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85 lines
1.5 KiB
85 lines
1.5 KiB
/* |
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RC_Channel library. |
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Code by Jason Short. 2010 |
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DIYDrones.com |
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*/ |
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#ifndef RC_Channel_h |
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#define RC_Channel_h |
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#include <inttypes.h> |
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#include <avr/eeprom.h> |
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#include "WProgram.h" |
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class RC_Channel |
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{ |
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public: |
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RC_Channel(); |
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// setup in CLI |
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void update_min_max(); |
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// startup |
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void load_eeprom(int address); |
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void save_eeprom(int address); |
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// setup the control preferences |
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void set_range(int low, int high); |
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void set_angle(int angle); |
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// read input from APM_RC - create a control_in value |
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void set_pwm(int pwm); |
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// pwm is stored here |
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int16_t radio_in; |
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// call after first set_pwm |
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void trim(); |
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// did our read come in 50µs below the min? |
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boolean get_failsafe(void); |
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// value generated from PWM |
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int16_t control_in; |
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int8_t dead_zone; // used to keep noise down and create a dead zone. |
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int control_mix(float value); |
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// current values to the servos - degrees * 100 (approx assuming servo is -45 to 45 degrees except [3] is 0 to 100 |
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int16_t servo_out; |
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// generate PWM from servo_out value |
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void calc_pwm(void); |
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// PWM is without the offset from radio_min |
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int16_t pwm_out; |
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int16_t radio_out; |
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int16_t radio_min; |
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int16_t radio_trim; |
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int16_t radio_max; |
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// includes offset from PWM |
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//int16_t get_radio_out(void); |
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private: |
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int16_t channel_filter(); |
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int16_t pwm_to_angle(); |
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int16_t angle_to_pwm(); |
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int16_t pwm_to_range(); |
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int16_t range_to_pwm(); |
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byte _channel; |
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boolean _type; |
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boolean _filter; |
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int16_t _high; |
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int16_t _low; |
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}; |
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#endif |
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