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APM_RC: added OutputCh_current() method

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this allows logging of the actual servo output values. The radio_out
method previously used doesn't take account of the various override
mechanisms available via waypoints
This commit is contained in:
Andrew Tridgell 2012-04-23 12:29:39 +10:00
parent c1fd3218d1
commit bff8fc8947
5 changed files with 41 additions and 1 deletions
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1
libraries/APM_RC/APM_RC.h
View File

@ -36,6 +36,7 @@ class APM_RC_Class
virtual void Init( Arduino_Mega_ISR_Registry * isr_reg ) = 0;
virtual void OutputCh(uint8_t ch, uint16_t pwm) = 0;
virtual uint16_t OutputCh_current(uint8_t ch) = 0;
virtual uint16_t InputCh(uint8_t ch) = 0;
virtual uint8_t GetState() = 0;
virtual void clearOverride(void) = 0;

19
libraries/APM_RC/APM_RC_APM1.cpp
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@ -157,6 +157,25 @@ void APM_RC_APM1::OutputCh(uint8_t ch, uint16_t pwm)
}
}
uint16_t APM_RC_APM1::OutputCh_current(uint8_t ch)
{
uint16_t pwm=0;
switch(ch) {
case 0: pwm=OCR5B; break; //ch1
case 1: pwm=OCR5C; break; //ch2
case 2: pwm=OCR1B; break; //ch3
case 3: pwm=OCR1C; break; //ch4
case 4: pwm=OCR4C; break; //ch5
case 5: pwm=OCR4B; break; //ch6
case 6: pwm=OCR3C; break; //ch7
case 7: pwm=OCR3B; break; //ch8
case 8: pwm=OCR5A; break; //ch9, PL3
case 9: pwm=OCR1A; break; //ch10, PB5
case 10: pwm=OCR3A; break; //ch11, PE3
}
return pwm>>1;
}
void APM_RC_APM1::enable_out(uint8_t ch)
{
switch(ch){

1
libraries/APM_RC/APM_RC_APM1.h
View File

@ -13,6 +13,7 @@ class APM_RC_APM1 : public APM_RC_Class
APM_RC_APM1();
void Init( Arduino_Mega_ISR_Registry * isr_reg );
void OutputCh(uint8_t ch, uint16_t pwm);
uint16_t OutputCh_current(uint8_t ch);
uint16_t InputCh(uint8_t ch);
uint8_t GetState();
bool setHIL(int16_t v[NUM_CHANNELS]);

18
libraries/APM_RC/APM_RC_APM2.cpp
View File

@ -161,6 +161,24 @@ void APM_RC_APM2::OutputCh(unsigned char ch, uint16_t pwm)
}
}
uint16_t APM_RC_APM2::OutputCh_current(uint8_t ch)
{
uint16_t pwm=0;
switch(ch){
case 0: pwm=OCR1B; break; // out1
case 1: pwm=OCR1A; break; // out2
case 2: pwm=OCR4C; break; // out3
case 3: pwm=OCR4B; break; // out4
case 4: pwm=OCR4A; break; // out5
case 5: pwm=OCR3C; break; // out6
case 6: pwm=OCR3B; break; // out7
case 7: pwm=OCR3A; break; // out8
case 9: pwm=OCR5B; break; // out10
case 10: pwm=OCR5C; break; // out11
}
return pwm>>1;
}
void APM_RC_APM2::enable_out(uint8_t ch)
{
switch(ch) {

3
libraries/APM_RC/APM_RC_APM2.h
View File

@ -14,7 +14,8 @@ class APM_RC_APM2 : public APM_RC_Class
public:
APM_RC_APM2();
void Init( Arduino_Mega_ISR_Registry * isr_reg );
void OutputCh(unsigned char ch, uint16_t pwm);
void OutputCh(uint8_t ch, uint16_t pwm);
uint16_t OutputCh_current(uint8_t ch);
uint16_t InputCh(unsigned char ch);
unsigned char GetState();
bool setHIL(int16_t v[NUM_CHANNELS]);