2010-12-26 20:59:17 -04:00
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< title > ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/RC_Channel/RC_Channel.cpp Source File< / title >
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< h1 > /home/jgoppert/Projects/ap/libraries/RC_Channel/RC_Channel.cpp< / h1 > < / div >
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< div class = "contents" >
< a href = "_r_c___channel_8cpp.html" > Go to the documentation of this file.< / a > < div class = "fragment" > < pre class = "fragment" > < a name = "l00001" > < / a > 00001 < span class = "comment" > /*< / span >
< a name = "l00002" > < / a > 00002 < span class = "comment" > RC_Channel.cpp - Radio library for Arduino< / span >
< a name = "l00003" > < / a > 00003 < span class = "comment" > Code by Jason Short. DIYDrones.com< / span >
< a name = "l00004" > < / a > 00004 < span class = "comment" > < / span >
< a name = "l00005" > < / a > 00005 < span class = "comment" > This library is free software; you can redistribute it and / or< / span >
< a name = "l00006" > < / a > 00006 < span class = "comment" > modify it under the terms of the GNU Lesser General Public< / span >
< a name = "l00007" > < / a > 00007 < span class = "comment" > License as published by the Free Software Foundation; either< / span >
< a name = "l00008" > < / a > 00008 < span class = "comment" > version 2.1 of the License, or (at your option) any later version.< / span >
< a name = "l00009" > < / a > 00009 < span class = "comment" > < / span >
< a name = "l00010" > < / a > 00010 < span class = "comment" > */< / span >
< a name = "l00011" > < / a > 00011
< a name = "l00012" > < / a > 00012 < span class = "preprocessor" > #include < math.h> < / span >
< a name = "l00013" > < / a > 00013 < span class = "preprocessor" > #include < avr/eeprom.h> < / span >
< a name = "l00014" > < / a > 00014 < span class = "preprocessor" > #include " < a class = "code" href = "_w_program_8h.html" > WProgram.h< / a > " < / span >
< a name = "l00015" > < / a > 00015 < span class = "preprocessor" > #include " < a class = "code" href = "_r_c___channel_8h.html" title = "RC_Channel manager, with EEPROM-backed storage of constants." > RC_Channel.h< / a > " < / span >
< a name = "l00016" > < / a > 00016
< a name = "l00017" > < / a > < a class = "code" href = "_r_c___channel_8cpp.html#a8a7f485573c16394fc0792a66bd02c7a" > 00017< / a > < span class = "preprocessor" > #define ANGLE 0< / span >
< a name = "l00018" > < / a > < a class = "code" href = "_r_c___channel_8cpp.html#ac04dd0afaf7ea3eb2ade2544d2d5f907" > 00018< / a > < span class = "preprocessor" > < / span > < span class = "preprocessor" > #define RANGE 1< / span >
< a name = "l00019" > < / a > 00019 < span class = "preprocessor" > < / span >
< a name = "l00020" > < / a > 00020 < span class = "comment" > // setup the control preferences< / span >
< a name = "l00021" > < / a > 00021 < span class = "keywordtype" > void< / span >
< a name = "l00022" > < / a > < a class = "code" href = "class_r_c___channel.html#adffafafffc9027e7293103766229b7e1" > 00022< / a > < a class = "code" href = "class_r_c___channel.html#adffafafffc9027e7293103766229b7e1" > RC_Channel::set_range< / a > (< span class = "keywordtype" > int< / span > low, < span class = "keywordtype" > int< / span > high)
< a name = "l00023" > < / a > 00023 {
< a name = "l00024" > < / a > 00024 _type = RANGE;
< a name = "l00025" > < / a > 00025 _high = high;
< a name = "l00026" > < / a > 00026 _low = low;
< a name = "l00027" > < / a > 00027 }
< a name = "l00028" > < / a > 00028
< a name = "l00029" > < / a > 00029 < span class = "keywordtype" > void< / span >
< a name = "l00030" > < / a > < a class = "code" href = "class_r_c___channel.html#ae528ed2a3460fddde82f114cb0694201" > 00030< / a > < a class = "code" href = "class_r_c___channel.html#ae528ed2a3460fddde82f114cb0694201" > RC_Channel::set_angle< / a > (< span class = "keywordtype" > int< / span > angle)
< a name = "l00031" > < / a > 00031 {
< a name = "l00032" > < / a > 00032 _type = ANGLE;
< a name = "l00033" > < / a > 00033 _high = angle;
< a name = "l00034" > < / a > 00034 }
< a name = "l00035" > < / a > 00035
< a name = "l00036" > < / a > 00036 < span class = "keywordtype" > void< / span >
< a name = "l00037" > < / a > < a class = "code" href = "class_r_c___channel.html#a5b3740e7040f4b75d9cd591ebadca4c3" > 00037< / a > < a class = "code" href = "class_r_c___channel.html#a5b3740e7040f4b75d9cd591ebadca4c3" > RC_Channel::set_reverse< / a > (< span class = "keywordtype" > bool< / span > reverse)
< a name = "l00038" > < / a > 00038 {
< a name = "l00039" > < / a > 00039 < span class = "keywordflow" > if< / span > (reverse) _reverse = -1;
< a name = "l00040" > < / a > 00040 < span class = "keywordflow" > else< / span > _reverse = 1;
< a name = "l00041" > < / a > 00041 }
< a name = "l00042" > < / a > 00042
< a name = "l00043" > < / a > 00043 < span class = "keywordtype" > void< / span >
< a name = "l00044" > < / a > < a class = "code" href = "class_r_c___channel.html#a045bff22457093d0c0fa78e19e618f9f" > 00044< / a > < a class = "code" href = "class_r_c___channel.html#a045bff22457093d0c0fa78e19e618f9f" > RC_Channel::set_filter< / a > (< span class = "keywordtype" > bool< / span > filter)
< a name = "l00045" > < / a > 00045 {
< a name = "l00046" > < / a > 00046 _filter = filter;
< a name = "l00047" > < / a > 00047 }
< a name = "l00048" > < / a > 00048
< a name = "l00049" > < / a > 00049 < span class = "comment" > // call after first read< / span >
< a name = "l00050" > < / a > 00050 < span class = "keywordtype" > void< / span >
< a name = "l00051" > < / a > < a class = "code" href = "class_r_c___channel.html#a8cf9c281ef6da9b275f5d682bb18904c" > 00051< / a > < a class = "code" href = "class_r_c___channel.html#a8cf9c281ef6da9b275f5d682bb18904c" > RC_Channel::trim< / a > ()
< a name = "l00052" > < / a > 00052 {
< a name = "l00053" > < / a > 00053 < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > = < a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > ;
< a name = "l00054" > < / a > 00054
< a name = "l00055" > < / a > 00055 }
< a name = "l00056" > < / a > 00056
< a name = "l00057" > < / a > 00057 < span class = "comment" > // read input from APM_RC - create a control_in value< / span >
< a name = "l00058" > < / a > 00058 < span class = "keywordtype" > void< / span >
< a name = "l00059" > < / a > < a class = "code" href = "class_r_c___channel.html#aaa0d7cb0b9f9eb833cc46ac5f9192b86" > 00059< / a > < a class = "code" href = "class_r_c___channel.html#aaa0d7cb0b9f9eb833cc46ac5f9192b86" > RC_Channel::set_pwm< / a > (< span class = "keywordtype" > int< / span > pwm)
< a name = "l00060" > < / a > 00060 {
< a name = "l00061" > < / a > 00061 < span class = "comment" > //Serial.print(pwm,DEC);< / span >
< a name = "l00062" > < / a > 00062
< a name = "l00063" > < / a > 00063 < span class = "keywordflow" > if< / span > (_filter){
< a name = "l00064" > < / a > 00064 < span class = "keywordflow" > if< / span > (< a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > == 0)
< a name = "l00065" > < / a > 00065 < a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > = pwm;
< a name = "l00066" > < / a > 00066 < span class = "keywordflow" > else< / span >
< a name = "l00067" > < / a > 00067 < a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > = ((pwm + < a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > ) > > 1); < span class = "comment" > // Small filtering< / span >
< a name = "l00068" > < / a > 00068 }< span class = "keywordflow" > else< / span > {
< a name = "l00069" > < / a > 00069 < a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > = pwm;
< a name = "l00070" > < / a > 00070 }
< a name = "l00071" > < / a > 00071
< a name = "l00072" > < / a > 00072 < span class = "keywordflow" > if< / span > (_type == < a class = "code" href = "_r_c___channel_8cpp.html#ac04dd0afaf7ea3eb2ade2544d2d5f907" > RANGE< / a > ){
< a name = "l00073" > < / a > 00073 < span class = "comment" > //Serial.print(" range " );< / span >
< a name = "l00074" > < / a > 00074 < a class = "code" href = "class_r_c___channel.html#aecc4c9d01e139561076e897af1286c0b" > control_in< / a > = < a class = "code" href = "class_r_c___channel.html#a10f764e7d9cb160b1da9ff286b8797fb" > pwm_to_range< / a > ();
< a name = "l00075" > < / a > 00075 < a class = "code" href = "class_r_c___channel.html#aecc4c9d01e139561076e897af1286c0b" > control_in< / a > = (< a class = "code" href = "class_r_c___channel.html#aecc4c9d01e139561076e897af1286c0b" > control_in< / a > < < a class = "code" href = "class_r_c___channel.html#aad649dc43957d1c7d563fac50d5ed510" > dead_zone< / a > ) ? 0 : < a class = "code" href = "class_r_c___channel.html#aecc4c9d01e139561076e897af1286c0b" > control_in< / a > ;
< a name = "l00076" > < / a > 00076 < span class = "keywordflow" > if< / span > (< a class = "code" href = "class_r_c___channel.html#afb3bb484e1f586d86105eb1bf40f8593" > scale_output< / a > ){
< a name = "l00077" > < / a > 00077 < a class = "code" href = "class_r_c___channel.html#aecc4c9d01e139561076e897af1286c0b" > control_in< / a > *= < a class = "code" href = "class_r_c___channel.html#afb3bb484e1f586d86105eb1bf40f8593" > scale_output< / a > ;
< a name = "l00078" > < / a > 00078 }
< a name = "l00079" > < / a > 00079
< a name = "l00080" > < / a > 00080 }< span class = "keywordflow" > else< / span > {
< a name = "l00081" > < / a > 00081 < a class = "code" href = "class_r_c___channel.html#aecc4c9d01e139561076e897af1286c0b" > control_in< / a > = < a class = "code" href = "class_r_c___channel.html#a5a48b57daab9a0b5feac13af9c8b768d" > pwm_to_angle< / a > ();
< a name = "l00082" > < / a > 00082 < a class = "code" href = "class_r_c___channel.html#aecc4c9d01e139561076e897af1286c0b" > control_in< / a > = (abs(< a class = "code" href = "class_r_c___channel.html#aecc4c9d01e139561076e897af1286c0b" > control_in< / a > ) < < a class = "code" href = "class_r_c___channel.html#aad649dc43957d1c7d563fac50d5ed510" > dead_zone< / a > ) ? 0 : < a class = "code" href = "class_r_c___channel.html#aecc4c9d01e139561076e897af1286c0b" > control_in< / a > ;
< a name = "l00083" > < / a > 00083 < span class = "keywordflow" > if< / span > (< a class = "code" href = "class_r_c___channel.html#afb3bb484e1f586d86105eb1bf40f8593" > scale_output< / a > ){
< a name = "l00084" > < / a > 00084 < a class = "code" href = "class_r_c___channel.html#aecc4c9d01e139561076e897af1286c0b" > control_in< / a > *= < a class = "code" href = "class_r_c___channel.html#afb3bb484e1f586d86105eb1bf40f8593" > scale_output< / a > ;
< a name = "l00085" > < / a > 00085 }
< a name = "l00086" > < / a > 00086 }
< a name = "l00087" > < / a > 00087 }
< a name = "l00088" > < / a > 00088
< a name = "l00089" > < / a > 00089 < span class = "keywordtype" > int< / span >
< a name = "l00090" > < / a > < a class = "code" href = "class_r_c___channel.html#a8c8933633ace2ad8bfc3a91375f58169" > 00090< / a > < a class = "code" href = "class_r_c___channel.html#a8c8933633ace2ad8bfc3a91375f58169" > RC_Channel::control_mix< / a > (< span class = "keywordtype" > float< / span > value)
< a name = "l00091" > < / a > 00091 {
< a name = "l00092" > < / a > 00092 < span class = "keywordflow" > return< / span > (1 - abs(< a class = "code" href = "class_r_c___channel.html#aecc4c9d01e139561076e897af1286c0b" > control_in< / a > / _high)) * value + < a class = "code" href = "class_r_c___channel.html#aecc4c9d01e139561076e897af1286c0b" > control_in< / a > ;
< a name = "l00093" > < / a > 00093 }
< a name = "l00094" > < / a > 00094
< a name = "l00095" > < / a > 00095 < span class = "comment" > // are we below a threshold?< / span >
< a name = "l00096" > < / a > 00096 < span class = "keywordtype" > bool< / span >
< a name = "l00097" > < / a > < a class = "code" href = "class_r_c___channel.html#a8e699f35b6c0e2524487c93cdef56ba9" > 00097< / a > < a class = "code" href = "class_r_c___channel.html#a8e699f35b6c0e2524487c93cdef56ba9" > RC_Channel::get_failsafe< / a > (< span class = "keywordtype" > void< / span > )
< a name = "l00098" > < / a > 00098 {
< a name = "l00099" > < / a > 00099 < span class = "keywordflow" > return< / span > (< a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > < (< a class = "code" href = "class_r_c___channel.html#ae635deeb549adfd63a6180ce48c8e4d5" > radio_min< / a > - 50));
< a name = "l00100" > < / a > 00100 }
< a name = "l00101" > < / a > 00101
< a name = "l00102" > < / a > 00102 < span class = "comment" > // returns just the PWM without the offset from radio_min< / span >
< a name = "l00103" > < / a > 00103 < span class = "keywordtype" > void< / span >
< a name = "l00104" > < / a > < a class = "code" href = "class_r_c___channel.html#a5876259d8fb8c1c475322a236bae7819" > 00104< / a > < a class = "code" href = "class_r_c___channel.html#a5876259d8fb8c1c475322a236bae7819" > RC_Channel::calc_pwm< / a > (< span class = "keywordtype" > void< / span > )
< a name = "l00105" > < / a > 00105 {
< a name = "l00106" > < / a > 00106
< a name = "l00107" > < / a > 00107 < span class = "keywordflow" > if< / span > (_type == < a class = "code" href = "_r_c___channel_8cpp.html#ac04dd0afaf7ea3eb2ade2544d2d5f907" > RANGE< / a > ){
< a name = "l00108" > < / a > 00108 < a class = "code" href = "class_r_c___channel.html#ae8a2a575ae23099703ee2206a98017f4" > pwm_out< / a > = < a class = "code" href = "class_r_c___channel.html#ac50875b55ac524f9d0b2ee50174bd300" > range_to_pwm< / a > ();
< a name = "l00109" > < / a > 00109 }< span class = "keywordflow" > else< / span > {
< a name = "l00110" > < / a > 00110 < a class = "code" href = "class_r_c___channel.html#ae8a2a575ae23099703ee2206a98017f4" > pwm_out< / a > = < a class = "code" href = "class_r_c___channel.html#abcf4a69f7323c85306e8a25b34e929b3" > angle_to_pwm< / a > ();
< a name = "l00111" > < / a > 00111 }
< a name = "l00112" > < / a > 00112 < span class = "comment" > //if(scale_output){< / span >
< a name = "l00113" > < / a > 00113 < span class = "comment" > // pwm_out *= scale_output;< / span >
< a name = "l00114" > < / a > 00114 < span class = "comment" > //}< / span >
< a name = "l00115" > < / a > 00115 < a class = "code" href = "class_r_c___channel.html#a8238439b7d28dea76ce332d6c7a94d76" > radio_out< / a > = < a class = "code" href = "class_r_c___channel.html#ae8a2a575ae23099703ee2206a98017f4" > pwm_out< / a > + < a class = "code" href = "class_r_c___channel.html#ae635deeb549adfd63a6180ce48c8e4d5" > radio_min< / a > ;
< a name = "l00116" > < / a > 00116 < a class = "code" href = "class_r_c___channel.html#a8238439b7d28dea76ce332d6c7a94d76" > radio_out< / a > = constrain(< a class = "code" href = "class_r_c___channel.html#a8238439b7d28dea76ce332d6c7a94d76" > radio_out< / a > ,radio_min, < a class = "code" href = "class_r_c___channel.html#a5dad2c6486bbe66cee2af96f72ce4810" > radio_max< / a > );
< a name = "l00117" > < / a > 00117 }
< a name = "l00118" > < / a > 00118
< a name = "l00119" > < / a > 00119 < span class = "comment" > // ------------------------------------------< / span >
< a name = "l00120" > < / a > 00120
< a name = "l00121" > < / a > 00121 < span class = "keywordtype" > void< / span >
< a name = "l00122" > < / a > < a class = "code" href = "class_r_c___channel.html#a56117fe9f697096605f84a6045aaa935" > 00122< / a > < a class = "code" href = "class_r_c___channel.html#a56117fe9f697096605f84a6045aaa935" > RC_Channel::load_eeprom< / a > (< span class = "keywordtype" > void< / span > )
< a name = "l00123" > < / a > 00123 {
< a name = "l00124" > < / a > 00124 < span class = "comment" > //radio_min = eeprom_read_word((uint16_t *) _address);< / span >
< a name = "l00125" > < / a > 00125 < span class = "comment" > //radio_max = eeprom_read_word((uint16_t *) (_address + 2));< / span >
< a name = "l00126" > < / a > 00126 < span class = "comment" > //radio_trim = eeprom_read_word((uint16_t *) (_address + 4));< / span >
< a name = "l00127" > < / a > 00127 < a class = "code" href = "class_r_c___channel.html#ae635deeb549adfd63a6180ce48c8e4d5" > radio_min< / a > = _ee.< a class = "code" href = "class_a_p___e_e_p_r_o_m_b.html#ab705d4b2d44f7d4c27bb1a382e783885" > read_int< / a > (_address);
< a name = "l00128" > < / a > 00128 < a class = "code" href = "class_r_c___channel.html#a5dad2c6486bbe66cee2af96f72ce4810" > radio_max< / a > = _ee.< a class = "code" href = "class_a_p___e_e_p_r_o_m_b.html#ab705d4b2d44f7d4c27bb1a382e783885" > read_int< / a > (_address + 2);
< a name = "l00129" > < / a > 00129 < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > = _ee.< a class = "code" href = "class_a_p___e_e_p_r_o_m_b.html#ab705d4b2d44f7d4c27bb1a382e783885" > read_int< / a > (_address + 4);
< a name = "l00130" > < / a > 00130 }
< a name = "l00131" > < / a > 00131
< a name = "l00132" > < / a > 00132 < span class = "keywordtype" > void< / span >
< a name = "l00133" > < / a > < a class = "code" href = "class_r_c___channel.html#aae26f7c9f60cc08537fffe967510f481" > 00133< / a > < a class = "code" href = "class_r_c___channel.html#aae26f7c9f60cc08537fffe967510f481" > RC_Channel::save_eeprom< / a > (< span class = "keywordtype" > void< / span > )
< a name = "l00134" > < / a > 00134 {
< a name = "l00135" > < / a > 00135 < span class = "comment" > //eeprom_write_word((uint16_t *) _address, radio_min);< / span >
< a name = "l00136" > < / a > 00136 < span class = "comment" > //eeprom_write_word((uint16_t *) (_address + 2), radio_max);< / span >
< a name = "l00137" > < / a > 00137 < span class = "comment" > //eeprom_write_word((uint16_t *) (_address + 4), radio_trim);< / span >
< a name = "l00138" > < / a > 00138
< a name = "l00139" > < / a > 00139 _ee.< a class = "code" href = "class_a_p___e_e_p_r_o_m_b.html#a76a66afde2196114cc4fc1b30faea0e7" > write_int< / a > (_address, < a class = "code" href = "class_r_c___channel.html#ae635deeb549adfd63a6180ce48c8e4d5" > radio_min< / a > );
< a name = "l00140" > < / a > 00140 _ee.< a class = "code" href = "class_a_p___e_e_p_r_o_m_b.html#a76a66afde2196114cc4fc1b30faea0e7" > write_int< / a > ((_address + 2), < a class = "code" href = "class_r_c___channel.html#a5dad2c6486bbe66cee2af96f72ce4810" > radio_max< / a > );
< a name = "l00141" > < / a > 00141 _ee.< a class = "code" href = "class_a_p___e_e_p_r_o_m_b.html#a76a66afde2196114cc4fc1b30faea0e7" > write_int< / a > ((_address + 4), < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > );
< a name = "l00142" > < / a > 00142 }
< a name = "l00143" > < / a > 00143
< a name = "l00144" > < / a > 00144 < span class = "comment" > // ------------------------------------------< / span >
< a name = "l00145" > < / a > 00145 < span class = "keywordtype" > void< / span >
< a name = "l00146" > < / a > < a class = "code" href = "class_r_c___channel.html#afed2cdb2de5fd66cb6eae528e5b6344a" > 00146< / a > < a class = "code" href = "class_r_c___channel.html#afed2cdb2de5fd66cb6eae528e5b6344a" > RC_Channel::save_trim< / a > (< span class = "keywordtype" > void< / span > )
< a name = "l00147" > < / a > 00147 {
< a name = "l00148" > < / a > 00148 < span class = "comment" > //eeprom_write_word((uint16_t *) (_address + 4), radio_trim);< / span >
< a name = "l00149" > < / a > 00149 _ee.< a class = "code" href = "class_a_p___e_e_p_r_o_m_b.html#a76a66afde2196114cc4fc1b30faea0e7" > write_int< / a > ((_address + 4), < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > );
< a name = "l00150" > < / a > 00150 }
< a name = "l00151" > < / a > 00151
< a name = "l00152" > < / a > 00152 < span class = "comment" > // ------------------------------------------< / span >
< a name = "l00153" > < / a > 00153
< a name = "l00154" > < / a > 00154 < span class = "keywordtype" > void< / span >
< a name = "l00155" > < / a > < a class = "code" href = "class_r_c___channel.html#ad9ea651815e47c12203d4f9cfe32abfd" > 00155< / a > < a class = "code" href = "class_r_c___channel.html#ad9ea651815e47c12203d4f9cfe32abfd" > RC_Channel::zero_min_max< / a > ()
< a name = "l00156" > < / a > 00156 {
< a name = "l00157" > < / a > 00157 < a class = "code" href = "class_r_c___channel.html#ae635deeb549adfd63a6180ce48c8e4d5" > radio_min< / a > = < a class = "code" href = "class_r_c___channel.html#ae635deeb549adfd63a6180ce48c8e4d5" > radio_min< / a > = < a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > ;
< a name = "l00158" > < / a > 00158 }
< a name = "l00159" > < / a > 00159
< a name = "l00160" > < / a > 00160 < span class = "keywordtype" > void< / span >
< a name = "l00161" > < / a > < a class = "code" href = "class_r_c___channel.html#a148e078784162a8823f190be7bd9bada" > 00161< / a > < a class = "code" href = "class_r_c___channel.html#a148e078784162a8823f190be7bd9bada" > RC_Channel::update_min_max< / a > ()
< a name = "l00162" > < / a > 00162 {
< a name = "l00163" > < / a > 00163 < a class = "code" href = "class_r_c___channel.html#ae635deeb549adfd63a6180ce48c8e4d5" > radio_min< / a > = min(< a class = "code" href = "class_r_c___channel.html#ae635deeb549adfd63a6180ce48c8e4d5" > radio_min< / a > , < a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > );
< a name = "l00164" > < / a > 00164 < a class = "code" href = "class_r_c___channel.html#a5dad2c6486bbe66cee2af96f72ce4810" > radio_max< / a > = max(< a class = "code" href = "class_r_c___channel.html#a5dad2c6486bbe66cee2af96f72ce4810" > radio_max< / a > , < a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > );
< a name = "l00165" > < / a > 00165 }
< a name = "l00166" > < / a > 00166
< a name = "l00167" > < / a > 00167 < span class = "comment" > // ------------------------------------------< / span >
< a name = "l00168" > < / a > 00168
< a name = "l00169" > < / a > 00169 int16_t
< a name = "l00170" > < / a > < a class = "code" href = "class_r_c___channel.html#a5a48b57daab9a0b5feac13af9c8b768d" > 00170< / a > < a class = "code" href = "class_r_c___channel.html#a5a48b57daab9a0b5feac13af9c8b768d" > RC_Channel::pwm_to_angle< / a > ()
< a name = "l00171" > < / a > 00171 {
< a name = "l00172" > < / a > 00172 < span class = "keywordflow" > if< / span > (< a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > < < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > )
< a name = "l00173" > < / a > 00173 < span class = "keywordflow" > return< / span > _reverse * ((long)_high * (< span class = "keywordtype" > long< / span > )(< a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > - < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > )) / (long)(< a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > - < a class = "code" href = "class_r_c___channel.html#ae635deeb549adfd63a6180ce48c8e4d5" > radio_min< / a > );
< a name = "l00174" > < / a > 00174 < span class = "keywordflow" > else< / span >
< a name = "l00175" > < / a > 00175 < span class = "keywordflow" > return< / span > _reverse * ((long)_high * (< span class = "keywordtype" > long< / span > )(< a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > - < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > )) / (long)(< a class = "code" href = "class_r_c___channel.html#a5dad2c6486bbe66cee2af96f72ce4810" > radio_max< / a > - < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > );
< a name = "l00176" > < / a > 00176
< a name = "l00177" > < / a > 00177 < span class = "comment" > //return _reverse * _high * ((float)(radio_in - radio_trim) / (float)(radio_max - radio_trim));< / span >
< a name = "l00178" > < / a > 00178 < span class = "comment" > //return _reverse * _high * ((float)(radio_in - radio_trim) / (float)(radio_trim - radio_min));< / span >
< a name = "l00179" > < / a > 00179 }
< a name = "l00180" > < / a > 00180
< a name = "l00181" > < / a > 00181 < span class = "keywordtype" > float< / span >
< a name = "l00182" > < / a > < a class = "code" href = "class_r_c___channel.html#a134602daa0073833f97d2934d9b97ef0" > 00182< / a > < a class = "code" href = "class_r_c___channel.html#a134602daa0073833f97d2934d9b97ef0" > RC_Channel::norm_input< / a > ()
< a name = "l00183" > < / a > 00183 {
< a name = "l00184" > < / a > 00184 < span class = "keywordflow" > if< / span > (< a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > < < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > )
< a name = "l00185" > < / a > 00185 < span class = "keywordflow" > return< / span > _reverse * (float)(< a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > - < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > ) / (float)(< a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > - < a class = "code" href = "class_r_c___channel.html#ae635deeb549adfd63a6180ce48c8e4d5" > radio_min< / a > );
< a name = "l00186" > < / a > 00186 < span class = "keywordflow" > else< / span >
< a name = "l00187" > < / a > 00187 < span class = "keywordflow" > return< / span > _reverse * (float)(< a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > - < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > ) / (float)(< a class = "code" href = "class_r_c___channel.html#a5dad2c6486bbe66cee2af96f72ce4810" > radio_max< / a > - < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > );
< a name = "l00188" > < / a > 00188 }
< a name = "l00189" > < / a > 00189
< a name = "l00190" > < / a > 00190 < span class = "keywordtype" > float< / span >
< a name = "l00191" > < / a > < a class = "code" href = "class_r_c___channel.html#acbef0e8e40f867ca4d8d6c19598dcff5" > 00191< / a > < a class = "code" href = "class_r_c___channel.html#acbef0e8e40f867ca4d8d6c19598dcff5" > RC_Channel::norm_output< / a > ()
< a name = "l00192" > < / a > 00192 {
< a name = "l00193" > < / a > 00193 < span class = "keywordflow" > if< / span > (< a class = "code" href = "class_r_c___channel.html#a8238439b7d28dea76ce332d6c7a94d76" > radio_out< / a > < < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > )
< a name = "l00194" > < / a > 00194 < span class = "keywordflow" > return< / span > (< span class = "keywordtype" > float< / span > )(< a class = "code" href = "class_r_c___channel.html#a8238439b7d28dea76ce332d6c7a94d76" > radio_out< / a > - < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > ) / (< span class = "keywordtype" > float< / span > )(< a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > - < a class = "code" href = "class_r_c___channel.html#ae635deeb549adfd63a6180ce48c8e4d5" > radio_min< / a > );
< a name = "l00195" > < / a > 00195 < span class = "keywordflow" > else< / span >
< a name = "l00196" > < / a > 00196 < span class = "keywordflow" > return< / span > (< span class = "keywordtype" > float< / span > )(< a class = "code" href = "class_r_c___channel.html#a8238439b7d28dea76ce332d6c7a94d76" > radio_out< / a > - < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > ) / (< span class = "keywordtype" > float< / span > )(< a class = "code" href = "class_r_c___channel.html#a5dad2c6486bbe66cee2af96f72ce4810" > radio_max< / a > - < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > );
< a name = "l00197" > < / a > 00197 }
< a name = "l00198" > < / a > 00198
< a name = "l00199" > < / a > 00199 int16_t
< a name = "l00200" > < / a > < a class = "code" href = "class_r_c___channel.html#abcf4a69f7323c85306e8a25b34e929b3" > 00200< / a > < a class = "code" href = "class_r_c___channel.html#abcf4a69f7323c85306e8a25b34e929b3" > RC_Channel::angle_to_pwm< / a > ()
< a name = "l00201" > < / a > 00201 {
< a name = "l00202" > < / a > 00202 < span class = "keywordflow" > if< / span > (< a class = "code" href = "class_r_c___channel.html#a3dcd8fce401b9e5825d10705f1608579" > servo_out< / a > < 0)
< a name = "l00203" > < / a > 00203 < span class = "keywordflow" > return< / span > ((< span class = "keywordtype" > long< / span > )< a class = "code" href = "class_r_c___channel.html#a3dcd8fce401b9e5825d10705f1608579" > servo_out< / a > * (< span class = "keywordtype" > long< / span > )(< a class = "code" href = "class_r_c___channel.html#a5dad2c6486bbe66cee2af96f72ce4810" > radio_max< / a > - < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > )) / (long)_high;
< a name = "l00204" > < / a > 00204 < span class = "keywordflow" > else< / span >
< a name = "l00205" > < / a > 00205 < span class = "keywordflow" > return< / span > ((< span class = "keywordtype" > long< / span > )< a class = "code" href = "class_r_c___channel.html#a3dcd8fce401b9e5825d10705f1608579" > servo_out< / a > * (long)(< a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > - < a class = "code" href = "class_r_c___channel.html#ae635deeb549adfd63a6180ce48c8e4d5" > radio_min< / a > )) / (< span class = "keywordtype" > long< / span > )_high;
< a name = "l00206" > < / a > 00206
< a name = "l00207" > < / a > 00207 < span class = "comment" > //return (((float)servo_out / (float)_high) * (float)(radio_max - radio_trim));< / span >
< a name = "l00208" > < / a > 00208 < span class = "comment" > //return (((float)servo_out / (float)_high) * (float)(radio_trim - radio_min));< / span >
< a name = "l00209" > < / a > 00209 }
< a name = "l00210" > < / a > 00210
< a name = "l00211" > < / a > 00211 < span class = "comment" > // ------------------------------------------< / span >
< a name = "l00212" > < / a > 00212
< a name = "l00213" > < / a > 00213 int16_t
< a name = "l00214" > < / a > < a class = "code" href = "class_r_c___channel.html#a10f764e7d9cb160b1da9ff286b8797fb" > 00214< / a > < a class = "code" href = "class_r_c___channel.html#a10f764e7d9cb160b1da9ff286b8797fb" > RC_Channel::pwm_to_range< / a > ()
< a name = "l00215" > < / a > 00215 {
< a name = "l00216" > < / a > 00216 < span class = "comment" > //return (_low + ((_high - _low) * ((float)(radio_in - radio_min) / (float)(radio_max - radio_min))));< / span >
< a name = "l00217" > < / a > 00217 < span class = "keywordflow" > return< / span > (_low + ((< span class = "keywordtype" > long< / span > )(_high - _low) * (< span class = "keywordtype" > long< / span > )(< a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > - < a class = "code" href = "class_r_c___channel.html#ae635deeb549adfd63a6180ce48c8e4d5" > radio_min< / a > )) / (< span class = "keywordtype" > long< / span > )(< a class = "code" href = "class_r_c___channel.html#a5dad2c6486bbe66cee2af96f72ce4810" > radio_max< / a > - < a class = "code" href = "class_r_c___channel.html#ae635deeb549adfd63a6180ce48c8e4d5" > radio_min< / a > ));
< a name = "l00218" > < / a > 00218 }
< a name = "l00219" > < / a > 00219
< a name = "l00220" > < / a > 00220 int16_t
< a name = "l00221" > < / a > < a class = "code" href = "class_r_c___channel.html#ac50875b55ac524f9d0b2ee50174bd300" > 00221< / a > < a class = "code" href = "class_r_c___channel.html#ac50875b55ac524f9d0b2ee50174bd300" > RC_Channel::range_to_pwm< / a > ()
< a name = "l00222" > < / a > 00222 {
< a name = "l00223" > < / a > 00223 < span class = "comment" > //return (((float)(servo_out - _low) / (float)(_high - _low)) * (float)(radio_max - radio_min));< / span >
< a name = "l00224" > < / a > 00224 < span class = "keywordflow" > return< / span > ((< span class = "keywordtype" > long< / span > )(< a class = "code" href = "class_r_c___channel.html#a3dcd8fce401b9e5825d10705f1608579" > servo_out< / a > - _low) * (< span class = "keywordtype" > long< / span > )(< a class = "code" href = "class_r_c___channel.html#a5dad2c6486bbe66cee2af96f72ce4810" > radio_max< / a > - < a class = "code" href = "class_r_c___channel.html#ae635deeb549adfd63a6180ce48c8e4d5" > radio_min< / a > )) / (long)(_high - _low);
< a name = "l00225" > < / a > 00225 }
< a name = "l00226" > < / a > 00226
< a name = "l00227" > < / a > 00227
< a name = "l00228" > < / a > 00228
< / pre > < / div > < / div >
< / div >
2010-12-26 22:59:34 -04:00
< hr class = "footer" / > < address class = "footer" > < small > Generated on Sun Dec 26 2010 21:58:34 for ArduPilot Libraries by
2010-12-26 20:59:17 -04:00
< a href = "http://www.doxygen.org/index.html" >
< img class = "footer" src = "doxygen.png" alt = "doxygen" / > < / a > 1.7.1 < / small > < / address >
< / body >
< / html >
