src/main/drivers/pwm_mapping.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "drivers/io_types.h"
  21 #include "flight/mixer.h"
  22 #include "flight/mixer_profile.h"
  23 #include "flight/servos.h"
  24 #include "common/maths.h"
  25
  26 #if defined(TARGET_MOTOR_COUNT)
  27 #define MAX_MOTORS  TARGET_MOTOR_COUNT
  28 #else
  29 #define MAX_MOTORS  12
  30 #endif
  31
  32 #define MAX_SERVOS  34
  33
  34 #define PWM_TIMER_HZ    1000000
  35
  36 #define PULSE_1MS   (1000)      // 1ms pulse width
  37
  38 #define MAX_INPUTS  8
  39
  40 typedef enum {
  41     PWM_TYPE_STANDARD = 0,
  42     PWM_TYPE_ONESHOT125,
  43     PWM_TYPE_MULTISHOT,
  44     PWM_TYPE_BRUSHED,
  45     PWM_TYPE_DSHOT150,
  46     PWM_TYPE_DSHOT300,
  47     PWM_TYPE_DSHOT600,
  48 } motorPwmProtocolTypes_e;
  49
  50 typedef enum {
  51     SERVO_TYPE_PWM = 0,
  52     SERVO_TYPE_SBUS,
  53     SERVO_TYPE_SBUS_PWM
  54 } servoProtocolType_e;
  55
  56 typedef enum {
  57     PIN_LABEL_NONE = 0,
  58     PIN_LABEL_LED
  59 } pinLabel_e;
  60
  61 typedef enum {
  62     PWM_INIT_ERROR_NONE = 0,
  63     PWM_INIT_ERROR_TOO_MANY_MOTORS,
  64     PWM_INIT_ERROR_TOO_MANY_SERVOS,
  65     PWM_INIT_ERROR_NOT_ENOUGH_MOTOR_OUTPUTS,
  66     PWM_INIT_ERROR_NOT_ENOUGH_SERVO_OUTPUTS,
  67     PWM_INIT_ERROR_TIMER_INIT_FAILED,
  68 } pwmInitError_e;
  69
  70 typedef struct rangefinderIOConfig_s {
  71     ioTag_t triggerTag;
  72     ioTag_t echoTag;
  73 } rangefinderIOConfig_t;
  74
  75 typedef struct {
  76     bool usesHwTimer;
  77     bool isDSHOT;
  78 } motorProtocolProperties_t;
  79
  80 bool pwmMotorAndServoInit(void);
  81 const motorProtocolProperties_t * getMotorProtocolProperties(motorPwmProtocolTypes_e proto);
  82 pwmInitError_e getPwmInitError(void);
  83 const char * getPwmInitErrorMessage(void);