2010-12-26 20:59:17 -04:00
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< title > ArduPilot Libraries: /home/jgoppert/Projects/ap/libraries/RC_Channel/RC_Channel.h Source File< / title >
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< h1 > /home/jgoppert/Projects/ap/libraries/RC_Channel/RC_Channel.h< / h1 > < / div >
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< a href = "_r_c___channel_8h.html" > Go to the documentation of this file.< / a > < div class = "fragment" > < pre class = "fragment" > < a name = "l00001" > < / a > 00001 < span class = "comment" > // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-< / span >
< a name = "l00002" > < / a > 00002
< a name = "l00005" > < / a > 00005
< a name = "l00006" > < / a > 00006 < span class = "preprocessor" > #ifndef RC_Channel_h< / span >
< a name = "l00007" > < / a > 00007 < span class = "preprocessor" > < / span > < span class = "preprocessor" > #define RC_Channel_h< / span >
< a name = "l00008" > < / a > 00008 < span class = "preprocessor" > < / span >
< a name = "l00009" > < / a > 00009 < span class = "preprocessor" > #include < stdint.h> < / span >
< a name = "l00010" > < / a > 00010 < span class = "preprocessor" > #include < < a class = "code" href = "_a_p___e_e_p_r_o_m_b_8h.html" title = "AP_EEPROMB manager." > AP_EEPROMB.h< / a > > < / span >
< a name = "l00011" > < / a > 00011
< a name = "l00014" > < / a > < a class = "code" href = "class_r_c___channel.html" > 00014< / a > < span class = "keyword" > class < / span > < a class = "code" href = "class_r_c___channel.html" title = "Object managing one RC channel." > RC_Channel< / a > {
< a name = "l00015" > < / a > 00015 < span class = "keyword" > public< / span > :
< a name = "l00020" > < / a > < a class = "code" href = "class_r_c___channel.html#aaff3c747c934e5729d55cf07b5c544e8" > 00020< / a > < a class = "code" href = "class_r_c___channel.html#aaff3c747c934e5729d55cf07b5c544e8" > RC_Channel< / a > () :
< a name = "l00021" > < / a > 00021 _address(0)
< a name = "l00022" > < / a > 00022 {}
< a name = "l00023" > < / a > 00023
< a name = "l00030" > < / a > < a class = "code" href = "class_r_c___channel.html#adee6bd12d6ccc9756e3480db39dec737" > 00030< / a > < a class = "code" href = "class_r_c___channel.html#aaff3c747c934e5729d55cf07b5c544e8" > RC_Channel< / a > (uint16_t address) :
< a name = "l00031" > < / a > 00031 _address(address),
< a name = "l00032" > < / a > 00032 _high(1),
< a name = "l00033" > < / a > 00033 _filter(true),
< a name = "l00034" > < / a > 00034 _reverse(1)
< a name = "l00035" > < / a > 00035 {}
< a name = "l00036" > < / a > 00036
< a name = "l00037" > < / a > 00037 < span class = "comment" > // setup min and max radio values in CLI< / span >
< a name = "l00038" > < / a > 00038 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_r_c___channel.html#a148e078784162a8823f190be7bd9bada" > update_min_max< / a > ();
< a name = "l00039" > < / a > 00039 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_r_c___channel.html#ad9ea651815e47c12203d4f9cfe32abfd" > zero_min_max< / a > ();
< a name = "l00040" > < / a > 00040
< a name = "l00041" > < / a > 00041 < span class = "comment" > // startup< / span >
< a name = "l00042" > < / a > 00042 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_r_c___channel.html#a56117fe9f697096605f84a6045aaa935" > load_eeprom< / a > (< span class = "keywordtype" > void< / span > );
< a name = "l00043" > < / a > 00043 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_r_c___channel.html#aae26f7c9f60cc08537fffe967510f481" > save_eeprom< / a > (< span class = "keywordtype" > void< / span > );
< a name = "l00044" > < / a > 00044 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_r_c___channel.html#afed2cdb2de5fd66cb6eae528e5b6344a" > save_trim< / a > (< span class = "keywordtype" > void< / span > );
< a name = "l00045" > < / a > 00045 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_r_c___channel.html#a045bff22457093d0c0fa78e19e618f9f" > set_filter< / a > (< span class = "keywordtype" > bool< / span > filter);
< a name = "l00046" > < / a > 00046
< a name = "l00047" > < / a > 00047 < span class = "comment" > // setup the control preferences< / span >
< a name = "l00048" > < / a > 00048 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_r_c___channel.html#adffafafffc9027e7293103766229b7e1" > set_range< / a > (< span class = "keywordtype" > int< / span > low, < span class = "keywordtype" > int< / span > high);
< a name = "l00049" > < / a > 00049 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_r_c___channel.html#ae528ed2a3460fddde82f114cb0694201" > set_angle< / a > (< span class = "keywordtype" > int< / span > angle);
< a name = "l00050" > < / a > 00050 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_r_c___channel.html#a5b3740e7040f4b75d9cd591ebadca4c3" > set_reverse< / a > (< span class = "keywordtype" > bool< / span > reverse);
< a name = "l00051" > < / a > 00051
< a name = "l00052" > < / a > 00052 < span class = "comment" > // read input from APM_RC - create a control_in value< / span >
< a name = "l00053" > < / a > 00053 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_r_c___channel.html#aaa0d7cb0b9f9eb833cc46ac5f9192b86" > set_pwm< / a > (< span class = "keywordtype" > int< / span > pwm);
< a name = "l00054" > < / a > 00054
< a name = "l00055" > < / a > 00055 < span class = "comment" > // pwm is stored here< / span >
< a name = "l00056" > < / a > < a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > 00056< / a > int16_t < a class = "code" href = "class_r_c___channel.html#af548fff701d4175c5bdf311526687c05" > radio_in< / a > ;
< a name = "l00057" > < / a > 00057
< a name = "l00058" > < / a > 00058 < span class = "comment" > // call after first set_pwm< / span >
< a name = "l00059" > < / a > 00059 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_r_c___channel.html#a8cf9c281ef6da9b275f5d682bb18904c" > trim< / a > ();
< a name = "l00060" > < / a > 00060
< a name = "l00061" > < / a > 00061 < span class = "comment" > // did our read come in 50µs below the min?< / span >
< a name = "l00062" > < / a > 00062 < span class = "keywordtype" > bool< / span > < a class = "code" href = "class_r_c___channel.html#a8e699f35b6c0e2524487c93cdef56ba9" > get_failsafe< / a > (< span class = "keywordtype" > void< / span > );
< a name = "l00063" > < / a > 00063
< a name = "l00064" > < / a > 00064 < span class = "comment" > // value generated from PWM< / span >
< a name = "l00065" > < / a > < a class = "code" href = "class_r_c___channel.html#aecc4c9d01e139561076e897af1286c0b" > 00065< / a > int16_t < a class = "code" href = "class_r_c___channel.html#aecc4c9d01e139561076e897af1286c0b" > control_in< / a > ;
< a name = "l00066" > < / a > < a class = "code" href = "class_r_c___channel.html#aad649dc43957d1c7d563fac50d5ed510" > 00066< / a > int16_t < a class = "code" href = "class_r_c___channel.html#aad649dc43957d1c7d563fac50d5ed510" > dead_zone< / a > ; < span class = "comment" > // used to keep noise down and create a dead zone.< / span >
< a name = "l00067" > < / a > 00067
< a name = "l00068" > < / a > 00068 < span class = "keywordtype" > int< / span > < a class = "code" href = "class_r_c___channel.html#a8c8933633ace2ad8bfc3a91375f58169" > control_mix< / a > (< span class = "keywordtype" > float< / span > value);
< a name = "l00069" > < / a > 00069
< a name = "l00070" > < / a > 00070 < span class = "comment" > // current values to the servos - degrees * 100 (approx assuming servo is -45 to 45 degrees except [3] is 0 to 100< / span >
< a name = "l00071" > < / a > < a class = "code" href = "class_r_c___channel.html#a3dcd8fce401b9e5825d10705f1608579" > 00071< / a > int16_t < a class = "code" href = "class_r_c___channel.html#a3dcd8fce401b9e5825d10705f1608579" > servo_out< / a > ;
< a name = "l00072" > < / a > 00072
< a name = "l00073" > < / a > 00073 < span class = "comment" > // generate PWM from servo_out value< / span >
< a name = "l00074" > < / a > 00074 < span class = "keywordtype" > void< / span > < a class = "code" href = "class_r_c___channel.html#a5876259d8fb8c1c475322a236bae7819" > calc_pwm< / a > (< span class = "keywordtype" > void< / span > );
< a name = "l00075" > < / a > 00075
< a name = "l00076" > < / a > 00076 < span class = "comment" > // PWM is without the offset from radio_min< / span >
< a name = "l00077" > < / a > < a class = "code" href = "class_r_c___channel.html#ae8a2a575ae23099703ee2206a98017f4" > 00077< / a > int16_t < a class = "code" href = "class_r_c___channel.html#ae8a2a575ae23099703ee2206a98017f4" > pwm_out< / a > ;
< a name = "l00078" > < / a > < a class = "code" href = "class_r_c___channel.html#a8238439b7d28dea76ce332d6c7a94d76" > 00078< / a > int16_t < a class = "code" href = "class_r_c___channel.html#a8238439b7d28dea76ce332d6c7a94d76" > radio_out< / a > ;
< a name = "l00079" > < / a > 00079
< a name = "l00080" > < / a > < a class = "code" href = "class_r_c___channel.html#ae635deeb549adfd63a6180ce48c8e4d5" > 00080< / a > int16_t < a class = "code" href = "class_r_c___channel.html#ae635deeb549adfd63a6180ce48c8e4d5" > radio_min< / a > ;
< a name = "l00081" > < / a > < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > 00081< / a > int16_t < a class = "code" href = "class_r_c___channel.html#adfe753a9a526dcc827a43f019ae66478" > radio_trim< / a > ;
< a name = "l00082" > < / a > < a class = "code" href = "class_r_c___channel.html#a5dad2c6486bbe66cee2af96f72ce4810" > 00082< / a > int16_t < a class = "code" href = "class_r_c___channel.html#a5dad2c6486bbe66cee2af96f72ce4810" > radio_max< / a > ;
< a name = "l00083" > < / a > 00083
< a name = "l00084" > < / a > 00084 < span class = "comment" > // includes offset from PWM< / span >
< a name = "l00085" > < / a > 00085 < span class = "comment" > //int16_t get_radio_out(void);< / span >
< a name = "l00086" > < / a > 00086
< a name = "l00087" > < / a > 00087 int16_t < a class = "code" href = "class_r_c___channel.html#a5a48b57daab9a0b5feac13af9c8b768d" > pwm_to_angle< / a > ();
< a name = "l00088" > < / a > 00088 < span class = "keywordtype" > float< / span > < a class = "code" href = "class_r_c___channel.html#a134602daa0073833f97d2934d9b97ef0" > norm_input< / a > ();
< a name = "l00089" > < / a > 00089 < span class = "keywordtype" > float< / span > < a class = "code" href = "class_r_c___channel.html#acbef0e8e40f867ca4d8d6c19598dcff5" > norm_output< / a > ();
< a name = "l00090" > < / a > 00090 int16_t < a class = "code" href = "class_r_c___channel.html#abcf4a69f7323c85306e8a25b34e929b3" > angle_to_pwm< / a > ();
< a name = "l00091" > < / a > 00091 int16_t < a class = "code" href = "class_r_c___channel.html#a10f764e7d9cb160b1da9ff286b8797fb" > pwm_to_range< / a > ();
< a name = "l00092" > < / a > 00092 int16_t < a class = "code" href = "class_r_c___channel.html#ac50875b55ac524f9d0b2ee50174bd300" > range_to_pwm< / a > ();
< a name = "l00093" > < / a > 00093
< a name = "l00094" > < / a > < a class = "code" href = "class_r_c___channel.html#afb3bb484e1f586d86105eb1bf40f8593" > 00094< / a > < span class = "keywordtype" > float< / span > < a class = "code" href = "class_r_c___channel.html#afb3bb484e1f586d86105eb1bf40f8593" > scale_output< / a > ;
< a name = "l00095" > < / a > 00095
< a name = "l00096" > < / a > 00096 < span class = "keyword" > private< / span > :
< a name = "l00097" > < / a > 00097 < span class = "keywordtype" > bool< / span > _filter;
< a name = "l00098" > < / a > 00098 int8_t _reverse;
< a name = "l00099" > < / a > 00099
< a name = "l00100" > < / a > 00100 int16_t _address;
< a name = "l00101" > < / a > 00101 < span class = "keywordtype" > bool< / span > _type;
< a name = "l00102" > < / a > 00102 int16_t _high;
< a name = "l00103" > < / a > 00103 int16_t _low;
< a name = "l00104" > < / a > 00104 < a class = "code" href = "class_a_p___e_e_p_r_o_m_b.html" title = "Object for reading and writing to the EEPROM." > AP_EEPROMB< / a > _ee;
< a name = "l00105" > < / a > 00105 };
< a name = "l00106" > < / a > 00106
< a name = "l00107" > < / a > 00107 < span class = "preprocessor" > #endif < / span >
< a name = "l00108" > < / a > 00108 < span class = "preprocessor" > < / span >
< a name = "l00109" > < / a > 00109
< a name = "l00110" > < / a > 00110
< a name = "l00111" > < / a > 00111
< / pre > < / div > < / div >
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2010-12-26 22:59:34 -04:00
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2010-12-26 20:59:17 -04:00
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