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 #define PWM_SERVO_MIN   500       // minimum servo PWM pulse width which we can set from cli
  28 #define PWM_SERVO_MAX   2500      // maximum servo PWM pulse width which we can set from cli
  29
  30 #define DEFAULT_SERVO_MIN 1000
  31 #define DEFAULT_SERVO_MIDDLE 1500
  32 #define DEFAULT_SERVO_MAX 2000
  33
  34 // These must be consecutive, see 'reversedSources'
  35 enum {
  36     INPUT_STABILIZED_ROLL = 0,
  37     INPUT_STABILIZED_PITCH,
  38     INPUT_STABILIZED_YAW,
  39     INPUT_STABILIZED_THROTTLE,
  40     INPUT_RC_ROLL,
  41     INPUT_RC_PITCH,
  42     INPUT_RC_YAW,
  43     INPUT_RC_THROTTLE,
  44     INPUT_RC_AUX1,
  45     INPUT_RC_AUX2,
  46     INPUT_RC_AUX3,
  47     INPUT_RC_AUX4,
  48     INPUT_GIMBAL_PITCH,
  49     INPUT_GIMBAL_ROLL,
  50     INPUT_SOURCE_COUNT
  51 };
  52
  53 // target servo channels
  54 typedef enum {
  55     SERVO_GIMBAL_PITCH = 0,
  56     SERVO_GIMBAL_ROLL = 1,
  57     SERVO_FLAPS = 2,
  58     SERVO_FLAPPERON_1 = 3,
  59     SERVO_FLAPPERON_2 = 4,
  60     SERVO_RUDDER = 5,
  61     SERVO_ELEVATOR = 6,
  62     SERVO_THROTTLE = 7, // for internal combustion (IC) planes
  63
  64     SERVO_BICOPTER_LEFT = 4,
  65     SERVO_BICOPTER_RIGHT = 5,
  66
  67     SERVO_DUALCOPTER_LEFT = 4,
  68     SERVO_DUALCOPTER_RIGHT = 5,
  69
  70     SERVO_SINGLECOPTER_1 = 3,
  71     SERVO_SINGLECOPTER_2 = 4,
  72     SERVO_SINGLECOPTER_3 = 5,
  73     SERVO_SINGLECOPTER_4 = 6,
  74
  75     SERVO_HELI_LEFT = 0,
  76     SERVO_HELI_RIGHT = 1,
  77     SERVO_HELI_TOP = 2,
  78     SERVO_HELI_RUD = 3
  79
  80 } servoIndex_e; // FIXME rename to servoChannel_e
  81
  82 #define SERVO_PLANE_INDEX_MIN SERVO_FLAPS
  83 #define SERVO_PLANE_INDEX_MAX SERVO_THROTTLE
  84
  85 #define SERVO_DUALCOPTER_INDEX_MIN SERVO_DUALCOPTER_LEFT
  86 #define SERVO_DUALCOPTER_INDEX_MAX SERVO_DUALCOPTER_RIGHT
  87
  88 #define SERVO_SINGLECOPTER_INDEX_MIN SERVO_SINGLECOPTER_1
  89 #define SERVO_SINGLECOPTER_INDEX_MAX SERVO_SINGLECOPTER_4
  90
  91 #define SERVO_FLAPPERONS_MIN SERVO_FLAPPERON_1
  92 #define SERVO_FLAPPERONS_MAX SERVO_FLAPPERON_2
  93
  94 #define MAX_SERVO_RULES (2 * MAX_SUPPORTED_SERVOS)
  95
  96 typedef struct servoMixer_s {
  97     uint8_t targetChannel;                  // servo that receives the output of the rule
  98     uint8_t inputSource;                    // input channel for this rule
  99     int8_t rate;                            // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
 100     uint8_t speed;                          // reduces the speed of the rule, 0=unlimited speed
 101     int8_t min;                             // lower bound of rule range [0;100]% of servo max-min
 102     int8_t max;                             // lower bound of rule range [0;100]% of servo max-min
 103     uint8_t box;                            // active rule if box is enabled, range [0;3], 0=no box, 1=BOXSERVO1, 2=BOXSERVO2, 3=BOXSERVO3
 104 } servoMixer_t;
 105
 106 PG_DECLARE_ARRAY(servoMixer_t, MAX_SERVO_RULES, customServoMixers);
 107
 108 #define MAX_SERVO_SPEED UINT8_MAX
 109 #define MAX_SERVO_BOXES 3
 110
 111 // Custom mixer configuration
 112 typedef struct mixerRules_s {
 113     uint8_t servoRuleCount;
 114     const servoMixer_t *rule;
 115 } mixerRules_t;
 116
 117 extern const mixerRules_t servoMixers[];
 118
 119 typedef struct servoParam_s {
 120     uint32_t reversedSources;               // the direction of servo movement for each input source of the servo mixer, bit set=inverted
 121     int16_t min;                            // servo min
 122     int16_t max;                            // servo max
 123     int16_t middle;                         // servo middle
 124     int8_t rate;                            // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
 125     int8_t forwardFromChannel;              // RX channel index, 0 based.  See CHANNEL_FORWARDING_DISABLED
 126 } servoParam_t;
 127
 128 PG_DECLARE_ARRAY(servoParam_t, MAX_SUPPORTED_SERVOS, servoParams);
 129
 130 typedef struct servoConfig_s {
 131     servoDevConfig_t dev;
 132     uint16_t servo_lowpass_freq;            // lowpass servo filter frequency selection; 1/1000ths of loop freq
 133     uint8_t tri_unarmed_servo;              // send tail servo correction pulses even when unarmed
 134     uint8_t channelForwardingStartChannel;
 135 } servoConfig_t;
 136
 137 PG_DECLARE(servoConfig_t, servoConfig);
 138
 139 typedef struct servoProfile_s {
 140     servoParam_t servoConf[MAX_SUPPORTED_SERVOS];
 141 } servoProfile_t;
 142
 143 extern int16_t servo[MAX_SUPPORTED_SERVOS];
 144
 145 bool isMixerUsingServos(void);
 146 void writeServos(void);
 147 void servoMixerLoadMix(int index);
 148 void loadCustomServoMixer(void);
 149 int servoDirection(int servoIndex, int fromChannel);
 150 void servosInit(void);
 151 void servosFilterInit(void);
 152 void servoMixer(void);
 153 // tricopter specific
 154 void servosTricopterInit(void);
 155 void servosTricopterMixer(void);
 156 bool servosTricopterIsEnabledServoUnarmed(void);