ardupilot/libraries/RC_Channel/RC_Channel.h

156 lines
4.4 KiB
C++

/// @file RC_Channel.h
/// @brief RC_Channel manager, with EEPROM-backed storage of constants.
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#define RC_CHANNEL_TYPE_ANGLE 0
#define RC_CHANNEL_TYPE_RANGE 1
#define NUM_RC_CHANNELS 16
/// @class RC_Channel
/// @brief Object managing one RC channel
class RC_Channel {
public:
friend class SRV_Channels;
friend class RC_Channels;
// Constructor
RC_Channel(void);
// used to get min/max/trim limit value based on _reverse
enum LimitValue {
RC_CHANNEL_LIMIT_TRIM,
RC_CHANNEL_LIMIT_MIN,
RC_CHANNEL_LIMIT_MAX
};
// startup
void load_eeprom(void);
void save_eeprom(void);
void save_trim(void);
// setup the control preferences
void set_range(uint16_t high);
void set_angle(uint16_t angle);
bool get_reverse(void) const;
void set_default_dead_zone(int16_t dzone);
uint16_t get_dead_zone(void) const { return dead_zone; }
// get the center stick position expressed as a control_in value
int16_t get_control_mid() const;
// read input from hal.rcin - create a control_in value
void set_pwm(int16_t pwm);
void set_pwm_no_deadzone(int16_t pwm);
// calculate an angle given dead_zone and trim. This is used by the quadplane code
// for hover throttle
int16_t pwm_to_angle_dz_trim(uint16_t dead_zone, uint16_t trim);
/*
return a normalised input for a channel, in range -1 to 1,
centered around the channel trim. Ignore deadzone.
*/
float norm_input();
/*
return a normalised input for a channel, in range -1 to 1,
centered around the channel trim. Take into account the deadzone
*/
float norm_input_dz();
uint8_t percent_input();
int16_t pwm_to_range();
int16_t pwm_to_range_dz(uint16_t dead_zone);
// read the input value from hal.rcin for this channel
uint16_t read() const;
// read input from hal.rcin and set as pwm input for channel
void input();
static const struct AP_Param::GroupInfo var_info[];
// return true if input is within deadzone of trim
bool in_trim_dz();
int16_t get_radio_in() const { return radio_in;}
void set_radio_in(int16_t val) {radio_in = val;}
int16_t get_control_in() const { return control_in;}
void set_control_in(int16_t val) { control_in = val;}
// get control input with zero deadzone
int16_t get_control_in_zero_dz(void);
int16_t get_radio_min() const {return radio_min.get();}
void set_radio_min(int16_t val) { radio_min = val;}
int16_t get_radio_max() const {return radio_max.get();}
void set_radio_max(int16_t val) {radio_max = val;}
int16_t get_radio_trim() const { return radio_trim.get();}
void set_radio_trim(int16_t val) { radio_trim.set(val);}
void save_radio_trim() { radio_trim.save();}
void set_and_save_trim() { radio_trim.set_and_save_ifchanged(radio_in);}
// set and save trim if changed
void set_and_save_radio_trim(int16_t val) { radio_trim.set_and_save_ifchanged(val);}
bool min_max_configured() const;
private:
// pwm is stored here
int16_t radio_in;
// value generated from PWM normalised to configured scale
int16_t control_in;
AP_Int16 radio_min;
AP_Int16 radio_trim;
AP_Int16 radio_max;
AP_Int8 reversed;
AP_Int16 dead_zone;
uint8_t type_in;
int16_t high_in;
// the input channel this corresponds to
uint8_t ch_in;
// bits set when channel has been identified as configured
static uint32_t configured_mask;
int16_t pwm_to_angle();
int16_t pwm_to_angle_dz(uint16_t dead_zone);
};
/*
class RC_Channels. Hold the full set of RC_Channel objects
*/
class RC_Channels {
public:
friend class SRV_Channels;
// constructor
RC_Channels(void);
static const struct AP_Param::GroupInfo var_info[];
static RC_Channel *rc_channel(uint8_t chan) {
return (chan < NUM_RC_CHANNELS)?&channels[chan]:nullptr;
}
static void set_pwm_all(void);
private:
// this static arrangement is to avoid static pointers in AP_Param tables
static RC_Channel *channels;
RC_Channel obj_channels[NUM_RC_CHANNELS];
};