src/main/flight/servos.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "pg/pg.h"
  24 #include "drivers/io_types.h"
  25 #include "drivers/pwm_output.h"
  26
  27 // These must be consecutive, see 'reversedSources'
  28 enum {
  29     INPUT_STABILIZED_ROLL = 0,
  30     INPUT_STABILIZED_PITCH,
  31     INPUT_STABILIZED_YAW,
  32     INPUT_STABILIZED_THROTTLE,
  33     INPUT_RC_ROLL,
  34     INPUT_RC_PITCH,
  35     INPUT_RC_YAW,
  36     INPUT_RC_THROTTLE,
  37     INPUT_RC_AUX1,
  38     INPUT_RC_AUX2,
  39     INPUT_RC_AUX3,
  40     INPUT_RC_AUX4,
  41     INPUT_GIMBAL_PITCH,
  42     INPUT_GIMBAL_ROLL,
  43     INPUT_SOURCE_COUNT
  44 };
  45
  46 // target servo channels
  47 typedef enum {
  48     SERVO_GIMBAL_PITCH = 0,
  49     SERVO_GIMBAL_ROLL = 1,
  50     SERVO_FLAPS = 2,
  51     SERVO_FLAPPERON_1 = 3,
  52     SERVO_FLAPPERON_2 = 4,
  53     SERVO_RUDDER = 5,
  54     SERVO_ELEVATOR = 6,
  55     SERVO_THROTTLE = 7, // for internal combustion (IC) planes
  56
  57     SERVO_BICOPTER_LEFT = 4,
  58     SERVO_BICOPTER_RIGHT = 5,
  59
  60     SERVO_DUALCOPTER_LEFT = 4,
  61     SERVO_DUALCOPTER_RIGHT = 5,
  62
  63     SERVO_SINGLECOPTER_1 = 3,
  64     SERVO_SINGLECOPTER_2 = 4,
  65     SERVO_SINGLECOPTER_3 = 5,
  66     SERVO_SINGLECOPTER_4 = 6,
  67
  68     SERVO_HELI_LEFT = 0,
  69     SERVO_HELI_RIGHT = 1,
  70     SERVO_HELI_TOP = 2,
  71     SERVO_HELI_RUD = 3
  72
  73 } servoIndex_e; // FIXME rename to servoChannel_e
  74
  75 #define SERVO_PLANE_INDEX_MIN SERVO_FLAPS
  76 #define SERVO_PLANE_INDEX_MAX SERVO_THROTTLE
  77
  78 #define SERVO_DUALCOPTER_INDEX_MIN SERVO_DUALCOPTER_LEFT
  79 #define SERVO_DUALCOPTER_INDEX_MAX SERVO_DUALCOPTER_RIGHT
  80
  81 #define SERVO_SINGLECOPTER_INDEX_MIN SERVO_SINGLECOPTER_1
  82 #define SERVO_SINGLECOPTER_INDEX_MAX SERVO_SINGLECOPTER_4
  83
  84 #define SERVO_FLAPPERONS_MIN SERVO_FLAPPERON_1
  85 #define SERVO_FLAPPERONS_MAX SERVO_FLAPPERON_2
  86
  87 #define MAX_SERVO_RULES (2 * MAX_SUPPORTED_SERVOS)
  88
  89 typedef struct servoMixer_s {
  90     uint8_t targetChannel;                  // servo that receives the output of the rule
  91     uint8_t inputSource;                    // input channel for this rule
  92     int8_t rate;                            // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
  93     uint8_t speed;                          // reduces the speed of the rule, 0=unlimited speed
  94     int8_t min;                             // lower bound of rule range [0;100]% of servo max-min
  95     int8_t max;                             // lower bound of rule range [0;100]% of servo max-min
  96     uint8_t box;                            // active rule if box is enabled, range [0;3], 0=no box, 1=BOXSERVO1, 2=BOXSERVO2, 3=BOXSERVO3
  97 } servoMixer_t;
  98
  99 PG_DECLARE_ARRAY(servoMixer_t, MAX_SERVO_RULES, customServoMixers);
 100
 101 #define MAX_SERVO_SPEED UINT8_MAX
 102 #define MAX_SERVO_BOXES 3
 103
 104 // Custom mixer configuration
 105 typedef struct mixerRules_s {
 106     uint8_t servoRuleCount;
 107     const servoMixer_t *rule;
 108 } mixerRules_t;
 109
 110 extern const mixerRules_t servoMixers[];
 111
 112 typedef struct servoParam_s {
 113     uint32_t reversedSources;               // the direction of servo movement for each input source of the servo mixer, bit set=inverted
 114     int16_t min;                            // servo min
 115     int16_t max;                            // servo max
 116     int16_t middle;                         // servo middle
 117     int8_t rate;                            // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
 118     int8_t forwardFromChannel;              // RX channel index, 0 based.  See CHANNEL_FORWARDING_DISABLED
 119 } servoParam_t;
 120
 121 PG_DECLARE_ARRAY(servoParam_t, MAX_SUPPORTED_SERVOS, servoParams);
 122
 123 typedef struct servoConfig_s {
 124     servoDevConfig_t dev;
 125     uint16_t servo_lowpass_freq;            // lowpass servo filter frequency selection; 1/1000ths of loop freq
 126     uint8_t tri_unarmed_servo;              // send tail servo correction pulses even when unarmed
 127     uint8_t channelForwardingStartChannel;
 128 } servoConfig_t;
 129
 130 PG_DECLARE(servoConfig_t, servoConfig);
 131
 132 typedef struct servoProfile_s {
 133     servoParam_t servoConf[MAX_SUPPORTED_SERVOS];
 134 } servoProfile_t;
 135
 136 extern int16_t servo[MAX_SUPPORTED_SERVOS];
 137
 138 bool isMixerUsingServos(void);
 139 void writeServos(void);
 140 void servoMixerLoadMix(int index);
 141 void loadCustomServoMixer(void);
 142 int servoDirection(int servoIndex, int fromChannel);
 143 void servosInit(void);
 144 void servosFilterInit(void);
 145 void servoMixer(void);
 146 // tricopter specific
 147 void servosTricopterInit(void);
 148 void servosTricopterMixer(void);
 149 bool servosTricopterIsEnabledServoUnarmed(void);