,9 @@ public:
/// Add an entry to the registry
void add(AP_EEPromEntryI * entry, uint16_t & id, uint16_t & address, size_t size);
/// Print on desired serial port
void print(BetterStream & stream);
private:
uint16_t _newAddress; /// the address for the next new variable
uint16_t _newId; /// the id of the next new variable
@ -79,8 +86,8 @@ class AP_EEPromVar : public AP_EEPromEntryI, public AP_Var<type>
{
public:
/// The default constrcutor
AP_EEPromVar(type data = 0, const char * name = "", bool sync=false) :
AP_Var<type>(data,name,sync)
AP_EEPromVar(type data = 0, const char * name = "", const char * parentName = "", bool sync=false) :
AP_Var<type>(data,name,parentName,sync)
{
eepromRegistry.add(this,_id,_address,sizeof(type));
}
@ -88,6 +95,7 @@ public:
virtual void setEntry(float val) { this->setF(val); }
virtual float getEntry() { return this->getF(); }
virtual const char * getEntryName() { return this->getName(); }
virtual const char * getEntryParentName() { return this->getParentName(); }
/// Get the id of the variable.
virtual uint16_t getEntryId() { return _id; }

27
libraries/AP_RcChannel/AP_RcChannel.cpp
View File

@ -14,6 +14,28 @@
#include "AP_RcChannel.h"
#include <AP_Common.h>
AP_RcChannel::AP_RcChannel(const char * name, const APM_RC_Class & rc, const uint8_t & ch,
const float & scale, const float & center,
const uint16_t & pwmMin,
const uint16_t & pwmNeutral, const uint16_t & pwmMax,
const uint16_t & pwmDeadZone,
const bool & filter, const bool & reverse) :
_name(name),
_rc(rc),
_ch(new AP_EEPROM_Uint8(ch,"CH",name)),
_scale(new AP_EEPROM_Float(scale,"SCALE",name)),
_center(new AP_EEPROM_Float(center,"CNTR",name)),
_pwmMin(new AP_EEPROM_Uint16(pwmMin,"PMIN",name)),
_pwmMax(new AP_EEPROM_Uint16(pwmMax,"PMAX",name)),
_pwmNeutral(new AP_EEPROM_Uint16(pwmNeutral,"PNTRL",name)),
_pwmDeadZone(new AP_EEPROM_Uint16(pwmDeadZone,"PDEAD",name)),
_pwm(0),
_filter(new AP_EEPROM_Bool(filter,"FLTR",name)),
_reverse(new AP_EEPROM_Bool(reverse,"REV",name))
{
}
void AP_RcChannel::readRadio() {
// apply reverse
uint16_t pwmRadio = APM_RC.InputCh(getCh());
@ -23,8 +45,9 @@ void AP_RcChannel::readRadio() {
void
AP_RcChannel::setPwm(uint16_t pwm)
{
//Serial.printf("pwm in setPwm: %d\n", pwm);
//Serial.printf("reverse: %s\n", (getReverse())?"true":"false");
// apply reverse
if(getReverse()) pwm = int16_t(getPwmNeutral()-pwm) + getPwmNeutral();
@ -69,8 +92,8 @@ uint16_t
AP_RcChannel::_positionToPwm(const float & position)
{
uint16_t pwm;
float p = position - getCenter();
//Serial.printf("position: %f\n", position);
float p = position - getCenter();
if(p < 0)
pwm = p * int16_t(getPwmNeutral() - getPwmMin()) /
getScale() + getPwmNeutral();

29
libraries/AP_RcChannel/AP_RcChannel.h
View File

@ -24,27 +24,14 @@ public:
const float & scale=45.0, const float & center=0.0,
const uint16_t & pwmMin=1200,
const uint16_t & pwmNeutral=1500, const uint16_t & pwmMax=1800,
const uint16_t & pwmDeadZone=100,
const bool & filter=false, const bool & reverse=false) :
_name(name),
_rc(rc),
_ch(new AP_EEPROM_Uint8(ch,createName("CH"))),
_scale(new AP_EEPROM_Float(scale,createName("SCALE"))),
_center(new AP_EEPROM_Float(center,createName("CNTR"))),
_pwmMin(new AP_EEPROM_Uint16(pwmMin,createName("PMIN"))),
_pwmMax(new AP_EEPROM_Uint16(pwmMax,createName("PMAX"))),
_pwmNeutral(new AP_EEPROM_Uint16(pwmNeutral,createName("PNTRL"))),
_pwmDeadZone(new AP_EEPROM_Uint16(pwmDeadZone,createName("PDEAD"))),
_pwm(0),
_filter(new AP_EEPROM_Bool(filter,createName("FLTR"))),
_reverse(new AP_EEPROM_Bool(reverse,createName("RVRS")))
{
}
const uint16_t & pwmDeadZone=10,
const bool & filter=false, const bool & reverse=false);
// set
void readRadio();
void setPwm(uint16_t pwm);
void setPosition(float position);
void setNormalized(float normPosition) { setPosition(normPosition*getScale()); }
void mixRadio(uint16_t infStart);
void setCh(const uint8_t & ch) { _ch->set(ch); }
void setScale(const float & scale) { _scale->set(scale); }
@ -75,16 +62,6 @@ public:
private:
// createName
const char * createName(char * str)
{
char * newName;
strcpy(newName,_name);
strcat(newName,"_");
strcat(newName,str);
return (const char * )newName;
}
// configuration
const char * _name;
const APM_RC_Class & _rc;

52
libraries/AP_RcChannel/examples/ServoSweep/ServoSweep.pde
View File

@ -5,6 +5,7 @@
*/
#define AP_DISPLAYMEM
#include <FastSerial.h>
#include <AP_Common.h>
#include <AP_RcChannel.h> // ArduPilot Mega RC Library
@ -14,22 +15,21 @@
FastSerialPort0(Serial); // make sure this procees variable declarations
// test settings
uint8_t nChannels = 1;
uint8_t nChannels = 8;
// channel configuration
AP_RcChannel rc[] =
AP_RcChannel rcCh[] =
{
AP_RcChannel("ROLL",APM_RC,0,100.0),
/*
AP_RcChannel("PITCH",APM_RC,1,45),
AP_RcChannel("THR",APM_RC,2,100),
AP_RcChannel("YAW",APM_RC,3,45),
AP_RcChannel("CH5",APM_RC,4,1),
AP_RcChannel("CH6",APM_RC,5,1),
AP_RcChannel("CH7",APM_tC,6,1),
AP_RcChannel("CH7",APM_RC,6,1),
AP_RcChannel("CH8",APM_RC,7,1)
*/
};
// test position
float testPosition = 0;
int8_t testSign = 1;
@ -38,39 +38,43 @@ void setup()
{
Serial.begin(115200);
Serial.println("ArduPilot RC Channel test");
eepromRegistry.print(Serial); // show eeprom map
APM_RC.Init(); // APM Radio initialization
for (int i=0;i<nChannels;i++)
{
Serial.printf("ch:\t%d\tscale:\t%f\tcenter:\t%f\tpwmMin:\t%d\tpwmNeutral:\t%d\tpwmMax:\t%d\t",
rcCh[i].getCh(),rcCh[i].getScale(),rcCh[i].getCenter(),
rcCh[i].getPwmMin(),rcCh[i].getPwmNeutral(),rcCh[i].getPwmMax());
}
}
void loop()
{
// set channel positions
Serial.println("In Loop");
for (int i=0;i<nChannels;i++) rc[i].setPosition(testPosition);
Serial.printf("\ntestPosition (%f)\n",testPosition);
for (int i=0;i<nChannels;i++) Serial.printf("%7s\t",rc[i].getName());
for (int i=0;i<nChannels;i++) rcCh[i].setNormalized(testPosition);
Serial.printf("\ntestPosition (%f)\n\t\t",testPosition);
for (int i=0;i<nChannels;i++) Serial.printf("%7s\t",rcCh[i].getName());
Serial.println();
Serial.printf("pwm :\t");
for (int i=0;i<nChannels;i++) Serial.printf("%7d\t",rc[i].getPwm());
for (int i=0;i<nChannels;i++) Serial.printf("%7d\t",rcCh[i].getPwm());
Serial.println();
Serial.printf("position :\t");
for (int i=0;i<nChannels;i++) Serial.printf("%7.2f\t",rc[i].getPosition());
for (int i=0;i<nChannels;i++) Serial.printf("%7.2f\t",rcCh[i].getPosition());
Serial.println();
// update test value
for (int i=0;i<nChannels;i++)
testPosition += testSign*.05;
if (testPosition > 1)
{
testPosition += testSign*.05;
if (testPosition > 1)
{
testPosition = 1;
testSign = -1;
}
else if (testPosition < -1)
{
testPosition = -1;
testSign = 1;
}
testPosition = 1;
testSign = -1;
}
else if (testPosition < -1)
{
testPosition = -1;
testSign = 1;
}
delay(500);