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midelic 2016-09-23 23:51:31 +03:00 committed by GitHub
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/*
This project is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Multiprotocol is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Multiprotocol. If not, see <http://www.gnu.org/licenses/>.
*/
/************************/
/** Convert routines **/
/************************/
// Channel value is converted to 8bit values full scale
uint8_t convert_channel_8b(uint8_t num)
{
return (uint8_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,0,255));
}
// Channel value is converted to 8bit values to provided values scale
uint8_t convert_channel_8b_scale(uint8_t num,uint8_t min,uint8_t max)
{
return (uint8_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,min,max));
}
// Channel value is converted sign + magnitude 8bit values
uint8_t convert_channel_s8b(uint8_t num)
{
uint8_t ch;
ch = convert_channel_8b(num);
return (ch < 128 ? 127-ch : ch);
}
// Channel value is converted to 10bit values
uint16_t convert_channel_10b(uint8_t num)
{
return (uint16_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,1,1023));
}
// Channel value is multiplied by 1.5
uint16_t convert_channel_frsky(uint8_t num)
{
return Servo_data[num] + Servo_data[num]/2;
}
// Channel value is converted for HK310
void convert_channel_HK310(uint8_t num, uint8_t *low, uint8_t *high)
{
uint16_t temp=0xFFFF-(4*Servo_data[num])/3;
*low=(uint8_t)(temp&0xFF);
*high=(uint8_t)(temp>>8);
}
// Channel value is limited to PPM_100
uint16_t limit_channel_100(uint8_t ch)
{
if(Servo_data[ch]>servo_max_100)
return servo_max_100;
else
if (Servo_data[ch]<servo_min_100)
return servo_min_100;
return Servo_data[ch];
}