src/main/drivers/motor.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  * Author: jflyper
  21  */
  22
  23 #pragma once
  24
  25 #include "common/time.h"
  26
  27 #include "pg/motor.h"
  28
  29 typedef enum {
  30     PWM_TYPE_STANDARD = 0,
  31     PWM_TYPE_ONESHOT125,
  32     PWM_TYPE_ONESHOT42,
  33     PWM_TYPE_MULTISHOT,
  34     PWM_TYPE_BRUSHED,
  35     PWM_TYPE_DSHOT150,
  36     PWM_TYPE_DSHOT300,
  37     PWM_TYPE_DSHOT600,
  38 //    PWM_TYPE_DSHOT1200, removed
  39     PWM_TYPE_PROSHOT1000,
  40     PWM_TYPE_DISABLED,
  41     PWM_TYPE_MAX
  42 } motorPwmProtocolTypes_e;
  43
  44
  45 typedef struct motorVTable_s {
  46     // Common
  47     void (*postInit)(void);
  48     float (*convertExternalToMotor)(uint16_t externalValue);
  49     uint16_t (*convertMotorToExternal)(float motorValue);
  50     bool (*enable)(void);
  51     void (*disable)(void);
  52     bool (*isMotorEnabled)(uint8_t index);
  53     bool (*telemetryWait)(void);
  54     bool (*decodeTelemetry)(void);
  55     void (*updateInit)(void);
  56     void (*write)(uint8_t index, float value);
  57     void (*writeInt)(uint8_t index, uint16_t value);
  58     void (*updateComplete)(void);
  59     void (*shutdown)(void);
  60
  61     // Digital commands
  62
  63 } motorVTable_t;
  64
  65 typedef struct motorDevice_s {
  66     motorVTable_t vTable;
  67     uint8_t       count;
  68     bool          initialized;
  69     bool          enabled;
  70     timeMs_t      motorEnableTimeMs;
  71 } motorDevice_t;
  72
  73 void motorPostInitNull();
  74 void motorWriteNull(uint8_t index, float value);
  75 bool motorDecodeTelemetryNull(void);
  76 void motorUpdateCompleteNull(void);
  77
  78 void motorPostInit();
  79 void motorWriteAll(float *values);
  80
  81 void motorInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3DHigh, float *deadbandMotor3DLow);
  82
  83 float motorConvertFromExternal(uint16_t externalValue);
  84 uint16_t motorConvertToExternal(float motorValue);
  85
  86 struct motorDevConfig_s; // XXX Shouldn't be needed once pwm_output* is really cleaned up.
  87 void motorDevInit(const struct motorDevConfig_s *motorConfig, uint16_t idlePulse, uint8_t motorCount);
  88 unsigned motorDeviceCount(void);
  89 motorVTable_t motorGetVTable(void);
  90 bool checkMotorProtocolEnabled(const motorDevConfig_t *motorConfig, bool *protocolIsDshot);
  91 bool isMotorProtocolDshot(void);
  92 bool isMotorProtocolEnabled(void);
  93
  94 void motorDisable(void);
  95 void motorEnable(void);
  96 bool motorIsEnabled(void);
  97 bool motorIsMotorEnabled(uint8_t index);
  98 timeMs_t motorGetMotorEnableTimeMs(void);
  99 void motorShutdown(void); // Replaces stopPwmAllMotors
 100
 101 #ifdef USE_DSHOT_BITBANG
 102 struct motorDevConfig_s;
 103 typedef struct motorDevConfig_s motorDevConfig_t;
 104 bool isDshotBitbangActive(const motorDevConfig_t *motorConfig);
 105 #endif
 106
 107 float getDigitalIdleOffset(const motorConfig_t *motorConfig);