ardupilot/libraries/RC_Channel/RC_Channel.h

116 lines
3.4 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file RC_Channel.h
/// @brief RC_Channel manager, with EEPROM-backed storage of constants.
#ifndef RC_Channel_h
#define RC_Channel_h
#include <AP_Common.h>
#include <APM_RC.h>
#define RC_CHANNEL_TYPE_ANGLE 0
#define RC_CHANNEL_TYPE_RANGE 1
#define RC_CHANNEL_TYPE_ANGLE_RAW 2
/// @class RC_Channel
/// @brief Object managing one RC channel
class RC_Channel {
public:
/// Constructor
///
/// @param key EEPROM storage key for the channel trim parameters.
/// @param name Optional name for the group.
///
RC_Channel(uint8_t ch_out) :
_high(1),
_ch_out(ch_out) {
if (_reverse == 0) {
_reverse = 1;
}
}
// setup min and max radio values in CLI
void update_min_max();
void zero_min_max();
// startup
void load_eeprom(void);
void save_eeprom(void);
void save_trim(void);
void set_type(uint8_t t);
// setup the control preferences
void set_range(int16_t low, int16_t high);
void set_range_out(int16_t low, int16_t high);
void set_angle(int16_t angle);
void set_reverse(bool reverse);
bool get_reverse(void);
void set_dead_zone(int16_t dzone);
// read input from APM_RC - create a control_in value
void set_pwm(int16_t pwm);
// pwm is stored here
int16_t radio_in;
// call after first set_pwm
void trim();
// did our read come in 50µs below the min?
bool get_failsafe(void);
// value generated from PWM
int16_t control_in;
int16_t control_mix(float value);
// current values to the servos - degrees * 100 (approx assuming servo is -45 to 45 degrees except [3] is 0 to 100
int16_t servo_out;
// generate PWM from servo_out value
void calc_pwm(void);
// PWM is without the offset from radio_min
int16_t pwm_out;
int16_t radio_out;
AP_Int16 radio_min;
AP_Int16 radio_trim;
AP_Int16 radio_max;
// includes offset from PWM
//int16_t get_radio_out(void);
int16_t pwm_to_angle_dz(int16_t dead_zone);
int16_t pwm_to_angle();
float norm_input();
float norm_output();
int16_t angle_to_pwm();
int16_t pwm_to_range();
int16_t range_to_pwm();
static void set_apm_rc(APM_RC_Class * apm_rc);
void output();
void input();
void enable_out();
static APM_RC_Class * _apm_rc;
static const struct AP_Param::GroupInfo var_info[];
private:
AP_Int8 _reverse;
AP_Int16 _dead_zone;
uint8_t _type;
int16_t _high;
int16_t _low;
int16_t _high_out;
int16_t _low_out;
uint8_t _ch_out;
};
// This is ugly, but it fixes compilation on arduino
#include "RC_Channel_aux.h"
#endif