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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 &lt;stdint.h&gt;</span>
<a name="l00010"></a>00010 <span class="preprocessor">#include &lt;<a class="code" href="_a_p___e_e_p_r_o_m_b_8h.html" title="AP_EEPROMB manager.">AP_EEPROMB.h</a>&gt;</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
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