ardupilot/libraries/RC_Channel/RC_Channel.h

196 lines
5.8 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 RC_CHANNEL_TYPE_ANGLE_RAW 2
#define RC_MAX_CHANNELS 14
/// @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_in(1),
_ch_out(ch_out)
{
AP_Param::setup_object_defaults(this, var_info);
if (ch_out < RC_MAX_CHANNELS) {
_rc_ch[ch_out] = this;
}
}
// 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
};
// 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);
void set_type_in(uint8_t t);
void set_type_out(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_range_in(int16_t low, int16_t high);
void set_angle(int16_t angle);
void set_angle_in(int16_t angle);
void set_angle_out(int16_t angle);
void set_reverse(bool reverse);
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 channel number
uint8_t get_ch_out(void) const { return _ch_out; }
// get the center stick position expressed as a control_in value
int16_t get_control_mid() const;
// read input from APM_RC - create a control_in value
void set_pwm(int16_t pwm);
static void set_pwm_all(void);
void set_pwm_no_deadzone(int16_t pwm);
// return a limit PWM value
uint16_t get_limit_pwm(LimitValue limit) const;
// call after first set_pwm
void trim();
// generate PWM from servo_out value
void calc_pwm(void);
int16_t pwm_to_angle_dz_trim(uint16_t dead_zone, uint16_t trim);
int16_t pwm_to_angle_dz(uint16_t dead_zone);
int16_t pwm_to_angle();
/*
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();
float norm_output();
int16_t angle_to_pwm();
int16_t pwm_to_range();
int16_t pwm_to_range_dz(uint16_t dead_zone);
int16_t range_to_pwm();
void output() const;
void output_trim();
static void output_trim_all();
static void setup_failsafe_trim_mask(uint16_t chmask);
static void setup_failsafe_trim_all();
uint16_t read() const;
void input();
void enable_out();
void disable_out();
static const struct AP_Param::GroupInfo var_info[];
static RC_Channel *rc_channel(uint8_t i);
static RC_Channel **rc_channel_array(void)
{
return _rc_ch;
}
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;}
int16_t get_servo_out() const {return _servo_out;}
void set_servo_out(int16_t val){_servo_out = val;}
int16_t get_pwm_out() const { return _pwm_out;}
int16_t get_radio_out() const { return _radio_out;}
void set_radio_out(int16_t val){ _radio_out = val;}
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();}
// return output type RC_CHANNEL_TYPE_*
uint8_t get_type_out(void) const { return _type_out; }
// get the current radio_out value as a floating point number
// normalised so that 1.0 is full output
float get_radio_out_normalised(uint16_t pwm) const;
bool min_max_configured()
{
return _radio_min.configured() && _radio_max.configured();
}
private:
// pwm is stored here
int16_t _radio_in;
// value generated from PWM
int16_t _control_in;
// 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;
// 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;
AP_Int8 _reverse;
AP_Int16 _dead_zone;
uint8_t _type_in;
int16_t _high_in;
int16_t _low_in;
uint8_t _type_out;
int16_t _high_out;
int16_t _low_out;
static RC_Channel *_rc_ch[RC_MAX_CHANNELS];
protected:
uint8_t _ch_out;
};
// This is ugly, but it fixes poorly architected library
#include "RC_Channel_aux.h"