// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- /// @file AP_RcChannel.h /// @brief AP_RcChannel manager #ifndef AP_RCCHANNEL_H #define AP_RCCHANNEL_H #include #include "../APM_RC/APM_RC.h" #include "../AP_Common/AP_Common.h" #include "../AP_Common/AP_Var.h" namespace apo { enum rcMode_t { RC_MODE_IN, RC_MODE_OUT, RC_MODE_INOUT }; /// @class AP_RcChannel /// @brief Object managing one RC channel class AP_RcChannel : public AP_Var_group { public: /// Constructor AP_RcChannel(AP_Var::Key key, const prog_char_t * name, APM_RC_Class & rc, const uint8_t & ch, const uint16_t & pwmMin,const uint16_t & pwmNeutral, const uint16_t & pwmMax, const rcMode_t & rcMode=RC_MODE_INOUT, const bool & reverse=false); // configuration AP_Uint8 _ch; AP_Uint16 _pwmMin; AP_Uint16 _pwmNeutral; AP_Uint16 _pwmMax; rcMode_t _rcMode; AP_Bool _reverse; // set uint16_t readRadio(); void setPwm(uint16_t pwm); void setPosition(float position); // get uint16_t getPwm() { return _pwm; } float getPosition() { return _pwmToPosition(_pwm); } // did our read come in 50µs below the min? bool failSafe() { _pwm < (_pwmMin - 50); } private: // configuration const char * _name; APM_RC_Class & _rc; // internal states uint16_t _pwm; // this is the internal state, position is just created when needed // private methods uint16_t _positionToPwm(const float & position); float _pwmToPosition(const uint16_t & pwm); }; } // apo #endif // AP_RCCHANNEL_H