mirror of https://github.com/ArduPilot/ardupilot
108 lines
2.3 KiB
C++
108 lines
2.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file RC_Channel.h
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/// @brief RC_Channel manager, with EEPROM-backed storage of constants.
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#ifndef RC_Channel_h
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#define RC_Channel_h
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#include <AP_Common.h>
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#include <stdint.h>
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/// @class RC_Channel
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/// @brief Object managing one RC channel
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class RC_Channel{
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public:
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/// Constructor
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///
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/// @param key EEPROM storage key for the channel trim parameters.
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/// @param name Optional name for the group.
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///
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RC_Channel(AP_Var::Key key, const prog_char_t *name) :
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_group(key, name),
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radio_min (&_group, 0, 1500, name ? PSTR("MIN") : 0), // suppress name if group has no name
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radio_trim(&_group, 1, 1500, name ? PSTR("TRIM") : 0),
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radio_max (&_group, 2, 1500, name ? PSTR("MAX") : 0),
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_high(1),
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_filter(true),
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_reverse(1),
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dead_zone(0),
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scale_output(1.0)
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{}
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// setup min and max radio values in CLI
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void update_min_max();
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void zero_min_max();
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// startup
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void load_eeprom(void);
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void save_eeprom(void);
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void save_trim(void);
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void set_filter(bool filter);
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// setup the control preferences
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void set_range(int low, int high);
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void set_angle(int angle);
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void set_reverse(bool reverse);
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bool get_reverse(void);
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// read input from APM_RC - create a control_in value
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void set_pwm(int pwm);
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// pwm is stored here
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int16_t radio_in;
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// call after first set_pwm
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void trim();
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// did our read come in 50µs below the min?
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bool get_failsafe(void);
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// value generated from PWM
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int16_t control_in;
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int16_t dead_zone; // used to keep noise down and create a dead zone.
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int control_mix(float value);
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// current values to the servos - degrees * 100 (approx assuming servo is -45 to 45 degrees except [3] is 0 to 100
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int16_t servo_out;
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// generate PWM from servo_out value
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void calc_pwm(void);
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// PWM is without the offset from radio_min
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int16_t pwm_out;
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int16_t radio_out;
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AP_Int16 radio_min;
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AP_Int16 radio_trim;
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AP_Int16 radio_max;
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// includes offset from PWM
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//int16_t get_radio_out(void);
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int16_t pwm_to_angle();
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float norm_input();
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float norm_output();
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int16_t angle_to_pwm();
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int16_t pwm_to_range();
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int16_t range_to_pwm();
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float scale_output;
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private:
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AP_Var_group _group;
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bool _filter;
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int8_t _reverse;
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bool _type;
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int16_t _high;
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int16_t _low;
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};
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#endif
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