Fixed issues with RcChannel EEPROM var ownership.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1369 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_Common/AP_Var.h

@@ -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) :
+	AP_Var(const type & data, const char * name = "", const char * parentName = "", const bool & sync=false) :
-		_data(data), _name(name), _sync(sync)
+		_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
 };
 

libraries/AP_Common/c++.cpp

@@ -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));
 }
 

libraries/AP_EEProm/AP_EEProm.cpp

@@ -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)
 {

libraries/AP_EEProm/AP_EEProm.h

@@ -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_EEPromVar(type data = 0, const char * name = "", const char * parentName = "", bool sync=false) : 
-		AP_Var<type>(data,name,sync)
+		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; }

libraries/AP_RcChannel/AP_RcChannel.cpp

@@ -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();

libraries/AP_RcChannel/AP_RcChannel.h

@@ -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 uint16_t & pwmDeadZone=10,
-			const bool & filter=false, const bool & reverse=false) :
+			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")))
-	{
-	}
 
 	// 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;

libraries/AP_RcChannel/examples/ServoSweep/ServoSweep.pde

@@ -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++) rcCh[i].setNormalized(testPosition);
-
+	Serial.printf("\ntestPosition (%f)\n\t\t",testPosition);
-	for (int i=0;i<nChannels;i++) rc[i].setPosition(testPosition);
+	for (int i=0;i<nChannels;i++) Serial.printf("%7s\t",rcCh[i].getName());
-	Serial.printf("\ntestPosition (%f)\n",testPosition);
-	for (int i=0;i<nChannels;i++) Serial.printf("%7s\t",rc[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;
+		testPosition = 1;
-		if (testPosition > 1)
+		testSign = -1;
-		{
+	}
-			testPosition = 1;
+	else if (testPosition < -1)
-			testSign = -1;
+	{
-		}
+		testPosition = -1;
-		else if (testPosition < -1)
+		testSign = 1;
-		{
-			testPosition = -1;
-			testSign = 1;
-		}
 	}
 
 	delay(500);