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ardupilot/libraries/RC_Channel/SRV_Channel.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
SRV_Channel.cpp - object to separate input and output channel
ranges, trim and reversal
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include "SRV_Channel.h"
#include "RC_Channel.h"
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo SRV_Channels::var_info[] = {
// @Param: RNG_ENABLE
// @DisplayName: Enable servo output ranges
// @Description: This enables the use of separate servo output ranges from input ranges.
// @Values: 0:Disable,1:Enable
// @User: Advanced
AP_GROUPINFO_FLAGS("_RNG_ENABLE", 1, SRV_Channels, enable, 0, AP_PARAM_FLAG_ENABLE),
// @Param: 1_MIN
// @DisplayName: Servo1 min PWM
// @Description: servo1 minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
// @Units: pwm
// @Range: 800 2200
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("1_MIN", 2, SRV_Channels, servo_min[0], 1100),
// @Param: 1_MAX
// @DisplayName: Servo1 max PWM
// @Description: servo1 maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
// @Units: pwm
// @Range: 800 2200
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("1_MAX", 3, SRV_Channels, servo_max[0], 1900),
// @Param: 1_TRIM
// @DisplayName: Servo1 trim PWM
// @Description: servo1 trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
// @Units: pwm
// @Range: 800 2200
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("1_TRIM", 4, SRV_Channels, servo_trim[0], 1500),
// @Param: 1_REV
// @DisplayName: Servo1 reverse
// @Description: Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.
// @Values: -1:Reversed,1:Normal
// @User: Advanced
AP_GROUPINFO("1_REV", 5, SRV_Channels, reverse[0], 1),
// @Param: 2_MIN
// @DisplayName: Servo1 min PWM
// @Description: servo1 minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
// @Units: pwm
// @Range: 800 2200
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("2_MIN", 6, SRV_Channels, servo_min[1], 1100),
// @Param: 2_MAX
// @DisplayName: Servo1 max PWM
// @Description: servo1 maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
// @Units: pwm
// @Range: 800 2200
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("2_MAX", 7, SRV_Channels, servo_max[1], 1900),
// @Param: 2_TRIM
// @DisplayName: Servo1 trim PWM
// @Description: servo1 trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
// @Units: pwm
// @Range: 800 2200
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("2_TRIM", 8, SRV_Channels, servo_trim[1], 1500),
// @Param: 2_REV
// @DisplayName: Servo1 reverse
// @Description: Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.
// @Values: -1:Reversed,1:Normal
// @User: Advanced
AP_GROUPINFO("2_REV", 9, SRV_Channels, reverse[1], 1),
// @Param: 3_MIN
// @DisplayName: Servo1 min PWM
// @Description: servo1 minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
// @Units: pwm
// @Range: 800 2200
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("3_MIN", 10, SRV_Channels, servo_min[2], 1100),
// @Param: 3_MAX
// @DisplayName: Servo1 max PWM
// @Description: servo1 maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
// @Units: pwm
// @Range: 800 2200
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("3_MAX", 11, SRV_Channels, servo_max[2], 1900),
// @Param: 3_TRIM
// @DisplayName: Servo1 trim PWM
// @Description: servo1 trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
// @Units: pwm
// @Range: 800 2200
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("3_TRIM", 12, SRV_Channels, servo_trim[2], 1500),
// @Param: 3_REV
// @DisplayName: Servo1 reverse
// @Description: Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.
// @Values: -1:Reversed,1:Normal
// @User: Advanced
AP_GROUPINFO("3_REV", 13, SRV_Channels, reverse[2], 1),
// @Param: 4_MIN
// @DisplayName: Servo1 min PWM
// @Description: servo1 minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
// @Units: pwm
// @Range: 800 2200
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("4_MIN", 14, SRV_Channels, servo_min[3], 1100),
// @Param: 4_MAX
// @DisplayName: Servo1 max PWM
// @Description: servo1 maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
// @Units: pwm
// @Range: 800 2200
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("4_MAX", 15, SRV_Channels, servo_max[3], 1900),
// @Param: 4_TRIM
// @DisplayName: Servo1 trim PWM
// @Description: servo1 trim PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
// @Units: pwm
// @Range: 800 2200
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("4_TRIM", 16, SRV_Channels, servo_trim[3], 1500),
// @Param: 4_REV
// @DisplayName: Servo1 reverse
// @Description: Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.
// @Values: -1:Reversed,1:Normal
// @User: Advanced
AP_GROUPINFO("4_REV", 17, SRV_Channels, reverse[3], 1),
AP_GROUPEND
};
/*
constructor
*/
SRV_Channels::SRV_Channels(void)
{
AP_Param::setup_object_defaults(this, var_info);
}
// remap a PWM value from a channel in value
uint16_t SRV_Channels::remap_pwm(uint8_t i, uint16_t pwm) const
{
const RC_Channel *ch = RC_Channel::rc_channel(i);
if (ch == nullptr) {
return 0;
}
float v = ch->get_radio_out_normalised(pwm);
uint16_t radio_out;
if (ch->get_type_out() == RC_CHANNEL_TYPE_RANGE) {
if (reverse[i] == -1) {
v = 1 - v;
}
radio_out = servo_min[i] + v * (servo_max[i] - servo_min[i]);
} else {
if (reverse[i] == -1) {
v = -v;
}
if (v > 0) {
radio_out = servo_trim[i] + v * (servo_max[i] - servo_trim[i]);
} else {
radio_out = servo_trim[i] + v * (servo_trim[i] - servo_min[i]);
}
}
radio_out = constrain_int16(radio_out, servo_min[i], servo_max[i]);
return radio_out;
}
/*
remap radio_out values for first 4 servos using SERVO* parameters, if enabled
This should be called with cork enabled in hal.rcout
*/
void SRV_Channels::remap_servo_output(void)
{
// cope with SERVO_RNG_ENABLE being changed at runtime. If we
// don't change the ESC scaling immediately then some ESCs will
// fire up for one second
if (last_enable != enable && esc_cal_chan != -1) {
last_enable = enable;
set_esc_scaling(esc_cal_chan);
}
if (!enable) {
return;
}
for (uint8_t i=0; i<NUM_SERVO_RANGE_CHANNELS; i++) {
RC_Channel *ch = RC_Channel::rc_channel(i);
if (ch == nullptr) {
continue;
}
uint16_t radio_out = remap_pwm(i, ch->get_radio_out());
ch->set_radio_out(radio_out);
}
}
/*
set trim values for output channels
*/
void SRV_Channels::set_trim(void)
{
if (!enable) {
return;
}
for (uint8_t i=0; i<NUM_SERVO_RANGE_CHANNELS; i++) {
const RC_Channel *ch = RC_Channel::rc_channel(i);
if (ch == nullptr) {
continue;
}
if (ch->get_type_out() == RC_CHANNEL_TYPE_RANGE) {
// we don't trim range channels (like throttle)
continue;
}
uint16_t new_trim = remap_pwm(i, ch->get_radio_trim());
servo_trim[i].set_and_save(new_trim);
}
}
void SRV_Channels::set_esc_scaling(uint8_t chnum)
{
esc_cal_chan = chnum;
if (!enable || chnum >= NUM_SERVO_RANGE_CHANNELS) {
const RC_Channel *ch = RC_Channel::rc_channel(chnum);
hal.rcout->set_esc_scaling(ch->get_radio_min(), ch->get_radio_max());
} else {
hal.rcout->set_esc_scaling(servo_min[chnum], servo_max[chnum]);
}
}
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