zr-v4/libraries/RC_Channel/RC_Channel_aux.cpp

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-

#include <APM_RC.h>
#include "RC_Channel_aux.h"

const AP_Param::GroupInfo RC_Channel_aux::var_info[] PROGMEM = {
	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),

	AP_GROUPEND
};

/// Global pointer array, indexed by a "RC function enum" and points to the RC channel output assigned to that function/operation
RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions];

/// enable_out_ch - enable the channel through APM_RC
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);
	}
}

/// 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);
}

/// Update the g_rc_function array of pointers to rc_x channels
/// This is to be done before rc_init so that the channels get correctly initialized.
/// It also should be called periodically because the user might change the configuration and
/// expects the changes to take effect instantly
/// 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)
{
	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;
		}
	}

	// 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; }

	//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);
}

/// 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();
	}
}