mirror of https://github.com/ArduPilot/ardupilot
132 lines
3.9 KiB
C++
132 lines
3.9 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file RC_Channel.h
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/// @brief RC_Channel manager, with EEPROM-backed storage of constants.
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#ifndef __RC_CHANNEL_H__
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#define __RC_CHANNEL_H__
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#include <AP_Common.h>
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#include <AP_Param.h>
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#define RC_CHANNEL_TYPE_ANGLE 0
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#define RC_CHANNEL_TYPE_RANGE 1
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#define RC_CHANNEL_TYPE_ANGLE_RAW 2
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#define RC_CHANNEL_TYPE_ANGLE 0
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#define RC_CHANNEL_TYPE_RANGE 1
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#define RC_CHANNEL_TYPE_ANGLE_RAW 2
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#define RC_MAX_CHANNELS 14
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/// @class RC_Channel
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/// @brief Object managing one RC channel
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class 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(uint8_t ch_out) :
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_high(1),
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_ch_out(ch_out) {
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AP_Param::setup_object_defaults(this, var_info);
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if (ch_out < RC_MAX_CHANNELS) {
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rc_ch[ch_out] = this;
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}
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}
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// setup min and max radio values in CLI
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void update_min_max();
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void zero_min_max();
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// startup
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void load_eeprom(void);
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void save_eeprom(void);
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void save_trim(void);
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void set_type(uint8_t t);
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// setup the control preferences
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void set_range(int16_t low, int16_t high);
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void set_range_out(int16_t low, int16_t high);
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void set_angle(int16_t angle);
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void set_reverse(bool reverse);
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bool get_reverse(void);
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void set_default_dead_zone(int16_t dzone);
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// read input from APM_RC - create a control_in value
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void set_pwm(int16_t pwm);
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void set_pwm_no_deadzone(int16_t pwm);
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// pwm is stored here
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int16_t radio_in;
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// call after first set_pwm
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void trim();
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// did our read come in 50µs below the min?
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bool get_failsafe(void);
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// value generated from PWM
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int16_t control_in;
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int16_t control_mix(float value);
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// current values to the servos - degrees * 100 (approx assuming servo is -45 to 45 degrees except [3] is 0 to 100
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int16_t servo_out;
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// generate PWM from servo_out value
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void calc_pwm(void);
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// PWM is without the offset from radio_min
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int16_t pwm_out;
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int16_t radio_out;
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AP_Int16 radio_min;
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AP_Int16 radio_trim;
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AP_Int16 radio_max;
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// includes offset from PWM
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//int16_t get_radio_out(void);
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int16_t pwm_to_angle_dz(uint16_t dead_zone);
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int16_t pwm_to_angle();
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float norm_input();
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float norm_output();
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int16_t angle_to_pwm();
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int16_t pwm_to_range();
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int16_t pwm_to_range_dz(uint16_t dead_zone);
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int16_t range_to_pwm();
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void output() const;
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void output_trim() const;
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uint16_t read() const;
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void input();
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void enable_out();
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void disable_out();
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static const struct AP_Param::GroupInfo var_info[];
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static RC_Channel *rc_channel(uint8_t i);
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private:
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AP_Int8 _reverse;
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AP_Int16 _dead_zone;
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uint8_t _type;
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int16_t _high;
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int16_t _low;
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int16_t _high_out;
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int16_t _low_out;
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static RC_Channel *rc_ch[RC_MAX_CHANNELS];
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protected:
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uint8_t _ch_out;
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};
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// This is ugly, but it fixes poorly architected library
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#include "RC_Channel_aux.h"
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#endif
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