mirror of https://github.com/ArduPilot/ardupilot
121 lines
3.0 KiB
C++
121 lines
3.0 KiB
C++
/*
|
|
AP_RcChannel.cpp - Radio library for Arduino
|
|
Code by Jason Short, James Goppert. DIYDrones.com
|
|
|
|
This library is free software; you can redistribute it and / or
|
|
modify it under the terms of the GNU Lesser General Public
|
|
License as published by the Free Software Foundation; either
|
|
version 2.1 of the License, or (at your option) any later version.
|
|
|
|
*/
|
|
|
|
#include <math.h>
|
|
#include <avr/eeprom.h>
|
|
#include "AP_RcChannel.h"
|
|
#include <AP_Common.h>
|
|
|
|
AP_RcChannel::AP_RcChannel(AP_Var::Key key, const prog_char * name, APM_RC_Class & rc, const uint8_t & ch,
|
|
const float & scale, const float & center,
|
|
const uint16_t & pwmMin,
|
|
const uint16_t & pwmNeutral, const uint16_t & pwmMax,
|
|
const uint16_t & pwmDeadZone,
|
|
const bool & filter, const bool & reverse) :
|
|
AP_Var_group(key,name),
|
|
_rc(rc),
|
|
ch(this,0,ch,PSTR("CH")),
|
|
scale(this,1,scale,PSTR("SCALE")),
|
|
center(this,2,center,PSTR("CENTER")),
|
|
pwmMin(this,3,pwmMin,PSTR("PMIN")),
|
|
pwmMax(this,4,pwmMax,PSTR("PMAX")),
|
|
pwmNeutral(this,5,pwmNeutral,PSTR("PNTRL")),
|
|
pwmDeadZone(this,6,pwmDeadZone,PSTR("PDEAD")),
|
|
filter(this,7,filter,PSTR("FLTR")),
|
|
reverse(this,8,reverse,PSTR("REV")),
|
|
_pwm(0)
|
|
{ }
|
|
|
|
|
|
void AP_RcChannel::readRadio() {
|
|
// apply reverse
|
|
uint16_t pwmRadio = _rc.InputCh(ch);
|
|
setPwm(pwmRadio);
|
|
}
|
|
|
|
void
|
|
AP_RcChannel::setPwm(uint16_t pwm)
|
|
{
|
|
//Serial.printf("pwm in setPwm: %d\n", pwm);
|
|
//Serial.printf("reverse: %s\n", (reverse)?"true":"false");
|
|
|
|
// apply reverse
|
|
if(reverse) pwm = int16_t(pwmNeutral-pwm) + pwmNeutral;
|
|
|
|
//Serial.printf("pwm after reverse: %d\n", pwm);
|
|
|
|
// apply filter
|
|
if(filter){
|
|
if(_pwm == 0)
|
|
_pwm = pwm;
|
|
else
|
|
_pwm = ((pwm + _pwm) >> 1); // Small filtering
|
|
}else{
|
|
_pwm = pwm;
|
|
}
|
|
|
|
//Serial.printf("pwm after filter: %d\n", _pwm);
|
|
|
|
// apply deadzone
|
|
_pwm = (abs(_pwm - pwmNeutral) < pwmDeadZone) ? uint16_t(pwmNeutral) : _pwm;
|
|
|
|
//Serial.printf("pwm after deadzone: %d\n", _pwm);
|
|
_rc.OutputCh(ch,_pwm);
|
|
}
|
|
|
|
void
|
|
AP_RcChannel::setPosition(float position)
|
|
{
|
|
setPwm(_positionToPwm(position));
|
|
}
|
|
|
|
void
|
|
AP_RcChannel::mixRadio(uint16_t infStart)
|
|
{
|
|
uint16_t pwmRadio = _rc.InputCh(ch);
|
|
float inf = abs( int16_t(pwmRadio - pwmNeutral) );
|
|
inf = min(inf, infStart);
|
|
inf = ((infStart - inf) /infStart);
|
|
setPwm(_pwm*inf + pwmRadio);
|
|
}
|
|
|
|
uint16_t
|
|
AP_RcChannel::_positionToPwm(const float & position)
|
|
{
|
|
uint16_t pwm;
|
|
//Serial.printf("position: %f\n", position);
|
|
float p = position - center;
|
|
if(p < 0)
|
|
pwm = p * int16_t(pwmNeutral - pwmMin) /
|
|
scale + pwmNeutral;
|
|
else
|
|
pwm = p * int16_t(pwmMax - pwmNeutral) /
|
|
scale + pwmNeutral;
|
|
constrain(pwm,uint16_t(pwmMin),uint16_t(pwmMax));
|
|
return pwm;
|
|
}
|
|
|
|
float
|
|
AP_RcChannel::_pwmToPosition(const uint16_t & pwm)
|
|
{
|
|
float position;
|
|
if(pwm < pwmNeutral)
|
|
position = scale * int16_t(pwm - pwmNeutral)/
|
|
int16_t(pwmNeutral - pwmMin) + center;
|
|
else
|
|
position = scale * int16_t(pwm - pwmNeutral)/
|
|
int16_t(pwmMax - pwmNeutral) + center;
|
|
constrain(position,center-scale,center+scale);
|
|
return position;
|
|
}
|
|
|
|
// ------------------------------------------
|