mirror of https://github.com/ArduPilot/ardupilot
134 lines
5.4 KiB
C++
134 lines
5.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file RC_Channel_aux.h
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/// @brief RC_Channel manager for auxiliary channels (5..8), with EEPROM-backed storage of constants.
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/// @author Amilcar Lucas
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#ifndef __RC_CHANNEL_AUX_H__
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#define __RC_CHANNEL_AUX_H__
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#include <AP_HAL.h>
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#include "RC_Channel.h"
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#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
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#define RC_AUX_MAX_CHANNELS 12
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#else
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#define RC_AUX_MAX_CHANNELS 8
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#endif
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/// @class RC_Channel_aux
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/// @brief Object managing one aux. RC channel (CH5-8), with information about its function
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class RC_Channel_aux : public 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_aux(uint8_t ch_out) :
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RC_Channel(ch_out)
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{
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for (uint8_t i=0; i<RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i] == NULL) {
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_aux_channels[i] = this;
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break;
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}
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}
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AP_Param::setup_object_defaults(this, var_info);
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}
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typedef enum
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{
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k_none = 0, ///< disabled
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k_manual = 1, ///< manual, just pass-thru the RC in signal
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k_flap = 2, ///< flap
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k_flap_auto = 3, ///< flap automated
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k_aileron = 4, ///< aileron
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k_unused1 = 5, ///< unused function
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k_mount_pan = 6, ///< mount yaw (pan)
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k_mount_tilt = 7, ///< mount pitch (tilt)
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k_mount_roll = 8, ///< mount roll
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k_mount_open = 9, ///< mount open (deploy) / close (retract)
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k_cam_trigger = 10, ///< camera trigger
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k_egg_drop = 11, ///< egg drop
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k_mount2_pan = 12, ///< mount2 yaw (pan)
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k_mount2_tilt = 13, ///< mount2 pitch (tilt)
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k_mount2_roll = 14, ///< mount2 roll
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k_mount2_open = 15, ///< mount2 open (deploy) / close (retract)
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k_dspoiler1 = 16, ///< differential spoiler 1 (left wing)
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k_dspoiler2 = 17, ///< differential spoiler 2 (right wing)
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k_aileron_with_input = 18, ///< aileron, with rc input
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k_elevator = 19, ///< elevator
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k_elevator_with_input = 20, ///< elevator, with rc input
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k_rudder = 21, ///< secondary rudder channel
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k_sprayer_pump = 22, ///< crop sprayer pump channel
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k_sprayer_spinner = 23, ///< crop sprayer spinner channel
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k_flaperon1 = 24, ///< flaperon, left wing
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k_flaperon2 = 25, ///< flaperon, right wing
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k_steering = 26, ///< ground steering, used to separate from rudder
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k_parachute_release = 27, ///< parachute release
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k_epm = 28, ///< epm gripper
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k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one)
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} Aux_servo_function_t;
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AP_Int8 function; ///< see Aux_servo_function_t enum
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// output one auxillary channel
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void output_ch(void);
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// output all auxillary channels
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static void output_ch_all(void);
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// set radio_out for a function channel
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static void set_radio(Aux_servo_function_t function, int16_t value);
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// set and save the trim for a function channel to radio_in
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static void set_radio_trim(Aux_servo_function_t function);
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// set radio_out to radio_min
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static void set_radio_to_min(Aux_servo_function_t function);
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// set radio_out to radio_max
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static void set_radio_to_max(Aux_servo_function_t function);
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// set radio_out to radio_trim
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static void set_radio_to_trim(Aux_servo_function_t function);
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// copy radio_in to radio_out
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static void copy_radio_in_out(Aux_servo_function_t function, bool do_input_output=false);
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// set servo_out
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static void set_servo_out(Aux_servo_function_t function, int16_t value);
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// setup failsafe for an auxillary channel function
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static void set_servo_failsafe(Aux_servo_function_t function, RC_Channel::LimitValue limit);
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// set servo to a LimitValue
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static void set_servo_limit(Aux_servo_function_t function, RC_Channel::LimitValue limit);
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// return true if a function is assigned to a channel
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static bool function_assigned(Aux_servo_function_t function);
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// set a servo_out value, and angle range, then calc_pwm
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static void move_servo(Aux_servo_function_t function,
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int16_t value, int16_t angle_min, int16_t angle_max);
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static const struct AP_Param::GroupInfo var_info[];
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// assigned and enable auxillary channels
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static void enable_aux_servos(void);
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// prevent a channel from being used for auxillary functions
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static void disable_aux_channel(uint8_t channel);
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// return the current function for a channel
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static Aux_servo_function_t channel_function(uint8_t channel);
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private:
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static uint32_t _function_mask;
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static RC_Channel_aux *_aux_channels[RC_AUX_MAX_CHANNELS];
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static void update_aux_servo_function(void);
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};
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#endif /* RC_CHANNEL_AUX_H_ */
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