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uncrustify libraries/RC_Channel/RC_Channel_aux.cpp

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uncrustify 13 years ago committed by Pat Hickey
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1 changed files with 82 additions and 82 deletions
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  1. 164
      libraries/RC_Channel/RC_Channel_aux.cpp

164
libraries/RC_Channel/RC_Channel_aux.cpp
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@ -4,16 +4,16 @@ @@ -4,16 +4,16 @@
#include "RC_Channel_aux.h"
const AP_Param::GroupInfo RC_Channel_aux::var_info[] PROGMEM = {
AP_NESTEDGROUPINFO(RC_Channel, 0),
AP_NESTEDGROUPINFO(RC_Channel, 0),
// @Param: FUNCTION
// @DisplayName: Servo out function
// @Description: Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function
// @Values: 0:Disabled,1:Manual,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release
// @User: Standard
AP_GROUPINFO("FUNCTION", 1, RC_Channel_aux, function, 0),
// @Param: FUNCTION
// @DisplayName: Servo out function
// @Description: Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function
// @Values: 0:Disabled,1:Manual,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release
// @User: Standard
AP_GROUPINFO("FUNCTION", 1, RC_Channel_aux, function, 0),
AP_GROUPEND
AP_GROUPEND
};
/// Global pointer array, indexed by a "RC function enum" and points to the RC channel output assigned to that function/operation
@ -23,27 +23,27 @@ RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; @@ -23,27 +23,27 @@ RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions];
void
RC_Channel_aux::enable_out_ch(unsigned char ch_nr)
{
// enable_out this channel if it assigned to a function
if( function != k_none ) {
_apm_rc->enable_out(ch_nr);
}
// enable_out this channel if it assigned to a function
if( function != k_none ) {
_apm_rc->enable_out(ch_nr);
}
}
/// map a function to a servo channel and output it
void
RC_Channel_aux::output_ch(unsigned char ch_nr)
{
// take care or two corner cases
switch(function)
{
case k_none: // disabled
return;
break;
case k_manual: // manual
radio_out = radio_in;
break;
}
_apm_rc->OutputCh(ch_nr, radio_out);
// take care or two corner cases
switch(function)
{
case k_none: // disabled
return;
break;
case k_manual: // manual
radio_out = radio_in;
break;
}
_apm_rc->OutputCh(ch_nr, radio_out);
}
/// Update the g_rc_function array of pointers to rc_x channels
@ -53,76 +53,76 @@ RC_Channel_aux::output_ch(unsigned char ch_nr) @@ -53,76 +53,76 @@ RC_Channel_aux::output_ch(unsigned char ch_nr)
/// Supports up to seven aux servo outputs (typically CH5 ... CH11)
/// All servos must be configured with a single call to this function
/// (do not call this twice with different parameters, the second call will reset the effect of the first call)
void update_aux_servo_function( RC_Channel_aux* rc_a,
RC_Channel_aux* rc_b,
RC_Channel_aux* rc_c,
RC_Channel_aux* rc_d,
RC_Channel_aux* rc_e,
RC_Channel_aux* rc_f,
RC_Channel_aux* rc_g)
void update_aux_servo_function( RC_Channel_aux* rc_a,
RC_Channel_aux* rc_b,
RC_Channel_aux* rc_c,
RC_Channel_aux* rc_d,
RC_Channel_aux* rc_e,
RC_Channel_aux* rc_f,
RC_Channel_aux* rc_g)
{
RC_Channel_aux::Aux_servo_function_t aux_servo_function[7];
aux_servo_function[0] = (rc_a == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_a->function.get();
aux_servo_function[1] = (rc_b == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_b->function.get();
aux_servo_function[2] = (rc_c == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_c->function.get();
aux_servo_function[3] = (rc_d == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_d->function.get();
aux_servo_function[4] = (rc_e == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_e->function.get();
aux_servo_function[5] = (rc_f == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_f->function.get();
aux_servo_function[6] = (rc_g == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_g->function.get();
RC_Channel_aux::Aux_servo_function_t aux_servo_function[7];
aux_servo_function[0] = (rc_a == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_a->function.get();
aux_servo_function[1] = (rc_b == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_b->function.get();
aux_servo_function[2] = (rc_c == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_c->function.get();
aux_servo_function[3] = (rc_d == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_d->function.get();
aux_servo_function[4] = (rc_e == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_e->function.get();
aux_servo_function[5] = (rc_f == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_f->function.get();
aux_servo_function[6] = (rc_g == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_g->function.get();
for (uint8_t i = 0; i < 7; i++) {
if (aux_servo_function[i] >= RC_Channel_aux::k_nr_aux_servo_functions) {
// invalid setting
aux_servo_function[i] = RC_Channel_aux::k_none;
}
}
for (uint8_t i = 0; i < 7; i++) {
if (aux_servo_function[i] >= RC_Channel_aux::k_nr_aux_servo_functions) {
// invalid setting
aux_servo_function[i] = RC_Channel_aux::k_none;
}
}
// Assume that no auxiliary function is used
for (uint8_t i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions ; i++)
{
g_rc_function[i] = NULL;
}
// Assume that no auxiliary function is used
for (uint8_t i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions; i++)
{
g_rc_function[i] = NULL;
}
// assign the RC channel to each function
if( rc_a != NULL ) { g_rc_function[aux_servo_function[0]] = rc_a; }
if( rc_b != NULL ) { g_rc_function[aux_servo_function[1]] = rc_b; }
if( rc_c != NULL ) { g_rc_function[aux_servo_function[2]] = rc_c; }
if( rc_d != NULL ) { g_rc_function[aux_servo_function[3]] = rc_d; }
if( rc_e != NULL ) { g_rc_function[aux_servo_function[3]] = rc_e; }
if( rc_f != NULL ) { g_rc_function[aux_servo_function[3]] = rc_f; }
if( rc_g != NULL ) { g_rc_function[aux_servo_function[3]] = rc_g; }
// assign the RC channel to each function
if( rc_a != NULL ) { g_rc_function[aux_servo_function[0]] = rc_a; }
if( rc_b != NULL ) { g_rc_function[aux_servo_function[1]] = rc_b; }
if( rc_c != NULL ) { g_rc_function[aux_servo_function[2]] = rc_c; }
if( rc_d != NULL ) { g_rc_function[aux_servo_function[3]] = rc_d; }
if( rc_e != NULL ) { g_rc_function[aux_servo_function[3]] = rc_e; }
if( rc_f != NULL ) { g_rc_function[aux_servo_function[3]] = rc_f; }
if( rc_g != NULL ) { g_rc_function[aux_servo_function[3]] = rc_g; }
//set auxiliary ranges
G_RC_AUX(k_flap)->set_range(0,100);
G_RC_AUX(k_flap_auto)->set_range(0,100);
G_RC_AUX(k_aileron)->set_angle(4500);
G_RC_AUX(k_flaperon)->set_range(0,100);
//set auxiliary ranges
G_RC_AUX(k_flap)->set_range(0,100);
G_RC_AUX(k_flap_auto)->set_range(0,100);
G_RC_AUX(k_aileron)->set_angle(4500);
G_RC_AUX(k_flaperon)->set_range(0,100);
/*
G_RC_AUX(k_mount_pan)->set_range(
g_rc_function[RC_Channel_aux::k_mount_pan]->angle_min / 10,
g_rc_function[RC_Channel_aux::k_mount_pan]->angle_max / 10);
G_RC_AUX(k_mount_tilt)->set_range(
g_rc_function[RC_Channel_aux::k_mount_tilt]->angle_min / 10,
g_rc_function[RC_Channel_aux::k_mount_tilt]->angle_max / 10);
G_RC_AUX(k_mount_roll)->set_range(
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min / 10,
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_max / 10);
G_RC_AUX(k_mount_open)->set_range(0,100);
G_RC_AUX(k_cam_trigger)->set_range(
g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_min / 10,
g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_max / 10);
*/
G_RC_AUX(k_egg_drop)->set_range(0,100);
* G_RC_AUX(k_mount_pan)->set_range(
* g_rc_function[RC_Channel_aux::k_mount_pan]->angle_min / 10,
* g_rc_function[RC_Channel_aux::k_mount_pan]->angle_max / 10);
* G_RC_AUX(k_mount_tilt)->set_range(
* g_rc_function[RC_Channel_aux::k_mount_tilt]->angle_min / 10,
* g_rc_function[RC_Channel_aux::k_mount_tilt]->angle_max / 10);
* G_RC_AUX(k_mount_roll)->set_range(
* g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min / 10,
* g_rc_function[RC_Channel_aux::k_mount_roll]->angle_max / 10);
* G_RC_AUX(k_mount_open)->set_range(0,100);
* G_RC_AUX(k_cam_trigger)->set_range(
* g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_min / 10,
* g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_max / 10);
*/
G_RC_AUX(k_egg_drop)->set_range(0,100);
}
/// Should be called after the the servo functions have been initialized
void
enable_aux_servos()
{
// cycle thru all functions except k_none and k_nr_aux_servo_functions
for (uint8_t i = 1; i < RC_Channel_aux::k_nr_aux_servo_functions ; i++)
{
if (g_rc_function[i]) g_rc_function[i]->enable_out();
}
// cycle thru all functions except k_none and k_nr_aux_servo_functions
for (uint8_t i = 1; i < RC_Channel_aux::k_nr_aux_servo_functions; i++)
{
if (g_rc_function[i]) g_rc_function[i]->enable_out();
}
}

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