diff --git a/src/comm/OpalLink.cc b/src/comm/OpalLink.cc index 5551c091c3ea35ab989543b4b61bae462f4fdb10..eb8e1fe09ba6db27ee12656206ae248531e2950a 100644 --- a/src/comm/OpalLink.cc +++ b/src/comm/OpalLink.cc @@ -258,6 +258,15 @@ void OpalLink::getSignals() duty2PulseMicros(values[OpalRT::RAW_CHANNEL_6]), duty2PulseMicros(values[OpalRT::RAW_CHANNEL_7]), duty2PulseMicros(values[OpalRT::RAW_CHANNEL_8]), + rescaleNorm(values[OpalRT::NORM_CHANNEL_1]), + rescaleNorm(values[OpalRT::NORM_CHANNEL_2]), + rescaleNorm(values[OpalRT::NORM_CHANNEL_3]), + rescaleNorm(values[OpalRT::NORM_CHANNEL_4]), + rescaleNorm(values[OpalRT::NORM_CHANNEL_5]), + rescaleNorm(values[OpalRT::NORM_CHANNEL_6]), + rescaleNorm(values[OpalRT::NORM_CHANNEL_7]), + rescaleNorm(values[OpalRT::NORM_CHANNEL_8]), + /* static_cast(values[OpalRT::NORM_CHANNEL_1]*255), static_cast(values[OpalRT::NORM_CHANNEL_2]*255), static_cast(values[OpalRT::NORM_CHANNEL_3]*255), @@ -265,7 +274,7 @@ void OpalLink::getSignals() static_cast(values[OpalRT::NORM_CHANNEL_5]*255), static_cast(values[OpalRT::NORM_CHANNEL_6]*255), static_cast(values[OpalRT::NORM_CHANNEL_7]*255), - static_cast(values[OpalRT::NORM_CHANNEL_8]*255), + static_cast(values[OpalRT::NORM_CHANNEL_8]*255),*/ 0 //rssi unused ); receiveMessage(rc); @@ -323,7 +332,10 @@ uint16_t OpalLink::duty2PulseMicros(double duty) return static_cast(duty/70*1000000); } - +uint8_t OpalLink::rescaleNorm(double norm) +{ + return static_cast((norm+1)/2*255); +} bool OpalLink::connect() diff --git a/src/comm/OpalLink.h b/src/comm/OpalLink.h index f72ba9d23b3da4c29d9b36f1e73bcb8d31ff7184..e921054e43a4fc6ccd2f33ab92fd631cab10155f 100644 --- a/src/comm/OpalLink.h +++ b/src/comm/OpalLink.h @@ -153,6 +153,7 @@ protected: unsigned short opalInstID; uint16_t duty2PulseMicros(double duty); + uint8_t rescaleNorm(double norm); }; #endif // OPALLINK_H