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