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122 lines
3.2 KiB
122 lines
3.2 KiB
/* |
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AP_RcChannel.cpp - Radio library for Arduino |
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Code by Jason Short, James Goppert. DIYDrones.com |
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This library is free software; you can redistribute it and / or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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*/ |
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#include <math.h> |
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#include <avr/eeprom.h> |
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#include "AP_RcChannel.h" |
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#include <AP_Common.h> |
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AP_RcChannel::AP_RcChannel(const char * name, const APM_RC_Class & rc, const uint8_t & ch, |
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const float & scale, const float & center, |
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const uint16_t & pwmMin, |
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const uint16_t & pwmNeutral, const uint16_t & pwmMax, |
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const uint16_t & pwmDeadZone, |
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const bool & filter, const bool & reverse) : |
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_name(name), |
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_rc(rc), |
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_ch(new AP_EEPROM_Uint8(ch,"CH",name)), |
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_scale(new AP_EEPROM_Float(scale,"SCALE",name)), |
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_center(new AP_EEPROM_Float(center,"CNTR",name)), |
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_pwmMin(new AP_EEPROM_Uint16(pwmMin,"PMIN",name)), |
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_pwmMax(new AP_EEPROM_Uint16(pwmMax,"PMAX",name)), |
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_pwmNeutral(new AP_EEPROM_Uint16(pwmNeutral,"PNTRL",name)), |
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_pwmDeadZone(new AP_EEPROM_Uint16(pwmDeadZone,"PDEAD",name)), |
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_pwm(0), |
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_filter(new AP_EEPROM_Bool(filter,"FLTR",name)), |
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_reverse(new AP_EEPROM_Bool(reverse,"REV",name)) |
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{ |
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} |
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void AP_RcChannel::readRadio() { |
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// apply reverse |
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uint16_t pwmRadio = APM_RC.InputCh(getCh()); |
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setPwm(pwmRadio); |
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} |
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void |
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AP_RcChannel::setPwm(uint16_t pwm) |
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{ |
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//Serial.printf("pwm in setPwm: %d\n", pwm); |
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//Serial.printf("reverse: %s\n", (getReverse())?"true":"false"); |
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// apply reverse |
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if(getReverse()) pwm = int16_t(getPwmNeutral()-pwm) + getPwmNeutral(); |
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//Serial.printf("pwm after reverse: %d\n", pwm); |
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// apply filter |
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if(getFilter()){ |
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if(_pwm == 0) |
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_pwm = pwm; |
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else |
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_pwm = ((pwm + _pwm) >> 1); // Small filtering |
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}else{ |
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_pwm = pwm; |
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} |
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//Serial.printf("pwm after filter: %d\n", _pwm); |
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// apply deadzone |
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_pwm = (abs(_pwm - getPwmNeutral()) < getPwmDeadZone()) ? getPwmNeutral() : _pwm; |
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//Serial.printf("pwm after deadzone: %d\n", _pwm); |
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APM_RC.OutputCh(getCh(),_pwm); |
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} |
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void |
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AP_RcChannel::setPosition(float position) |
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{ |
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setPwm(_positionToPwm(position)); |
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} |
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void |
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AP_RcChannel::mixRadio(uint16_t infStart) |
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{ |
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uint16_t pwmRadio = APM_RC.InputCh(getCh()); |
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float inf = abs( int16_t(pwmRadio - getPwmNeutral()) ); |
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inf = min(inf, infStart); |
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inf = ((infStart - inf) /infStart); |
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setPwm(_pwm*inf + pwmRadio); |
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} |
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uint16_t |
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AP_RcChannel::_positionToPwm(const float & position) |
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{ |
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uint16_t pwm; |
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//Serial.printf("position: %f\n", position); |
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float p = position - getCenter(); |
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if(p < 0) |
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pwm = p * int16_t(getPwmNeutral() - getPwmMin()) / |
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getScale() + getPwmNeutral(); |
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else |
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pwm = p * int16_t(getPwmMax() - getPwmNeutral()) / |
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getScale() + getPwmNeutral(); |
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constrain(pwm,getPwmMin(),getPwmMax()); |
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return pwm; |
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} |
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float |
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AP_RcChannel::_pwmToPosition(const uint16_t & pwm) |
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{ |
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float position; |
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if(pwm < getPwmNeutral()) |
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position = getScale() * int16_t(pwm - getPwmNeutral())/ |
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int16_t(getPwmNeutral() - getPwmMin()) + getCenter(); |
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else |
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position = getScale() * int16_t(pwm -getPwmNeutral())/ |
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int16_t(getPwmMax() - getPwmNeutral()) + getCenter(); |
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constrain(position,-getScale()+getCenter(), |
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getScale()+getCenter()); |
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return position; |
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} |
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// ------------------------------------------
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