mirror of https://github.com/ArduPilot/ardupilot
367 lines
11 KiB
C++
367 lines
11 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "RC_Channel_aux.h"
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#include <AP_Math/AP_Math.h>
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#include <AP_HAL/AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo RC_Channel_aux::var_info[] PROGMEM = {
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AP_NESTEDGROUPINFO(RC_Channel, 0),
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// @Param: FUNCTION
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// @DisplayName: Servo out function
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// @Description: Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
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// @Values: 0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute,28:EPM,29:LandingGear
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// @User: Standard
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AP_GROUPINFO("FUNCTION", 1, RC_Channel_aux, function, 0),
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AP_GROUPEND
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};
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RC_Channel_aux *RC_Channel_aux::_aux_channels[RC_AUX_MAX_CHANNELS];
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uint32_t RC_Channel_aux::_function_mask;
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/// map a function to a servo channel and output it
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void
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RC_Channel_aux::output_ch(void)
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{
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// take care of two corner cases
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switch(function)
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{
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case k_none: // disabled
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return;
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case k_manual: // manual
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radio_out = radio_in;
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break;
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}
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hal.rcout->write(_ch_out, radio_out);
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}
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/*
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call output_ch() on all auxillary channels
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*/
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void
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RC_Channel_aux::output_ch_all(void)
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{
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for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i]) {
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_aux_channels[i]->output_ch();
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}
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}
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}
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/*
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prevent a channel from being used for auxillary functions
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This is used by the copter code to ensure channels used for motors
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can't be used for auxillary functions
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*/
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void RC_Channel_aux::disable_aux_channel(uint8_t channel)
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{
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for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i] && _aux_channels[i]->_ch_out == channel) {
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_aux_channels[i] = NULL;
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}
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}
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}
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/*
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return the current function for a channel
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*/
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RC_Channel_aux::Aux_servo_function_t RC_Channel_aux::channel_function(uint8_t channel)
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{
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for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i] && _aux_channels[i]->_ch_out == channel) {
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return (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get();
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}
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}
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return RC_Channel_aux::k_none;
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}
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/// Update the _aux_channels array of pointers to rc_x channels
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/// This is to be done before rc_init so that the channels get correctly initialized.
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/// It also should be called periodically because the user might change the configuration and
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/// expects the changes to take effect instantly
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/// Supports up to eight aux servo outputs (typically CH5 ... CH11)
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/// All servos must be configured with a single call to this function
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/// (do not call this twice with different parameters, the second call will reset the effect of the first call)
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void RC_Channel_aux::update_aux_servo_function(void)
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{
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// set auxiliary ranges
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for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i] == NULL) continue;
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RC_Channel_aux::Aux_servo_function_t function = (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get();
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switch (function) {
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case RC_Channel_aux::k_flap:
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case RC_Channel_aux::k_flap_auto:
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case RC_Channel_aux::k_egg_drop:
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_aux_channels[i]->set_range(0,100);
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break;
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case RC_Channel_aux::k_aileron:
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case RC_Channel_aux::k_aileron_with_input:
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case RC_Channel_aux::k_elevator:
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case RC_Channel_aux::k_elevator_with_input:
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case RC_Channel_aux::k_dspoiler1:
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case RC_Channel_aux::k_dspoiler2:
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case RC_Channel_aux::k_rudder:
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case RC_Channel_aux::k_steering:
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case RC_Channel_aux::k_flaperon1:
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case RC_Channel_aux::k_flaperon2:
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_aux_channels[i]->set_angle(4500);
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break;
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default:
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break;
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}
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}
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// create a function mask to make updates master
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_function_mask = 0;
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for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i]) {
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RC_Channel_aux::Aux_servo_function_t function = (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get();
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if (function < k_nr_aux_servo_functions) {
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_function_mask |= (1UL<<(uint8_t)function);
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}
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}
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}
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}
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/// Should be called after the the servo functions have been initialized
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void RC_Channel_aux::enable_aux_servos()
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{
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update_aux_servo_function();
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// enable all channels that are not set to a valid function. This
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// includes k_none servos, which allows those to get their initial
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// trim value on startup
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for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i]) {
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RC_Channel_aux::Aux_servo_function_t function = (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get();
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// see if it is a valid function
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if (function < RC_Channel_aux::k_nr_aux_servo_functions) {
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_aux_channels[i]->enable_out();
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}
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}
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}
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}
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/*
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set radio_out for all channels matching the given function type
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*/
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void
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RC_Channel_aux::set_radio(RC_Channel_aux::Aux_servo_function_t function, int16_t value)
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{
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if (!function_assigned(function)) {
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return;
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}
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for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
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_aux_channels[i]->radio_out = constrain_int16(value,_aux_channels[i]->radio_min,_aux_channels[i]->radio_max);
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_aux_channels[i]->output();
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}
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}
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}
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/*
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set radio_out for all channels matching the given function type, allow radio_trim to center servo
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*/
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void
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RC_Channel_aux::set_radio_trimmed(RC_Channel_aux::Aux_servo_function_t function, int16_t value)
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{
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if (!function_assigned(function)) {
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return;
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}
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for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
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int16_t value2 = value - 1500 + _aux_channels[i]->radio_trim;
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_aux_channels[i]->radio_out = constrain_int16(value2,_aux_channels[i]->radio_min,_aux_channels[i]->radio_max);
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_aux_channels[i]->output();
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}
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}
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}
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/*
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set and save the trim value to radio_in for all channels matching
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the given function type
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*/
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void
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RC_Channel_aux::set_radio_trim(RC_Channel_aux::Aux_servo_function_t function)
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{
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if (!function_assigned(function)) {
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return;
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}
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for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
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if (_aux_channels[i]->radio_in != 0) {
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_aux_channels[i]->radio_trim = _aux_channels[i]->radio_in;
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_aux_channels[i]->radio_trim.save();
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}
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}
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}
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}
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/*
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set the radio_out value for any channel with the given function to radio_min
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*/
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void
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RC_Channel_aux::set_radio_to_min(RC_Channel_aux::Aux_servo_function_t function)
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{
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if (!function_assigned(function)) {
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return;
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}
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for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
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_aux_channels[i]->radio_out = _aux_channels[i]->radio_min;
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_aux_channels[i]->output();
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}
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}
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}
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/*
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set the radio_out value for any channel with the given function to radio_max
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*/
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void
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RC_Channel_aux::set_radio_to_max(RC_Channel_aux::Aux_servo_function_t function)
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{
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if (!function_assigned(function)) {
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return;
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}
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for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
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_aux_channels[i]->radio_out = _aux_channels[i]->radio_max;
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_aux_channels[i]->output();
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}
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}
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}
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/*
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set the radio_out value for any channel with the given function to radio_trim
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*/
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void
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RC_Channel_aux::set_radio_to_trim(RC_Channel_aux::Aux_servo_function_t function)
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{
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if (!function_assigned(function)) {
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return;
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}
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for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
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_aux_channels[i]->radio_out = _aux_channels[i]->radio_trim;
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_aux_channels[i]->output();
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}
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}
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}
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/*
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copy radio_in to radio_out for a given function
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*/
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void
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RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::Aux_servo_function_t function, bool do_input_output)
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{
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if (!function_assigned(function)) {
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return;
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}
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for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
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if (do_input_output) {
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_aux_channels[i]->input();
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}
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_aux_channels[i]->radio_out = _aux_channels[i]->radio_in;
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if (do_input_output) {
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_aux_channels[i]->output();
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}
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}
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}
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}
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/*
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set servo_out and call calc_pwm() for a given function
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*/
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void
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RC_Channel_aux::set_servo_out(RC_Channel_aux::Aux_servo_function_t function, int16_t value)
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{
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if (!function_assigned(function)) {
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return;
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}
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for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
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_aux_channels[i]->servo_out = value;
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_aux_channels[i]->calc_pwm();
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_aux_channels[i]->output();
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}
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}
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}
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/*
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setup failsafe value for an auxiliary function type to a LimitValue
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*/
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void
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RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::Aux_servo_function_t function, RC_Channel::LimitValue limit)
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{
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if (!function_assigned(function)) {
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return;
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}
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for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
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const RC_Channel_aux *ch = _aux_channels[i];
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if (ch && ch->function.get() == function) {
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uint16_t pwm = ch->get_limit_pwm(limit);
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hal.rcout->set_failsafe_pwm(1U<<ch->get_ch_out(), pwm);
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}
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}
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}
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/*
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set radio output value for an auxiliary function type to a LimitValue
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*/
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void
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RC_Channel_aux::set_servo_limit(RC_Channel_aux::Aux_servo_function_t function, RC_Channel::LimitValue limit)
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{
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if (!function_assigned(function)) {
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return;
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}
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for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
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RC_Channel_aux *ch = _aux_channels[i];
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if (ch && ch->function.get() == function) {
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uint16_t pwm = ch->get_limit_pwm(limit);
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ch->radio_out = pwm;
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if (ch->function.get() == k_manual) {
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// in order for output_ch() to work for k_manual we
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// also have to override radio_in
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ch->radio_in = pwm;
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}
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}
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}
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}
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/*
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return true if a particular function is assigned to at least one RC channel
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*/
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bool
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RC_Channel_aux::function_assigned(RC_Channel_aux::Aux_servo_function_t function)
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{
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if (function < k_nr_aux_servo_functions) {
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return (_function_mask & (1UL<<function)) != 0;
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}
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return false;
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}
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/*
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set servo_out and angle_min/max, then calc_pwm and output a
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value. This is used to move a AP_Mount servo
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*/
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void
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RC_Channel_aux::move_servo(RC_Channel_aux::Aux_servo_function_t function,
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int16_t value, int16_t angle_min, int16_t angle_max)
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{
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if (!function_assigned(function)) {
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return;
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}
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for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
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_aux_channels[i]->servo_out = value;
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_aux_channels[i]->set_range(angle_min, angle_max);
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_aux_channels[i]->calc_pwm();
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_aux_channels[i]->output();
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}
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}
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}
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