Working on RC_ChannelB example.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1260 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_EEProm/AP_EEProm.h

@@ -101,7 +101,7 @@ public:
 	/**
 	 * The default constrcutor
 	 */
-	AP_EEPromVar(type data, const char * name = "", bool sync=false) : 
+	AP_EEPromVar(type data = 0, const char * name = "", bool sync=false) : 
 		AP_Var<type>(data,name,sync)
 	{
 		eepromRegistry.add(this,_id,_address,sizeof(type));

libraries/RC_ChannelB/RC_ChannelB.cpp

@@ -11,12 +11,10 @@
 
 #include <math.h>
 #include <avr/eeprom.h>
-#include "WProgram.h"
 #include "RC_ChannelB.h"
+#include <AP_Common.h>
 
-void
+void RC_ChannelB::readRadio(uint16_t pwmRadio) {
-RC_ChannelB::readRadio(uint16_t pwmRadio)
-{
 	// apply reverse
 	if(_reverse) _pwmRadio = (_pwmNeutral - pwmRadio) + _pwmNeutral;
 	else _pwmRadio = pwmRadio;
@@ -77,34 +75,4 @@ RC_ChannelB::_pwmToPosition(uint16_t pwm)
 		return _scale * (_pwm - _pwmNeutral)/(_pwmMax - _pwmNeutral);
 }
 
-void
-RC_ChannelB::loadEEProm()
-{
-	if (_storageType == STORE_EEPROM)
-	{
-		eeprom_read_block((void*)&_scale,(const void*)(_address),sizeof(_scale));
-		eeprom_read_block((void*)&_pwmMin,(const void*)(_address + 4),sizeof(_pwmMin));
-		eeprom_read_block((void*)&_pwmMax,(const void*)(_address + 6),sizeof(_pwmMax));
-		eeprom_read_block((void*)&_pwmNeutral,(const void*)(_address + 8),sizeof(_pwmNeutral));
-		eeprom_read_block((void*)&_pwmDeadZone,(const void*)(_address + 10),sizeof(_pwmDeadZone));
-		eeprom_read_block((void*)&_filter,(const void*)(_address+12),sizeof(_filter));
-		eeprom_read_block((void*)&_pwmDeadZone,(const void*)(_address+13),sizeof(_pwmDeadZone));
-	}
-}
-
-void
-RC_ChannelB::saveEEProm()
-{
-	if (_storageType == STORE_EEPROM)
-	{
-		eeprom_write_block((const void*)&_scale,(void*)(_address),sizeof(_scale));
-		eeprom_write_block((const void*)&_pwmMin,(void*)(_address + 4),sizeof(_pwmMin));
-		eeprom_write_block((const void*)&_pwmMax,(void*)(_address + 6),sizeof(_pwmMax));
-		eeprom_write_block((const void*)&_pwmNeutral,(void*)(_address + 8),sizeof(_pwmNeutral));
-		eeprom_write_block((const void*)&_pwmDeadZone,(void*)(_address + 10),sizeof(_pwmDeadZone));
-		eeprom_write_block((const void*)&_filter,(void*)(_address+12),sizeof(_filter));
-		eeprom_write_block((const void*)&_pwmDeadZone,(void*)(_address+13),sizeof(_pwmDeadZone));
-	}
-}
-
 // ------------------------------------------

libraries/RC_ChannelB/RC_ChannelB.h

@@ -7,94 +7,32 @@
 #define RC_ChannelB_h
 
 #include <stdint.h>
-#include <AP_EEProm.h>
+#include <FastSerial.h>
 
 /// @class	RC_ChannelB
 /// @brief	Object managing one RC channel
+//
 class RC_ChannelB{
  
 public:	
 
-	enum storage_t
-	{
-		STORE_EXTERNAL,
-		STORE_EEPROM
-	};
-
 	/// Constructor
 	///
-	RC_ChannelB() :
+	RC_ChannelB(const float & scale, const uint16_t & pwmMin, const uint16_t & pwmNeutral,
-		_scale(0),
+			const uint16_t & pwmMax, const uint16_t & pwmDeadZone,
-		_pwmMin(1000),
+			const bool & filter, const bool & reverse) :
-		_pwmMax(2000),
+		_scale(scale),
-		_pwmNeutral(1500),
+		_pwmMin(pwmMin),
-		_pwmDeadZone(100),
+		_pwmMax(pwmMax),
+		_pwmNeutral(pwmNeutral),
+		_pwmDeadZone(pwmDeadZone),
 		_pwm(0),
 		_pwmRadio(0),
-		_filter(true),
+		_filter(filter),
-		_reverse(false),
+		_reverse(reverse)
-		_address(0),
-		_storageType(STORE_EXTERNAL)
 	{
 	}
 
-	/// Constructor
-	///
-	RC_ChannelB() :
-		_scale(0),
-		_pwmMin(1000),
-		_pwmNeutral(1500),
-		_pwmMax(2000),
-		_pwmDeadZone(100),
-		_pwm(0),
-		_pwmRadio(0),
-		_filter(true),
-		_reverse(false),
-		_address(address),
-		_storageType(STORE_EEPROM)
-	{
-	}
-
-	/// Constructor
-	///
-	RC_ChannelB(uint16_t address) :
-		_scale(0),
-		_pwmMin(1000),
-		_pwmNeutral(1500),
-		_pwmMax(2000),
-		_pwmDeadZone(100),
-		_pwm(0),
-		_pwmRadio(0),
-		_filter(true),
-		_reverse(false),
-		_address(address),
-		_storageType(STORE_EEPROM)
-	{
-	}
-
-	// set configuration
-	void setScale(float scale) { _scale = scale; }
-	void setReverse(bool reverse) { _reverse = reverse; }
-	void setFilter(bool filter) { _filter = filter; }
-	void setPwmMin(uint16_t pwmMin) { _pwmMin = pwmMin; }
-	void setPwmMax(uint16_t pwmMax) { _pwmMax = pwmMax; }
-	void setPwmNeutral(uint16_t pwmNeutral) { _pwmNeutral = pwmNeutral; }
-	void setPwmNeutral() { _pwmNeutral = getPwm(); }
-	void setPwmDeadZone(uint16_t pwmDeadZone) { _pwmDeadZone = pwmDeadZone; }
-
-	// save/load
-	void saveEEProm();
-	void loadEEProm();
-
-	// get configuration
-	float getScale() { return _scale; }
-	bool getReverse() { return _reverse; }
-	bool getFilter() { return _filter; }
-	uint16_t getPwmMin() { return _pwmMin; }
-	uint16_t getPwmMax() { return _pwmMax; }
-	uint16_t getPwmNeutral() { return _pwmNeutral; }
-	uint16_t getPwmDeadZone() { return _pwmDeadZone; }
-
 	// set servo state
 	void readRadio(uint16_t pwmRadio);
 	void setPwm(uint16_t pwm);
@@ -112,20 +50,19 @@ public:
 
 private:
 
-	float _scale;
+	// configuration
-	AP_EEProm<uint16_t> _pwmMin;
+	const float & _scale;
-	uint16_t _pwmNeutral;
+	const uint16_t & _pwmMin;
-	uint16_t _pwmMax;
+	const uint16_t & _pwmNeutral;
-	uint16_t _pwmDeadZone;
+	const uint16_t & _pwmMax;
+	const uint16_t & _pwmDeadZone;
+	const bool & _filter;
+	const int8_t & _reverse;
+
+	// internal states
 	uint16_t _pwm; // this is the internal state, positino is just created when needed
 	uint16_t _pwmRadio; // radio pwm input
 
-	// configuration
-	bool _filter;
-	int8_t _reverse;
-	storage_t _storageType;
-	uint16_t _address;
-
 	// private methods
 	uint16_t _positionToPwm(float position);
 	float _pwmToPosition(uint16_t pwm);

libraries/RC_ChannelB/examples/RC_ChannelB/RC_ChannelB.pde

@@ -1,18 +1,35 @@
 /*
 	Example of RC_Channel library.
-	Code by Jason Short. 2010 
+	Code by James Goppert. 2010 
 	DIYDrones.com
 
 */
 
+#include <FastSerial.h>
+#include <AP_Common.h>
 #include <APM_RC.h> 		// ArduPilot Mega RC Library
 #include <RC_ChannelB.h> 	// ArduPilot Mega RC Library
-#include <AP_Common.h>
 #include <AP_EEProm.h>
 
+AP_EEPromVar<float> scale(45.0,"RC1_SCALE");
+AP_EEPromVar<uint16_t> pwmMin(1000,"RC1_PWMMIN");
+AP_EEPromVar<uint16_t> pwmNeutral(1500,"RC1_PWMNEUTRAL");
+AP_EEPromVar<uint16_t> pwmMax(2000,"RC1_PWMMAX");
+AP_EEPromVar<uint16_t> pwmDeadZone(100,"RC1_PWMDEADZONE");
+
+#define CH_1 0
+
+// configuration
+AP_Var<bool> filter(true,"RC1_FILTER");
+AP_Var<int8_t> reverse(false,"RC1_REVERSE");
+
+FastSerialPort0(Serial);
+
 RC_ChannelB rc[] = 
 {
-	RC_ChannelB()	
+	RC_ChannelB(scale.get(),pwmMin.get(),pwmNeutral.get(),pwmMax.get(),
+			pwmDeadZone.get(),filter.get(),reverse.get())	
+
 };
 
 void setup()
@@ -23,11 +40,28 @@ void setup()
 
 	delay(1000);
 	// setup radio 
-	
 }
 
 void loop()	
 {
-	Serial.println("looping");
+	rc[CH_1].readRadio(APM_RC.InputCh(CH_1));
-	delay(1000);
+	Serial.printf("\nrc[CH_1].readRadio(APM_RC.InputCh(CH_1))\n");
+	Serial.printf("pwm: %d position: %f\n",rc[CH_1].getPwm(), rc[CH_1].getPosition());
+	delay(2000);
+
+	scale.set(100);
+	Serial.printf("\nscale.set(100)\n");
+
+
+	rc[CH_1].setPwm(1500);
+	Serial.printf("\nrc[CH_1].setPwm(1500)\n");
+	Serial.printf("pwm: %d position: %f\n",rc[CH_1].getPwm(),
+			rc[CH_1].getPosition());
+	delay(2000);
+
+	rc[CH_1].setPosition(-50);
+	Serial.printf("\nrc[CH_1].setPosition(-50))\n");
+	Serial.printf("pwm: %d position: %f\n",rc[CH_1].getPwm(),
+			rc[CH_1].getPosition());
+	delay(2000);
 }