src/main/drivers/gimbal_common.c

   1 /*
   2  * This file is part of INAV.
   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 INAV.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include "platform.h"
  19
  20 #ifdef USE_SERIAL_GIMBAL
  21
  22 #include <stdio.h>
  23 #include <stdint.h>
  24 #include <stdlib.h>
  25
  26 #include <build/debug.h>
  27 #include <config/parameter_group_ids.h>
  28
  29 #include "common/time.h"
  30
  31 #include "fc/cli.h"
  32
  33 #include "drivers/gimbal_common.h"
  34 #include "rx/rx.h"
  35
  36 #include "settings_generated.h"
  37
  38
  39 PG_REGISTER_WITH_RESET_TEMPLATE(gimbalConfig_t, gimbalConfig, PG_GIMBAL_CONFIG, 1);
  40
  41 PG_RESET_TEMPLATE(gimbalConfig_t, gimbalConfig,
  42     .panChannel = SETTING_GIMBAL_PAN_CHANNEL_DEFAULT,
  43     .tiltChannel = SETTING_GIMBAL_TILT_CHANNEL_DEFAULT,
  44     .rollChannel = SETTING_GIMBAL_ROLL_CHANNEL_DEFAULT,
  45     .sensitivity = SETTING_GIMBAL_SENSITIVITY_DEFAULT,
  46     .panTrim = SETTING_GIMBAL_PAN_TRIM_DEFAULT,
  47     .tiltTrim = SETTING_GIMBAL_TILT_TRIM_DEFAULT,
  48     .rollTrim = SETTING_GIMBAL_ROLL_TRIM_DEFAULT
  49 );
  50
  51 static gimbalDevice_t *commonGimbalDevice = NULL;
  52
  53 void gimbalCommonInit(void)
  54 {
  55 }
  56
  57 void gimbalCommonSetDevice(gimbalDevice_t *gimbalDevice)
  58 {
  59     SD(fprintf(stderr, "[GIMBAL]: device added %p\n", gimbalDevice));
  60     commonGimbalDevice = gimbalDevice;
  61 }
  62
  63 gimbalDevice_t *gimbalCommonDevice(void)
  64 {
  65     return commonGimbalDevice;
  66 }
  67
  68 void gimbalCommonProcess(gimbalDevice_t *gimbalDevice, timeUs_t currentTimeUs)
  69 {
  70     if (gimbalDevice && gimbalDevice->vTable->process && gimbalCommonIsReady(gimbalDevice)) {
  71         gimbalDevice->vTable->process(gimbalDevice, currentTimeUs);
  72     }
  73 }
  74
  75 gimbalDevType_e gimbalCommonGetDeviceType(gimbalDevice_t *gimbalDevice)
  76 {
  77     if (!gimbalDevice || !gimbalDevice->vTable->getDeviceType) {
  78         return GIMBAL_DEV_UNKNOWN;
  79     }
  80
  81     return gimbalDevice->vTable->getDeviceType(gimbalDevice);
  82 }
  83
  84 bool gimbalCommonIsReady(gimbalDevice_t *gimbalDevice)
  85 {
  86     if (gimbalDevice && gimbalDevice->vTable->isReady) {
  87         return gimbalDevice->vTable->isReady(gimbalDevice);
  88     }
  89     return false;
  90 }
  91
  92 #ifdef GIMBAL_UNIT_TEST
  93 void taskUpdateGimbal(timeUs_t currentTimeUs)
  94 {
  95 }
  96 #else
  97 void taskUpdateGimbal(timeUs_t currentTimeUs)
  98 {
  99     if (cliMode) {
 100         return;
 101     }
 102
 103     gimbalDevice_t *gimbalDevice = gimbalCommonDevice();
 104
 105     if(gimbalDevice) {
 106         gimbalCommonProcess(gimbalDevice, currentTimeUs);
 107     }
 108 }
 109 #endif
 110
 111 // TODO: check if any gimbal types are enabled
 112 bool gimbalCommonIsEnabled(void)
 113 {
 114     return true;
 115 }
 116
 117
 118 bool gimbalCommonHtrkIsEnabled(void)
 119 {
 120     const gimbalDevice_t *dev = gimbalCommonDevice();
 121     if(dev && dev->vTable->hasHeadTracker) {
 122         bool ret = dev->vTable->hasHeadTracker(dev);
 123         return ret;
 124     }
 125
 126     return false;
 127 }
 128
 129
 130 int16_t gimbalCommonGetPanPwm(const gimbalDevice_t *gimbalDevice)
 131 {
 132     if (gimbalDevice && gimbalDevice->vTable->getGimbalPanPWM) {
 133         return gimbalDevice->vTable->getGimbalPanPWM(gimbalDevice);
 134     }
 135
 136     return gimbalDevice ? gimbalDevice->currentPanPWM : PWM_RANGE_MIDDLE + gimbalConfig()->panTrim;
 137 }
 138
 139 #endif