mirror of https://github.com/ArduPilot/ardupilot
94 lines
2.2 KiB
C++
94 lines
2.2 KiB
C++
/*
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AP_RcChannel.cpp - Radio library for Arduino
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Code by Jason Short, James Goppert. DIYDrones.com
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This library is free software; you can redistribute it and / or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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*/
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#include <math.h>
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#include <avr/eeprom.h>
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#include "AP_RcChannel.h"
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#include <AP_Common.h>
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void AP_RcChannel::readRadio(uint16_t pwmRadio) {
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// apply reverse
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if(_reverse) _pwmRadio = (_pwmNeutral - pwmRadio) + _pwmNeutral;
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else _pwmRadio = pwmRadio;
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setPwm(pwmRadio);
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}
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void
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AP_RcChannel::setPwm(uint16_t pwm)
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{
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//Serial.printf("reverse: %s\n", (_reverse)?"true":"false");
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// apply reverse
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if(_reverse) pwm = int16_t(_pwmNeutral-pwm) + _pwmNeutral;
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//Serial.printf("pwm after reverse: %d\n", pwm);
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// apply filter
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if(_filter){
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if(_pwm == 0)
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_pwm = pwm;
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else
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_pwm = ((pwm + _pwm) >> 1); // Small filtering
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}else{
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_pwm = pwm;
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}
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//Serial.printf("pwm after filter: %d\n", _pwm);
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// apply deadzone
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_pwm = (abs(_pwm - _pwmNeutral) < _pwmDeadZone) ? _pwmNeutral : _pwm;
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//Serial.printf("pwm after deadzone: %d\n", _pwm);
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}
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void
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AP_RcChannel::setPosition(float position)
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{
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setPwm(_positionToPwm(position));
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}
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void
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AP_RcChannel::mixRadio(uint16_t infStart)
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{
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float inf = abs( int16_t(_pwmRadio - _pwmNeutral) );
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inf = min(inf, infStart);
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inf = ((infStart - inf) /infStart);
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setPwm(_pwm*inf + _pwmRadio);
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}
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uint16_t
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AP_RcChannel::_positionToPwm(const float & position)
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{
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uint16_t pwm;
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//Serial.printf("position: %f\n", position);
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if(position < 0)
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pwm = position * int16_t(_pwmNeutral - _pwmMin) / _scale + _pwmNeutral;
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else
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pwm = position * int16_t(_pwmMax - _pwmNeutral) / _scale + _pwmNeutral;
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constrain(pwm,_pwmMin,_pwmMax);
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return pwm;
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}
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float
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AP_RcChannel::_pwmToPosition(const uint16_t & pwm)
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{
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float position;
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if(pwm < _pwmNeutral)
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position = _scale * int16_t(pwm - _pwmNeutral)/ int16_t(_pwmNeutral - _pwmMin);
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else
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position = _scale * int16_t(pwm - _pwmNeutral)/ int16_t(_pwmMax - _pwmNeutral);
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constrain(position,-_scale,_scale);
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return position;
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}
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// ------------------------------------------
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