mirror of https://github.com/ArduPilot/ardupilot
128 lines
3.4 KiB
C++
128 lines
3.4 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* RC_Channels.cpp - class containing an array of RC_Channel objects
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*
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*/
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#include <stdlib.h>
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#include <cmath>
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#include <AP_HAL/AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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#include <AP_Math/AP_Math.h>
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#include "RC_Channel.h"
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RC_Channel *RC_Channels::channels;
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const AP_Param::GroupInfo RC_Channels::var_info[] = {
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// @Group: 1_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[0], "1_", 1, RC_Channels, RC_Channel),
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// @Group: 2_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[1], "2_", 2, RC_Channels, RC_Channel),
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// @Group: 3_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[2], "3_", 3, RC_Channels, RC_Channel),
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// @Group: 4_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[3], "4_", 4, RC_Channels, RC_Channel),
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// @Group: 5_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[4], "5_", 5, RC_Channels, RC_Channel),
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// @Group: 6_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[5], "6_", 6, RC_Channels, RC_Channel),
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// @Group: 7_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[6], "7_", 7, RC_Channels, RC_Channel),
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// @Group: 8_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[7], "8_", 8, RC_Channels, RC_Channel),
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// @Group: 9_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[8], "9_", 9, RC_Channels, RC_Channel),
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// @Group: 10_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[9], "10_", 10, RC_Channels, RC_Channel),
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// @Group: 11_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[10], "11_", 11, RC_Channels, RC_Channel),
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// @Group: 12_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[11], "12_", 12, RC_Channels, RC_Channel),
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// @Group: 13_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[12], "13_", 13, RC_Channels, RC_Channel),
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// @Group: 14_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[13], "14_", 14, RC_Channels, RC_Channel),
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// @Group: 15_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[14], "15_", 15, RC_Channels, RC_Channel),
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// @Group: 16_
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// @Path: RC_Channel.cpp
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AP_SUBGROUPINFO(obj_channels[15], "16_", 16, RC_Channels, RC_Channel),
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AP_GROUPEND
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};
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/*
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channels group object constructor
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*/
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RC_Channels::RC_Channels(void)
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{
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channels = obj_channels;
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// set defaults from the parameter table
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AP_Param::setup_object_defaults(this, var_info);
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// setup ch_in on channels
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for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
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channels[i].ch_in = i;
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}
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}
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/*
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call read() and set_pwm() on all channels
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*/
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void
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RC_Channels::set_pwm_all(void)
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{
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for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
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channels[i].set_pwm(channels[i].read());
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}
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}
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