mirror of https://github.com/ArduPilot/ardupilot
69 lines
1.6 KiB
C++
69 lines
1.6 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file AP_RcChannel.h
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/// @brief AP_RcChannel manager
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#ifndef AP_RcChannel_h
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#define AP_RcChannel_h
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#include <stdint.h>
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#include <APM_RC.h>
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#include <AP_Common.h>
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#include <AP_Var.h>
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/// @class AP_RcChannel
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/// @brief Object managing one RC channel
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class AP_RcChannel : public AP_Var_group {
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public:
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/// Constructor
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AP_RcChannel(AP_Var::Key key, const prog_char_t * name, APM_RC_Class & rc, const uint8_t & ch,
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const float & scale=45.0, const float & center=0.0,
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const uint16_t & pwmMin=1200,
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const uint16_t & pwmNeutral=1500, const uint16_t & pwmMax=1800,
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const uint16_t & pwmDeadZone=10,
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const bool & filter=false, const bool & reverse=false);
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// configuration
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AP_Uint8 ch;
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AP_Float scale;
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AP_Float center;
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AP_Uint16 pwmMin;
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AP_Uint16 pwmNeutral;
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AP_Uint16 pwmMax;
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AP_Uint16 pwmDeadZone;
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AP_Bool filter;
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AP_Bool reverse;
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// set
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uint16_t readRadio();
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void setPwm(uint16_t pwm);
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void setPosition(float position);
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void setNormalized(float normPosition);
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void mixRadio(uint16_t infStart);
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// get
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uint16_t getPwm() { return _pwm; }
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float getPosition() { return _pwmToPosition(_pwm); }
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float getNormalized() { return getPosition()/scale; }
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// did our read come in 50µs below the min?
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bool failSafe() { _pwm < (pwmMin - 50); }
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private:
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// configuration
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const char * _name;
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APM_RC_Class & _rc;
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// internal states
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uint16_t _pwm; // this is the internal state, position is just created when needed
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// private methods
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uint16_t _positionToPwm(const float & position);
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float _pwmToPosition(const uint16_t & pwm);
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};
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#endif
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